CN206797720U - A kind of land sky integral type operating system - Google Patents

Abstract

This patent is related to a kind of land sky integral type operating system and control method, including ground subsystem, conveyance conduit and aerial work subsystem, the aerial work subsystem includes at least one master control flying unit and at least one driven flying unit, they are connected together by unit extensions connector or so respectively, ground subsystem includes operation top control module, material supplies control module, power module, automatic deploying and retracting control module and draw-gear, operation top control module, material supplies control module, power module and automatic deploying and retracting control module are separately mounted on draw-gear, master control flying unit supplies control module with material by conveyance conduit and connected, and conveyance conduit is wrapped in automatic deploying and retracting control module.The aerial work subsystem is connected by master control flying unit with driven flying unit to be formed, it is convenient to driven flying unit or master control flying unit are dismantled or extended by unit extensions connector, realizes and operation track width is adjusted flexibly.

Description

A kind of land sky integral type operating system

Technical field

This patent is related to agriculture aircraft field of operation, and in particular to a kind of land sky integral type operating system.

Background technology

As the research of agricultural working efficiency deepens continuously, the horizontal continuous improvement of agricultural operation, the farmland of unit area What is needed is artificial fewer and fewer, and the ratio more and more higher of less important work is completed using plant equipment.Especially for agricultural chemicals For sprinkling, traditional pesticide spraying mode is wasted time and energy, and the toxic side effect of agricultural chemicals can be penetrated into staff's body, Cause certain injury.But because the farmland distribution situation of China is complicated, in addition to large area, smooth field, simultaneously The croft for the small property right also largely disperseed, similar developed country carry out barton's mould of operation using large-scale apparatus like that The working method of formula is unsuitable for Chinese large-scale promotion and used, and therefore, in the current generation, China agriculturally needs one kind Flexible, spraying range is finely controllable, and manpower intervention is few, and people will not be allowed directly to contact the intelligent of toxic pesticides and worked Mode.

Because the sprinkling of unmanned vehicle is away from operating personnel, operating personnel will not be caused with toxic side effect, and The spray effect of unmanned vehicle more uniformly, more saves medicine for artificial sprinkling；Plus rotary wind type unmanned vehicle It can hover, and the root that decoction is delivered to crop by its wind-force can be borrowed, uniform dispenser be realized, so unmanned vehicle Complete plant protection task and have become hot topic instantly.Rotor class unmanned plane answering in agricultural plant protection field wherein in unmanned vehicle With relatively broad, further subdivision can be divided into single rotor and more rotor agricultural plant protection unmanned planes again.Single rotor agricultural plant protection without The engine of man-machine generally use Aviation Fuel power, when taking off while carry unmanned plane fuel and agricultural plant protection chemicals, Agricultural plant protection task is completed within the limited flight time.More rotor agricultural plant protection unmanned planes provide torsion frequently with motor for rotor Square, need to carry when taking off high capacity cell and agricultural plant protection chemicals, flight time and the effective plant protection scope of crops by To the limitation of entrained battery capacity.

The equal inertial thinking of plant protection unmanned plane of current main-stream implements control by the way of wireless remote control, that is, Say, operating personnel are often by certain communication, and remote control unmanned vehicle is in the field of one piece of particular area In the range of fulfil assignment, when completing a part of operation and then transition goes to next piece of place to continue to complete operation.Using this work The reason for making mode has a lot, for example farmland property right is scattered, the endurance of unmanned vehicle is limited, and perfusion case needs to fill repeatedly Fill out decoction etc..As can be seen here, aforesaid way still has some problems, for example transition adds operational risk, unmanned flight When device is to recharge energy consumption, and battery charging and discharging number is limited and prime cost source as consumptive material, and perfusion repeatedly adds Exposure risk etc..Traditional unmanned vehicle using remote control mode due to being worked, therefore power entirely from setting thereon Battery, so working range, endurance are rather limited, and captive unmanned vehicle, its power pass through moveable Earth station is transferred to unmanned vehicle, and the transmission of its power is provided by wired mode, and its control of flying can both pass through wired side Formula can also wirelessly be implemented.Existing unmanned vehicle is in order to complete plant protection task, it is necessary to set on board the aircraft Put for decoction provide pressure, the pressure apparatus sprayed out, or installation using centrifugal force throw away decoction from The sprinkling decoction and pressure providing device of plant protection are all disposed within the recreational center on ground by center device, captive unmanned vehicle （Vehicle or other removable transit equipments）On, the equipment cost and flight that reduce further unmanned vehicle are born a heavy burden.

In the prior art, patent CN104002974A discloses a kind of towed based on multi-rotor aerocraft nobody applies liquid System includes mobile workstation and multi-rotor aerocraft, wherein：Mobile workstation is used for specify user in mobile workstation To multi-rotor aerocraft, the information sent to multi-rotor aerocraft is processed and displayed task path information transmission；For more rotations Rotor aircraft provides power supply；And liquid liquid is applied to multi-rotor aerocraft pump by woven hose；Multi-rotor aerocraft is used to pull Liquid, and the letter that will be collected are applied in supply lines and woven hose, the flight of task path information, the control sent according to mobile workstation Breath and status information are sent to mobile workstation.Patent CN104512551A discloses a kind of unmanned vehicle and spills medicine device side Case, including aircraft body, carrier and fixed Sheng explosive barrel, decoction conveying assembly and the storage being loaded on the carrier Battery.A kind of captive unmanned vehicle for continuously spraying, including unmanned flight are disclosed in patent CN105794758A Device body and removable bogey.A kind of land idle pattern formula agricultural sprayer apparatus is disclosed in patent CN103754368A, is wrapped Include aircraft and transport vehicle.

Although above-mentioned prior art all eliminates power-supply device and the drug storage that traditional unmanned vehicle Central Plains should load Case, flight load is alleviated, extend the flight time, but following common problem be present：

1）Lack the device of extension working width, the width of single operation covering, very flexible, when operation field can not be adjusted When ground is too small, it is difficult to the operation to be become more meticulous, when Active workings are excessive, operating efficiency is low；Although patent The extended mode of working width is refer in CN103754368A, but the extended mode of the aircraft is increased on connecting line Aircraft is, it is necessary to manipulate the independent flight of multiple aircraft simultaneously, and manipulation difficulty is big, and the difficulty of hoisting mechanism folding and unfolding also increases, So, the device can only be that progress fan-shaped swing in the center of circle sprays along ground walking arrangement, very flexible, and the scope of application is small.

2）Lack the automatic cooperative approach for spraying workload with unmanned vehicle to the gait of march of ground carrier, spray Efficiency and uniformity are not good enough.

3）Air system lacks second-pumping device, and prior art is only located at the scheme on transport vehicle using compression pump, When carrying out ultra-wide operation, it is possible to which build-up of pressure is too low, the situation of the not upper aircraft of spray pump occurs, and reliability is low.

Utility model content

The defects of in order to overcome prior art, this patent provide a kind of land sky integral type operating system, realized to operation rail The adjustment of stitch width, flexibility is good, strong adaptability, is advantageous to operation and becomes more meticulous and improve efficiency.

For above-mentioned technical problem, this patent is so solved：A kind of land sky integral type operating system, including ground Face system, conveyance conduit and aerial work subsystem, the aerial work subsystem include at least one master control flying unit With at least one driven flying unit, they are connected together by unit extensions connector or so respectively, master control flying unit Be interconnected with driven flying unit, ground subsystem include operation top control module, material supply control module, power module, Automatic deploying and retracting control module and draw-gear, operation top control module, material supply control module, power module and automatic deploying and retracting control Molding block is separately mounted on draw-gear, and master control flying unit supplies control module with material by conveyance conduit and connected, and Conveyance conduit is wrapped in automatic deploying and retracting control module；The power module is used for operation top control module, material supply control Module, automatic deploying and retracting control module, master control flying unit and the power supply of driven flying unit, master control flying unit and driven flight are single Member is used for aerial work；The operation top control module is used to control draw-gear in ground moving, control material supply control mould Block provides material to conveyance conduit, control automatic deploying and retracting control module realizes that the folding and unfolding of conveyance conduit and control master control flight are single The flight path of first and driven flying unit.

Compared to prior art, the difference of this patent is, aerial work subsystem is flown by least one master control Unit and at least one driven flying unit composition, it is connected together by unit extensions connector or so between them, also It is to say master control flying unit and driven flying unit can be dismantled or extended conveniently by unit extensions connector, realizes Operation track width is adjusted flexibly, can will be unnecessary by removing unit extensions connector when Active workings are too small Driven flying unit or master control flying unit are split out, and are reduced operation track width, are easy to meticulous process, when Active workings mistake Greatly, can be more driven winged in original master control flying unit or driven flying unit over-assemble by unit extensions connector Row unit or master control flying unit, increase operation track width, improve operating efficiency.

Further, the master control flying unit includes the first frame, the first flight controller, the first lift component and the One working equipment, the first flight controller, the first lift component and the first working equipment are installed in the first frame；Described One working equipment connects conveyance conduit, also connects driven flying unit by unit extensions connector or another first operation fills It is standby；The power module is used to power to the first flight controller, and the first flight controller controls the first lift component to provide and risen Power, send instruction to driven flying unit and receive the work information of driven flying unit, master control flying unit is flown with driven The state of flight of row unit is synchronous, and the first working equipment is used for farm work, and operation top control module passes through the first flight controller Adjust the position and posture of master control flying unit.

First flight controller can be received from driven flying unit on works such as flying height and flying speeds Condition information, and sent and instructed to driven flying unit according to the information, to realize that master control flying unit and driven flying unit exist Aerial collaboration flight operation.

Further, the aerial work subsystem also includes second-pumping device, and master control flying unit passes through secondary defeated Device is sent to connect conveyance conduit, second-pumping device is used to uniformly for material to be delivered to each master control flying unit and driven flight Unit.

The material supply control module second-pumping device also add the power that material conveys in feeding pipe so that There is enough power to carry out material conveying, it is long so that the situation that material conveying is short of power, expansion to avoid conveyance conduit expansion The big fly able scope of master control flying unit, improves operating efficiency and reliability.

Further, the driven flying unit includes the second frame, the second flight controller, the second lift component and the Two working equipments, the second flight controller, the second lift component and the second working equipment are installed in the second frame, and second makees Industry equipment connects master control flying unit or another second working equipment by unit extensions connector；The power module be used for Second flight controller is powered, and the second flight controller is used to control the second lift component to provide lift, to master control flying unit Send work information and receive the instruction of master control flying unit, make the state of flight of master control flying unit and driven flying unit same Step, the second working equipment are used for farm work, and the first flight controller adjusts driven flying unit by the second flight controller Position and posture.

Second flight controller can be sent on operating modes such as flying height and flying speeds into master control flying unit Information, and the control instruction of master control flying unit is received, to realize that master control flying unit and driven flying unit cooperate with the air Flight operation.

Further, material supply control module include material storing case, materiel machining conveying device, control valve and Material control device, material storing case, materiel machining conveying device are located on draw-gear, and material storing case connection materiel machining is defeated Device is sent, materiel machining conveying device connects conveyance conduit by control valve；The materiel machining conveying device is by material storing Material in case is sent in conveyance conduit after being processed, and operation top control module manipulates control valve by Material control device Aperture, while according to the gait of march of information reconciliation control aerial work subsystem.

Further, the material supply control module also includes mass flow rate sensing；The operation top control module obtains The mass flow information that mass flow rate sensing collects is taken, and opening for control valve is manipulated by Material control device according to the information Degree.

Measurement of the mass flow rate sensing to mass flow parameter can improve manipulation of the Material control device to control valve Precision, ensure that material moderately exports, meticulous process is also beneficial to while saving material, and when operation top control module detects To mass flow it is big when, can control aerial work subsystem to accelerate flying speed；When operation top control module detects mass flow Hour, controllable aerial work subsystem slows down flying speed, further improves operation uniformity.

Further, the automatic deploying and retracting control module includes hoist tumbler, pivoting controller and rotating disk, institute State hoist tumbler and pivoting controller to be arranged on draw-gear by rotating disk, be wound with hoist tumbler defeated Pipeline is sent, power module is powered to hoist tumbler and pivoting controller respectively；The operation top control module is used to control Pivoting controller rotates hoist tumbler, realizes the folding and unfolding of conveyance conduit.

Further, the automatic deploying and retracting control module also includes pipe guide device, and hoist tumbler is connected with pipe guide device； The pipe guide device is used to limit the orderly folding and unfolding of conveyance conduit progress；Spot erasing apparatus is also equipped with pipe guide device.

When carrying out folding and unfolding control to the conveyance conduit, conveyance conduit enters line slip in pipe guide device, ensures delivery pipe Road will not be knotted during folding and unfolding or offset track, and reliability is high.

Further, the automatic deploying and retracting control module also includes tensioning force snesor, and tensioning force snesor is used to detect The tensile force of conveyance conduit, pivoting controller control elevator according to the tensile force for being tensioned the conveyance conduit that force snesor detects Device tumbler carries out folding and unfolding to conveyance conduit.

When the tensioning force snesor detects that the tensile force of conveyance conduit is larger, pivoting controller control hoist turns Dynamic device releases longer conveyance conduit, avoids causing conveyance conduit tension rupture or to master control flying unit or driven winged Row unit, which is pullled, to be caused to damage；When the tensioning force snesor detects that the tensile force of conveyance conduit is smaller, pivoting controller Control hoist tumbler tightens up conveyance conduit, avoids to limit while the conveyance conduit long knotting in part in the air The flight range of master control flying unit and driven flying unit, stability is strong, improves operation fineness.

Further, the power module includes generator, controller, voltage-current sensor, ac and dc current conversion Device and oil plant case, oil plant case connection generator, one end of generating mechatronics ac and dc current converter, ac and dc current conversion The other end of device is used to outwards power, and is provided with voltage-current sensor；The operation top control module is adjusted by controller and grasped The generated energy of generator and the delivery of alterating and direct current streamer are controlled, and alterating and direct current is detected by voltage-current sensor The voltage x current that streamer is outwards powered.

The voltage x current that the voltage-current sensor detects can be used as operation top control module to be adjusted by controller and grasp The reference parameter of the generated energy of generator and the delivery of alterating and direct current streamer is controlled, improves the stability of a system.

Further, the operation top control module includes work information collection sensor, policy of Central Government controller and control Signal output apparatus, policy of Central Government controller gather sensor and control signal output device to automatic deploying and retracting by work information Control module, material supply control module, power module, master control flying unit and driven flying unit obtain work information and Output control signal.

The policy of Central Government controller can obtain the length of run of conveyance conduit in automatic deploying and retracting control module, material supply The flight of the voltage and current in mass flow, power module, master control flying unit and driven flying unit in control module Speed and height, facilitate policy of Central Government controller to focus on these data, add decision-making reasonability and diversity, Reliability is high.

A kind of control method of land sky integral type operating system, draw-gear do not move, and aerial work subsystem is according to work The gait of march and control instruction of industry top control module setting carry out operation, and the control method comprises the following steps：

A, the preparatory stage before operation, draw-gear is placed in the ridge of field or the one end in Special running road, root first Each master control flying unit and driven flying unit are connected together by unit extensions connector or so according to field size, group Dress up aerial work subsystem；Conveyance conduit is set to connect by main connector and each master control flying unit and driven flying unit It is logical；Startup power supply module, initiating task top control module, the operating speed and height, working path of default aerial work subsystem Planning and material feed flow；Start automatic deploying and retracting control module and material supply control module；

B, in sessions, the carry out operation of aerial work subsystem is manipulated by operation top control module, makes operation track Cover whole field；Automatic-expanding or the winding of conveyance conduit are realized by automatic deploying and retracting control module, prevents conveyance conduit Unordered winding occurs in operation process and influences operation;Material is transported into field by material supply control module needs to make The position of industry；

C, the clean-up phase after operation, material supply control module is closed, stops conveying material to conveyance conduit；It is automatic to receive Put control module to wind conveyance conduit, control aerial work subsystem returns to specified location stable landing；Close and make Industry top control module；Unclamp and dismantle conveyance conduit and the connection of main connector, it is by automatic deploying and retracting control module that conveyance conduit is complete Portion is withdrawn；Unclamp and dismantle the connection of all unit extensions connectors, finally dismantled the aerial work subsystem assembled Into the end of job.

A kind of control method of land sky integral type operating system, the mobile road that draw-gear is set according to operation top control module Footpath and gait of march move, and aerial work subsystem is under the Collaborative Control of operation top control module according to the row of draw-gear Enter speed and direction synchronously follows movement, comprise the following steps：

A, the preparatory stage before operation, draw-gear is placed in the ridge of field or the one end in Special running road, root first Each master control flying unit and driven flying unit are connected together by unit extensions connector or so according to field size, group Dress up aerial work subsystem；Conveyance conduit is set to connect by main connector and each master control flying unit and driven flying unit It is logical；Startup power supply module, initiating task top control module, the operating speed and height, working path of default aerial work subsystem Planning and material feed flow；Start automatic deploying and retracting control module and material supply control module；

B, in sessions, the carry out operation of aerial work subsystem is manipulated by operation top control module, makes operation track Cover whole field；Automatic-expanding or the winding of conveyance conduit are realized by automatic deploying and retracting control module, prevents conveyance conduit Unordered winding occurs in operation process and influences operation;Material is transported into field by material supply control module needs to make The position of industry；

C, the clean-up phase after operation, material supply control module is closed, stops conveying material to conveyance conduit；It is automatic to receive Put control module to wind conveyance conduit, control aerial work subsystem returns to specified location stable landing；Close and make Industry top control module；Unclamp and dismantle conveyance conduit and the connection of main connector, it is by automatic deploying and retracting control module that conveyance conduit is complete Portion is withdrawn；Unclamp and dismantle the connection of all unit extensions connectors, finally dismantled the aerial work subsystem assembled Into the end of job.

Compared to prior art, this patent has the beneficial effect that：

This patent is realized to operation track width by the assembly and disassembly between master control flying unit and driven flying unit Be adjusted flexibly, improve the efficiency and fineness of operation；Passed provided with the mass flow for being controlled to material output flow Sensor, system control accuracy is improved, while ground draw-gear and aerial work subsystem are controlled according to mass flow information reconciliation The gait of march of system, raising spray efficiency and improve uniformity；Make delivery pipe using restriction of the pipe guide device to conveyance conduit position The orderly folding and unfolding in road；The tensioning force snesor for judging conveyance conduit tensile force is additionally provided with, to avoid conveyance conduit because of tension Damage or conveyance conduit knot because deploying long, additionally aid the flight of limitation master control flying unit and driven flying unit Scope；The material supply control module and second-pumping device convey to material and provide power jointly so that have enough move Power carries out material conveying, expands the scope of aerial work subsystem single operation covering, improves operating efficiency and reliability.

Brief description of the drawings

Fig. 1 is the dimensional structure diagram of this patent；

Fig. 2 is the top view of this patent；

Fig. 3 is the connection block diagram of this patent operation top control module；

Fig. 4 is the dimensional structure diagram of this patent automatic deploying and retracting control module；

Fig. 5 is the dimensional structure diagram of this patent material supply control module；

Fig. 6 is the dimensional structure diagram of this patent power module；

Fig. 7 is the dimensional structure diagram of master control flying unit of this patent with main connector；

Fig. 8 is the dimensional structure diagram of this patent master control flying unit；

Fig. 9 is the dimensional structure diagram of the driven flying unit of this patent；

Figure 10 is the cut-away view of this patent conveyance conduit；

Figure 11 is the dimensional structure diagram of the main connector of this patent；

Figure 12 is the dimensional structure diagram of the unit extensions connector of this patent；

Figure 13 to 17 is schematic diagram of this patent in operation process.

Embodiment

This patent is described in detail with reference to specific embodiments and the drawings.

Embodiment one：

A kind of land sky integral type operating system as shown in Fig. 1 to 12, including ground subsystem 1, conveyance conduit 3 and aerial work Industry subsystem 2, the aerial work subsystem include master control flying unit 21 and four driven flying units 22, and master control flight is single Member 21 and four driven flying units 22 are interconnected by unit extensions connector 23, and ground subsystem 1 includes operation master control Module 11, material supply control module 13, power module 14, automatic deploying and retracting control module 12 and draw-gear 4, operation master control mould Block 11, material supply control module 13, power module 14 and automatic deploying and retracting control module 12 are separately mounted on draw-gear 4, Master control flying unit supplies control module with material by conveyance conduit and connected, and conveyance conduit is wrapped in automatic deploying and retracting control mould On block；The power module 14 is used to supply control module 13, automatic deploying and retracting control module to operation top control module 11, material 12nd, master control flying unit 21 and four driven flying units 22 are powered, and master control flying unit 21 and driven flying unit 22 are used for Aerial work；The operation top control module 11 is used to control draw-gear 4 in ground moving, control material supply control module 13 Material is provided to conveyance conduit 3, control automatic deploying and retracting control module 12 realizes that the folding and unfolding of conveyance conduit 3 and control master control are flown The flight path of unit 21 and multiple driven flying units 22.

The master control flying unit 21 and four driven 22 liang of side interfaces of flying unit are connected by unit extensions connector 23 It is logical, that is to say, that easily four driven flying units 22 can be dismantled or extended, realized to operation track width Be adjusted flexibly, when Active workings are too small, unnecessary driven flying unit 22 can be split out, reduce operation track width, just , can be by the group on original master control flying unit 21 or driven flying unit 22 when Active workings are excessive in meticulous process Dress more driven flying units 22 or master control flying unit 21, increase operation track width, improve operating efficiency.

The master control flying unit 21 include the first frame 211, the first flight controller 212, the first lift component 213 and First working equipment 214, the first flight controller 212, the first lift component 213 and the first working equipment 214 are installed in In one frame 211, the first working equipment 214 is connected by main connector 24 with conveyance conduit 3；The power module 14 be used for First flight controller 212 is powered, and the first flight controller 212 controls the first lift component 213 to provide lift, to driven flight Unit 22 sends instruction and receives the work information of driven flying unit 22, makes master control flying unit 21 and driven flying unit 22 State of flight it is synchronous, the first working equipment 214 is used for farm work, and operation top control module 11 passes through the first flight controller The lift that 212 the first lift components 213 of adjustment provide.

The driven flying unit 22 include the second frame 221, the second flight controller 222, the second lift component 223 and Second working equipment 224, the second flight controller 222, the second lift component 223 and the second working equipment 224 are installed in In two frames 221, the second working equipment 224 connects the first working equipment 214 or other second by unit extensions connector 23 Working equipment 224, the driven flying unit 22 in the both sides of control sub-systems 2, its end are provided with the plug for preventing that material from leaking； The power module 14 is used to power to the second flight controller 222, and the second flight controller 222 is used to control the second lift group Part 223 provides lift, sends work information to master control flying unit 21 and receive the instruction of master control flying unit 21, flies master control Row unit 21 is synchronous with the state of flight of driven flying unit 22, and the second working equipment 224 is used for farm work, operation master control mould Block 11 adjusts the lift of the second lift component 223 offer by the second flight controller 222.

The first data transmit-receive module 215 is electrically connected with first flight controller 212.

The second data transmit-receive module 225 is electrically connected with second flight controller 222.

Material supply control module 13 can be the controllable spraying machine of material conveying capacity or fog machine or duster or Feed mechanism for seed or fertilizer apparatus, including material storing case 131, materiel machining conveying device 132, control valve 133 and Material control Device 134, material storing case 131, materiel machining conveying device 132 are located on draw-gear 4, and material storing case 131 connects material Conveying device 132 is processed, materiel machining conveying device 132 connects one end of conveyance conduit 3, conveyance conduit 3 by control valve 133 The other end the first working equipment 214 and the second working equipment are communicated to by main connector 24 and unit extensions connector 23 224, Material control device 134 is electrically connected control valve 133, power module 14 and operation top control module 11, the electricity of power module 14 Connect control valve 133.

The material supply control module 13 also includes being located at the mass flow rate sensing 15 at control valve 133, material flow Quantity sensor 15 is electrically connected Material control device 134 and power module 14.

The automatic deploying and retracting control module 12 includes hoist tumbler 122, pivoting controller 123 and rotating disk 124, The hoist tumbler 122 and pivoting controller 123 are arranged on draw-gear 4 by rotating disk 124, and hoist rotates dress Put and conveyance conduit 3 be wound with 122, pivoting controller 123 be electrically connected power module 14, hoist tumbler 122 with And operation top control module 11, power module 14 electrically connect hoist tumbler 122.

The automatic deploying and retracting control module 12 also includes pipe guide device 125, and hoist tumbler 122 is logical with pipe guide device 125 Electric expansion bar connection is crossed, the front end of pipe guide device 125 is also equipped with spot erasing apparatus 126.

The automatic deploying and retracting control module 12 also includes tensioning force snesor 121, and tensioning force snesor 121 is electrically connected Power module 14 and pivoting controller 123.

The power module 14 includes generator 141, controller 142, voltage-current sensor 143, alterating and direct current circulation Change device 144 and oil plant case 145, oil plant case 145 connects generator 141, and controller 142 is electrically connected generator 141 and voltage Current sensor 143, generator 141 electrically connect one end of alterating and direct current streamer 144, alterating and direct current streamer 144 The other end is used to outwards power, and is provided with voltage-current sensor 143.

The operation top control module 11 includes work information collection sensor 111, policy of Central Government controller and control signal Output device 113, work information collection sensor 111 are separately mounted to automatic deploying and retracting control module 12, material supply control mould On block 13, power module 14, master control flying unit 21, driven flying unit 22 and main connector 24, policy of Central Government controller point Not electricity Lian Jie control signal output device 113, work information collection sensor 111 and mass flow rate sensing 15, work information Collection sensor 111 and control signal output device 113 are electrically connected pivoting controller 123, Material control device 134, power supply Module 14, the first data transmit-receive module 215, the second data transmit-receive module 225, main connector 24 and controller 142.

The conveyance conduit 3 includes two lumens, respectively material cavity 31 and cable chamber 32, cable chamber have power line 321, Sensor data cable 322 and control signal transmission line 323.

The unit extensions connector 23 has first interface 231 and second interface 232, and the two interfaces have been respectively communicated with Master control flying unit 21 and driven flying unit 22, or two driven flying units 22, in unit extensions connector 23 at least Including Power tabs or material and electric power combined type joint 244, the main body of unit extensions connector 23 is made up of flexible material, Two interfaces are made up of rigid.

The main connector 24 has the 3rd interface 241 and the 4th interface 242, wherein the 3rd interface 241 is defeated for connecting Pipeline 3 is sent, the 4th interface 242 connects the first working equipment 214, the working equipment of unit expansion connector 23 and second 224, Power tabs or material and electric power combined type joint 244 are comprised at least in main connector 24, is additionally provided with and is electrically connected The second-pumping device 245 of control signal output device 113 and work information collection sensor 111, main connector 24 is by rigidity Material is made.

In specific implementation process, generator 141 is 5KW diesel-driven generators, with 48V direct current output interfaces, specified electricity Flow for 100A, rotating speed 3600（RPM）；Second-pumping device 245 can be small pressure pump.

As shown in Figs. 13 and 14, the course of work of the system is as follows：

1st, the operation preparatory stage：

Draw-gear 4 is placed on the ridge or Special running road of field first, it is according to field size that master control flight is single Member 21 and four driven assembly and connections of flying unit 22, flexibility is good, strong adaptability, can meet that meticulous process and high efficiency are made The requirement of industry；Then the oil transportation switch of oil plant case 145 is opened, starts generator 141, generator 141 is converted by ac and dc current Device 144 is to system power supply；Then the various parameters for needing to use when work pattern and operation are preset in policy of Central Government controller, As aerial work subsystem 2 flying speed and height, material feed flow, the opportunity of the folding and unfolding of conveyance conduit 3 and length of run, The voltage x current of the power supply of power module 14 and the translational speed of draw-gear 4 etc.；Pass through control followed by policy of Central Government controller Signal output apparatus 113 processed sends flight directive to the first data transmit-receive module 215 and the second data transmit-receive module 225, and first Flight controller 212 controls the first lift component 213 to work after getting the flight directive from the first data transmit-receive module 215, Second flight controller 222 controls the work of the second lift component 223 after flight directive is got from the second data transmit-receive module 225 Make, the first data transmit-receive module 215 and the second data transmit-receive module 225 are also in the first lift component 213 and the second lift component 223 provide mutual transceiving data during lift, so that the first flight controller 212 and the second flight controller 222 cooperate with Rise whole aerial work subsystem 2；Policy of Central Government controller passes through control signal while aerial work subsystem 2 rises Output device 113 sends folding and unfolding instruction to pivoting controller 123, and pivoting controller 123 is by adjusting hoist tumbler 122 Realize the folding and unfolding of conveyance conduit 3.

2nd, sessions：

Policy of Central Government controller controls the flight path of aerial work subsystem 2 according to the work pattern preset, and Material conveying instruction is sent to Material control device 134 by control signal output device 113 in flight operation process, then material The aperture of the adjusting control valve 133 of controller 134, after materiel machining conveying device 132 handles the material in material storing case 131 It is delivered to the first working equipment 214 and the second working equipment 224 carries out operation, while opens the adminicle of second-pumping device 245 Material is conveyed, and second-pumping device 245 is except that can make the first working equipment 214 and the second working equipment 224 discharge more Uniformly, additionally it is possible to avoid conveyance conduit 3 is long from causing the problem of material conveying is less than in aerial work subsystem 2, expand sky Middle 2 fly able scope of exercise subsystem, improves operating efficiency and reliability.

3rd, clean-up phase after operation：

Policy of Central Government controller sends material to Material control device 134 by control signal output device 113 and stops conveying Instruction, the closing control valve 133 of Material control device 134 simultaneously stops materiel machining conveying device 132 to thing in material storing case 131 The processing and conveying of material；Winding instruction is sent to pivoting controller 123, pivoting controller 123 rotates dress by adjusting hoist Put 122 windings for realizing conveyance conduit 3；Return instruction is sent to the first flight controller 212 and the second flight controller 222, Make the stable landing in the specified location on draw-gear 4 of aerial work subsystem 2；Close generator 141 and policy of Central Government control Device processed, the connection of conveyance conduit 3 and main connector 24 is unclamped and dismantled, withdraw whole conveyance conduits 3, then unclamp and dismantle Connect the unit extensions connector 23 of master control flying unit 21 and four driven flying units 22.

In the above three stage, voltage-current sensor 143 gathers sensor 111 to policy of Central Government by work information Controller sends the voltage x current information detected, and policy of Central Government controller is defeated by control signal after handling the information Going out device 113 makes controller 142 control generator 141 and the regulated output voltage of alterating and direct current streamer 144 and electric current, reliably Property is good；Tensioning force snesor 121 gathers sensor 111 by work information and sends the conveying detected to policy of Central Government controller Pipeline is tensioned force information, if tensile force is more than preset value, policy of Central Government controller makes rotation by control signal output device 113 Controller 123 controls the direction of hoist tumbler 122 to expansion conveyance conduit 3 to rotate, until conveyance conduit 3 is deployed into institute The length needed, if tensile force is less than preset value, policy of Central Government controller makes pivoting controller by control signal output device 113 The direction of 123 control hoist tumbler 122 to winding conveyance conduits 3 is rotated, and required length is arrived until conveyance conduit 3 collapses Degree, avoid to limit the flight range of aerial work subsystem 2 while the long knotting in part in the air of conveyance conduit 3, Stability is strong, improves operation fineness；Rotating disk 124 can be adjusted automatically according to the angle of conveyance conduit 3 and hoist tumbler 122 Whole suitable posture, it is ensured that conveyance conduit 3 occurs without the situation tightened, knotted during operation；Received when to the conveyance conduit 3 When putting control, conveyance conduit 3 enters line slip in pipe guide device 125, and makes pipe guide device 125 certain up and down equipped with electric expansion bar Rotated in amplitude and left and right is necessarily stretched in breadth and elongated, reduce the frictional resistance of conveyance conduit 3 and pipe guide device 125, guarantee is defeated Sending pipeline 3 will not knot or offset track during folding and unfolding, and the spot erasing apparatus 126 on pipe guide device 125 also assures receipts The neat and tidy of conveyance conduit 3 returned on hoist tumbler 122；Mass flow rate sensing 15 is sent out to policy of Central Government controller The mass flow information that censorship measures, policy of Central Government controller the information is handled after by control signal output device 113 make Material control device 134 control the aperture of control valve 133, improve manipulation precision of the Material control device 134 to control valve 133, Ensure that material moderately exports, meticulous process is also beneficial to while saving material, and when central decision controller detects When mass flow is big, aerial work subsystem 2 can control to accelerate flying speed；When central decision controller detects mass flow Hour, controllable aerial work subsystem 2 slows down flying speed, further improves operation uniformity；Second-pumping device 245 is logical Cross work information and gather sensor 111 to policy of Central Government controller transmission pressure information, policy of Central Government controller, which passes through to control, to be believed Number running of the output device 113 to second-pumping device 245 is adjusted, and flexibility is good, strong adaptability.

Embodiment two：

As shown in figs, the embodiment is unlike embodiment one, in the aerial work subsystem 2 of embodiment one Both sides respectively extend a master control flying unit 21, add operation track width, can tackle the Active workings of large area, adaptability It is good.

Embodiment three：

As shown in figure 17, unlike embodiment two, conveyance conduit 3 is connected in sky the embodiment by main connector 24 The master control flying unit 21 of the middle side of exercise subsystem 2, when the long side of Active workings is longer than 3 extensible length of conveyance conduit When, draw-gear 4 can persistently move in the longer side of Active workings, conveyance conduit 3 is kept small length of run of trying one's best, It is not easy to knot or offset track, it is also ensured that have enough conveying power that material is sent into the first working equipment 214 and the On two working equipments 224.

Claims (11)

1. a kind of land sky integral type operating system, including ground subsystem, conveyance conduit and aerial work subsystem, its feature exist In the aerial work subsystem includes at least one master control flying unit and at least one driven flying unit, and they distinguish It is connected together by unit extensions connector or so, ground subsystem includes operation top control module, material supplies control module, Power module, automatic deploying and retracting control module and draw-gear, operation top control module, material supply control module, power module and Automatic deploying and retracting control module is separately mounted on draw-gear, and master control flying unit passes through conveyance conduit and material supply control mould Block is connected, and conveyance conduit is wrapped in automatic deploying and retracting control module；The power module is used for operation top control module, material Supply control module, automatic deploying and retracting control module, master control flying unit and driven flying unit power supply, master control flying unit and from Dynamic flying unit is used for aerial work；The operation top control module is used to control draw-gear to supply in ground moving, control material Material is provided to conveyance conduit, control automatic deploying and retracting control module realizes that the folding and unfolding of conveyance conduit and control are led to control module Control the flight path of flying unit and driven flying unit.

A kind of 2. land sky integral type operating system according to claim 1, it is characterised in that the master control flying unit bag Include the first frame, the first flight controller, the first lift component and the first working equipment, the first flight controller, the first lift Component and the first working equipment are installed in the first frame；First working equipment connects conveyance conduit, also passes through unit Expansion connector connects driven flying unit or another first working equipment；The power module is used for the first flight controller Power supply, the first flight controller control the first lift component to provide lift, instruction are sent to driven flying unit and is received driven The work information of flying unit, make master control flying unit synchronous with the state of flight of driven flying unit, the first working equipment is used In farm work, operation top control module adjusts the position and posture of master control flying unit by the first flight controller.

A kind of 3. land sky integral type operating system according to claim 1, it is characterised in that the aerial work subsystem Also include second-pumping device, master control flying unit connects conveyance conduit by second-pumping device, and second-pumping device is used for Material is uniformly delivered to each master control flying unit and driven flying unit.

A kind of 4. land sky integral type operating system according to claim 1, it is characterised in that the driven flying unit bag Include the second frame, the second flight controller, the second lift component and the second working equipment, the second flight controller, the second lift Component and the second working equipment are installed in the second frame, and the second working equipment connects master control by unit extensions connector and flown Row unit or another second working equipment；The power module is used to power to the second flight controller, the second flight controller For controlling the second lift component to provide lift, the finger of work information and reception master control flying unit being sent to master control flying unit Order, makes master control flying unit synchronous with the state of flight of driven flying unit, and the second working equipment is used for farm work, and first flies Line control unit adjusts the position and posture of driven flying unit by the second flight controller.

A kind of 5. land sky integral type operating system according to claim 1, it is characterised in that the material supply control mould Block includes material storing case, materiel machining conveying device, control valve and Material control device, material storing case, materiel machining conveying Device is located on draw-gear, and material storing case connection materiel machining conveying device, materiel machining conveying device passes through control valve Connect conveyance conduit；The materiel machining conveying device is sent to delivery pipe after the material in material storing case is processed In road, operation top control module manipulates the aperture of control valve by Material control device.

A kind of 6. land sky integral type operating system according to claim 5, it is characterised in that the material supply control mould Block also includes mass flow rate sensing；The operation top control module obtains the mass flow letter that mass flow rate sensing collects Breath, and the aperture according to the information by Material control device manipulation control valve, while control aerial work according to the information reconciliation The gait of march of subsystem.

7. a kind of land sky integral type operating system according to claim 1, it is characterised in that the automatic deploying and retracting controls mould Block includes hoist tumbler, pivoting controller and rotating disk, and the hoist tumbler and pivoting controller are by turning Disk is arranged on draw-gear, and conveyance conduit is wound with hoist tumbler, and power module rotates to hoist fill respectively Put and powered with pivoting controller；The operation top control module is used to control pivoting controller to rotate hoist tumbler, real The folding and unfolding of existing conveyance conduit.

8. a kind of land sky integral type operating system according to claim 7, it is characterised in that the automatic deploying and retracting controls mould Block also includes pipe guide device, and hoist tumbler is connected with pipe guide device；The pipe guide device is used to limit conveyance conduit progress in order Folding and unfolding；Spot erasing apparatus is also equipped with pipe guide device.

9. a kind of land sky integral type operating system according to claim 7, it is characterised in that the automatic deploying and retracting controls mould Block also includes tensioning force snesor, and tensioning force snesor is used for the tensile force for detecting conveyance conduit, and pivoting controller is according to tensioning The tensile force for the conveyance conduit that force snesor detects control hoist tumbler to conveyance conduit carry out folding and unfolding.

A kind of 10. land sky integral type operating system according to any one of claim 1 to 9, it is characterised in that the power supply Module includes generator, controller, voltage-current sensor, alterating and direct current streamer and oil plant case, and the connection of oil plant case generates electricity Machine, one end of generating mechatronics ac and dc current converter, the other end of alterating and direct current streamer are used to outwards power, and Provided with voltage-current sensor；The operation top control module adjusts the generated energy and alternating current-direct current of manipulation generator by controller The delivery of current converter, and the voltage electricity outwards powered by voltage-current sensor detection alterating and direct current streamer Stream.

A kind of 11. land sky integral type operating system according to any one of claim 1 to 9, it is characterised in that the operation Top control module includes work information collection sensor, policy of Central Government controller and control signal output device, policy of Central Government control Device gathers sensor and control signal output device to automatic deploying and retracting control module, material supply control mould by work information Block, power module, master control flying unit and driven flying unit obtain work information and output control signal.