CN210479038U - Plant protection unmanned aerial vehicle prevents spraying mechanism that wafts - Google Patents
Plant protection unmanned aerial vehicle prevents spraying mechanism that wafts Download PDFInfo
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- CN210479038U CN210479038U CN201921059145.3U CN201921059145U CN210479038U CN 210479038 U CN210479038 U CN 210479038U CN 201921059145 U CN201921059145 U CN 201921059145U CN 210479038 U CN210479038 U CN 210479038U
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Abstract
The utility model discloses a plant protection unmanned aerial vehicle anti-floating spraying mechanism, which comprises a front image sensor (101), a rear image sensor (102), an air hood part (200) and a spraying part (400); the air hood component (200) is connected to the shell of the unmanned aerial vehicle (100), the transverse adjusting component (300) is arranged at the lower part of the air hood component (200), the longitudinal adjusting component (500) is arranged on the side surface of the lower part of the air hood component (200), the spraying component (400) is arranged on an intermediate air channel contraction device of the air hood component (200), and a spraying head of the spraying component is positioned in the center of the intermediate air channel contraction device. The utility model provides a plant protection unmanned aerial vehicle prevents spray set that wafts can form round air curtain at shower nozzle spraying area periphery, reduces the influence effect of external air current to the droplet, realizes that the droplet prevents the wafting; meanwhile, the size of the airflow at the outlet can be adjusted in real time according to the flight information, the external wind speed and the density degree of the canopy, so that the drifting of the fog drops is further reduced.
Description
Technical Field
The utility model relates to a plant protection unmanned aerial vehicle field particularly, indicates that one kind can realize evenly spraying, reduces the drift plant protection unmanned aerial vehicle of fog drop and prevents the spraying mechanism that wafts.
Background
Plant protection unmanned aerial vehicle has advantages such as high efficiency, convenient, and intelligent degree is high, and convenient operation can realize remote control, route planning, all can carry out plant protection under various complicated farmland environment and fly to prevent the operation, and does not receive the influence of topography, landform, has made great contribution for preventing and treating outbreak pest and disease damage.
In the flying process of the unmanned aerial vehicle, the rotor wing can generate downwash airflow, the flow field characteristic of the downwash airflow is complex, one part of the airflow can disturb a crop canopy and stress fog drops to move downwards, the penetrability of the fog drops is enhanced, a beneficial effect is generated, the other part of the airflow can carry the fog drops to move towards a non-target area to form drift, and an adverse effect is generated; meanwhile, due to the influence of the external environment, part of the fog drops can drift under the action of external wind force. Aiming at the problems, people improve the installation position of the spray rod, for example, ZL201711230201.0 designs an adjusting mechanism to change the position of the spray rod, but the adjusting mechanism cannot fully and effectively play the role of rotor wing downwash airflow; patent ZL201410158111.5 designs an air-assisted large-width plant protection unmanned helicopter, which collects and utilizes the airflow below the rotor wing through an air bag to realize partial improvement of the flow field performance, but the air-assisted large-width plant protection unmanned helicopter cannot collect all the downwash airflow and cannot change a downdraft field, and if the canopy of crops is sparse and the downdraft field is too large, fog drops are easily sprayed to the ground to cause pollution; if the canopy of the crop is dense and the lower wind field is too small, the fog drops can not penetrate through the crop, so that the prevention and the treatment are not thorough.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a spraying device that wafts is prevented to plant protection unmanned aerial vehicle realizes through collecting rotor downwash air current that the droplet is prevented wafting, evenly sprays to can be according to the size of flight information, external wind speed, the size of canopy density degree real-time adjustment export air current.
The technical scheme is as follows:
the plant protection unmanned aerial vehicle anti-floating spraying mechanism is arranged below the unmanned aerial vehicle and comprises a front image sensor, a rear image sensor, an air hood component and a spraying component;
the front image sensor and the rear image sensor are respectively arranged at the front and rear positions below the unmanned aerial vehicle and are used for detecting the density of a crop canopy and the operation width when the unmanned aerial vehicle flies forwards and backwards respectively; a sensor for detecting the flight direction and the flight speed of the unmanned aerial vehicle is arranged on the unmanned aerial vehicle;
the air shield component is connected to the unmanned aircraft shell through an internal support frame, and the spray component is installed below the air shield component;
the gas hood part comprises a gas collecting device, a diffusion device, a stabilizing device, an air channel contraction device, an air channel direct current device and an outlet air speed sensor; the stabilizing device and the diffusion device as well as the gas collecting device and the diffusion device are respectively connected through a second rotating shaft and a third rotating shaft, the air duct direct-current device is arranged at two sides below the stabilizing device, the length of the air duct direct-current device is consistent with the side length of the gas collecting device, and an air outlet is formed in the bottom of the air duct direct-current device; the air duct contraction device consists of a front air duct contraction device, an intermediate air duct contraction device and a rear air duct contraction device which are connected with the stabilizing device through a first rotating shaft and can rotate around the first rotating shaft respectively; the length L of the air duct contraction device is the spraying operation width; the tail end of each air channel contraction device is provided with an outlet air speed sensor;
the spraying component is arranged on the middle air duct shrinking device of the air hood component, and the spray head of the spraying component is positioned in the center of the middle air duct shrinking device.
The diffusion device is composed of a diffusion device front plate, a diffusion device rear plate and a diffusion device side plate, the diffusion device side plate comprises a first diffusion device side plate and a second diffusion device side plate, an elongated slot is formed in the second diffusion device side plate, a protruding shaft is arranged at a corresponding position on the first diffusion device side plate, and the first diffusion device side plate is slidably mounted on the second diffusion device side plate through the matching of the protruding shaft and the elongated slot; the inner walls of the front plate and the rear plate of the diffusion device are provided with a diffusion device flexible guide plate for guiding and distributing low-speed airflow; the upper end of the flexible guide plate of the diffusion device is arranged on the inner walls of the front plate and the rear plate of the diffusion device, the lower end of the flexible guide plate of the diffusion device is fixed on the stabilizing device, and the side surface of the flexible guide plate of the diffusion device is arranged on the front plate and the rear plate of the diffusion device; a flexible front and rear diffusion device plate is arranged between the front and rear diffusion device plates and the side diffusion device plates;
the stabilizing device is composed of a stabilizing device front plate, a stabilizing device rear plate and a stabilizing device side plate, a stabilizing device flexible front plate and a stabilizing device flexible rear plate are arranged between the stabilizing device front plate and the stabilizing device side plate, and a honeycomb-shaped rectifying plate is arranged in the stabilizing device flexible front plate and the stabilizing device flexible rear plate;
the air duct shrinking device comprises a first air duct shrinking device side plate, a second air duct shrinking device side plate and an air duct shrinking device front and rear plates which are arranged in the first air duct shrinking device side plate and the second air duct shrinking device side plate, and the first air duct shrinking device side plate is slidably arranged on the outer side of the second air duct shrinking device side plate; the shapes of the front plate and the rear plate of the air channel contraction device are designed by a Vickers curve, see formula (1), so that the air speed is uniform, the direction is consistent and the air flow is vertical to the outlet when the air flow flows out of the air channel contraction device;
in the formula: rcThe axial distance of the air duct contraction device is xcThe height dimension of (d) is in m; r1The height dimension of the inlet of the air duct shrinking device is m; r2The height dimension of the outlet of the air duct shrinking device is m; x is the number ofcIs the distance from the inlet of the air duct contraction device;
a transverse adjusting component is fixed on the stabilizing device of the air hood component, and comprises a transverse adjusting motor, a transverse adjusting screw rod and a transverse adjusting threaded sleeve which are matched with each other; the transverse adjusting motor is fixed on one side of the stabilizing device of the gas hood component, the transverse adjusting screw rod is installed on an output shaft of the transverse adjusting motor, and the transverse adjusting threaded sleeve is fixed on a side plate of the stabilizing device.
The vertical adjusting part comprises a vertical adjusting motor, a driving gear, a left rack, a driven gear, a right rack and a gear box body; the gear box body is fixed on the air duct direct-current device side plate through supports on two sides of the gear box body, the left rack is fixed on the first air duct contraction device side plate, and the right rack is fixed on the second air duct contraction device side plate; the longitudinal adjusting motor is fixedly arranged on a side plate of the air duct direct current device and is fixed on the gear box body through a supporting screw rod; the driving gear is arranged on an output shaft of the longitudinal adjusting motor, the driven gear is arranged on the gear box body through a supporting shaft, and the driving gear and the driven gear are meshed with each other; along with the rotation of the longitudinal adjusting motor, the driving gear and the driven gear respectively drive the left rack and the right rack to do linear motion, so that the first movable air duct shrinking device side plate and the second air duct shrinking device side plate are driven to move, and the size change of the opening of the air duct shrinking device is realized.
The air duct retractor comprises a first air duct retractor side plate, a second air duct retractor side plate and a first air duct retractor side plate, wherein the inner side wall of the first air duct retractor side plate is provided with a raised line, the outer side of the second air duct retractor side plate is correspondingly provided with a sliding groove corresponding to the raised line arranged on the inner side wall of the first air duct retractor side plate, and the first air duct retractor side plate and the.
The transverse adjusting part comprises two groups of transverse adjusting screw rods and transverse adjusting screw sleeves which are matched with each other, a second transmission bevel gear is fixedly arranged on an output shaft of the transverse adjusting motor, two opposite sides of the second transmission bevel gear are respectively provided with a first transmission bevel gear, and the first transmission bevel gear is meshed with the second transmission bevel gear; two transverse adjusting screw rods are respectively arranged on the first transmission bevel gears on the two sides, and corresponding transverse adjusting screw sleeves are arranged on the transverse adjusting screw rods through threads.
The distance H between the gas collecting device and the rotor wing of the unmanned aerial vehicle is 200mm, the upper caliber of the gas collecting device is square, and the side length a of the gas collecting device is 1.2 times of the outer edge of the diagonal rotor wing.
The inner sides of the side plates, the front plate and the rear plate of the gas collecting device, the diffusion device, the stabilizing device, the air duct contraction device and the air duct direct current device are all provided with sealing flexible cloth, and the shape of the sealing flexible cloth is consistent with the shape of the gas hood part when the gas hood part is unfolded.
Compared with the prior art, the utility model, have useful following technological effect:
(1) the fog drops are prevented from floating. The utility model provides a plant protection unmanned aerial vehicle prevents spray set that wafts can form round air curtain at shower nozzle spraying area periphery, reduces the influence effect of external air current to the droplet, realizes that the droplet prevents the wafting; meanwhile, the size of the airflow at the outlet can be adjusted in real time according to the flight information, the external wind speed and the density degree of the canopy, so that the drifting of the fog drops is further reduced.
(2) The fog drops are sprayed evenly. The utility model provides a spraying device that wafts is prevented to plant protection unmanned aerial vehicle, the air current wind speed that its exit formed is even, and the direction is unanimous, realizes that the droplet evenly sprays.
(3) The mechanism is simple and practical. The utility model discloses the device adopts simple mass flow device, realizes the reutilization of rotor downwash air current
Drawings
Fig. 1 is a front view of an operating state.
FIG. 2 is a side view of the device with the left air duct removed in operation.
Fig. 3 is a front view of a transport state.
FIG. 4 is a view showing the structure of the gas mask member.
FIG. 5 is a view of the diffuser and stabilizer airbag structure with a portion of the stabilizer flexible front panel removed (all parts shown in this figure are flexible bags).
Fig. 6 is a view of a lateral adjustment member.
Fig. 7 is a view of a longitudinal adjustment member.
FIG. 8 is a view of the structure of the air duct retractor.
Fig. 9 is a structural view of the air duct straightway device.
Fig. 10 is a control flow chart.
Wherein, 100-unmanned aircraft; 200-a gas hood component; 300-lateral adjustment means; 400-a spray member; 500-longitudinal adjustment means;
101-a front image sensor; 102-a rear image sensor; 201-gas collection means; 202-a diffusion device; 202 a-a diffuser flexible baffle; 202 b-a second diffuser side plate; 202 c-front and rear diffuser plates; 202 d-first diffuser side plate; 202 e-flexible front and back plates of the diffusion device; 203-a stabilizing device; 203 a-a rectifying plate; 203 b-stabilizing device front and rear plates; 203 c-stabilizer side plates; 203 d-flexible front and rear plates of the stabilization device; 204-a duct constriction device; 204 a-a first duct retractor side panel; 204 b-a second duct retractor side panel; 204 c-front and rear plates of the air duct constriction device; 205-air duct direct current device; 206-a first axis of rotation; 207-a second axis of rotation; 208-a third axis of rotation; 209-outlet wind speed sensor; 301-transverse adjusting screw sleeve; 302-transverse adjusting screw; 303-transverse adjustment motor; 304-a first drive bevel gear; 305-a second drive bevel gear; 501-longitudinal adjusting motor; 502-support screw; 503-a scaffold; 504-left rack; 505-a drive gear; 506-a driven gear; 507-right rack; 508-gearbox housing; 509-supporting axis.
Detailed Description
The invention will be further elucidated with reference to the drawings and the specific embodiments.
As shown in fig. 1, 2 and 3, the utility model discloses a plant protection unmanned aerial vehicle prevents floating spray mechanism installs unmanned aerial vehicle 100 below, including preceding image sensor 101, back image sensor 102, gas hood part 200, horizontal adjusting part 300, spray part 400 and vertical adjusting part 500. The front image sensor 101 and the rear image sensor 102 are respectively installed at the front and rear positions below the unmanned aerial vehicle 100, and detect crop canopy density and operation width when the unmanned aerial vehicle 100 flies forward and backward; a sensor for detecting the flight direction and the flight speed of the unmanned aerial vehicle is mounted on the unmanned aerial vehicle 100. The air hood part 200 is connected to the outer shell of the unmanned aerial vehicle 100 through an internal support bracket, the transverse adjusting part 300 is installed at the lower part of the air hood part 200, the longitudinal adjusting part 500 is installed at the lower side of the air hood part 200, and the spraying part 400 is installed below the air hood part 200.
As shown in fig. 3 and 4, the gas hood part 200 includes a gas collecting device 201, a diffusing device 202, a stabilizing device 203, a wind channel contracting device 204, a wind channel straight-flow device 205 and an outlet wind speed sensor 209; the stabilizing device 203 and the diffusing device 202, and the gas collecting device 201 and the diffusing device 202 are respectively connected through a second rotating shaft 207 and a third rotating shaft 208, and the air duct direct current device 205 is installed at two sides below the stabilizing device 203, and the length of the air duct direct current device is consistent with the side length of the gas collecting device 201. The distance H between the gas collecting device 201 and the rotor wing of the unmanned aerial vehicle 100 is 200mm, the upper caliber of the gas collecting device 201 is square, and the side length a of the gas collecting device is 1.2 times of the outer edge of the diagonal rotor wing; as shown in fig. 4, the diffuser 202 is composed of a diffuser front-rear plate 202c and a diffuser side plate, the diffuser side plate includes a first diffuser side plate 202d and a second diffuser side plate 202b, the second diffuser side plate 202b is provided with a long groove, a protruding shaft is provided at a corresponding position on the first diffuser side plate 202d, and the first diffuser side plate 202d is slidably mounted on the second diffuser side plate 202b by the engagement of the protruding shaft and the long groove. The inner walls of the front and rear plates 202c of the diffuser are provided with diffuser flexible guide plates 202a for guiding and distributing low-speed airflow; the upper end of the flexible flow guide plate 202a of the diffusion device is arranged on the inner walls of the front and rear plates 202c of the diffusion device, the lower end of the flexible flow guide plate is fixed on the stabilizing device 203, and the side surface of the flexible flow guide plate is arranged on the front and rear flexible plates 202e of the diffusion device; a diffuser flexible front and rear plate 202e is installed between the diffuser front and rear plate 202c and the diffuser side plate; as shown in fig. 4, the stabilizer 203 is composed of a stabilizer front-rear plate 203b and a stabilizer side plate 203c, a stabilizer flexible front-rear plate 203d is installed between the stabilizer front-rear plate 203b and the stabilizer side plate 203c, and a honeycomb-shaped rectifying plate 203a is installed inside the stabilizer flexible front-rear plate 203 d; the air duct contracting device 204 is composed of a front air duct contracting device, an intermediate air duct contracting device and a rear air duct contracting device, which are all connected with the stabilizing device 203 through a first rotating shaft 206 and can respectively rotate around the first rotating shaft 206; the length L of the air duct contraction device 204 is the spraying operation width; an outlet air velocity sensor 209 is arranged at the end of each air duct constriction device. As shown in fig. 8, the air duct constriction device 204 includes a first air duct constriction device side plate 204a, a second air duct constriction device side plate 204b, and an air duct constriction device front and rear plate 204c, the first air duct constriction device side plate 204a is slidably mounted on the outer side of the second air duct constriction device side plate 204 b; the front plate 204c and the rear plate 204c of the air duct shrinking device on the two sides are connected and sealed through flexible coated cloth; in the present invention, a raised line is provided on the inner side wall of the first air duct retractor side plate 204a, a sliding groove corresponding to the raised line provided on the inner side wall of the first air duct retractor side plate 204a is provided at a corresponding position outside the second air duct retractor side plate 204b, and the two are mutually matched; the shape of the front and rear plates 204c of the air duct constriction device is designed by a Vickers curve, which is shown in formula (1), so that the air speed is uniform and the direction is consistent when the air flow flows out of the air duct constriction device 204, and the air flow is vertical to the outlet;
in the formula: rcThe axial distance of the air duct contraction device is xcThe height dimension of (d) is in m; r1The height dimension of the inlet of the air duct shrinking device is m; r2The height dimension of the outlet of the air duct shrinking device is m; x is the number ofcIs the distance from the inlet of the air duct constriction device.
As shown in fig. 9, the air duct direct-current device 205 is used as a landing gear of a plant protection unmanned aerial vehicle, and is structured in a vertical cuboid structure with side edges, and the side edges are used for sealing the distance between the air duct contraction device 204 and the air duct direct-current device 205; the bottom of the air duct straight-flow device 205 is provided with a narrow slit-shaped air outlet.
The transverse adjusting component 300 is fixed on the stabilizing device 203 of the gas hood component 200 through two side brackets; as shown in fig. 6, the lateral adjustment component 300 includes a lateral adjustment motor 303, a lateral adjustment screw 302, a lateral adjustment screw 301, a first transmission bevel gear 304, and a second transmission bevel gear 305; the transverse adjusting motor 303 is fixed in the middle of the front plate of the stabilizing device 203 of the gas hood component 200, a second transmission bevel gear 305 is fixedly installed on an output shaft of the transverse adjusting motor 303, first transmission bevel gears 304 are arranged on two opposite sides of the second transmission bevel gear 305, and the first transmission bevel gears 304 are meshed with the second transmission bevel gears 305; the transverse adjusting screw 302 is arranged on a first transmission bevel gear 304, the transverse adjusting screw sleeve 301 is arranged on the stabilizing device side plate 203c, and the transverse adjusting screw sleeve 301 is arranged on the transverse adjusting screw 302 through threads; the transverse adjusting motor 303 drives the second transmission gear 305 to rotate, the second transmission gear 305 drives the first transmission gear 304 to rotate, and the first transmission gear 304 drives the transverse adjusting screw 302 to rotate, so that the transverse adjusting screw sleeve 301 moves linearly; so that the diffuser 202, the stabilizer 203 and the air duct constriction 204 can be extended and retracted. The spraying part 400 is installed on the front and rear plates 204c of the middle air duct constriction device of the air hood part 200, and the spray head thereof is located at the center of the middle air duct constriction device. As shown in fig. 7, the longitudinal adjustment component 500 includes a longitudinal adjustment motor 501, a driving gear 505, a left rack 504, a driven gear 506, a right rack 507 and a gear box 508; the gear box 508 is fixed on the side plate of the air duct direct-current device 205 through brackets 503 on two sides of the gear box, the left rack 504 is fixed on the side plate 204a of the first air duct retractor, and the right rack 507 is fixed on the side plate 204b of the second air duct retractor; the longitudinal adjusting motor 501 is fixedly installed on a side plate of the air duct direct current device 205, and is fixed on the gear box 508 through a supporting screw 502; the driving gear 505 is mounted on the output shaft of the longitudinal adjusting motor 501, the driven gear 506 is mounted on the gear box 508 through a supporting shaft 509, and the driving gear 505 and the driven gear 506 are meshed with each other; with the rotation of the longitudinal adjustment motor 501, the driving gear 505 and the driven gear 506 respectively drive the left rack 504 and the right rack 507 to perform linear motion, so as to drive the first air duct retractor side plate 204a and the second air duct retractor side plate 204b to move, thereby realizing the size change of the opening of the air duct retractor 204.
In addition, the gas collecting device 201, the diffusing device 202, the stabilizing device 203, the air duct contracting device 204 and the air duct straight-flow device 205 are all provided with sealing flexible cloth (such as coating cloth) at the inner sides of the side plates and the front and rear plates, and the shape of the sealing flexible cloth is consistent with the shape of the air hood part 200 when the air hood part is unfolded, so that the air flow can be effectively prevented from leaking.
The working principle of the utility model is as follows:
1) when the plant protection unmanned aerial vehicle is ready for operation, the power supply is turned on, the transverse adjusting component 300 starts to work, the transverse adjusting motor 303 rotates to drive the transverse adjusting screw 302 to rotate, and the ends of the transverse adjusting motor 303 and the transverse adjusting screw sleeve 301 are fixed on the stabilizing device 203, so that the diffusing device 202, the stabilizing device 203 and the air duct contracting device 204 are unfolded; 2) when the unmanned aircraft 100 is started, the downwash airflow generated by the rotor is completely collected and utilized by the air hood part 200, the collected airflow enters the air collecting device 201 and then enters the diffusing device 202, the diffusing device 202 reduces the airflow speed and reduces the loss due to the small upper end and the large lower end, meanwhile, the diffusing device 202 is internally provided with the diffusing device flexible guide plate 202a for guiding and distributing the low-speed airflow so that the airflow enters the stabilizing device 203 at a low speed, the stabilizing device 203 is internally provided with the rectifying plate 203a for further guiding and stabilizing the airflow, the stabilized airflow enters the air duct constriction device 204 for acceleration, and the shape of the front plate 204c and the rear plate 204c of the air duct constriction device are designed by a vickers curve, so that the air speed is uniform when the airflow flows out of the air duct constriction device 204, in the same direction and perpendicular to the outlet.
In addition, part of the air flow enters the air duct straight-flow device 205 and flows out from two sides to form left and right air curtains, so that the influence of side wind on the fog drops in the external environment can be resisted.
The air flow of the air channel contraction device 204 is divided into three air flows which respectively flow out from the outlets of the front air channel contraction device, the middle air channel contraction device and the rear air channel contraction device, the air flows of the front air channel contraction device and the rear air channel contraction device form a front air curtain and a rear air curtain, the influence of the external air flow in the external flying direction on fog drops can be resisted, the disturbance can be carried out on a crop canopy, the fog drops can enter the interior of crops, and the air flow of the middle air channel contraction device carries the fog drops to rapidly move downwards to reach the crops to finish spraying; meanwhile, the air flow of the air duct direct-current device 205 forms a left air curtain and a right air curtain, and the influence of outside environment crosswind on fog drops can be resisted. Through the four air curtain effects of front, back, left and right, the fog drops are not easy to drift, and uniform spraying is realized.
3) After the unmanned aircraft 100 takes off, it flies according to the planned route.
When the unmanned aerial vehicle flies, airflow which is opposite to the flying direction of the plant protection unmanned aerial vehicle can be generated, and the drifting of fog drops can be influenced; the outside wind speed can also influence the drifting of the fog drops; the density of the crop canopy affects the spraying effect.
The ground wind speed and direction sensor is used for measuring the external wind speed and direction, the front image sensor 101 (forward flight) or the rear image sensor 102 (backward flight) is used for detecting the density and the operation width of a crop canopy, the sensors on the unmanned aerial vehicle body are used for detecting the flight direction (forward flight and backward flight) and the flight speed and transmitting the flight direction (forward flight and backward flight) and the flight speed to the control system, and the control system is used for controlling the longitudinal adjusting component 500 and the transverse adjusting component 300 which are arranged on the air duct shrinking device 204 according to received signals.
When the ground wind speed and direction sensor detects an external wind speed value, the wind speed and the wind speed are wirelessly transmitted to the control system, the sensor on the unmanned aerial vehicle body detects the flight direction (forward flight and backward flight) and the flight speed and transmits the flight direction to the control system, meanwhile, the wind speed at the outlets of the front and rear wind channel shrinking devices is transmitted to the control system by the outlet wind speed sensor 209 of the front and rear wind channel shrinking devices, and as the wind channel shrinking device outlet wind speed values (obtained by tests before operation and capable of reducing the influence of external airflow on fog drops) corresponding to the external wind speed, the flight direction and the flight speed are stored in the control system, the control system controls the longitudinal adjusting part 500 on the front and rear wind channel shrinking devices, so that the sizes of the openings of the front and rear wind channel shrinking devices are changed, the change of the air speed at the outlets of the front and rear, And the outlet wind speed sensor 209 of the rear air duct shrinking device transmits the outlet wind speed to the control system again, compares the outlet wind speed with the data stored in the system, and if the outlet wind speed is consistent with the data stored in the system, the outlets of the front air duct shrinking device and the rear air duct shrinking device are not changed any more, so that the influence of the wind speed, the flying direction and the flying speed of the external environment on the fogdrop drifting is reduced.
When the front and rear image sensors detect the density of the crop canopy and transmit the detected density to the control system, and at the same time, the outlet wind speed sensor 209 of the middle air duct retractor transmits the wind speed at the outlet of the middle air duct retractor to the control system, because the wind speed value of the outlet of the middle air duct retractor corresponding to the density of the crop canopy is stored in the control system (obtained through experiments before operation, fog drops can penetrate through the corresponding crop canopy at a certain outlet wind speed), the control system controls the longitudinal adjusting component 500 on the middle air duct retractor, so that the size of the opening of the middle air duct retractor is changed, the change of the wind speed at the outlet of the middle air duct retractor is realized, and at the same time, the outlet wind speed sensor 209 of the middle air duct retractor transmits the outlet wind speed to the control system again and compares the outlet wind speed with the data stored in the system, if so, the intermediate airway constriction device outlet is no longer altered, thereby increasing droplet penetration.
When the image sensor monitors that the spraying width exceeds the range of an operation object (such as the edge of a field and a young fruit tree), the control system controls the transverse adjusting component 300, the transverse adjusting motor 303 rotates to drive the transverse adjusting screw 302 to rotate, and as the transverse adjusting motor 303 and the end part of the transverse adjusting screw sleeve 301 are fixed on the stabilizing device 203, the diffusing device 202, the stabilizing device 203 and the air duct shrinking device 204 shrink, and the spraying width is reduced due to the inhibition effect of front, back, left and right air flows; furthermore, as the spraying width is reduced, the flight control system increases the flight speed, so that the spraying flow rate in unit area is consistent.
4) After the plant protection operation is completed, the plant protection unmanned aerial vehicle is ready to return to land, the control system controls the transverse adjusting component 300 to work, and the transverse adjusting motor 303 rotates to drive the transverse adjusting screw 302 to rotate reversely, so that the diffusion device 202, the stabilizing device 203 and the air channel contraction device 204 are contracted, and the flight resistance is reduced. The left and right duct once-through 205 may be used as landing gear.
The above detailed description describes the preferred embodiments of the present invention, but the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be implemented with various equivalent transformations (such as quantity, shape, position, etc.), which all belong to the protection of the present invention.
Claims (7)
1. The utility model provides a plant protection unmanned aerial vehicle prevents spraying mechanism that wafts which characterized in that: comprises a front image sensor (101), a rear image sensor (102), an air hood component (200) and a spraying component (400);
the front image sensor (101) and the rear image sensor (102) are respectively arranged at the front and rear positions below the unmanned aircraft (100) and are used for detecting the density of a crop canopy and the operation width when the unmanned aircraft (100) flies forwards and backwards respectively; a sensor for detecting the flight direction and the flight speed of the unmanned aircraft is arranged on the unmanned aircraft (100);
the air hood part (200) is installed below the unmanned aerial vehicle (100), and the spraying part (400) is installed below the air hood part (200);
the gas hood part (200) comprises a gas collecting device (201), a diffusing device (202), a stabilizing device (203), an air channel shrinking device (204), an air channel direct-current device (205) and an outlet air speed sensor (209); the stabilizing device (203) is connected with the diffusing device (202), the gas collecting device (201) is connected with the diffusing device (202) through a second rotating shaft (207) and a third rotating shaft (208), the air duct direct-current device (205) is installed at two sides below the stabilizing device (203), the length of the air duct direct-current device is consistent with the side length of the gas collecting device (201), and an air outlet is formed in the bottom of the air duct direct-current device (205); the air duct contraction device (204) consists of a front air duct contraction device, an intermediate air duct contraction device and a rear air duct contraction device, is connected with the stabilizing device (203) through a first rotating shaft (206), and can rotate around the first rotating shaft (206) respectively; the length L of the air channel contraction device (204) is the spraying operation width; the tail end of each air channel contraction device is provided with an outlet air speed sensor (209);
the spraying component (400) is arranged on the middle air duct constriction device of the air hood component (200), and a spraying head of the spraying component is positioned in the center of the middle air duct constriction device.
2. The plant protection unmanned aerial vehicle of claim 1, characterized in that: the diffusion device (202) is composed of a diffusion device front plate, a diffusion device rear plate (202c) and a diffusion device side plate, the diffusion device side plate comprises a first diffusion device side plate (202d) and a second diffusion device side plate (202b), an elongated slot is formed in the second diffusion device side plate (202b), a convex shaft is arranged at a corresponding position on the first diffusion device side plate (202d), and the first diffusion device side plate (202d) is slidably mounted on the second diffusion device side plate (202b) through the matching of the convex shaft and the elongated slot; the inner walls of the front plate (202c) and the rear plate (202c) of the diffusion device are provided with a flexible guide plate (202a) of the diffusion device for guiding and distributing low-speed airflow; the upper end of the flexible guide plate (202a) of the diffusion device is arranged on the inner wall of the front and rear plates (202c) of the diffusion device, the lower end of the flexible guide plate is fixed on the stabilizing device (203), and the side surface of the flexible guide plate is arranged on the front and rear flexible plates (202e) of the diffusion device; a diffuser flexible front and rear plate (202e) is mounted between the diffuser front and rear plate (202c) and the diffuser side plate;
the stabilizing device (203) is composed of a stabilizing device front and rear plate (203b) and a stabilizing device side plate (203c), a stabilizing device flexible front and rear plate (203d) is installed between the stabilizing device front and rear plate (203b) and the stabilizing device side plate (203c), and a honeycomb-shaped rectifying plate (203a) is installed inside the stabilizing device flexible front and rear plate (203 d);
the air duct constriction device (204) comprises a first air duct constriction device side plate (204a), a second air duct constriction device side plate (204b) and an air duct constriction device front and rear plate (204c) arranged in the first air duct constriction device side plate (204a) and the second air duct constriction device side plate (204b), wherein the first air duct constriction device side plate (204a) is slidably arranged on the outer side of the second air duct constriction device side plate (204 b); the shapes of the front plate and the rear plate (204c) of the air channel contraction device are designed by a Vickers curve, see formula (1), so that the air speed is uniform, the direction is consistent and the air flow is vertical to the outlet when the air flow flows out of the air channel contraction device (204);
in the formula: rcThe axial distance of the air duct contraction device is xcThe height dimension of (d) is in m; r1The height dimension of the inlet of the air duct shrinking device is m; r2The height dimension of the outlet of the air duct shrinking device is m; x is the number ofcIs the distance from the inlet of the air duct contraction device;
a transverse adjusting component (300) is fixed on the stabilizing device (203) of the air hood component (200), and the transverse adjusting component (300) comprises a transverse adjusting motor (303), a transverse adjusting screw rod (302) and a transverse adjusting screw sleeve (301) which are matched with each other; the transverse adjusting motor (303) is fixed on one side of the stabilizing device (203) of the air hood component (200), the transverse adjusting screw rod (302) is installed on an output shaft of the transverse adjusting motor (303), and the transverse adjusting screw sleeve (301) is fixed on a side plate (203c) of the stabilizing device.
3. The plant protection unmanned aerial vehicle of claim 2, characterized in that: the device is characterized by also comprising a longitudinal adjusting component (500), wherein the longitudinal adjusting component (500) comprises a longitudinal adjusting motor (501), a driving gear (505), a left rack (504), a driven gear (506), a right rack (507) and a gear box body (508); the gear box body (508) is fixed on a side plate of the air duct direct-current device (205) through brackets (503) on two sides of the gear box body, the left rack (504) is fixed on a side plate (204a) of a first air duct contraction device, and the right rack (507) is fixed on a side plate (204b) of a second air duct contraction device; the longitudinal adjusting motor (501) is fixedly arranged on a side plate of the air duct direct current device (205) and is fixed on the gear box body (508) through a supporting screw rod (502); the driving gear (505) is installed on an output shaft of the longitudinal adjusting motor (501), the driven gear (506) is installed on the gear box body (508) through a supporting shaft (509), and the driving gear (505) and the driven gear (506) are meshed with each other; with the rotation of the longitudinal adjusting motor (501), the driving gear (505) and the driven gear (506) respectively drive the left rack (504) and the right rack (507) to perform linear motion, so as to drive the first air duct constriction device side plate (204a) and the second air duct constriction device side plate (204b) to move, and thus the size change of the opening of the air duct constriction device (204) is realized.
4. The plant protection unmanned aerial vehicle of claim 2, characterized in that: the first air duct retractor side plate (204a) is provided with a raised line on the inner side wall, the second air duct retractor side plate (204b) is provided with a sliding groove corresponding to the raised line on the inner side wall of the first air duct retractor side plate 204a at a position corresponding to the outer side of the second air duct retractor side plate, and the first air duct retractor side plate and the second air duct retractor side plate are matched with each other.
5. The plant protection unmanned aerial vehicle of claim 2, characterized in that: two groups of transverse adjusting screw rods and transverse adjusting screw sleeves which are matched with each other in the transverse adjusting component (300) are arranged, a second transmission bevel gear (305) is fixedly arranged on an output shaft of the transverse adjusting motor (303), first transmission bevel gears (304) are respectively arranged on two opposite sides of the second transmission bevel gear (305), and the first transmission bevel gears (304) are meshed with the second transmission bevel gears (305); two transverse adjusting screw rods are respectively arranged on the first transmission bevel gears on the two sides, and corresponding transverse adjusting screw sleeves are arranged on the transverse adjusting screw rods through threads.
6. The plant protection unmanned aerial vehicle of claim 1, characterized in that: the distance H between the gas collecting device (201) and the rotor wing of the unmanned aerial vehicle (100) is 200mm, the upper caliber of the gas collecting device (201) is square, and the side length a of the gas collecting device is 1.2 times of the outer edge of the diagonal rotor wing.
7. The plant protection unmanned aerial vehicle of claim 1, characterized in that: the inner sides of each side plate and the front and rear plates of the gas collecting device (201), the diffusion device (202), the stabilizing device (203), the air duct shrinking device (204) and the air duct direct-current device (205) are respectively provided with sealing flexible cloth, and the shape of the sealing flexible cloth is consistent with the shape of the gas hood part (200) when the sealing flexible cloth is unfolded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921059145.3U CN210479038U (en) | 2019-07-09 | 2019-07-09 | Plant protection unmanned aerial vehicle prevents spraying mechanism that wafts |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921059145.3U CN210479038U (en) | 2019-07-09 | 2019-07-09 | Plant protection unmanned aerial vehicle prevents spraying mechanism that wafts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217397A (en) * | 2019-07-09 | 2019-09-10 | 农业农村部南京农业机械化研究所 | A kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle |
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2019
- 2019-07-09 CN CN201921059145.3U patent/CN210479038U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217397A (en) * | 2019-07-09 | 2019-09-10 | 农业农村部南京农业机械化研究所 | A kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle |
| CN110217397B (en) * | 2019-07-09 | 2024-02-13 | 农业农村部南京农业机械化研究所 | Unmanned aerial vehicle of plant protection prevents spraying mechanism that wafts |
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