CN210793645U - Unmanned ground effect aircraft for plant protection - Google Patents
Unmanned ground effect aircraft for plant protection Download PDFInfo
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- CN210793645U CN210793645U CN201921130008.4U CN201921130008U CN210793645U CN 210793645 U CN210793645 U CN 210793645U CN 201921130008 U CN201921130008 U CN 201921130008U CN 210793645 U CN210793645 U CN 210793645U
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Abstract
The utility model belongs to the technical field of aviation plant protection research, specifically a plant protection unmanned ground effect aircraft. The airplane comprises an airplane body, wings, a spraying system, a signal acquisition system and a control system. The lift-up propeller, the air bag belt and the dual-purpose propeller are adopted to assist in taking off, so that the taking-off distance is greatly shortened, and the operation height is reached more quickly; the air bag belt is adopted to replace tires, so that the air bag can be suitable for taking off and landing on different terrains, and is more suitable for operation requirements; by utilizing the ground effect principle, the flying height of the utility model is only about 2 meters, and the flying height can be manually set, so that the plant protection operation can be better carried out, and the device has larger liquid carrying capacity, thereby improving the cruising ability; the spray rod is adjustable in angle, the angle of the spray head can be changed according to different operation states, and the mist deposition effect is improved.
Description
Technical Field
The utility model belongs to the technical field of aviation plant protection research, specifically a plant protection unmanned ground effect aircraft.
Background
The use of aircraft for plant protection is a more and more recent area of research, the aircraft used being divided into manned and unmanned: most of piloted aircrafts are fixed-wing aircrafts; the unmanned aerial vehicle is a single-rotor unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle.
The fixed-wing aircraft has the advantages of large liquid carrying capacity, strong cruising ability and the like, but the fixed-wing aircraft has overhigh flying height, is easy to cause droplet drift and has low pesticide utilization rate; although unmanned aerial vehicle flying height is low, can effectively reduce the droplet drift phenomenon, increases the pesticide utilization ratio, but unmanned aerial vehicle carries liquid measure fewly, and battery live time is few, and duration is weak, can not effectual solution aviation plant protection exist the problem.
Disclosure of Invention
To the above-mentioned problem of aviation plant protection, the utility model provides a plant protection unmanned ground effect vehicle. The utility model discloses can adapt to different landforms and take off and land to the distance of taking off that has significantly reduced is fit for being applied to the plant protection operation.
An unmanned ground effect aircraft for plant protection is characterized by comprising an aircraft body, wings, a spraying system, a signal acquisition system and a control system.
The fuselage includes fuselage upper portion and fuselage lower part, and fuselage upper portion divide into head, middle part, afterbody triplex again. Air bag belts are symmetrically arranged on two sides of the lower part of the machine body, and a space formed between the two air bag belts is a pressurized air cavity; a cushion lifting flow passage is arranged at the head part of the upper part of the machine body and communicated with the lower part of the machine body, and a cushion lifting propeller is arranged in the cushion lifting flow passage; the tail part of the upper part of the machine body is provided with a propelling propeller, two sides of the tail part are respectively provided with a propeller turning control box, and the two dual-purpose propellers are respectively connected with the two propeller turning control boxes; the front part of the middle part of the upper part of the machine body is provided with a front engine, the power of the front engine is conveyed forwards to a front gearbox, then the power of the front engine is respectively conveyed to two centrifugal fans arranged at two sides of the front gearbox and a cushion lifting screw arranged at the head part, the rear part of the middle part of the upper part of the machine body is provided with a rear engine, the power of the rear engine is conveyed backwards to a rear gearbox, and then the power of the rear engine is respectively conveyed to a propulsion screw and a dual-purpose screw arranged at the.
The wings comprise ground effect wings and flying wings, the ground effect wings are directly installed on two sides of the fuselage, and the flying wings are installed on the outer sides of the ground effect wings.
The spraying system comprises a medicine chest, a pump, an air pipe, a spray rod and an electrostatic spray head. The medicine chest is arranged in the middle of the upper part of the machine body and is connected with a pump arranged on the left side of the rear engine, and the pump is powered by the rear engine through a rear gearbox; the electrostatic spray head is arranged on the spray rod and fixed on the air pipe; the wind pipe is fixed on the central line of the lower surface of the ground effect wing and is provided with wind power by the centrifugal fan; the parts of the spraying system are connected by liquid pipes.
The information acquisition system comprises an obstacle avoidance sensor and a speed sensor which are arranged on the head of the upper part of the machine body, a height sensor and a target sensor which are arranged at the front end of the lower part of the machine body, and an anemoscope which is arranged below the wing and in front of the air pipe.
The control system is arranged at the front part of the middle part of the upper part of the fuselage and comprises an aircraft flight control system, a spraying control system and a remote control system. The flight control system is connected with and controls the cushion lifting propeller, the centrifugal fan, the propelling propeller, the dual-purpose propeller and the propeller turning control box; the spraying control system is connected with and controls the pump and the electrostatic spray head; the remote control system includes a floor display and a controller.
The air bag belt relieves the impact of the ground to the ground effect vehicle in the take-off and landing states of the ground effect vehicle, the air bag belt is provided with an air exhaust hole below the air bag belt, the inner side of the air exhaust hole is provided with a pressure valve, the pressure valve is controlled to be switched by the balance of spring force and gas pressure, when the pressure of the air bag belt is higher than the spring force, the air exhaust hole is opened to form high-pressure impact airflow, the take-off flight distance of the vehicle is shortened, and the flight.
The tuber pipe sets up the tuber pipe fumarole in the position of installation electrostatic spray head, and the wind forms the droplet that auxiliary air assisted electrostatic spray head sprayed from tuber pipe fumarole blowout and moves to the target body on, increases droplet penetrability, reduces the drift to improve droplet deposition uniformity to droplet secondary atomization.
The dual-purpose propeller has two forms, and the propeller is vertically downward during taking off to generate downward wind force to assist the WIG craft to leave the ground; when flying, the propeller horizontally moves backwards to generate backward wind power to assist flying; the rotating speeds of the two dual-purpose propellers can be respectively controlled, and when the rotating speeds of the two dual-purpose propellers are different, the steering function of the aircraft is implemented; the change state of the dual-purpose propeller is controlled by a propeller turning control box.
The propeller turning control box comprises a power input shaft, a middle shaft, a power output shaft and a hydraulic cylinder. The power input shaft is connected with the rear gearbox, the power output shaft is connected with the dual-purpose propeller, the intermediate shaft is positioned between the power input shaft and the power output shaft, the intermediate shaft, the power input shaft and the power output shaft are assembled in a meshing mode through gears, two ends of the hydraulic cylinder are fixed on the power input shaft and the power output shaft respectively, and the form of the dual-purpose propeller is changed by controlling the expansion and contraction of the hydraulic cylinder.
The flight control system can control the centrifugal fan, the propelling screw propeller, the lifting screw propeller and the dual-purpose screw propeller to automatically adjust the speed and the height and avoid obstacles according to information acquired by the obstacle avoidance sensor, the speed sensor and the height sensor of the information acquisition system, and can also manually set flight working conditions through a remote control system.
The spraying control system can adjust the flow of the pump according to the information collected by the speed sensor and the target sensor so as to adjust the flow of the spray head to realize the precise spraying of the target, and can also manually set the spraying working condition through a remote control system.
The spraying control system also comprises a spray head angle self-adjusting system, wherein the spray head angle self-adjusting system comprises an anemoscope, a rear engine, a rear gearbox, a processor arranged at the rear half part of the middle part of the upper part of the machine body, a clutch arranged at one side of the processor and connected with the processor, an air pipe, a spray rod and an electrostatic spray head, the anemoscope collects air speed information below the wing, the air speed information is analyzed and processed by the processor to control the clutch to be connected or disconnected to control the air pipe to rotate, the spray head is driven to change the spraying angle of the spray head, and fog drops are better deposited on crops. The power of the wind pipe is generated by a rear engine and is transmitted to the clutch through a rear gearbox.
Compared with the prior aviation plant protection technology, the utility model has the advantages of it is following: 1. the lift-up propeller, the air bag belt and the dual-purpose propeller are adopted to assist in taking off, so that the taking-off distance is greatly shortened, and the operation height is reached more quickly; 2. the air bag belt is adopted to replace a tire, so that the air bag can be suitable for taking off and landing in different terrains, and is more suitable for the operation requirement of the utility model; 3. by utilizing the ground effect principle, the flying height of the utility model is only about 2 meters, and the flying height can be manually set, so that the plant protection operation can be better carried out, and the device has larger liquid carrying capacity, thereby improving the cruising ability; 4. the spray rod is adjustable in angle, the angle of the spray head can be changed according to different operation states, and the mist deposition effect is improved.
Drawings
FIG. 1 is a schematic top view of the overall structure of the WIG craft.
FIG. 2 is a schematic view of the lower surface of the overall structure of the WIG craft.
FIG. 3 is a schematic view of a sprinkler angle self-adjustment system.
FIG. 4 is a schematic diagram of the internal structure of the propeller turning control box during takeoff.
FIG. 5 is a schematic view of the internal structure of a propeller turning control box during flight.
FIG. 6 takeoff state of WIG craft.
Fig. 7 the flight status of the WIG craft.
FIG. 8 is a schematic diagram of a control system.
Description of reference numerals:
1 airbag belt
2 cushion lifting propeller
3 cushion lifting flow passage
4 propelling propeller
5 Dual-purpose propeller
6 propeller turning control box
7 front engine
8 front gearbox
9 centrifugal fan
10 rear engine
11 rear gearbox
12 ground effect wing
13 flight wing
14 medicine chest
15 pump
16 obstacle avoidance sensor
17 speed sensor
18 pressurized air cavity
19 air duct
20 spray rod
21 Electrostatic spray head
22 height sensor
23 target sensor
24 wind velocity indicator
25 air bag with vent hole
26 blast pipe gas orifice
27 processor
28 Clutch
29 power input shaft
30 intermediate shaft
31 power take-off shaft
32 hydraulic cylinder
33 control system
Detailed Description
The technical solution of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments;
as shown in fig. 1 and 2, the plant protection unmanned ground effect vehicle comprises a fuselage, wings, a spraying system, a signal acquisition system and a control system.
When the aircraft takes off, the front engine 7 provides power for the centrifugal fan 9 and the cushion lifting propeller 2 through the front gearbox 8, the centrifugal fan 9 inflates the air bag belt 1 when working, and when the internal pressure of the air bag belt 1 reaches a critical value, the air bag belt exhaust hole 25 is opened to form downward impact airflow; the impact air flow formed by the cushion lifting propeller 2 is conveyed to a pressurizing air cavity 18 at the lower part of the machine body along the cushion lifting flow channel 3; the rear engine 10 provides power for the dual-purpose propeller 5 and the propulsion propeller 4 through the rear gearbox 11, the internal state of the propeller turning control box 6 is shown in figure 4, the state of the dual-purpose propeller is shown in figure 6, downward impact airflow is formed, the power input shaft 29 is meshed with the power output shaft 31 and the intermediate shaft 30 through gears, and the intermediate shaft 30 is not contacted with the power output shaft 31; the three assist the aircraft to leave the ground, and the propulsion propeller 4 forms backward impact airflow to provide forward power for the aircraft.
When the takeoff of the aircraft is finished, the hydraulic cylinder 32 in the propeller turning control box 6 extends, the power output shaft 32 is changed from a vertical state to a horizontal state, as shown in fig. 5, the state of the dual-purpose propeller 5 is as shown in fig. 7, backward impact airflow is generated to push the aircraft to fly, at the moment, the power input shaft 29 and the intermediate shaft 30 are meshed through the gear to transmit power, the intermediate shaft 30 and the power output shaft 31 are meshed through the gear to transmit power, and the power input shaft 29 is not contacted with the power output shaft 31.
When the aircraft encounters an obstacle in the flying process, as shown in fig. 8, the height sensor 22 and the obstacle avoidance sensor 16 acquire information, and after the information is analyzed and processed by the aircraft onboard processor, the rotating speeds of the two dual-purpose propellers 5 are controlled to be changed to be different, so that the directions are changed; or the power of the centrifugal fan 9 and the lift propeller 2 is increased to realize the jump of the aircraft, so that obstacles are avoided. Meanwhile, the flight direction and the height of the aircraft can be controlled through the ground control system.
In the process of plant protection operation, the pump 15 is powered by the rear engine 10 through the rear gearbox 11 to convey the liquid medicine in the medicine box 14 to the electrostatic spray head 21; wind power is provided by centrifugal fan 9 in the tuber pipe 19, discharges through tuber pipe exhaust hole 26, and supplementary electrostatic spray head spun droplet moves on the target body, increases droplet penetrability, reduces the drift to improve droplet deposition uniformity to droplet secondary atomizing.
As shown in fig. 8, the speed sensor 17 and the target sensor 23 transmit the acquired information such as the speed and the target density to the sprayer-mounted processor, and after analysis and processing, the flow rate of the pump 15 is adjusted to adjust the flow rate of the electrostatic spray head 21 to realize precise spraying on the target, and similarly, the spraying condition can be manually set through a remote control system. As shown in fig. 3, the anemoscope 24 collects the wind speed information under the wing, and after the wind speed information is analyzed and processed by the processor 27, the clutch 28 is controlled to be engaged or disengaged to control the rotation of the wind pipe, so as to drive the spray nozzle to change the spray angle of the spray nozzle, and enable the fog drops to be better deposited on crops. The power generated by the rotation of the air pipe is generated by the rear engine 10 and is transmitted to the clutch 28 through the rear gearbox 11.
Furthermore, in the process of farm operation and plant protection, the unmanned ground effect vehicle for plant protection can take off on a lawn or a hard soil within 100 meters away from a farm field, and the air bag belt 1, the cushion lifting propeller 2 and the dual-purpose propeller 5 assist the ground effect vehicle to enter a flying state from the taking-off state as soon as possible. When the unmanned ground effect vehicle for plant protection works above a farmland according to the manually set height, speed and spraying amount, and when the target sensor 23 detects that vegetation in the farmland is sparse or even no vegetation exists, the spraying control system controls the flow of the pump 15 to be less or stops supplying liquid to the pump to adjust the spraying amount of the electrostatic spray head 21 so as to realize target precise spraying; the anemoscope 24 collects the wind speed under the wing of the fan and feeds the wind speed back to the processor 27, the processor 27 controls the connection and disconnection of the clutch 28 to control the directions of the wind pipe 19 and the electrostatic nozzle 21, and the fog drops can be efficiently deposited on plants; when the obstacle avoidance sensor 16 of the unmanned ground effect vehicle for plant protection detects that there are obstacles such as telegraph poles in the front, the flight control system controls the behavior of the unmanned ground effect vehicle such as increasing the flight height or turning to avoid the obstacles in the front. After the plant protection operation is accomplished, unmanned ground effect vehicle for plant protection can descend on arbitrary ground, and gasbag area 1 can descend the impact of in-process ground to the aircraft by effectual buffering, makes its steady landing.
The utility model uses the air bag belt 1 to replace the tire to make the ground effect vehicle take off and reduce the impact of the ground to the ground effect vehicle in the landing state; the utility model follows the ground effect principle during the flight, the flight height is about 2 meters, and the utility model is more suitable for plant protection operation; the utility model discloses use fuel power, load large-scale medical kit, improved aviation plant protection's duration greatly.
Claims (8)
1. The unmanned ground effect aircraft for plant protection is characterized by comprising an aircraft body, wings, a spraying system, a signal acquisition system and a control system;
the fuselage comprises an upper fuselage part and a lower fuselage part, wherein the upper fuselage part is divided into a head part, a middle part and a tail part; air bag belts are symmetrically arranged on two sides of the lower part of the machine body, and a space formed between the two air bag belts is a pressurized air cavity; a cushion lifting flow passage is arranged at the head part of the upper part of the machine body and communicated with the lower part of the machine body, and a cushion lifting propeller is arranged in the cushion lifting flow passage; the tail part of the upper part of the machine body is provided with a propelling propeller, two sides of the tail part are respectively provided with a propeller turning control box, and the two dual-purpose propellers are respectively connected with the two propeller turning control boxes; the front part of the middle part of the upper part of the machine body is provided with a front engine, the power of the front engine is conveyed forwards to a front gearbox and then is respectively conveyed to two centrifugal fans arranged at two sides of the front gearbox and a cushion lifting propeller arranged at the head part, the rear part of the middle part of the upper part of the machine body is provided with a rear engine, the power of the rear engine is conveyed backwards to a rear gearbox and then is respectively conveyed to a propelling propeller and a dual-purpose propeller arranged at the tail part;
the wings comprise ground effect wings and flying wings, the ground effect wings are directly arranged on two sides of the fuselage, and the flying wings are arranged on the outer sides of the ground effect wings;
the spraying system comprises a medicine box, a pump, an air pipe, a spray rod and an electrostatic spray head; the medicine chest is arranged in the middle of the upper part of the machine body and is connected with a pump arranged on the left side of the rear engine, and the pump is powered by the rear engine through a rear gearbox; the electrostatic spray head is arranged on the spray rod and fixed on the air pipe; the wind pipe is fixed on the central line of the lower surface of the ground effect wing and is provided with wind power by the centrifugal fan; all parts of the spraying system are connected by liquid pipes;
the information acquisition system comprises an obstacle avoidance sensor and a speed sensor which are arranged at the head of the upper part of the machine body, a height sensor and a target sensor which are arranged at the front end of the lower part of the machine body, and an anemometer which is arranged below the wing and in front of the air pipe;
the control system is arranged at the front part of the middle part of the upper part of the fuselage and comprises an aircraft flight control system, a spraying control system and a remote control system; the flight control system is connected with and controls the cushion lifting propeller, the centrifugal fan, the propelling propeller, the dual-purpose propeller and the propeller turning control box; the spraying control system is connected with and controls the pump and the electrostatic spray head; the remote control system includes a floor display and a controller.
2. The unmanned WIG craft as claimed in claim 1, wherein the air bag belt relieves the impact of the ground to the WIG craft in take-off and landing states of the WIG craft, the air bag belt is provided with an air vent under the air bag belt, a pressure valve is arranged inside the air vent, the pressure valve is controlled by the balance of the spring force and the gas pressure, when the pressure of the air bag belt is higher than the spring force, the air vent is opened to form high pressure impact air flow, thereby shortening the take-off flight distance of the WIG craft and assisting the flight of the WIG craft.
3. The unmanned aerial vehicle for plant protection as claimed in claim 1, wherein the air duct is provided with air duct air vents at positions where the electrostatic spray heads are installed, and air is ejected from the air duct air vents to form auxiliary air to assist the droplets sprayed by the electrostatic spray heads to run onto the target body, so that droplet penetration is increased, drift is reduced, and droplet deposition uniformity is improved by secondary atomization of the droplets.
4. The unmanned WIG craft of claim 1, wherein said dual purpose propellers are in two configurations, and said propellers are vertically downward during takeoff to generate downward wind to assist said WIG craft to leave the ground; when flying, the propeller horizontally moves backwards to generate backward wind power to assist flying; the rotating speeds of the two dual-purpose propellers can be respectively controlled, and when the rotating speeds of the two dual-purpose propellers are different, the steering function of the aircraft is implemented; the change state of the dual-purpose propeller is controlled by a propeller turning control box.
5. The unmanned aerial vehicle for plant protection of claim 1, wherein the propeller direction change control box comprises a power input shaft, an intermediate shaft, a power output shaft and a hydraulic cylinder inside; the power input shaft is connected with the rear gearbox, the power output shaft is connected with the dual-purpose propeller, the intermediate shaft is positioned between the power input shaft and the power output shaft, the intermediate shaft, the power input shaft and the power output shaft are assembled in a meshing mode through gears, two ends of the hydraulic cylinder are fixed on the power input shaft and the power output shaft respectively, and the form of the dual-purpose propeller is changed by controlling the expansion and contraction of the hydraulic cylinder.
6. The unmanned WIG craft as claimed in claim 1, wherein the flight control system not only controls the centrifugal fan, the propulsion propeller, the lift-up propeller and the dual-purpose propeller to automatically adjust the speed, the height and avoid obstacles according to the information collected by the obstacle avoidance sensor, the speed sensor and the altitude sensor of the information collection system, but also sets the flight condition manually through the remote control system.
7. The unmanned aerial vehicle for plant protection of claim 1, wherein the spraying control system adjusts the flow rate of the pump according to the information collected by the speed sensor and the target sensor, so as to adjust the flow rate of the nozzle to realize precise spraying to the target, and also can manually set the spraying condition through a remote control system.
8. The unmanned aerial vehicle for plant protection as claimed in claim 1, wherein the spray control system further comprises a nozzle angle self-adjusting system, the nozzle angle self-adjusting system comprises an anemoscope, a rear engine, a rear gearbox, a processor installed in the rear half of the upper middle part of the fuselage, a clutch installed on one side of the processor and connected with the processor, an air pipe, a spray rod and an electrostatic nozzle, the anemoscope collects air speed information below the wing, the wind pipe is controlled to rotate by controlling the clutch to be connected or disconnected after the wind speed information is analyzed and processed by the processor, and the nozzle is driven to change the spray angle, so that fog drops are better deposited on crops; the power of the wind pipe is generated by a rear engine and is transmitted to the clutch through a rear gearbox.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921130008.4U CN210793645U (en) | 2019-07-18 | 2019-07-18 | Unmanned ground effect aircraft for plant protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921130008.4U CN210793645U (en) | 2019-07-18 | 2019-07-18 | Unmanned ground effect aircraft for plant protection |
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| Publication Number | Publication Date |
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| CN210793645U true CN210793645U (en) | 2020-06-19 |
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| CN201921130008.4U Active CN210793645U (en) | 2019-07-18 | 2019-07-18 | Unmanned ground effect aircraft for plant protection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450958A (en) * | 2019-07-18 | 2019-11-15 | 江苏大学 | A kind of unmanned ground effect vehicle of plant protection |
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2019
- 2019-07-18 CN CN201921130008.4U patent/CN210793645U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450958A (en) * | 2019-07-18 | 2019-11-15 | 江苏大学 | A kind of unmanned ground effect vehicle of plant protection |
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