CN211139675U - Shower nozzle position control device based on plant protection unmanned aerial vehicle flight direction - Google Patents
Shower nozzle position control device based on plant protection unmanned aerial vehicle flight direction Download PDFInfo
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- CN211139675U CN211139675U CN201920928929.9U CN201920928929U CN211139675U CN 211139675 U CN211139675 U CN 211139675U CN 201920928929 U CN201920928929 U CN 201920928929U CN 211139675 U CN211139675 U CN 211139675U
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Abstract
The utility model discloses a spray head position adjusting device based on flight direction of a plant protection unmanned aerial vehicle, which comprises a pesticide box, a spraying mechanism, an executing device and a control system, wherein the executing device is used for driving the spraying mechanism to move so as to ensure that the spraying mechanism is always positioned behind the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies, and the spraying mechanism comprises a spray lance and a spray head; the executing device comprises a supporting rod, a first rotating mechanism and a second rotating mechanism; the control system comprises a flight state acquisition module and a calculation processing module. Shower nozzle position control device simple structure, easy and simple to handle, safety, and can reduce the influence that rotor below turbulent wind field drifted to the fog to reduce the drift of fog, and then guaranteed the efficiency and the prevention and cure effect of plant protection unmanned aerial vehicle spraying operation, have great application prospect.
Description
Technical Field
The utility model relates to an accurate agricultural equipment field especially relates to a shower nozzle position control device based on plant protection unmanned aerial vehicle flight direction.
Background
In recent years, the spraying of the plant protection unmanned aerial vehicle has the advantages of low operation cost, strong impact capability, safe operation, no limitation of the growth of crops and the like, so that the plant protection unmanned aerial vehicle is widely applied to agriculture, and the aerial spraying operation mode of the plant protection unmanned aerial vehicle serving as one of important marks of agricultural aviation is rapidly applied and developed.
The plant protection unmanned aerial vehicle is different from the obvious marks of other agricultural machinery and is a rotor wing of the plant protection unmanned aerial vehicle, and the existence of the rotor wing enables the plant protection unmanned aerial vehicle to have a special parameter, namely a rotor wing wind field, during aerial operation. Researches show that the rotor wind field in the boundary area is in a laminar flow state, and the orderly downward rotor wind field has a good inhibition effect on aerial spray droplet drift of the plant protection unmanned aerial vehicle; and the rotor wind field in the middle area is in a turbulent flow state, so that the drift of aerial spraying droplets can be increased. Therefore, for reducing the influence of the turbulent wind field in the middle area on the droplet deposition distribution, after the plant protection unmanned aerial vehicle finishes the forward flight operation, the droplets are ejected from the rear of the flight direction of the unmanned aerial vehicle in the following two ways: one mode is to turn the direction of the aircraft nose to control the unmanned aerial vehicle to fly backwards, and the flying mode needs to change the control habit of the control hand, has higher requirement on the control level of the control hand and is easy to cause danger; the other one is that two lines of shower nozzles of fore-and-aft direction installation along the unmanned aerial vehicle fuselage, opens the shower nozzle at flight direction rear during spraying operation and carry out the spraying operation, and this kind of mode not only causes the wasting of resources, and leads to the system more complicated, extravagant liquid medicine etc..
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a shower nozzle position control device based on plant protection unmanned aerial vehicle flight direction, shower nozzle position control device simple structure, easy and simple to handle, safety, and can reduce the influence that rotor below turbulent wind field drifted to the fog to reduce the drift of fog, and then guaranteed plant protection unmanned aerial vehicle spraying operation's efficiency and prevention and cure effect, have great application prospect.
The purpose of the utility model is realized through the following technical scheme:
a spray head position adjusting device based on the flight direction of a plant protection unmanned aerial vehicle comprises a pesticide box arranged on the plant protection unmanned aerial vehicle, a spraying mechanism used for spraying liquid pesticide in the pesticide box, an executing device used for driving the spraying mechanism to move so as to ensure that the spraying mechanism is always positioned behind the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies in operation, and a control system,
the spraying mechanism comprises a spray rod and a spray head arranged on the spray rod, wherein the spray head is communicated with the medicine chest through a connecting piece;
the executing device comprises a supporting rod, a first rotating mechanism arranged between the supporting rod and the plant protection unmanned aerial vehicle and used for driving the supporting rod to rotate on a vertical surface, and a second rotating mechanism arranged between the supporting rod and the spray rod and used for driving the spray rod to rotate around the axis direction of the spray rod;
the control system comprises a flight state acquisition module and a calculation processing module, wherein the flight state acquisition module is used for acquiring flight state information of the current plant protection unmanned aerial vehicle; and the calculation processing module is used for generating a corresponding regulation and control instruction for the execution device according to the flight state information acquired by the flight state acquisition module so as to control the execution device to work.
Preferably, the support rod is provided with a first telescopic mechanism, and the first telescopic mechanism is used for realizing the extension and contraction of the length of the support rod; the spray rod is provided with a second telescopic mechanism, the second telescopic mechanism is used for realizing the stretching and contraction actions of the length of the spray rod, the number of the second telescopic mechanism is consistent with that of the spray heads on the spray rod, and the second telescopic mechanism is arranged along the length direction of the spray rod.
Preferably, the number of the spray heads on the spray rod is two, and the two spray heads are respectively positioned at two ends of the spray rod; the number of the second telescopic mechanisms is two, and the two second telescopic mechanisms are respectively positioned on two sides of the spray rod.
Preferably, the first rotating mechanism and the second rotating mechanism are composed of a motor and a gear transmission mechanism; the first telescopic mechanism and the second telescopic mechanism are electric push rods.
Preferably, the control instruction generated by the calculation processing module includes: and the rotating instruction is used for controlling the first rotating mechanism and the second rotating mechanism to rotate and the action instruction is used for controlling the first telescopic mechanism and the second telescopic mechanism to extend and retract.
Preferably, the spraying mechanism further comprises an attitude sensor which is arranged on the spray rod and used for judging whether the spraying direction of the spray head is vertical and downward.
Preferably, the support rod and the spray rod are both hollow carbon fiber tubes, so that the connecting piece for communicating the medicine box and the spray head is formed.
An adjusting method of a spray head position adjusting device based on the flight direction of a plant protection unmanned aerial vehicle comprises the following steps:
(1) when the plant protection unmanned aerial vehicle takes off in the field, the flight state acquisition module acquires flight state information preset by a flight control system of the plant protection unmanned aerial vehicle and sends the flight state information to the calculation processing module;
(2) the calculation processing module generates a regulation and control instruction according to the flight state information of the current plant protection unmanned aerial vehicle and sends the regulation and control instruction to the execution device; when the plant protection unmanned aerial vehicle flies forwards for operation, the first rotating mechanism controls the spraying mechanism to rotate towards the rear of the flying direction, the first telescopic mechanism and the second telescopic mechanism enable the spray rod and the spray head to extend, and the second rotating mechanism rotates the spray head direction to be vertical to the downward direction for spraying according to the detection information of the attitude sensor;
(3) after the plant protection unmanned aerial vehicle finishes forward flying operation, the plant protection unmanned aerial vehicle moves to another crop row for backward flying operation, and the flying state acquisition module acquires flying state information preset by a flying control system of the plant protection unmanned aerial vehicle and sends the flying state information to the calculation processing module;
(4) the calculation processing module generates a regulation and control instruction according to the flight state information of the current plant protection unmanned aerial vehicle and sends the regulation and control instruction to the execution device; the first telescopic mechanism and the second telescopic mechanism drive the spray rod and the spray head to contract, the first rotating mechanism drives the spraying mechanism to rotate 180 degrees towards the rear of the flight direction, the second telescopic mechanism drives the spray rod and the spray head to extend, and the second rotating mechanism rotates the spray head direction 180 degrees to vertically downwards for spraying according to the detection information of the attitude sensor;
(5) after, spraying operation task completion, control system control first telescopic machanism and second telescopic machanism contract spraying mechanism to plant protection unmanned aerial vehicle's fuselage below completely, plant protection unmanned aerial vehicle descends, accomplishes whole spraying operation process.
Compared with the prior art, the utility model following beneficial effect has:
1. the utility model discloses a shower nozzle position control device simple structure, easy and simple to handle, safety, and can reduce the influence that rotor below turbulent wind field drifted to the fog drop to reduce the drift of fog drop, and then guaranteed the efficiency and the prevention and cure effect of plant protection unmanned aerial vehicle spraying operation, have great application prospect.
2. The utility model discloses a shower nozzle position control device drives the bracing piece through first rotary mechanism and rotates, and drives the spray lance through second rotary mechanism and rotate, makes shower nozzle on the spray lance is vertical down, thereby makes spraying mechanism is in plant protection unmanned aerial vehicle flies to be located all the time plant protection unmanned aerial vehicle direction of advance's rear, and then reduces the influence that rotor below turbulent wind field drifted to the fog drop, has guaranteed the operating efficiency and the prevention and cure effect of plant protection unmanned aerial vehicle spraying, increases the effective utilization ratio of liquid medicine.
Drawings
Fig. 1 is the utility model discloses a shower nozzle position control device's spatial structure schematic diagram based on plant protection unmanned aerial vehicle flight direction.
Fig. 2 is a front view.
Fig. 3 is a schematic view of the first rotating mechanism.
Fig. 4 is a schematic view of the second rotating mechanism.
Fig. 5 is a schematic structural view of the first and second telescoping mechanisms.
Fig. 6 is the utility model discloses a shower nozzle position control device's control system based on plant protection unmanned aerial vehicle flight direction's block diagram.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-6, the device for adjusting the position of a nozzle based on the flight direction of a plant protection unmanned aerial vehicle of the present invention comprises a pesticide box disposed on the plant protection unmanned aerial vehicle, a spraying mechanism 1 for spraying the pesticide liquid in the pesticide box, an executing device 2 for driving the spraying mechanism 1 to move to ensure that the spraying mechanism 1 is always located behind the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies, and a control system 3,
the spraying mechanism 1 comprises a spray rod 1-1 and a spray head 1-2 arranged on the spray rod 1-1, wherein the spray head 1-2 is communicated with the medicine chest through a connecting piece;
the executing device 2 comprises a supporting rod 2-1, a first rotating mechanism 2-2 arranged between the supporting rod 2-1 and the plant protection unmanned aerial vehicle and used for driving the supporting rod 2-1 to rotate on a vertical plane, and a second rotating mechanism 2-3 arranged between the supporting rod 2-1 and the spray rod 1-1 and used for driving the spray rod 1-1 to rotate around the axis direction of the spray rod;
the control system 3 comprises a flight state acquisition module 3-1 and a calculation processing module 3-2, wherein the flight state acquisition module 3-1 is used for acquiring flight state information of the current plant protection unmanned aerial vehicle; the calculation processing module 3-2 is configured to generate a regulation instruction corresponding to the execution device 2 according to the flight state information acquired by the flight state acquisition module 3-1 to control the execution device 2 to operate, where the regulation instruction generated by the calculation processing module 3-2 includes: and a rotation instruction for controlling the first rotating mechanism 2-2 and the second rotating mechanism 2-3 to rotate and an action instruction for controlling the first telescopic mechanism 2-4 and the second telescopic mechanism 2-5 to extend and retract are generated according to the flight direction information and the flight parameter information.
Referring to fig. 1-6, a first telescopic mechanism 2-4 is arranged on the support rod 2-1, and the first telescopic mechanism 2-4 is used for realizing the extending and retracting actions of the length of the support rod 2-1; the spray rod 1-1 is provided with second telescopic mechanisms 2-5, the second telescopic mechanisms 2-5 are used for realizing the extending and contracting actions of the length of the spray rod 1-1, the number of the second telescopic mechanisms 2-5 is consistent with the number of the spray heads 1-2 on the spray rod 1-1, and the second telescopic mechanisms are uniformly arranged along the length direction of the spray rod 1-1. Thus, before the executing device 2 drives the spraying mechanism 1 to make a rotary motion, the first telescopic mechanism 2-4 enables the supporting rod 2-1 to be contracted to the shortest, and the second telescopic mechanism 2-5 enables the spray rod 1-1 to be contracted to the shortest, so that the rotary inertia of the spraying mechanism 1 during the rotary motion can be reduced; after the spraying mechanism 1 completes the rotary motion, the first telescopic mechanism 2-4 and the second telescopic mechanism 2-5 extend the support rod 2-1 and the spray rod 1-1 to the designated positions according to the action command generated by the calculation processing module 3-2. In addition, when the flight height of the plant protection unmanned aerial vehicle is high, the second telescopic mechanism 2-5 on the spray rod 1-1 is further extended to increase the spray amplitude, so that the operation efficiency of the plant protection unmanned aerial vehicle is improved; when the flying height is lower, the second telescopic mechanism 2-5 on the spray rod 1-1 contracts properly to shorten the distance between the spray heads 1-2, so that the phenomenon of spraying leakage of the plant protection unmanned aerial vehicle is avoided.
Referring to fig. 1-6, the number of spray heads 1-2 on the spray bar 1-1 is two, and the two spray heads 1-2 are respectively located at two ends of the spray bar 1-1; the number of the second telescopic mechanisms 2-5 is two, and the two second telescopic mechanisms are respectively positioned on two sides of the spray rod 1-1.
Referring to fig. 1 to 5, the first rotating mechanism 2-2 includes a rotating motor 7, a rotating shaft disposed on the plant protection unmanned aerial vehicle, and a spur gear transmission mechanism 8 for transmitting power of the rotating motor 7 to the rotating shaft, wherein two ends of the rotating shaft are rotatably connected to the plant protection unmanned aerial vehicle, the support rod 2-1 is fixedly connected to the middle of the rotating shaft, and the axial direction of the support rod 2-1 is perpendicular to the axial direction of the rotating shaft; two mutually meshed spur gears of the spur gear transmission mechanism 8 are respectively arranged on the rotating shaft and a main shaft of the rotating motor 7, and the rotating shaft is driven to rotate by the rotating motor 7, so that the supporting rod 2-1 is driven to rotate on a vertical surface.
Referring to fig. 1 to 5, the second rotating mechanism 2-3 includes a rotating motor 7 and a bevel gear transmission mechanism 9 for transmitting the power of the rotating motor 7 to the spray bar 1-1, wherein two mutually meshed bevel gears of the bevel gear transmission mechanism 9 are respectively installed on the main shafts of the spray bar 1-1 and the rotating motor 7, and the rotating motor 7 drives the bevel gear transmission mechanism 9 to rotate, so as to drive the spray bar 1-1 to rotate around the axial direction thereof, so that the spray heads 1-2 on the spray bar 1-1 are always vertically downward.
Referring to fig. 5, the first telescoping mechanism 2-4 and the second telescoping mechanism 2-5 in the present embodiment each include a mounting seat, a telescoping motor 4 disposed in the mounting seat, and a screw transmission mechanism, wherein the spray bar 1-1 located in the mounting seat is composed of two parts, and the two parts of the spray bar 1-1 are connected through a sleeve 10; one part of the spray rod 1-1 is fixed on the mounting seat, the other part of the spray rod 1-1 is connected with a screw nut 6 in a screw transmission mechanism, a screw 5 in the screw transmission mechanism is connected with a main shaft of the telescopic motor 4, and the axial direction of the screw 5 of the screw transmission mechanism is parallel to the axial direction of the spray rod 1-1. When the telescopic spray rod mechanism works, the telescopic motor 4 drives the screw rod 5 to rotate, so that the screw rod nut 6 and the spray rod 1-1 arranged on the screw rod nut 6 are driven to move, the distance between the two spray rods 1-1 is increased, and the length of the spray rod 1-1 is increased. In the process, the sleeve 10 is sleeved between the two spray rods 1-1 in the mounting seat, so that the spray rod 1-1 arranged on the screw rod nut 6 is still positioned in the peach sleeve 10 only after the screw rod nut 6 and the spray rod 1-1 arranged on the screw rod nut 6 move to the maximum stroke, and the two spray rods 1-1 arranged in the mounting seat can be always in a communicated state, so that the liquid medicine can smoothly reach the nozzle 1-2. For this purpose, the end of the spindle 5 is also provided with a stop, in order to prevent the over travel of the spindle nut 6 during movement.
In addition to the above embodiments, the first telescoping mechanism 2-4 and the second telescoping mechanism 2-5 are electric push rods, and the structure of the electric push rods can be implemented by referring to the electric push rods existing in the market.
Referring to fig. 1-6, the spraying mechanism 1 further includes an attitude sensor disposed on the spray bar 1-1 for determining whether the spraying direction of the spray head 1-2 is vertical and downward. When the spray head 1-2 is not vertically downward, the calculation processing module 3-2 generates a rotation instruction to control the second rotation mechanism 2-3 to rotate the spray head 1-2 to the vertically downward direction.
Referring to fig. 1-6, the support rod 2-1 and the spray rod 1-1 are hollow carbon fiber tubes, and thus the connection member is formed, such that one end of the support rod 2-1 is communicated with the spray rod 1-1, and the other end is communicated with a medicine box, so that the medicine liquid in the medicine box can reach the spray head 1-2 through the support rod 2-1 and the spray rod 1-1.
Referring to fig. 1-6, the utility model discloses a shower nozzle position control device's adjusting method based on plant protection unmanned aerial vehicle flight direction includes following step:
(1) when the plant protection unmanned aerial vehicle takes off in the field, the flight state acquisition module 3-1 acquires flight state information preset by a flight control system of the plant protection unmanned aerial vehicle and sends the flight state information to the calculation processing module 3-2;
(2) the calculation processing module 3-2 generates a regulation and control instruction according to the flight state information of the current plant protection unmanned aerial vehicle, and sends the regulation and control instruction to the execution device 2; when the plant protection unmanned aerial vehicle flies forwards for operation, the first rotating mechanism 2-2 controls the spraying mechanism 1 to rotate towards the rear of the flying direction, the first telescopic mechanism 2-4 and the second telescopic mechanism 2-5 enable the spray rod 1-1 and the spray head 1-2 to extend, and the second rotating mechanism 2-3 rotates the spray head 1-2 to vertically downwards for spraying according to the detection information of the attitude sensor;
(3) after the plant protection unmanned aerial vehicle finishes forward flying operation, the plant protection unmanned aerial vehicle moves to another crop row for backward flying operation, and the flying state acquisition module 3-1 acquires flying state information preset by a plant protection unmanned aerial vehicle flying control system and sends the flying state information to the calculation processing module 3-2;
(4) the calculation processing module 3-2 generates a regulation and control instruction according to the flight state information of the current plant protection unmanned aerial vehicle, and sends the regulation and control instruction to the execution device 2; the first telescopic mechanism 2-4 and the second telescopic mechanism 2-5 drive the spray rod 1-1 and the spray head 1-2 to contract, after the first rotary mechanism 2-2 drives the spraying mechanism 1 to rotate 180 degrees towards the rear of the flight direction, the second telescopic mechanism 2-5 drives the spray rod 1-1 and the spray head 1-2 to extend, and the second rotary mechanism 2-3 rotates the spray head 1-2 direction 180 degrees to vertically downwards spray according to the detection information of the attitude sensor;
(5) and after the spraying operation task is completed, the control system 3 controls the first telescopic mechanism 2-4 and the second telescopic mechanism 2-5 to completely contract the spraying mechanism 1 to the lower part of the unmanned plant protection machine body, and the unmanned plant protection machine descends to complete the whole spraying operation process.
The above is the preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above, and any other changes, modifications, replacements, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be equivalent replacement modes, such as the number of the nozzles and the change of the supporting rods, etc., all included in the protection scope of the present invention.
Claims (7)
1. A spray head position adjusting device based on the flight direction of a plant protection unmanned aerial vehicle is characterized by comprising a pesticide box arranged on the plant protection unmanned aerial vehicle, a spraying mechanism used for spraying liquid pesticide in the pesticide box, an executing device used for driving the spraying mechanism to move so as to ensure that the spraying mechanism is always positioned behind the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies, and a control system, wherein,
the spraying mechanism comprises a spray rod and a spray head arranged on the spray rod, wherein the spray head is communicated with the medicine chest through a connecting piece;
the executing device comprises a supporting rod, a first rotating mechanism arranged between the supporting rod and the plant protection unmanned aerial vehicle and used for driving the supporting rod to rotate on a vertical surface, and a second rotating mechanism arranged between the supporting rod and the spray rod and used for driving the spray rod to rotate around the axis direction of the spray rod;
the control system comprises a flight state acquisition module and a calculation processing module, wherein the flight state acquisition module is used for acquiring flight state information of the current plant protection unmanned aerial vehicle; and the calculation processing module is used for generating a corresponding regulation and control instruction for the execution device according to the flight state information acquired by the flight state acquisition module so as to control the execution device to work.
2. The spray head position adjusting device based on the flight direction of the plant protection unmanned aerial vehicle as claimed in claim 1, wherein the support rod is provided with a first telescopic mechanism, and the first telescopic mechanism is used for realizing the extending and retracting actions of the length of the support rod; the spray rod is provided with a second telescopic mechanism, the second telescopic mechanism is used for realizing the stretching and contraction actions of the length of the spray rod, the number of the second telescopic mechanism is consistent with that of the spray heads on the spray rod, and the second telescopic mechanism is arranged along the length direction of the spray rod.
3. The spray head position adjusting device based on the flight direction of the plant protection unmanned aerial vehicle as claimed in claim 2, wherein the number of the spray heads on the spray bar is two, and the two spray heads are respectively located at two ends of the spray bar; the number of the second telescopic mechanisms is two, and the two second telescopic mechanisms are respectively positioned on two sides of the spray rod.
4. The device of claim 3, wherein the first and second rotating mechanisms comprise a motor and a gear transmission mechanism; the first telescopic mechanism and the second telescopic mechanism are electric push rods.
5. The device of claim 2, wherein the control instructions generated by the calculation processing module include: and the rotating instruction is used for controlling the first rotating mechanism and the second rotating mechanism to rotate and the action instruction is used for controlling the first telescopic mechanism and the second telescopic mechanism to extend and retract.
6. The device of claim 5, wherein the spraying mechanism further comprises an attitude sensor disposed on the spray bar for determining whether the spraying direction of the spray head is vertical and downward.
7. The device of claim 1, wherein the support rod and the spray rod are hollow carbon fiber tubes, so as to form a connecting part for communicating the pesticide box and the spray head.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
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