KR102155527B1 - Agricultural drone - Google Patents

Agricultural drone Download PDF

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Publication number
KR102155527B1
KR102155527B1 KR1020190124327A KR20190124327A KR102155527B1 KR 102155527 B1 KR102155527 B1 KR 102155527B1 KR 1020190124327 A KR1020190124327 A KR 1020190124327A KR 20190124327 A KR20190124327 A KR 20190124327A KR 102155527 B1 KR102155527 B1 KR 102155527B1
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South Korea
Prior art keywords
angle
drone body
spray nozzle
drone
flight
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KR1020190124327A
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Korean (ko)
Inventor
이지근
알리두스트다프사리레자
유승화
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전북대학교산학협력단
대한민국(농촌진흥청장)
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Priority to KR1020190124327A priority Critical patent/KR102155527B1/en
Priority to PCT/KR2020/009542 priority patent/WO2021071067A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/006—Mounting of the nozzles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B64C2201/12—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Abstract

The present invention relates to an agricultural drone with a spray nozzle and, more specifically, to an agricultural drone with a spray nozzle, which allows liquid chemical to rightly reach a target when the liquid chemical is sprayed from the drone flying to be inclined. The agricultural drone with the spray nozzle of the present invention includes: a drone main body on which rotating wings are mounted and a liquid chemical container is mounted; and a spray nozzle mounted on the drone main body below the rotating wings and supplied with the liquid chemical from the liquid chemical container to spray the same in a lower direction, wherein the spray nozzle is arranged to be inclined in a flight direction of the drone main body with respect to the drone main body so that the liquid chemical sprayed from the spray nozzle is sprayed to be inclined with respect to the drone main body in the flight direction of the drone main body.

Description

분사노즐이 장착된 농업용 드론 { AGRICULTURAL DRONE }Agricultural drone with spray nozzle {AGRICULTURAL DRONE}

본 발명은 분사노즐이 장착된 농업용 드론에 관한 것으로서, 특히 경사지게 비행중이 드론에서 약액 분사시 약액이 목표물에 올바르게 도달하도록 할 수 있는 분사노즐이 장착된 농업용 드론에 관한 것이다.The present invention relates to an agricultural drone equipped with a spray nozzle, and in particular, relates to an agricultural drone equipped with a spray nozzle capable of correctly reaching a target when a chemical liquid is injected from a drone while flying at an angle.

드론은 최초 군사용으로 개발되었으나, 운반 및 보관의 편리성, 조작 용이로 방송에서 촬영용으로 가장 많이 사용되고 있다. 또한, 최근에는 재난 재해 모니터링, 물류 운반, 산불진화 또는 농약 살포용 드론에 대한 많은 연구가 진행되고 있다.Drones were first developed for military use, but are most often used for filming in broadcasting due to the convenience of transport and storage and ease of operation. In addition, in recent years, many studies on drones for disaster disaster monitoring, logistics transportation, forest fire extinguishing or spraying pesticides have been conducted.

농약 살포용 드론의 경우, 최대 10Kg의 농약을 탑재하여 살포 가능한 기기가 최근 개발되었으며, 시간당 최대 10에이커(약 4만 평방제곱미터) 면적에 농약을 살포할 수 있다고 알려진다. In the case of a drone for spraying pesticides, a device capable of spraying with a maximum of 10 kg of pesticides has been recently developed, and it is known that it can spray pesticides on an area of up to 10 acres (about 40,000 square meters) per hour.

이는 60명이 할 일을 드론 혼자 할 수 있는 것으로 인력 대비 40~60배의 효율을 달성한다. This means that the drone alone can do the work for 60 people, achieving 40-60 times the efficiency of manpower.

이러한 높은 효율로 드론을 이용한 농약 살포 요구가 차츰 증가하고 있다.With such high efficiency, the demand for spraying pesticides using drones is gradually increasing.

농약 살포용 드론은, 일반적으로 회전날개가 장착된 본체, 약액통, 약액펌프, 노즐, 붐대 등으로 이루어진다.Drones for spraying pesticides generally consist of a main body equipped with rotating blades, a chemical liquid container, a chemical liquid pump, a nozzle, a boom, and the like.

도 1은 종래의 일반적인 농업용 드론에 의해 분사되는 약액이 비산되는 것을 나타내는 사진이고, 도 2는 종래의 일반적인 농업용 드론이 비행하는 상태에서 약액을 분사하는 상태를 도시한 측면도이다.1 is a photograph showing that a chemical liquid sprayed by a conventional agricultural drone is scattered, and FIG. 2 is a side view showing a state in which a chemical liquid is sprayed in a state in which a conventional agricultural drone is flying.

상기 노즐에서 분사되는 약액은 하방향으로 그대로 분사되어, 식물의 목표지점에 도달하여야 농약 방제의 효과가 높게 된다.The chemical liquid sprayed from the nozzle is sprayed as it is in the downward direction, and the effect of pesticide control is high only when it reaches the target point of the plant.

농약 살포용 드론 회전날개의 회전에 의해 비행을 하게 되는데, 회전날개의 회전시 회전날개의 하부에는 하향풍 뿐만 아니라, 팁 와류, 재순환유동 등의 복잡한 유동장이 발생하게 된다.The drones for spraying pesticides fly by the rotation of the rotor blades. When the rotor blades rotate, not only a downward wind, but also a complicated flow field such as tip vortex and recirculation flow occurs.

이로 인해 도 1에 나타나 있는 바와 같이, 상기 노즐에서 분사되는 약액은 하방향으로만 분사되는 것이 아니라, 회전하거나 재순환 유동을 하게 되어, 상기 노즐에서 분사되는 약액이 목표 지점에 정확하게 도달하지 못하고 다른 곳으로 이동하게 되는 등의 문제가 있다.As a result, as shown in Fig. 1, the chemical liquid sprayed from the nozzle is not sprayed only downward, but rotates or recirculates, so that the chemical liquid sprayed from the nozzle does not accurately reach the target point and There is a problem such as being moved to.

농업용 드론은, 방제 즉 약액 살포 등을 위해 5~7m/s의 속도로 비행하게 되는데, 이때 농업용 드론은 도 2에 도시된 바와 같이 비행방향으로 경사진 상태로 이동하면서 약액을 분사하기 때문에, 드론의 경사진 각도만큼 분사노즐은 후방으로 경사지게 배치되어 약액을 분사하게 된다.Agricultural drones fly at a speed of 5 to 7 m/s for control, that is, spraying of chemicals, and at this time, the agricultural drones spray chemicals while moving in an inclined state in the flight direction as shown in FIG. The injection nozzle is arranged to be inclined rearward by the inclined angle of to inject the chemical liquid.

그리고, 농업용 드론의 비행시 진행 방향과 반대방향으로 작용하는 상대 속도 의한 측면풍에 의해 약액 분무는 진행방향과 반대방향으로 휘게 된다.In addition, when the agricultural drone is flying, the chemical spray is bent in a direction opposite to the traveling direction by the side wind due to the relative speed acting in the direction opposite to the traveling direction.

이와 같이, 농업용 드론에서 분사되는 약액은, 드론의 비행각도 및 측면풍에 의해 중력방향에 대한 경사각을 가지면서 분사되기 때문에 하방향이 아닌 후방향으로 휘어지게 되고, 이는 결국 약액 분무의 비산을 일으켜 약액의 손실 및 방제를 원하지 않는 곳에 비의도적 오염을 발생하게 되는 문제가 있었다.In this way, since the chemical liquid injected from the agricultural drone is sprayed with an inclination angle with respect to the gravity direction by the flight angle and the side wind of the drone, it is bent in the backward direction instead of downward, which eventually causes the chemical spray to scatter. There was a problem in that unintentional contamination occurs in a place where the chemical solution is lost and control is not desired.

등록특허 10-1875314Registered Patent 10-1875314

본 발명은 전술한 문제점을 해결하기 위한 것으로서, 농업용 드론의 비행시 비행각도와 측면풍을 고려하여 분사노즐에 의한 약액의 분사방향을 드론의 비행방향으로 경사지게 하여 약액이 최대한 지정된 목표물에 효과적으로 도달하도록 할 수 있는 분사노즐이 장착된 농업용 드론을 제공하는데 그 목적이 있다.The present invention is to solve the above-described problem, in consideration of the flight angle and side wind during flight of the agricultural drone, the injection direction of the chemical solution by the injection nozzle is inclined toward the flight direction of the drone so that the chemical solution reaches the designated target as effectively as possible. Its purpose is to provide an agricultural drone equipped with a capable spray nozzle.

상기 목적을 달성하기 위하여 본 발명의 분사노즐이 장착된 농업용 드론은, 회전날개가 장착되고, 약액통이 장착된 드론본체와; 상기 회전날개보다 하부에서 상기 드론본체에 장착되고, 상기 약액통으로부터 약액을 공급받아 하방향으로 분사하는 분사노즐;을 포함하여 이루어지되, 상기 분사노즐은 상기 드론본체에 대하여 상기 드론본체의 비행방향으로 경사지게 배치되어, 상기 분사노즐에서 분사되는 약액은 상기 드론본체의 비행방향으로 상기 드론본체에 대하여 경사지게 분사되는 것을 특징으로 한다.In order to achieve the above object, an agricultural drone equipped with a spray nozzle of the present invention includes a drone body equipped with a rotating blade and a chemical liquid container; A spray nozzle mounted on the drone body from a lower portion of the rotation blade and spraying downwardly by receiving a chemical liquid from the chemical liquid container, wherein the spray nozzle is a flight direction of the drone body with respect to the drone body It is disposed in an inclined manner, characterized in that the chemical liquid sprayed from the spray nozzle is sprayed obliquely with respect to the drone body in the flight direction of the drone body.

상기 분사노즐의 설치각도(θn)는, 상기 드론본체의 비행각도(θ1)와, 상기 드론본체의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치된다.The installation angle (θn) of the spray nozzle is based on the flight angle (θ1) of the drone body and the angle of consideration of the side wind (θ2) generated by the flight speed of the drone body as basic data, and the flight direction of the drone body It is placed obliquely.

상기 분사노즐의 설치각도(θn)는, 상기 드론본체의 비행각도(θ1)와 상기 측면풍의 고려각(θ2)을 합한 값이다.The installation angle θn of the spray nozzle is a sum of the flight angle θ1 of the drone body and the consideration angle θ2 of the side wind.

상기 분사노즐의 설치각도(θn)는, 상기 약액통에 충진된 약액의 중량을 포함한 상기 드론본체의 총중량을 추가 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치된다.The installation angle (θn) of the spray nozzle is arranged to be inclined in the flight direction of the drone body using the total weight of the drone body including the weight of the chemical liquid filled in the chemical liquid container as additional basic data.

상기 분사노즐을 상기 드론본체에 회전 가능하게 장착하는 브라켓;을 더 포함하여 이루어지되, 상기 분사노즐은 상기 브라켓에 의해 상기 드론본체의 비행방향으로 경사지게 배치된다.A bracket for rotatably mounting the spray nozzle to the drone body; wherein the spray nozzle is disposed to be inclined in the flight direction of the drone body by the bracket.

상기 브라켓에 장착되어 상기 분사노즐의 각도를 조절하는 방향전환부재와; 상기 방향전환부재를 작동시켜 상기 분사노즐의 각도를 변경하는 제어부;를 더 포함하여 이루어진다.A direction changing member mounted on the bracket to adjust the angle of the spray nozzle; It further comprises a; a control unit for changing the angle of the injection nozzle by operating the direction changing member.

상기 제어부는 상기 방향전환부재에 의해 상기 분사노즐의 설치각도(θn)를, 상기 드론본체의 비행각도(θ1)와, 상기 드론본체의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치하되, 상기 드론본체의 비행각도(θ1), 측면풍의 고려각(θ2) 및 상기 분사노즐의 설치각도(θn)는 아래식과 같다.The control unit is based on the installation angle (θn) of the injection nozzle by the direction changing member, the flight angle (θ1) of the drone body, and the consideration angle (θ2) of the side wind generated by the flight speed of the drone body As data, it is arranged to be inclined in the flight direction of the drone body, and the flight angle (θ1) of the drone body, the angle of consideration of the side wind (θ2), and the installation angle (θn) of the spray nozzle are as follows.

[아래식][Equation below]

드론본체의 비행각도(θ1) = θi + A(Wi/t)Flight angle of the drone body (θ1) = θi + A(Wi/t)

측면풍의 고려각(θ2) = B * VdConsideration angle of side wind (θ2) = B * Vd

분사노즐의 설치각도(θn) = θ1 + θ2 = ( θi + A(Wi/t) ) + B * VdSpray nozzle installation angle (θn) = θ1 + θ2 = (θi + A(Wi/t)) + B * Vd

여기에서, 'θi'는 약액이 없는 경우의 드론본체의 비행각도, 'A'는 실험상수, 'Wi'는 이륙전 약액 중량, 't'는 약액 분사시간, 'B'는 실험상수, 'Vd'는 드론본체의 비행속도임.Here,'θi' is the flight angle of the drone body when there is no chemical solution,'A' is the experimental constant,'Wi' is the chemical liquid weight before takeoff,'t' is the chemical liquid injection time,'B' is the experimental constant, ' Vd' is the flight speed of the drone body.

이상에서 설명한 바와 같은 본 발명의 분사노즐이 장착된 농업용 드론에 따르면 다음과 같은 효과가 있다.According to the agricultural drone equipped with the spray nozzle of the present invention as described above has the following effects.

본 발명은 분사노즐이 드론본체의 비행각도와 측면풍을 고려하여 드론본체에 대하여 드론본체의 비행방향으로 경사지게 배치되어 있기 때문에, 드론본체가 경사진 상태로 비행하면서 약액을 분사하더라도, 분사노즐은 경사진 전방으로 약액을 분사하여 분사노즐에서 분사된 약액이 드론본체의 비행각도 및 측면풍 등에 의해 지정된 목표물에 최대한 정확하게 도달하도록 할 수 있다.In the present invention, since the spray nozzle is disposed inclined in the flight direction of the drone body with respect to the drone body in consideration of the flight angle and side wind of the drone body, even if the drone body is flying in an inclined state and sprays a chemical solution, the spray nozzle is By spraying the chemical liquid in an inclined forward direction, the chemical liquid sprayed from the spray nozzle can reach the designated target as accurately as possible by the flight angle and side wind of the drone body.

도 1은 종래의 일반적인 농업용 드론에 의해 분사되는 약액이 비산되는 것을 나타내는 사진,
도 2는 종래의 일반적인 농업용 드론이 비행하는 상태에서 약액을 분사하는 상태를 도시한 측면도,
도 3은 본 발명의 제1실시예에 따른 농업용 드론의 측면도,
도 4는 본 발명의 제1실시예에 따른 농업용 드론에 의해 약액을 분사하는 상태를 도시한 측면도,
도 5는 본 발명의 제2실시예에 따른 농업용 드론의 측면도,
도 6은 본 발명의 제2실시예에 따른 농업용 드론의 구성도,
도 7은 본 발명의 제2실시예에 따른 농업용 드론에 의해 약액을 분사하는 상태를 도시한 측면도,1 is a photograph showing that a chemical liquid sprayed by a conventional agricultural drone is scattered,
Figure 2 is a side view showing a state in which a chemical liquid is sprayed in a state in which a conventional agricultural drone is in flight;
3 is a side view of an agricultural drone according to a first embodiment of the present invention,
Figure 4 is a side view showing a state in which a chemical solution is sprayed by an agricultural drone according to a first embodiment of the present invention;
5 is a side view of an agricultural drone according to a second embodiment of the present invention,
6 is a configuration diagram of an agricultural drone according to a second embodiment of the present invention,
7 is a side view showing a state in which a chemical solution is sprayed by an agricultural drone according to a second embodiment of the present invention;

제1실시예Embodiment 1

도 3은 본 발명의 제1실시예에 따른 농업용 드론의 측면도이고, 도 4는 본 발명의 제1실시예에 따른 농업용 드론에 의해 약액을 분사하는 상태를 도시한 측면도이다.3 is a side view of an agricultural drone according to a first embodiment of the present invention, and FIG. 4 is a side view showing a state in which a chemical is sprayed by an agricultural drone according to the first embodiment of the present invention.

본 발명의 분사노즐이 장착된 농업용 드론은, 도 3 및 도 4에 도시된 바와 같이, 드론본체(10)와, 분사노즐(20)을 포함하여 이루어진다.An agricultural drone equipped with a spray nozzle of the present invention, as shown in FIGS. 3 and 4, comprises a drone body 10 and a spray nozzle 20.

상기 드론본체(10)는 다수개의 회전날개(11)가 장착되고, 농약 등이 수용되는 약액통(12)이 장착되어 있다.The drone body 10 is equipped with a plurality of rotating blades 11, and a chemical liquid container 12 in which pesticides and the like are accommodated.

상기 분사노즐(20)은 상기 회전날개(11)보다 하부에서 상기 드론본체(10)에 장착되고, 상기 약액통(12)으로부터 약액을 공급받아 분사한다.The spray nozzle 20 is mounted on the drone body 10 from a lower portion of the rotating blade 11 and receives and sprays a chemical liquid from the chemical liquid container 12.

약액을 분사하는 상기 분사노즐(20)은 상기 드론본체(10)에 대하여 상기 드론본체(10)의 비행방향으로 경사지게 배치된다.The spray nozzle 20 for spraying the chemical solution is disposed inclined with respect to the drone body 10 in the flight direction of the drone body 10.

즉, 상기 분사노즐(20)은 상기 드론본체(10)가 비행하는 방향으로 상기 드론본체(10)에 대하여 경사지게 배치된다.That is, the injection nozzle 20 is disposed to be inclined with respect to the drone body 10 in the direction in which the drone body 10 flies.

따라서, 상기 분사노즐(20)에서 분사되는 약액은 상기 드론본체(10)의 비행방향으로 상기 드론본체(10)에 대하여 경사지게 분사된다.Accordingly, the chemical liquid injected from the spray nozzle 20 is sprayed obliquely with respect to the drone body 10 in the flight direction of the drone body 10.

위와 같이, 상기 드론본체(10)가 비행을 위해 비행방향으로 경사지게 배치되었을 경우, 상기 분사노즐(20)이 상기 드론본체(10)에 대하여 비행방향으로 경사지게 배치되기 때문에, 상기 분사노즐(20)을 통해 분사되는 약액은 중력방향에 대하여 후방향으로 경사진 방향이 아닌 전(前)방향으로 경사진 상태로 분사되어 정확한 위치에 약액이 분사되도록 할 수 있다.As above, when the drone body 10 is arranged inclined in the flight direction for flight, the injection nozzle 20 is disposed inclined in the flight direction with respect to the drone body 10, so the injection nozzle 20 The chemical liquid sprayed through is sprayed in an inclined state in a forward direction rather than in a direction inclined in a backward direction with respect to the direction of gravity, so that the chemical liquid can be sprayed at an accurate position.

도 4에 도시된 바와 같이 상기 분사노즐(20)의 설치각도(θn)는, 상기 드론본체(10)의 비행각도(θ1)와, 상기 드론본체(10)의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체(10)의 비행방향으로 경사지게 배치된다.As shown in Figure 4, the installation angle (θn) of the spray nozzle 20 is the flight angle (θ1) of the drone body 10 and the side wind generated by the flight speed of the drone body 10 It is arranged inclined in the flight direction of the drone body 10 based on the consideration angle (θ2).

상기 분사노즐(20)의 설치각도(θn)는, 상기 드론본체(10)의 비행각도(θ1)와 상기 측면풍의 고려각(θ2)을 합한 값이다.The installation angle θn of the spray nozzle 20 is a sum of the flight angle θ1 of the drone body 10 and the consideration angle θ2 of the side wind.

그리고, 상기 분사노즐(20)의 설치각도(θn)는, 추가적으로 상기 약액통(12)에 충진된 약액의 중량을 포함한 상기 드론본체(10)의 총중량을 추가 기초자료로 하여 상기 드론본체(10)의 비행방향으로 경사지게 배치되도록 함이 바람직하다.And, the installation angle (θn) of the spray nozzle 20, the total weight of the drone body 10 including the weight of the chemical liquid filled in the chemical liquid container 12 as additional basic data, the drone body 10 ) It is desirable to be arranged inclined in the flight direction.

위와 같이 상기 분사노즐(20)의 설치각도(θn)를, 상기 드론본체(10)의 비행각도(θ1)와 상기 측면풍의 고려각(θ2)을 합하고, 상기 약액통(12)에 충진된 약액의 중량을 포함한 상기 드론본체(10)의 총중량을 고려함으로서, 상기 드론본체(10)가 경사진 상태로 비행하면서 약액을 분사하더라도 분사노즐(20)은 전방으로 향하게 되어 분사노즐(20)에서 분사된 약액이 지면에 정확하게 도달하도록 할 수 있다.As above, the installation angle (θn) of the spray nozzle 20 is combined with the flight angle (θ1) of the drone body 10 and the consideration angle (θ2) of the side wind, and the chemical solution filled in the chemical solution container 12 By considering the total weight of the drone body 10, including the weight of, even if the drone body 10 is flying in an inclined state and sprays a chemical solution, the spray nozzle 20 is directed forward and sprayed from the spray nozzle 20 You can make sure that the chemical solution reaches the ground accurately.

본 발명은 상기 분사노즐(20)이 상기 드론본체(10) 또는 상기 드론본체(10)에 장착되는 붐대 등에 장착되는데, 이때 상기 분사노즐(20)의 경사각도는 고정되어 있을 수도 있으나, 상황에 따라 그 경사각도를 조정할 수 있도록 함이 바람직하다.In the present invention, the spray nozzle 20 is mounted on the drone body 10 or a boom mounted on the drone body 10, and at this time, the inclination angle of the spray nozzle 20 may be fixed. Accordingly, it is desirable to be able to adjust the angle of inclination.

이를 위해 본 발명은 상기 분사노즐(20)을 상기 드론본체(10)에 회전 가능하게 장착하는 브라켓(30)을 더 포함하여 이루어질 수 있다.To this end, the present invention may further include a bracket 30 for rotatably mounting the spray nozzle 20 to the drone body 10.

상기 분사노즐(20)은 상기 브라켓(30)에 의해 상기 드론본체(10)의 비행방향으로 경사지게 배치된다.The spray nozzle 20 is disposed to be inclined in the flight direction of the drone body 10 by the bracket 30.

위와 같이, 본 발명은 분사노즐(20)이 드론본체(10)의 비행각도(θ1)와 측면풍을 고려하여 드론본체(10)에 대하여 드론본체(10)의 비행방향으로 경사지게 배치되어 있기 때문에, 드론본체(10)가 경사진 상태로 비행하면서 약액을 분사하더라도, 분사노즐(20)은 경사진 전방으로 약액을 분사하여 분사노즐(20)에서 분사된 약액이 드론본체(10)의 비행각도(θ1) 및 측면풍 등에 의해 지정된 목표물에 최대한 정확하게 도달하도록 할 수 있다.As described above, in the present invention, since the injection nozzle 20 is disposed inclined in the flight direction of the drone body 10 with respect to the drone body 10 in consideration of the flight angle θ1 and the side wind of the drone body 10 , Even if the drone body 10 sprays the chemical liquid while flying in an inclined state, the spray nozzle 20 sprays the chemical liquid in the inclined front so that the chemical liquid sprayed from the spray nozzle 20 is the flight angle of the drone body 10 It can reach the designated target as accurately as possible by (θ1) and side wind.

제2실시예Embodiment 2

도 5는 본 발명의 제2실시예에 따른 농업용 드론의 측면도이고, 도 6은 본 발명의 제2실시예에 따른 농업용 드론의 구성도이며, 도 7은 본 발명의 제2실시예에 따른 농업용 드론에 의해 약액을 분사하는 상태를 도시한 측면도이다.5 is a side view of an agricultural drone according to a second embodiment of the present invention, FIG. 6 is a configuration diagram of an agricultural drone according to a second embodiment of the present invention, and FIG. 7 is an agricultural drone according to a second embodiment of the present invention. It is a side view showing a state in which a chemical solution is sprayed by a drone.

제2실시예는 제1실시예와 비교하여 방향전환부재(40) 및 제어부(50)를 더 포함하여 이루어진다.The second embodiment further includes a direction changing member 40 and a control unit 50 compared to the first embodiment.

상기 방향전환부재(40)는, 상기 브라켓(30)에 장착되어 상기 분사노즐(20)의 각도를 조절한다.The direction changing member 40 is mounted on the bracket 30 to adjust the angle of the spray nozzle 20.

이러한 상기 방향전환부재(40)는 모터 등으로 이루어져 상기 브라켓(30)의 각도를 조절함으로서, 상기 브라켓(30)에 장착된 상기 분사노즐(20)의 각도를 조절할 수 있게 된다.The direction changing member 40 is made of a motor or the like and adjusts the angle of the bracket 30, so that the angle of the spray nozzle 20 mounted on the bracket 30 can be adjusted.

상기 제어부(50)는 상기 방향전환부재(40)를 작동시켜 상기 분사노즐(20)의 각도를 변경하도록 한다.The control unit 50 operates the direction changing member 40 to change the angle of the injection nozzle 20.

이러한 상기 제어부(50)는 미리 셋팅된 프로그램에 의해 상기 방향전환부재(40)를 작동시킬 수도 있고, 외부의 리모콘 등을 통해 입력되는 값에 따라 상기 방향전환부재(40)를 작동시킬 수도 있다.The control unit 50 may operate the direction changing member 40 by a pre-set program, or may operate the direction changing member 40 according to a value input through an external remote control or the like.

상기 제어부(50)는, 상기 방향전환부재(40)에 의해 상기 분사노즐(20)의 설치각도(θn)를, 상기 드론본체(10)의 비행각도(θ1)와, 상기 드론본체(10)의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체(10)의 비행방향으로 경사지게 배치한다.The control unit 50, the installation angle θn of the injection nozzle 20 by the direction changing member 40, the flight angle θ1 of the drone body 10, and the drone body 10 The angle of consideration (θ2) of the side wind generated by the flight speed of is used as basic data, and is arranged inclined in the flight direction of the drone body 10.

상기 드론본체(10)의 비행각도(θ1), 측면풍의 고려각(θ2) 및 상기 분사노즐(20)의 설치각도(θn)는 아래식과 같다.The flight angle (θ1) of the drone body 10, the angle of consideration of the side wind (θ2), and the installation angle (θn) of the spray nozzle 20 are as follows.

[아래식][Equation below]

드론본체(10)의 비행각도(θ1) = θi + A(Wi/t)Flight angle of the drone body (10) (θ1) = θi + A(Wi/t)

측면풍의 고려각(θ2) = B * VdConsideration angle of side wind (θ2) = B * Vd

분사노즐(20)의 설치각도(θn) = θ1 + θ2 = ( θi + A(Wi/t) ) + B * VdInstallation angle of spray nozzle (20) (θn) = θ1 + θ2 = (θi + A(Wi/t)) + B * Vd

여기에서, 'θi'는 약액이 없는 경우의 드론본체의 비행각도, 'A'는 실험상수, 'Wi'는 이륙전 약액 중량, 't'는 약액 분사시간, 'B'는 실험상수, 'Vd'는 드론본체의 비행속도임.Here,'θi' is the flight angle of the drone body when there is no chemical solution,'A' is the experimental constant,'Wi' is the chemical liquid weight before takeoff,'t' is the chemical liquid injection time,'B' is the experimental constant, ' Vd' is the flight speed of the drone body.

위와 같이 식에 의해, 상기 제어부(50)는 각 조건을 기초자료로 하여 상기 분사노즐(20)의 설치각도(θn)를 경사지게 배치함으로서, 상기 드론본체(10)가 경사지게 비행중에도 경사지게 배치된 분사노즐(20)을 통해 지면에 대하여 약액을 정확하게 도달하도록 할 수 있다.According to the above equation, the controller 50 arranges the installation angle θn of the spray nozzle 20 in an inclined manner based on each condition, so that the drone body 10 is inclined and inclined during flight. It is possible to accurately reach the chemical solution to the ground through the nozzle 20.

본 발명인 분사노즐이 장착된 농업용 드론은 전술한 실시예에 국한하지 않고, 본 발명의 기술 사상이 허용되는 범위 내에서 다양하게 변형하여 실시할 수 있다.An agricultural drone equipped with a spray nozzle according to the present invention is not limited to the above-described embodiment, and may be implemented by various modifications within the scope of the technical idea of the present invention.

10 : 드론본체, 11 : 회전날개, 12 : 약액통,
20 : 분사노즐,
30 : 브라켓,
40 : 방향전환부재,
50 : 제어부,
θ1 : 드론본체의 비행각도,
θ2 : 측면풍의 고려각,
θn : 분사노즐의 설치각도.10: drone body, 11: rotating blade, 12: chemical liquid container,
20: spray nozzle,
30: bracket,
40: direction change member,
50: control unit,
θ1: flight angle of the drone body,
θ2: consideration angle of side wind,
θn: installation angle of the injection nozzle.

Claims (7)

회전날개가 장착되고, 약액통이 장착된 드론본체와;
상기 회전날개보다 하부에서 상기 드론본체에 장착되고, 상기 약액통으로부터 약액을 공급받아 하방향으로 분사하는 분사노즐과;
상기 분사노즐을 상기 드론본체에 회전 가능하게 장착하는 브라켓과;
상기 브라켓에 장착되어 상기 분사노즐의 각도를 조절하는 방향전환부재와;
상기 방향전환부재를 작동시켜 상기 분사노즐의 각도를 변경하는 제어부;를 포함하여 이루어지되,
상기 분사노즐은 상기 브라켓에 의해 상기 드론본체에 대하여 상기 드론본체의 비행방향으로 경사지게 배치되어, 상기 분사노즐에서 분사되는 약액은 상기 드론본체의 비행방향으로 상기 드론본체에 대하여 경사지게 분사되고,
상기 제어부는, 상기 방향전환부재에 의해 상기 분사노즐의 설치각도(θn)를, 상기 드론본체의 비행각도(θ1)와, 상기 드론본체의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치하며,
상기 드론본체의 비행각도(θ1), 측면풍의 고려각(θ2) 및 상기 분사노즐의 설치각도(θn)는 아래식과 같은 것을 특징으로 하는 분사노즐이 장착된 농업용 드론.
[아래식]
드론본체의 비행각도(θ1) = θi + A(Wi/t)
측면풍의 고려각(θ2) = B * Vd
분사노즐의 설치각도(θn) = θ1 + θ2 = ( θi + A(Wi/t) ) + B * Vd
여기에서, 'θi'는 약액이 없는 경우의 드론본체의 비행각도, 'A'는 실험상수, 'Wi'는 이륙전 약액 중량, 't'는 약액 분사시간, 'B'는 실험상수, 'Vd'는 드론본체의 비행속도임.A drone body equipped with a rotating blade and a chemical liquid container;
A spray nozzle mounted on the drone body from a lower portion of the rotating blade to receive a chemical liquid from the chemical liquid container and spray it downward;
A bracket for rotatably mounting the spray nozzle to the drone body;
A direction changing member mounted on the bracket to adjust the angle of the spray nozzle;
Containing a; control unit for changing the angle of the injection nozzle by operating the direction changing member,
The spray nozzle is disposed inclined with respect to the drone body in the flight direction of the drone body by the bracket, and the chemical liquid sprayed from the spray nozzle is sprayed obliquely with respect to the drone body in the flight direction of the drone body,
The control unit determines the installation angle θn of the injection nozzle by the direction changing member, the flight angle θ1 of the drone body, and the consideration angle θ2 of the side wind generated by the flight speed of the drone body. As basic data, it is placed inclined in the direction of flight of the drone body,
An agricultural drone equipped with a spray nozzle, characterized in that the flight angle (θ1) of the drone body, the consideration angle of the side wind (θ2), and the installation angle (θn) of the spray nozzle are as follows.
[Equation below]
Flight angle of the drone body (θ1) = θi + A(Wi/t)
Consideration angle of side wind (θ2) = B * Vd
Spray nozzle installation angle (θn) = θ1 + θ2 = (θi + A(Wi/t)) + B * Vd
Here,'θi' is the flight angle of the drone body when there is no chemical solution,'A' is the experimental constant,'Wi' is the weight of the chemical before takeoff,'t' is the chemical injection time,'B' is the experimental constant, 'Vd' is the flight speed of the drone body. 청구항1에 있어서,
상기 분사노즐의 설치각도(θn)는, 상기 드론본체의 비행각도(θ1)와, 상기 드론본체의 비행속도에 의해 발생되는 측면풍의 고려각(θ2)을 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치되는 것을 특징으로 하는 분사노즐이 장착된 농업용 드론.The method according to claim 1,
The installation angle (θn) of the spray nozzle is based on the flight angle (θ1) of the drone body and the consideration angle (θ2) of the side wind generated by the flight speed of the drone body as basic data, and the flight direction of the drone body Agricultural drone equipped with a spray nozzle, characterized in that it is arranged in an inclined manner. 청구항2에 있어서,
상기 분사노즐의 설치각도(θn)는, 상기 드론본체의 비행각도(θ1)와 상기 측면풍의 고려각(θ2)을 합한 값인 것을 특징으로 하는 분사노즐이 장착된 농업용 드론.The method according to claim 2,
The installation angle (θn) of the spray nozzle is an agricultural drone equipped with a spray nozzle, characterized in that the sum of the flight angle (θ1) of the drone body and the consideration angle (θ2) of the side wind. 청구항2에 있어서,
상기 분사노즐의 설치각도(θn)는, 상기 약액통에 충진된 약액의 중량을 포함한 상기 드론본체의 총중량을 추가 기초자료로 하여 상기 드론본체의 비행방향으로 경사지게 배치되는 것을 특징으로 하는 분사노즐이 장착된 농업용 드론.The method according to claim 2,
The installation angle (θn) of the spray nozzle is an injection nozzle, characterized in that it is arranged inclined in the flight direction of the drone body using the total weight of the drone body including the weight of the chemical liquid filled in the chemical liquid container as additional basic data. Equipped agricultural drone. 삭제delete 삭제delete 삭제delete
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KR20220050337A (en) 2020-10-16 2022-04-25 조선대학교산학협력단 Drone nozzle for agriculture
KR102265213B1 (en) 2020-11-25 2021-06-14 최재백 A drone
KR20220072906A (en) 2020-11-25 2022-06-03 남문식 Agricultural drone system for effective in preventing fall of crops by adjusting the height of the agricultural drone nozzle according to the growth condition of the crop
KR20220083190A (en) 2020-12-11 2022-06-20 주식회사 듀얼드론텍 A propulsion apparatus and Doron using the same
CN112715509A (en) * 2020-12-25 2021-04-30 广东省农业科学院植物保护研究所 Plant protection unmanned aerial vehicle with liquid medicine anti-overflow device
WO2022207143A1 (en) * 2021-04-01 2022-10-06 Airial Robotics GmbH Unmanned aerial vehicle for agricultural spraying operations with a high payload/dead weight ratio
CN113443144A (en) * 2021-08-30 2021-09-28 江苏九设机器人科技有限公司 Unmanned aerial vehicle watering injection apparatus
CN113443144B (en) * 2021-08-30 2021-11-16 江苏九设机器人科技有限公司 Unmanned aerial vehicle watering injection apparatus
RU2789929C1 (en) * 2022-09-29 2023-02-14 Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный аграрный университет имени И.Т. Трубилина" Unmanned aerial sprayer

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