WO2020103015A1 - 喷洒系统和植保无人机 - Google Patents
喷洒系统和植保无人机Info
- Publication number
- WO2020103015A1 WO2020103015A1 PCT/CN2018/116638 CN2018116638W WO2020103015A1 WO 2020103015 A1 WO2020103015 A1 WO 2020103015A1 CN 2018116638 W CN2018116638 W CN 2018116638W WO 2020103015 A1 WO2020103015 A1 WO 2020103015A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- water
- water pump
- water pumps
- plant protection
- spraying
- Prior art date
Links
- 239000007921 spray Substances 0.000 title claims abstract description 175
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 336
- 238000005507 spraying Methods 0.000 claims abstract description 161
- 239000007788 liquid Substances 0.000 claims abstract description 107
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000003090 pesticide formulation Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
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- 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
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
Definitions
- the present invention relates to the field of drones, and more specifically, to a spray system and plant protection drones.
- the existing spray systems cannot usually adjust the spray flow difference of the spray heads on both sides of the fuselage individually, resulting in poor spray flow control accuracy of the spray heads on both sides of the fuselage, which cannot meet the requirements of precision operations. It can't be calibrated, and it may even cause adverse effects on the work.
- the present invention aims to solve at least the technical problems existing in the prior art.
- the technical solution in the first aspect of the present invention provides a spraying system for a plant protection drone
- the plant protection drone includes a fuselage, a nose, and a plurality of aircraft connected to the fuselage Arm
- the spraying system includes a liquid storage tank, a water distributor, a water pump, a liquid pipe and a spray head
- the liquid outlet of the liquid storage tank is connected to the plurality of water pumps through the water distributor, each of which Each of the water outlets is connected to a plurality of the spray heads through a liquid pipe, and a plurality of the spray heads connected to the same water pump are located on the same side arm or the same arm.
- the technical solution of the second aspect of the present invention provides a planting drone, including: a fuselage; a nose mounted on the fuselage; a plurality of arms connected to the fuselage; and a spray system, the spray
- the system includes a liquid storage tank, a water distributor, a water pump, a liquid pipe and a spray head.
- the liquid outlet of the liquid storage tank is connected to a plurality of water pumps through the water distributor, and the water outlet of each water pump passes through the liquid
- a plurality of nozzles are connected to the pipe, and a plurality of nozzles connected to the same water pump are located on the same side arm or the same arm.
- the outlet of the liquid storage tank of the spraying system is connected to a plurality of water pumps through the water distributor, and the outlet of each water pump is connected to several spray heads through the liquid pipe, so that when two or more water pumps When it is turned on at the same time, it can effectively increase the spray rate and the spray flow of the whole machine; and the several spray heads connected to the same water pump are located on the same side arm or the same arm, so that it can be obtained by detecting the liquid flow through the same pump
- the total spraying flow rate of several sprinklers connected to it is located on the same side arm or the same arm, so that the spraying flow rate of the single-side sprinklers of the sprinkler system can be calibrated and adjusted, and then each nozzle can be adjusted.
- FIG. 1 is a schematic structural diagram of a spray system according to an embodiment of the present invention.
- FIG. 2 is a schematic view of the bottom structure of the spray system shown in FIG. 1;
- FIG 3 is a schematic side view of the spray system shown in Figure 2;
- FIG. 4 is a schematic plan view of the spray system shown in FIG. 1.
- liquid storage tank 11 flow meter, 12 water divider, 13 water pump, 14 liquid pipe, 15 spray head, 16 arm;
- the spray system provided by the technical solution of the first aspect of the present invention is used for a plant protection drone, which includes a fuselage, a nose, and a plurality of arms 16 connected to the fuselage , And spray system.
- the spraying system includes: a liquid storage tank 10, a water distributor 12, a water pump 13, a liquid pipe 14 and a spray head 15, the liquid outlet of the liquid storage tank 10 is connected to a plurality of water pumps 13 through the water distributor 12, each water pump 13 Each of the water outlets is connected to a plurality of spray heads 15 through the liquid pipe 14, and the plurality of spray heads 15 connected to the same water pump 13 are all located on the same side arm 16 or the same arm 16.
- the liquid outlet of the liquid storage tank 10 is connected to a plurality of water pumps 13 through the water distributor 12, and the water outlet of each water pump 13 is connected to a plurality of spray heads 15 through the liquid pipe 14,
- the several spray heads 15 connected to the same water pump 13 are all located on the same side arm 16 or the same arm 16,
- the total spray flow rate of several spray heads 15 connected to it can be obtained by detecting the liquid flow through the same water pump 13, because the multiple spray heads 15 are all located on the same side arm 16 or the same arm 16, so that To achieve the calibration and adjustment of the spray flow of the single-side spray head of the spray system, and then to achieve the individual calibration and adjustment of the spray flow of each side of the spray head, thereby improving the spray accuracy and uniformity of spraying, and achieving the requirements of precise spraying operations for plant protection drone
- the sprayer 15 is provided on both sides of the fuselage of the plant protection drone, that is, at least one sprayer 15 is provided on each side of the fuselage of the plant protection drone, the plant protection drone During the spraying operation, the sprinklers 15 on both sides are usually turned on at the same time. Therefore, the spraying system of the plant protection drone in the above embodiment includes at least two water pumps 13, and the spraying system of the plant protection drone has at least at least two spraying systems. The two water pumps 13 are simultaneously turned on to ensure that there are spray heads 15 on both sides of the fuselage for simultaneous spraying operations.
- a flowmeter 11 is provided between the liquid outlet of the storage tank 10 and the water separator 12, and the flowmeter 11 detects the actual flow rate flowing through the water pump 13 when the single water pump 13 is turned on, so as to The reference flow input by the user and the actual flow are compared to calibrate the output flow of the water pump 13.
- the plant protection drone before the plant protection drone performs the spraying operation, first use the flowmeter 11 to calibrate the output flow rate of each water pump 13 of the spraying system to ensure that the spraying flow rates of the sprinklers on both sides of the spraying system are consistent.
- One of the water pumps 13 can be started separately, and the actual flow rate passing through the water pump 13 can be detected by the flow meter 11, and then the reference flow rate input by the user and the actual flow rate actually detected by the flow meter 11 can be compared.
- the nozzles 15 connected to the water pump 13 have no problems such as clogging; then, the other water pump 13 is turned on separately, and the detection is performed in the same way to achieve the detection of multiple water pumps 13, In order to ensure that the spray flow of the sprinklers on both sides of the plant protection drone is consistent during the spraying operation.
- the nozzles 15 connected to the water pump 13 may be further investigated to find out the problem and replace the clogged nozzle 15 in time , So as to ensure that the spray flow rate of the nozzles on both sides is consistent during the spraying operation; of course, when the actual flow rate detected by the flow meter 11 is different from the reference flow rate input by the user, it may indicate that there may be nozzles for several spray heads 15 connected to a certain water pump 13 For problems such as clogging, you can also increase the total spray flow of several nozzles 15 connected to the water pump 13 by increasing the motor speed of the water pump 13 to ensure that the actual flow rate detected by the flow meter 11 is consistent with the reference flow rate input by the user. In this way, the spray flow of the spray heads on both sides is consistent during the spraying operation.
- the flow meter 11 also detects the actual total flow rate flowing through the at least two water pumps 13 when the at least two water pumps 13 are turned on, so as to judge whether the sprinkler system is abnormal according to the reference total flow rate input by the user and the actual total flow rate.
- the flow meter 11 can be used to detect the actual total flow through the water pump 13 turned on, so as to judge whether the spraying system is based on the comparison between the reference total flow input by the user and the actual total flow Abnormality, so that users can easily find out the problems such as clogging of the nozzles in the process of spraying, which can facilitate the timely troubleshooting of the spraying system or the adjustment of spraying parameters in time to ensure the accuracy of spraying.
- the flowmeter 11 is an electromagnetic flowmeter.
- the spraying system of this embodiment preferably uses a low-cost electromagnetic flowmeter, which can adapt to various viscosities
- the density of pesticide formulations is theoretically compatible with all conductive media; of course, the spray system of this embodiment can also be measured with a traditional turbine flow meter.
- a water flow meter 11 is provided at the water inlet, water inlet, water outlet or water outlet of each water pump 13, and the water flow meter 11 detects the actual flow through the corresponding water pump 13 when the water pump 13 is turned on, so as to be based on the benchmark input by the user The flow rate is compared with the actual flow rate to calibrate the output flow rate of the water pump 13.
- the plant protection drone before the plant protection drone performs the spraying operation, first use the flowmeter 11 to calibrate the output flow of each water pump 13 of the spraying system to ensure that the spraying flow rate of the sprinklers on both sides is consistent during the spraying operation.
- the actual flow rate through the corresponding water pump 13 can be detected by the flow meter 11, and then the reference flow rate input by the user and the actual flow rate actually detected by the flow meter 11 are compared.
- the difference between the two is within a preset range, then It indicates that the nozzles 15 connected to the water pump 13 corresponding to the flow meter 11 have no problems such as clogging, so as to realize the detection of the plurality of water pumps 13 and the connected nozzles 15 to ensure that the plant protection drone is spraying
- the spraying flow rates of the nozzles on both sides are the same; of course, the two water pumps 13 connected to the nozzles 15 in the symmetrical position can also be turned on at the same motor speed at the same time, by observing the actual detection by the flowmeter 11 corresponding to the two water pumps 13 one by one
- the difference between the flow rates determines whether the spray flow rates of the nozzles on both sides are consistent when the spray heads 15 connected to the two water pumps 13 are spraying at the same time, thereby judging whether the spray head 15 is clogged.
- the flow meter 11 also detects the actual flow rate flowing through the corresponding water pump 13 when at least two water pumps 13 are turned on, so as to judge by comparing the sum of the reference total flow input by the user and the actual flow rate of the turned-on water pump 13 Whether the spraying system is abnormal, or judge whether the spraying system is abnormal according to the ratio of the reference total flow input by the user and the number of water pumps 13 turned on and the actual flow rate of each water pump 13 turned on.
- the actual flow rate flowing through the corresponding water pump 13 can be detected by the flow meter 11, and the sum of the actual flow rates of the turned-on water pump 13 is the actual total flow rate during the spraying operation.
- the comparison between the reference total flow input by the user and the actual total flow to determine whether the sprinkling system is abnormal it is convenient for the user to find out the problems such as clogging of the nozzle that may exist during the sprinkling operation, so that the problem of the sprinkler system can be easily checked in time Adjust the spraying operation parameters to ensure the accuracy of spraying; you can also use the flow meter 11 to detect the actual flow through the corresponding water pump 13, the ratio of the reference total flow input by the user to the number of water pumps 13 turned on is The reference flow rate that the water pump 13 should flow through, so as to judge whether the spraying system is abnormal according to the reference flow rate that each water pump 13 should flow through and the actual flow rate of each water pump 13, so as to facilitate the user to discover the possible existence in the spraying process in time Nozzle clogging and other issues to ensure the accuracy of spraying.
- the total spray flow of the nozzles 15 connected to the water pump 13 may be increased by increasing the motor speed of the water pump 13 to In this way, the spraying flow rate of the nozzles on both sides is the same during the spraying operation.
- the flowmeter 11 is an electromagnetic flowmeter.
- the spraying system of this embodiment preferably uses a low-cost electromagnetic flowmeter, which can adapt to various viscosities
- the density of pesticide formulations is theoretically compatible with all conductive media; of course, the spray system of this embodiment can also be measured with a traditional turbine flow meter.
- the number of water pumps 13 is an even number, and every two water pumps 13 form a group, and the nozzle 15 connected to one of the water pumps 13 in each group and the The spray heads 15 connected to another water pump 13 in the group are symmetrically distributed on the arms 16 on both sides of the fuselage.
- the number of nozzles 15 connected to the two water pumps 13 in each group is equal, and the nozzles 15 are symmetrically distributed on the arms 16 located on both sides of the fuselage of the plant protection drone, so that when the two water pumps in each group are designed 13 When working at the same motor speed, it can ensure that the spray flow of the spray heads 15 connected to the two water pumps 13 and located on both sides of the fuselage is consistent, thereby ensuring the spray accuracy and spray uniformity, and making the spray operation mode control more Convenience.
- the spraying system includes at least two sets of water pumps, and the spray head 15 connected to any one of the water pumps 13 in the set of water pumps is located on the front arm 16 of the plant protection drone. Above, the spray head 15 connected to any of the water pumps 13 in the other group of water pumps is located on the arm 16 behind the head of the plant protection drone.
- different spraying operation modes can be realized by controlling at least two sets of water pumps to work alone or simultaneously to meet the needs of different spraying operation modes and improve the applicability of plant protection drone spraying operations.
- a plurality of water pumps 13 are arranged side by side, and the two water pumps 13 in each group are arranged symmetrically with the center line of the fuselage as the axis of symmetry, so that the design is designed to ensure the symmetry of the plant protection drone structure, thereby ensuring the plant protection drone
- the weight is the same on both sides to meet the uniformity requirements on the route of the plant protection drone; as shown in Figure 2, the spray system includes two sets of water pumps (that is, four water pumps 13), and the two sets of water pumps are arranged side by side in the storage tank 10 relatively close to the plant protection One side of the nose of the drone, and the two water pumps 13 in one group are arranged adjacently, and the two water pumps 13 in the other group are arranged on the opposite outer sides of the two water pumps 13 arranged adjacently. It can be understood that, in other embodiments, there may be 4 sets or 6 sets or more sets of water pumps, which is not limited herein.
- the water outlet of the same water pump 13 is connected to one or more spray heads 15 on the same arm 16 through the liquid pipe 14, for the case where the same water pump 13 is connected to multiple spray heads 15 on the same arm 16,
- a plurality of spray heads 15 are sequentially arranged under the arm 16 along the length direction of the same arm 16, so as to increase the spraying width of the spraying operation, and the sinking spray head 15 makes more perfect use of the down-pressure wind field for spraying More precise and better liquid settlement effect; as shown in Figure 1, Figure 2 and Figure 3, the outlet of the same pump 13 is connected to the two nozzles 15 and two nozzles 15 on the same arm 16 through the liquid pipe 14 They are sequentially arranged under the arm 16 along the longitudinal direction of the same arm 16, and preferably, the two spray heads 15 are both arranged at the end positions of the same arm 16.
- the water outlet of the same water pump 13 is connected to the spray heads 15 on the different arm 16 on the same side through the liquid pipe 14, and the spray heads 15 are all disposed below the arm 16, so that a smaller number of water pumps 13 can be used.
- Connecting a larger number of spray heads 15 makes it easier to control a smaller number of water pumps 13 while increasing the spray amplitude and spray flow.
- the number of water pumps 13 is four, and the outlet of each water pump 13 is connected to two nozzles on the same arm 16 through a liquid pipe 14 15.
- Eight nozzles 15 are set on the four arms 16, the four arms 16 are symmetrically arranged on both sides of the fuselage, and the two arms 16 on the same side are relative to the head of the plant protection drone Positions are set one after the other.
- each water pump 13 is connected to the two spray heads 15 on the same arm 16 through the liquid pipe 14, which can realize the calibration and adjustment of the spray flow of the single-side spray head, solving the problem that the existing spray system cannot be adjusted independently
- two spray heads 15 are provided on one arm 16 to achieve large spray spraying, effectively solving the problem of insufficient single spray nozzles.
- the four arms 16 are symmetrically located on both sides of the fuselage, and the two arms on the same side are arranged in front and back. You can control the nozzles on different arms 15 Perform spraying operations to meet the needs of different spraying operation modes and improve the applicability of plant protection drone spraying operations.
- the spraying system includes a liquid storage tank 10, a flow meter 11, a water divider 12, four water pumps 13, eight spray heads 15 and a liquid pipe 14, and the liquid storage tank 10 is preferably
- the flow meter 11 is preferably an electromagnetic flow meter
- the water pump 13 is preferably a high-pressure diaphragm pump
- the spray head 15 is preferably a pressure spray head 15
- the liquid pipe 14 is preferably a pressure-resistant medicine tube
- the outlet of the storage tank 10 is connected to the flow meter 11
- the flow meter 11 is connected to four water pumps 13 through the water distributor 12, each water pump 13 is connected to the spray head 15 at the arm 16 through the liquid pipe 14, and each water pump 13 is connected with two spray heads 15 at the end for expanding spray Breadth.
- the four water pumps 13 are the first water pump 131, the second water pump 132, the third water pump 133, and the fourth water pump 134, and the eight spray heads 15 are the first spray head 151 and the second spray head 152, respectively.
- the third nozzle 153, the fourth nozzle 154, the fifth nozzle 155, the sixth nozzle 156, the seventh nozzle 157 and the eighth nozzle 158, the first water pump 131 is connected to the first nozzle 151 and the second nozzle 152, the second water pump 132 Connected to the fifth nozzle 155 and the sixth nozzle 156, the third water pump 133 was connected to the seventh nozzle 157 and the eighth nozzle 158, the fourth water pump 134 was connected to the third nozzle 153 and the fourth nozzle 154; the first water pump 131 and the fourth water pump 134
- the flow on both sides of the plant protection drone can be controlled independently by the flow meter 11 calibration, and the second water pump 132 and the third water pump 133 can be controlled separately through the flow meter 11 to control the flow consistency on both sides of the plant protection drone.
- the spraying system further includes a controller, which is electrically connected to each water pump 13.
- the controller is used to control the on or off state of each water pump 13 according to the received spraying operation mode instruction.
- the spraying operation mode instruction includes a front spraying operation mode instruction, a rear spraying operation mode instruction and a full spraying operation mode instruction; wherein, when the controller receives the front spraying operation mode instruction, it controls The two water pumps 13 connected to the spray head 15 on the two symmetrical arms 16 are turned on, that is, the first water pump 131 and the fourth water pump 134 in FIG. 2 are turned on; The two water pumps 13 connected to the spray heads 15 on the two symmetrical arms 16 at the end away from the machine head are turned on, that is, the second water pump 132 and the third water pump 133 in FIG.
- the four water pumps 13 are controlled to be turned on, that is, the first water pump 131, the second water pump 132, the third water pump 133, and the fourth water pump 134 in FIG. 2 are all turned on.
- the liquid pipe 14 includes a main liquid pipe 14 connected to the water outlet of the water pump 13 and two branch pipes connected to the liquid outlet of the main liquid pipe 14, and the liquid outlet of each branch pipe is connected to a nozzle 15.
- the connection between the liquid pipe 14 and the two branch pipes or the two branch pipes is provided with a control valve for controlling the opening of one of the branch pipes.
- the control valve is electrically connected to the controller for controlling each of the spraying operation mode commands received The open or closed state of the control valve.
- control valve can be used to control the two spray heads 15 on the same arm 16 to be turned on at the same time or any one of them can be turned on independently, thereby adjusting the spray flow, realizing different spraying operation modes, and improving the applicability of the plant protection drone spraying operation.
- a plant protection drone provided by the technical solution of the second aspect of the present invention includes: a fuselage, a nose mounted on the fuselage, a plurality of arms 16 connected to the fuselage, and a spray system, wherein the spray system It may be a spraying system provided in any embodiment of the technical solution of the first aspect of the present invention.
- the plant protection drone provided by the technical solution of the second aspect of the present invention, because it includes the spray system of any one of the foregoing embodiments, has the beneficial effects of the spray system of any of the foregoing embodiments, which will not be repeated here.
- the spraying system includes: a liquid storage tank 10, a water separator 12, a water pump 13, a liquid pipe 14 and a spray head 15, and the liquid outlet of the liquid storage tank 10 is connected to the water separator 12
- a flowmeter 11 is provided between the liquid outlet of the liquid storage tank 10 and the water separator 12, and the flowmeter 11 detects the flow when the single water pump 13 is turned on
- the actual flow rate of the water pump 13 is calibrated according to the reference flow rate input by the user and the actual flow rate to calibrate the output flow rate of the water pump 13.
- the flow meter 11 also detects the actual total flow rate flowing through the at least two water pumps 13 when the at least two water pumps 13 are turned on, so as to judge whether the sprinkler system is abnormal according to the reference total flow rate input by the user and the actual total flow rate.
- the flowmeter 11 is an electromagnetic flowmeter; of course, the flowmeter 11 may also be a turbine flowmeter.
- a flowmeter 11 is provided at the inlet pipe, inlet, outlet or outlet pipe of each water pump 13, and the flowmeter 11 detects the flow through the corresponding water pump 13 when the water pump 13 is turned on
- the actual flow rate of the pump is calibrated according to the reference flow rate input by the user and the actual flow rate to calibrate the output flow rate of the water pump 13.
- the flow meter 11 also detects the actual flow rate flowing through the corresponding water pump 13 when at least two water pumps 13 are turned on, so as to judge by comparing the sum of the reference total flow input by the user and the actual flow rate of the turned-on water pump 13 Whether the spraying system is abnormal, or judge whether the spraying system is abnormal according to the ratio of the reference total flow input by the user and the number of water pumps 13 turned on and the actual flow rate of each water pump 13 turned on.
- the flowmeter 11 is an electromagnetic flowmeter; of course, the flowmeter 11 may also be a turbine flowmeter.
- the number of water pumps 13 is an even number, and every two water pumps 13 form a group, and the nozzle 15 connected to one of the water pumps 13 in each group and the The spray heads 15 connected to another water pump 13 in the group are symmetrically distributed on the arms 16 on both sides of the fuselage.
- the spraying system includes at least two sets of water pumps, and the spray head 15 connected to any one of the water pumps 13 in the set of water pumps is located on the front arm 16 of the plant protection drone. Above, the spray head 15 connected to any of the water pumps 13 in the other group of water pumps is located on the arm 16 behind the head of the plant protection drone.
- a plurality of water pumps 13 are arranged side by side, and two water pumps 13 in each group are arranged symmetrically with the center line of the fuselage as the axis of symmetry; specifically, the spray system may have two groups of water pumps (that is, four water pumps 13), or 4 sets of water pumps, or 6 sets of water pumps, or more sets of water pumps are not limited here.
- the water outlet of the same water pump 13 is connected to one or more spray heads 15 on the same arm 16 through the liquid pipe 14, for the case where the same water pump 13 is connected to multiple spray heads 15 on the same arm 16,
- a plurality of spray heads 15 are sequentially arranged under the arm 16 along the length of the same arm 16; in a specific example, as shown in FIGS. 1 and 3, each water pump 12 is connected to two on the same arm 16 Spray head 15.
- the water outlet of the same water pump 13 is connected to the spray heads 15 on different arms 16 on the same side through the liquid pipe 14, and the spray heads 15 are all disposed below the arm 16.
- the spray system of the plant protection drone includes four water pumps 13, and the water outlet of each water pump 13 is connected to the same arm 16 through a liquid pipe 14.
- the two spray heads 15 and the eight spray heads 15 are located on the four arms 16 of the plant protection drone.
- the four arms 16 are symmetrically located on both sides of the fuselage of the plant protection drone and are on the same side.
- the two aircraft arms 16 are set one behind the other with respect to the nose of the plant protection UAV.
- a flowmeter 11 is provided between the liquid storage tank 10 and the water separator 12, the outlet of the liquid storage tank 10 is connected to the flowmeter 11, and the flowmeter 11 is connected to the four through the water separator 12.
- the spraying system further includes a controller, which is electrically connected to each water pump 13.
- the controller is used to control the on or off state of each water pump 13 according to the received spraying operation mode instruction.
- the spraying operation mode instruction includes a front spraying operation mode instruction, a rear spraying operation mode instruction and a full spraying operation mode instruction; wherein, when the controller receives the front spraying operation mode instruction, it controls The two water pumps 13 connected to the spray heads 15 on the two symmetrical arms 16 are turned on; the controller controls the spray heads 15 on the two symmetrical arms 16 that are relatively far away from the head when receiving the post-spray spraying operation mode instruction The two water pumps 13 are turned on; the controller controls the four water pumps 13 to turn on when receiving the full spraying work mode instruction.
- the liquid pipe 14 includes a main liquid pipe 14 connected to the water outlet of the water pump 13 and two branch pipes connected to the liquid outlet of the main liquid pipe 14, and the liquid outlet of each branch pipe
- a nozzle 15 is connected to the joint of the main liquid pipe 14 and the two branch pipes or the two branch pipes are provided with a control valve for controlling the break of one of the branch pipes.
- the control valve and the controller are electrically connected to each other according to the received
- the spraying operation mode instruction controls the opening or closing state of each control valve.
- the liquid storage tank 10 is a detachable liquid storage tank, and the liquid storage tank 10 is detachably installed on the body of the plant protection drone, which is convenient for removing the liquid storage tank 10 for adding The operation of injecting liquids such as medicine.
- the plant protection drone of this embodiment when used for spraying operations, the plant protection drone may perform forward flight, side flight, or back flight operation.
- the plant protection drone of this embodiment uses a loop-shaped route for flying spraying operations, and the return route is at a right angle at the corner.
- the plant protection drone of this embodiment only needs to adopt three flying spray modes: direct forward, sideward, and rearward flight, and it can complete the full spraying of the farmland in the area without turning. cover.
- the two water pumps 13 connected to the spray heads 15 on the two symmetrical arms 16 relatively far from the nose are turned on, and relatively far away from the nose when the forward flying operation is performed
- the plant protection UAV needs to turn, it adopts the mode of flying sideways, without adjusting the position of the nose.
- the flight path of the side flight is 90 degrees at a right angle to the flight path of the straight flight forward.
- the water pump 13 may be turned off.
- the plant protection drone flew horizontally over the spray distance of the two arms, it began to fly straight backward.
- the two water pumps 13 connected to the spray head 15 on the two arms 16 relatively close to the end of the nose were turned on.
- the four spray heads 151, 152, 153, and 154, which are relatively close to the end of the nose, are sprayed at the same time during the backward direct flight operation, so that the farmland area under the backward direct flight line can be sprayed uniformly.
- the plant protection drone using this embodiment can achieve full coverage of farmland spraying without turning operations, and will not cause repeated spraying or missed spraying. Precise operation. It can be understood that, in other embodiments, there may be other operation modes for turning on or off the water pump and the spray head, which is not limited herein.
- An electromagnetic flowmeter is used for the spray system of the plant protection drone, which can be adapted to pesticide formulations of various viscosities and densities, and is theoretically compatible with all conductive media and has greater applicability;
- each pump is connected to 2 nozzles, and each pump can calibrate the output flow according to the flowmeter data;
- the spraying system provided by the embodiments of the present invention is not limited to spraying operations for plant protection drones, but can also be used for spraying operations of other types of plant protection equipment such as ground plant protection vehicles, as long as it does not deviate from the design concept of the present invention , Should be within the scope of protection of the present invention.
- the spray system and the plant protection drone provided by the embodiments of the present invention are connected to multiple water pumps through the water distributor at the liquid outlet of the liquid storage tank, and the water outlet of each water pump is connected to several water pumps through liquid pipes.
- Nozzle which can effectively increase the spray amplitude and the spraying flow of the whole machine; and several spraying heads connected to the same water pump are located on the same side arm or the same arm, so that the spray flow of the single side spraying system of the spraying system can be calibrated and Adjustment, thereby improving spraying accuracy and spraying uniformity, to achieve the requirements of plant protection UAV precision spraying operations.
- connection may be a fixed connection, a detachable connection, or an integral connection, or an electrical connection; it may be directly connected, or may be indirectly connected through an intermediary.
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- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
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Abstract
一种喷洒系统和植保无人机，植保无人机包括机身、机头、多个与机身连接的机臂(16)，喷洒系统包括储液箱(10)、分水器(12)、水泵(13)、液管(14)和喷头(15)，储液箱(10)的出液口经分水器(12)接多个水泵(13)，每一水泵(13)的出水口均通过液管(14)连接若干个喷头(15)，同一个水泵(13)连接的若干个喷头(15)均位于同一侧机臂(16)或者同一个机臂(16)上。该喷洒系统可有效提高喷幅及整机喷洒流量，且可以实现对喷洒系统单侧喷头的喷洒流量的校准与调节，进而提高喷洒精度及喷洒的均匀性，实现植保无人机精准喷洒作业的需求。
Description
本发明涉及无人机领域，更具体而言，涉及一种喷洒系统和植保无人机。
无人机植保作业近年来由于其作业效率高，地形适应性好，用水量少，作业成本低，转场作业容易等优点受到大众欢迎，发展迅速；其中最核心的系统之一就是喷洒系统，由于无人机的飞行时间有限，因此对作业效率和大流量的需求越来越迫切，提升作业效率就需要提高喷幅及整机喷洒流量。同时还有很重要的一点，植保无人机在作业过程中，对机身两侧喷头的喷洒流量精度有较高的要求，要做到尽量一致，不然无法保证该喷洒系统进行作业的作业物获得均匀的喷洒量。然而现有的喷洒系统通常无法单独调节机身两侧喷头的喷洒流量差异，导致机身两侧喷头的喷洒流量控制精度差，从而无法满足精准作业的需求，若现有的喷洒系统出现偏差，也无法进行校准，甚至会给作业物造成不良影响。
发明内容
本发明旨在至少解决现有技术中存在的技术问题。
为实现上述目的，本发明的第一个方面的技术方案提供了一种喷洒系统，用于植保无人机，所述植保无人机包括机身、机头、多个与机身连接的机臂，所述喷洒系统包括储液箱、分水器、水泵、液管和喷头，所述储液箱的出液口经所述分水器接多个所述水泵，每一所述水泵的出水口均通过液管连接若干个所述喷头，同一个所述水泵连接的若干个所述喷头均位于同一侧机臂或者同一个机臂上。
本发明的第二个方面的技术方案提供了一种植保无人机，包括：机身；设 于机身上的机头；多个与机身连接的机臂；以及喷洒系统，所述喷洒系统包括储液箱、分水器、水泵、液管和喷头，所述储液箱的出液口经所述分水器接多个所述水泵，每一所述水泵的出水口均通过液管连接若干个所述喷头，同一个所述水泵连接的若干个所述喷头均位于同一侧机臂或者同一个机臂上。
本发明上述技术方案具有如下有益效果：
本发明的技术方案中，喷洒系统的储液箱的出液口经分水器接多个水泵，并且每一水泵的出水口通过液管连接若干个喷头，这样当两个或两个以上水泵同时开启时可有效提高喷幅及整机喷洒流量；且同一个水泵连接的若干个喷头均位于同一侧机臂或者同一个机臂上，这样可以通过检测流过同一个水泵的液体流量来获取与其连接的若干个喷头的总喷洒流量，由于该若干个喷头均位于同一侧机臂或者同一个机臂上，从而能够实现对喷洒系统单侧喷头的喷洒流量的校准与调节，进而实现对每侧喷头的喷洒流量的单独校准与调节，从而提高喷洒精度及喷洒的均匀性，实现植保无人机精准喷洒作业的需求。
本发明的附加方面和优点将在下面的描述部分中变得明显，或通过本发明的实践了解到。
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明的一个实施例所述的喷洒系统的结构示意图；
图2是图1所示喷洒系统的仰视结构示意图；
图3是图2所示喷洒系统的侧视结构示意图；
图4是图1所示喷洒系统的俯视结构示意图。
其中，图1至图4中附图标记与部件名称之间的对应关系为：
10储液箱，11流量计，12分水器，13水泵，14液管，15喷头，16机臂；
131第一水泵，132第二水泵，133第三水泵，134第四水泵；
151第一喷头，152第二喷头，153第三喷头，154第四喷头，155第五喷头，156第六喷头，157第七喷头，158第八喷头。
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。
下面参照附图1至图4描述本发明第一方面的技术方案提供的一种喷洒系统和第二方面的技术方案提供的一种应用了上述喷洒系统的植保无人机。
如图1至图4所示，本发明第一方面的技术方案提供的喷洒系统，用于植保无人机，植保无人机包括机身、机头、多个与机身连接的机臂16、以及喷洒系统。
具体地，喷洒系统包括：储液箱10、分水器12、水泵13、液管14和喷头15，储液箱10的出液口经分水器12接多个水泵13，每一水泵13的出水口均通过液管14连接若干个喷头15，同一个水泵13连接的若干个喷头15均位于同一侧机臂16或者同一个机臂16上。
本发明第一方面的技术方案提供的喷洒系统，储液箱10的出液口经分水器12接多个水泵13，并且每一水泵13的出水口通过液管14连接若干个喷头15，这样当两个或两个以上水泵13同时开启时可有效提高喷幅及整机喷洒流量；且同一个水泵13连接的若干个喷头15均位于同一侧机臂16或者同一个机臂16上，这样可以通过检测流过同一个水泵13的液体流量来获取与其连接的若干个喷头15的总喷洒流量，由于该若干个喷头15均位于同一侧机臂16或者同一个机臂16上，从而能够实现对喷洒系统单侧喷头的喷洒流量的校准与调节，进而实现对每侧喷头的喷洒流量的单独校准与调节，从而提高喷洒精度及喷洒的均匀性，实现植保无人机精准喷洒作业的要求。
需要说明的是，通常在植保无人机的机身两侧均设置有喷头15，也即植保无人机的机身两侧中的每一侧均设置有至少一个喷头15，植保无人机在进行喷洒作业时通常会同时开启两侧的喷头15，因此上述实施例中植保无人机 的喷洒系统至少包括有两个水泵13，且植保无人机在进行喷洒作业时其喷洒系统的至少两个水泵13同时处于开启状态，以确保机身两侧有喷头15同时进行喷洒作业。
实施例一：
如图1至图4所示，储液箱10的出液口和分水器12之间设有流量计11，流量计11在单一水泵13开启时检测流过水泵13的实际流量，从而根据用户输入的基准流量和实际流量进行比较来校准水泵13的输出流量。
具体地，在植保无人机进行喷洒作业之前，先利用流量计11对喷洒系统的每一个水泵13的输出流量进行校准，以确保喷洒系统的两侧喷头的喷洒流量一致，具体校准操作时，可以先单独开启其中一个水泵13，通过流量计11检测流过该水泵13的实际流量，然后将用户输入的基准流量和流量计11实际检测的实际流量进行比较，若两者的差值在预设范围内，则表示与该水泵13连接的若干个喷头15未出现堵塞等问题；然后再单独开启其中另一个水泵13，采用同样的方式进行检测，以此实现对多个水泵13的检测，从而确保植保无人机在进行喷洒作业时两侧喷头的喷洒流量一致。
当检测出与某一水泵13连接的若干个喷头15可能存在喷头堵塞等问题时，可以通过对与该水泵13连接的若干个喷头15进行进一步排查，以便找出问题，及时更换堵塞的喷头15，从而确保喷洒作业时两侧喷头的喷洒流量一致；当然，当流量计11检测出的实际流量与用户输入的基准流量存在差异时，说明与某一水泵13连接的若干个喷头15可能存在喷头堵塞等问题，也可以通过增大该水泵13的电机转速来增加与该水泵13连接的若干个喷头15的总喷洒流量，确保流量计11检测出的实际流量与用户输入的基准流量保持一致，以此实现喷洒作业时两侧喷头的喷洒流量一致。
进一步地，流量计11还在至少两个水泵13开启时检测流过至少两个水泵13的实际总流量，从而根据用户输入的基准总流量和实际总流量进行比较来判断喷洒系统是否异常。
具体地，在植保无人机进行喷洒作业过程中，可以利用流量计11检测流过开启的水泵13的实际总流量，从而根据用户输入的基准总流量和实际总流量进行比较来判断喷洒系统是否异常，从而便于用户及时发现喷洒作业过程中 可能存在的喷头堵塞等问题，从而便于及时对喷洒系统进行问题排查，或者及时对喷洒作业参数进行调整，进而确保喷洒精度。
在上述实施例中，优选地，流量计11为电磁流量计。
现有的喷洒系统大多采用涡轮流量计计量，无法适应农药粘度、密度多变的植保领域，无法精准计算喷洒量，本实施例的喷洒系统优选采用低成本的电磁流量计，可以适应各种粘度、密度的农药制剂，理论上兼容所有导电介质；当然，本实施例的喷洒系统也可以采用传统的涡轮流量计计量。
实施例二：
每一水泵13的入水管道、入水口、出水口或出水管道位置设有一流量计11，流量计11在水泵13开启时检测流过与之对应的水泵13的实际流量，从而根据用户输入的基准流量和实际流量进行比较来校准水泵13的输出流量。
具体地，在植保无人机进行喷洒作业之前，先利用流量计11对喷洒系统的每一个水泵13的输出流量进行校准，以确保喷洒作业时两侧喷头的喷洒流量一致，具体校准操作时，可以通过流量计11检测流过与之对应的水泵13的实际流量，然后将用户输入的基准流量和流量计11实际检测的实际流量进行比较，若两者的差值在预设范围内，则表示与该流量计11对应的水泵13连接的若干个喷头15未出现堵塞等问题，以此实现对多个水泵13及其连接的喷头15的检测，从而确保植保无人机在进行喷洒作业时两侧喷头的喷洒流量一致；当然，也可以将连接对称位置的喷头15的两个水泵13以相同的电机转速同时开启，通过观察与两个水泵13一一对应的流量计11检测出的实际流量之间的差异，来判断与该两个水泵13连接的喷头15同时进行喷洒作业时两侧喷头的喷洒流量是否一致，从而判断是否有喷头15存在堵塞等问题。
进一步地，流量计11还在至少两个水泵13开启时检测流过与之对应的水泵13的实际流量，从而根据用户输入的基准总流量和开启的水泵13的实际流量之和进行比较来判断喷洒系统是否异常，或者根据用户输入的基准总流量与开启的水泵13的数量之比和每一开启的水泵13的实际流量进行比较来判断喷洒系统是否异常。
具体地，在植保无人机进行喷洒作业时，可以利用流量计11检测流过与之对应的水泵13的实际流量，开启的水泵13的实际流量之和即为喷洒作业时 的实际总流量，从而根据用户输入的基准总流量与实际总流量进行比较来判断喷洒系统是否异常，从而便于用户及时发现喷洒作业过程中可能存在的喷头堵塞等问题，从而便于及时对喷洒系统进行问题排查，或者及时对喷洒作业参数进行调整，进而确保喷洒精度；也可以利用流量计11检测流过与之对应的水泵13的实际流量，用户输入的基准总流量与开启的水泵13的数量之比即为每一水泵13应该流过的基准流量，从而根据每一水泵13应该流过的基准流量与每一水泵13的实际流量进行比较来判断喷洒系统是否异常，从而便于用户及时发现喷洒作业过程中可能存在的喷头堵塞等问题，从而确保喷洒精度。
当检测出与某一水泵13连接的若干个喷头15可能存在喷头堵塞等问题时，可以通过增大该水泵13的电机转速来增加与该水泵13连接的若干个喷头15的总喷洒流量，以此实现喷洒作业时两侧喷头的喷洒流量一致。
在上述实施例中，优选地，流量计11为电磁流量计。
现有的喷洒系统大多采用涡轮流量计计量，无法适应农药粘度、密度多变的植保领域，无法精准计算喷洒量，本实施例的喷洒系统优选采用低成本的电磁流量计，可以适应各种粘度、密度的农药制剂，理论上兼容所有导电介质；当然，本实施例的喷洒系统也可以采用传统的涡轮流量计计量。
在本发明的一些实施例中，如图1至图4所示，水泵13的数量为偶数个，每两个水泵13构成一组，与每组中其中一水泵13连接的喷头15和与每组中另一水泵13连接的喷头15对称分布在位于机身两侧的机臂16上。
上述实施例，每组中两个水泵13连接的喷头15数量相等，且喷头15对称分布在位于植保无人机的机身两侧的机臂16上，这样设计当每组中的两个水泵13以相同的电机转速工作时，可以确保与两个水泵13连接、且分设于机身两侧的喷头15的喷洒流量一致，从而确保喷洒精度和喷洒均匀性，并使得喷洒作业模式的控制更方便。
进一步地，如图1至图4所示，喷洒系统包括至少两组水泵，与其中一组水泵中任一水泵13连接的喷头15均位于相对植保无人机的机头靠前的机臂16上，与其中另一组水泵中任一水泵13连接的喷头15均位于相对植保无人机的机头靠后的机臂16上。
上述实施例，通过设置至少两组水泵，可以通过控制至少两组水泵单独工 作或者同时工作实现不同喷洒作业模式，从而满足不同喷洒作业模式的需求，提高植保无人机喷洒作业的适用性。
优选地，多个水泵13并排设置，且每组中的两个水泵13以机身的中心线为对称轴对称布置，这样设计以确保植保无人机结构的对称性，从而确保植保无人机两侧重量一致，满足植保无人机航线上的均匀度要求；如图2所示，喷洒系统包括两组水泵(即四个水泵13)，两组水泵并排设置在储液箱10相对靠近植保无人机的机头的一侧，并且一组中的两个水泵13邻近设置，另一组中的两个水泵13分设于邻近设置的两个水泵13的相背的外侧。可以理解的是，在其他实施例中可以有4组或者6组或者更多组水泵，在此不做限定。
可选地，同一水泵13的出水口通过液管14连接位于同一个机臂16上的一个或多个喷头15，对于同一水泵13连接位于同一个机臂16上的多个喷头15的情况，多个喷头15沿同一个机臂16的长度方向依次设置于机臂16的下方，以此增大喷洒作业的喷幅，并且下沉式喷头15，更完美地利用了下压风场，喷洒更加精准，药液沉降效果更佳；如图1、图2和图3所示，同一水泵13的出水口通过液管14连接位于同一个机臂16上的两个喷头15，两个喷头15沿同一机臂16的长度方向依次设置于机臂16的下方，且优选地两个喷头15均设于同一个机臂16的末端位置。
可选地，同一水泵13的出水口通过液管14连接位于同一侧的不同机臂16上的喷头15，喷头15均设置于机臂16的下方，以此可以采用较少数量的水泵13，连接更多数量的喷头15，在提高喷幅及喷洒流量的同时，使得较少数量的水泵13的控制更加方便。
在本发明的一个具体实施例中，如图1至图4所示，水泵13的数量为四个，每一水泵13的出水口通过液管14连接位于同一个机臂16上的两个喷头15，八个喷头15分设于四个机臂16上，四个机臂16两两对称分设于机身的两侧，且位于同一侧的两个机臂16相对于植保无人机的机头位置一前一后设置。
上述实施例，每一水泵13的出水口通过液管14连接位于同一个机臂16上的两个喷头15，可以实现单侧喷头的喷洒流量的校准与调节，解决现有喷洒系统无法单独调节机身两侧流量差异，当喷洒系统出现一点轻微堵塞时无法 校准差异的问题；在一个机臂16上设置两个喷头15，可以实现大喷幅喷洒作业，有效解决现有单喷头喷幅不够大，没有大流量喷洒模式的问题；四个机臂16两两对称分设于机身的两侧，且位于同一侧的两个机臂一前一后设置，可以通过控制不同机臂上的喷头15进行喷洒作业，满足不同喷洒作业模式的需求，提高植保无人机喷洒作业的适用性。
一个具体示例中，如图1至图4所示，喷洒系统包括储液箱10、流量计11、分水器12、四个水泵13、八个喷头15和液管14，储液箱10优选为快拆水箱，流量计11优选为电磁流量计，水泵13优选为高压隔膜泵，喷头15优选为压力喷头15，液管14优选为耐压药管，储液箱10的出口接流量计11，流量计11经过分水器12接四个水泵13，每个水泵13都经液管14连接到机臂16处的喷头15，每一个水泵13在末端都接两个喷头15用于扩大喷幅。
具体地，如图2所示，四个水泵13分别为第一水泵131、第二水泵132、第三水泵133和第四水泵134，八个喷头15分别为第一喷头151、第二喷头152、第三喷头153、第四喷头154、第五喷头155、第六喷头156、第七喷头157和第八喷头158，第一水泵131接第一喷头151和第二喷头152，第二水泵132接第五喷头155和第六喷头156，第三水泵133接第七喷头157和第八喷头158，第四水泵134接第三喷头153和第四喷头154；第一水泵131和第四水泵134可以单独通过流量计11校准来控制植保无人机两侧流量一致，第二水泵132和第三水泵133可以单独通过流量计11校准来控制植保无人机两侧流量一致。
进一步地，喷洒系统还包括控制器，控制器与每一水泵13电连接，控制器用于根据接收到的喷洒作业模式指令控制各个水泵13的开启或关闭状态。
具体地，喷洒作业模式指令包括前喷喷洒作业模式指令、后喷喷洒作业模式指令和全喷喷洒作业模式指令；其中，控制器在接收到前喷喷洒作业模式指令时控制与相对靠近机头一端的两个对称机臂16上的喷头15相连的两个水泵13开启，即图2中的第一水泵131和第四水泵134开启；控制器在接收到后喷喷洒作业模式指令时控制与相对远离机头一端的两个对称机臂16上的喷头15相连的两个水泵13开启，即图2中的第二水泵132和第三水泵133开启；控制器在接收到全喷喷洒作业模式指令时控制四个水泵13开启，即图2中的 第一水泵131、第二水泵132、第三水泵133和第四水泵134均开启。
上述实施例，通过控制各个水泵13的开启或关闭状态，可以实现前喷喷洒作业模式、后喷喷洒作业模式和全喷喷洒作业模式三种喷洒作业模式，满足不同喷洒作业模式的需求，提高植保无人机喷洒作业的适用性。
进一步地，液管14包括与水泵13的出水口相连的总液管14及与总液管14的出液口相连的两个分支管，每一分支管的出液口连接一喷头15，总液管14和两个分支管的连接处或者两个分支管上设有用于控制其中一个分支管断路的控制阀，控制阀与控制器电连接，用于根据接收到的喷洒作业模式指令控制各个控制阀的开启或关闭状态。
上述实施例，可以利用控制阀控制同一机臂16上的两个喷头15同时开启或者其中任一个单独开启，从而调节喷洒流量，实现不同喷洒作业模式，提高植保无人机喷洒作业的适用性。
本发明第二方面的技术方案提供的一种植保无人机，包括：机身、设于机身上的机头、多个与机身连接的机臂16、以及喷洒系统，其中，喷洒系统可以为本发明第一方面的技术方案任一实施例提供的喷洒系统。
本发明第二方面技术方案提供的植保无人机，因其包括上述任一实施例的喷洒系统，因而具有上述任一实施例的喷洒系统的有益效果，在此不再赘述。
具体地，如图1至图4所示，喷洒系统包括：储液箱10、分水器12、水泵13、液管14和喷头15，储液箱10的出液口经分水器12接多个水泵13，每一水泵13的出水口均通过液管14连接若干个喷头15，同一个水泵13连接的若干个喷头15均位于同一侧机臂16或者同一个机臂16上。
在本发明的一个实施例中，如图1至图4所示，储液箱10的出液口和分水器12之间设有流量计11，流量计11在单一水泵13开启时检测流过水泵13的实际流量，从而根据用户输入的基准流量和实际流量进行比较来校准水泵13的输出流量。
进一步地，流量计11还在至少两个水泵13开启时检测流过至少两个水泵13的实际总流量，从而根据用户输入的基准总流量和实际总流量进行比较来判断喷洒系统是否异常。
在上述实施例中，优选地，流量计11为电磁流量计；当然，流量计11 也可以为涡轮流量计。
在本发明的另一个实施例中，每一水泵13的入水管道、入水口、出水口或出水管道位置设有一流量计11，流量计11在水泵13开启时检测流过与之对应的水泵13的实际流量，从而根据用户输入的基准流量和实际流量进行比较来校准水泵13的输出流量。
进一步地，流量计11还在至少两个水泵13开启时检测流过与之对应的水泵13的实际流量，从而根据用户输入的基准总流量和开启的水泵13的实际流量之和进行比较来判断喷洒系统是否异常，或者根据用户输入的基准总流量与开启的水泵13的数量之比和每一开启的水泵13的实际流量进行比较来判断喷洒系统是否异常。
在上述实施例中，优选地，流量计11为电磁流量计；当然，流量计11也可以为涡轮流量计。
在本发明的一些实施例中，如图1至图4所示，水泵13的数量为偶数个，每两个水泵13构成一组，与每组中其中一水泵13连接的喷头15和与每组中另一水泵13连接的喷头15对称分布在位于机身两侧的机臂16上。
进一步地，如图1至图4所示，喷洒系统包括至少两组水泵，与其中一组水泵中任一水泵13连接的喷头15均位于相对植保无人机的机头靠前的机臂16上，与其中另一组水泵中任一水泵13连接的喷头15均位于相对植保无人机的机头靠后的机臂16上。
优选地，多个水泵13并排设置，且每组中的两个水泵13以机身的中心线为对称轴对称布置；具体地，喷洒系统可以有2组水泵(即四个水泵13)、或者4组水泵、或者6组水泵、或者更多组水泵，在此不做限定。
可选地，同一水泵13的出水口通过液管14连接位于同一个机臂16上的一个或多个喷头15，对于同一水泵13连接位于同一个机臂16上的多个喷头15的情况，多个喷头15沿同一个机臂16的长度方向依次设置于机臂16的下方；一个具体示例中，如图1和图3所示，每一水泵12连接位于同一机臂16上的两个喷头15。
可选地，同一水泵13的出水口通过液管14连接位于同一侧的不同机臂16上的喷头15，喷头15均设置于机臂16的下方。
在本发明的一个具体实施例中，如图1至图4所示，植保无人机的喷洒系统包括4个水泵13，每一水泵13的出水口通过液管14连接位于同一个机臂16上的两个喷头15，八个喷头15分设于植保无人机的四个机臂16上，四个机臂16两两对称分设于植保无人机的机身的两侧，且位于同一侧的两个机臂16相对于植保无人机的机头位置一前一后设置。
进一步地，如图1和图2所示，储液箱10和分水器12之间设有流量计11，储液箱10的出口接流量计11，流量计11经过分水器12接四个水泵13。
进一步地，喷洒系统还包括控制器，控制器与每一水泵13电连接，控制器用于根据接收到的喷洒作业模式指令控制各个水泵13的开启或关闭状态。
具体地，喷洒作业模式指令包括前喷喷洒作业模式指令、后喷喷洒作业模式指令和全喷喷洒作业模式指令；其中，控制器在接收到前喷喷洒作业模式指令时控制与相对靠近机头一端的两个对称机臂16上的喷头15相连的两个水泵13开启；控制器在接收到后喷喷洒作业模式指令时控制与相对远离机头一端的两个对称机臂16上的喷头15相连的两个水泵13开启；控制器在接收到全喷喷洒作业模式指令时控制四个水泵13开启。
进一步地，如图1所示，液管14包括与水泵13的出水口相连的总液管14及与总液管14的出液口相连的两个分支管，每一分支管的出液口连接一喷头15，总液管14和两个分支管的连接处或者两个分支管上设有用于控制其中一个分支管断路的控制阀，控制阀与控制器电连接，用于根据接收到的喷洒作业模式指令控制各个控制阀的开启或关闭状态。
在上述任一实施例中，优选地，储液箱10为可拆储液箱，储液箱10可拆卸地安装在植保无人机的机身上，便于将储液箱10拆下进行加注药液等液体的操作。
在某一实施例中，使用本实施例的植保无人机进行喷洒作业时，植保无人机可能会进行前飞或侧飞或后飞操作。例如，在某一片农田区域，本实施例的植保无人机采用回形路线进行飞行喷洒作业，该回行路线在转角处呈直角。本实施例的植保无人机只需采取向前直飞、向侧直飞、向后直飞三种飞行喷洒模式，就能够在不需要进行转弯飞行的情况下，完成对本区域农田喷洒的全覆盖。具体地，在植保无人机向前直飞时，开启相对远离机头一端的两个对称机臂 16上的喷头15相连的两个水泵13，在向前直飞操作时相对远离机头一端的4个喷头155、156、157、158同时喷洒，使得在该向前直飞线路下的农田区域获得均匀喷洒。当植保无人机需要转弯时，采取向侧边平飞的模式，无需对机头位置进行调整，该侧边平飞的飞行路径与向前直飞的飞行路径呈90度直角。当本实施例的植保无人机向侧边飞行时，可以关闭水泵13。在该植保无人机平飞过两个机臂喷幅距离后开始向后直飞，此时开启相对靠近机头一端的两个机臂16上的喷头15相连的两个水泵13，在向后直飞操作时相对靠近机头一端的4个喷头151、152、153、154同时喷洒，使得在该向后直飞线路下的农田区域获得均匀喷洒。如此一来，使用本实施例的植保无人机能够在不需要进行转弯操作即可实现农田范围的喷洒全覆，而且不会造成重复喷洒或者漏喷的情况，既节约了作业物又能够实现精准作业。可以理解的是，在其他实施例中，还可以对水泵、喷头的开启或关闭有其他操作模式，在此不做限定。
本发明实施例的喷洒系统和植保无人机的技术优势在于：
1、为植保无人机的喷洒系统使用了电磁流量计，可以适应各种粘度、密度的农药制剂，理论上兼容所有导电介质，适用性更强；
2、在植保无人机有限的重量载荷下，优选使用了4泵模式，每一个泵接2个喷头，每一个泵都能根据流量计数据校准输出流量；
3、在植保无人机机身单臂悬挂了两个压力喷头，通过布局优化，可以在无人机风场的作用下，显著提高植保无人机的有效喷幅及整机喷洒流量。
当然，本发明实施例提供的喷洒系统，不限于用于植保无人机的喷洒作业，还可以用于其它多种类型的植保器械如地面植保车的喷洒作业，只要不脱离本发明的设计构思，均应在本发明的保护范围内。
综上所述，本发明实施例提供的喷洒系统和植保无人机，通过在储液箱的出液口经分水器接多个水泵，并且每一水泵的出水口通过液管连接若干个喷头，可有效提高喷幅及整机喷洒流量；且同一个水泵连接的若干个喷头均位于同一侧机臂或者同一个机臂上，这样可以实现对喷洒系统单侧喷头的喷洒流量的校准与调节，进而提高喷洒精度及喷洒的均匀性，实现植保无人机精准喷洒作业的要求。
在本发明的描述中，除非另有明确的规定和限定，术语“多个”是指两个或 两个以上；除非另有规定或说明，术语“连接”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接，或电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本说明书的描述中，需要理解的是，术语“上”、“下”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或单元必须具有特定的方向、以特定的方位构造和操作，因此，不能理解为对本发明的限制。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
Claims (33)
- 一种喷洒系统，用于植保无人机，所述植保无人机包括机身、机头、多个与机身连接的机臂，其特征在于，所述喷洒系统包括储液箱、分水器、水泵、液管和喷头，所述储液箱的出液口经所述分水器接多个所述水泵，每一所述水泵的出水口均通过液管连接若干个所述喷头，同一个所述水泵连接的若干个所述喷头均位于同一侧机臂或者同一个机臂上。
- 根据权利要求1所述的喷洒系统，其特征在于，所述储液箱的出液口和所述分水器之间设有流量计，所述流量计在单一所述水泵开启时检测流过所述水泵的实际流量，从而根据用户输入的基准流量和所述实际流量进行比较来校准所述水泵的输出流量。
- 根据权利要求2所述的喷洒系统，其特征在于，所述流量计为电磁流量计或者涡轮流量计。
- 根据权利要求2所述的喷洒系统，其特征在于，所述流量计还在至少两个所述水泵开启时检测流过至少两个所述水泵的实际总流量，从而根据用户输入的基准总流量和所述实际总流量进行比较来判断所述喷洒系统是否异常。
- 根据权利要求1所述的喷洒系统，其特征在于，每一所述水泵的入水管道、入水口、出水口或出水管道位置设有一流量计，所述流量计在所述水泵开启时检测流过与之对应的所述水泵的实际流量，从而根据用户输入的基准流量和所述实际流量进行比较来校准所述水泵的输出流量。
- 根据权利要求5所述的喷洒系统，其特征在于，所述流量计为电磁流量计或者涡轮流量计。
- 根据权利要求5所述的喷洒系统，其特征在于，所述流量计还在至少两个所述水泵开启时检测流过与之对应的所述水泵的实际流量，从而根据用户输入的基准总流量和开启的所述水泵的实际流量之 和进行比较来判断所述喷洒系统是否异常，或者根据用户输入的基准总流量与开启的所述水泵的数量之比和每一开启的所述水泵的实际流量进行比较来判断所述喷洒系统是否异常。
- 根据权利要求1所述的喷洒系统，其特征在于，所述水泵的数量为偶数个，每两个所述水泵构成一组，与每组中其中一所述水泵连接的所述喷头和与每组中另一所述水泵连接的所述喷头对称分布在位于机身两侧的机臂上。
- 根据权利要求8所述的喷洒系统，其特征在于，所述喷洒系统包括至少两组所述水泵，与其中一组所述水泵中任一所述水泵连接的所述喷头均位于相对所述植保无人机的机头靠前的机臂上，与其中另一组所述水泵中任一所述水泵连接的所述喷头均位于相对所述植保无人机的机头靠后的机臂上。
- 根据权利要求9所述的喷洒系统，其特征在于，多个所述水泵并排设置，且每组中的两个所述水泵以机身的中心线为对称轴对称布置。
- 根据权利要求1所述的喷洒系统，其特征在于，同一所述水泵的出水口通过液管连接位于同一个机臂上的一个或多个所述喷头，对于同一所述水泵连接位于同一个机臂上的多个所述喷头的情况，多个所述喷头沿同一个机臂的长度方向依次设置于所述机臂的下方。
- 根据权利要求1所述的喷洒系统，其特征在于，同一所述水泵的出水口通过液管连接位于同一侧的不同机臂上的所述喷头，所述喷头均设置于所述机臂的下方。
- 根据权利要求1至11中任一项所述的喷洒系统，其特征在于，所述水泵的数量为四个，每一所述水泵的出水口通过液管连接位于同一个机臂上的两个所述喷头，八个所述喷头分设于四个所述机臂上，四个所述机臂两两对称分设于机身的两侧，且位于同一侧的两个所述机臂相对于所述植保无人机的机头位置一前一后设置。
- 根据权利要求13所述的喷洒系统，其特征在于，所述喷洒系统还包括控制器，所述控制器与每一所述水泵电连接，所述控 制器用于根据接收到的喷洒作业模式指令控制各个所述水泵的开启或关闭状态。
- 根据权利要求14所述的喷洒系统，其特征在于，所述喷洒作业模式指令包括前喷喷洒作业模式指令、后喷喷洒作业模式指令和全喷喷洒作业模式指令；其中，所述控制器在接收到前喷喷洒作业模式指令时控制与相对靠近机头一端的两个对称机臂上的喷头相连的两个所述水泵开启；所述控制器在接收到后喷喷洒作业模式指令时控制与相对远离机头一端的两个对称机臂上的喷头相连的两个所述水泵开启；所述控制器在接收到全喷喷洒作业模式指令时控制四个所述水泵开启。
- 根据权利要求14所述的喷洒系统，其特征在于，所述液管包括与所述水泵的出水口相连的总液管及与所述总液管的出液口相连的两个分支管，每一所述分支管的出液口连接一所述喷头，所述总液管和两个所述分支管的连接处或者两个所述分支管上设有用于控制其中一个所述分支管断路的控制阀，所述控制阀与所述控制器电连接，用于根据接收到的喷洒作业模式指令控制各个所述控制阀的开启或关闭状态。
- 一种植保无人机，其特征在于，包括：机身；设于机身上的机头；多个与机身连接的机臂；以及喷洒系统，所述喷洒系统包括储液箱、分水器、水泵、液管和喷头，所述储液箱的出液口经所述分水器接多个所述水泵，每一所述水泵的出水口均通过液管连接若干个所述喷头，同一个所述水泵连接的若干个所述喷头均位于同一侧机臂或者同一个机臂上。
- 根据权利要求17所述的植保无人机，其特征在于，所述储液箱的出液口和所述分水器之间设有流量计，所述流量计在单一所述水泵开启时检测流过所述水泵的实际流量，从而根据用户输入的基准流量和所述实际流量进行比较来校准所述水泵的输出流量。
- 根据权利要求18所述的植保无人机，其特征在于，所述流量计为电磁流量计或者涡轮流量计。
- 根据权利要求18所述的植保无人机，其特征在于，所述流量计还在至少两个所述水泵开启时检测流过至少两个所述水泵的实际总流量，从而根据用户输入的基准总流量和所述实际总流量进行比较来判断所述喷洒系统是否异常。
- 根据权利要求17所述的植保无人机，其特征在于，每一所述水泵的入水管道、入水口、出水口或出水管道位置设有一流量计，所述流量计在所述水泵开启时检测流过与之对应的所述水泵的实际流量，从而根据用户输入的基准流量和所述实际流量进行比较来校准所述水泵的输出流量。
- 根据权利要求21所述的植保无人机，其特征在于，所述流量计为电磁流量计或者涡轮流量计。
- 根据权利要求21所述的植保无人机，其特征在于，所述流量计还在至少两个所述水泵开启时检测流过与之对应的所述水泵的实际流量，从而根据用户输入的基准总流量和开启的所述水泵的实际流量之和进行比较来判断所述喷洒系统是否异常，或者根据用户输入的基准总流量与开启的所述水泵的数量之比和每一开启的所述水泵的实际流量进行比较来判断所述喷洒系统是否异常。
- 根据权利要求17所述的植保无人机，其特征在于，所述水泵的数量为偶数个，每两个所述水泵构成一组，与每组中其中一所述水泵连接的所述喷头和与每组中另一所述水泵连接的所述喷头对称分布在位于机身两侧的机臂上。
- 根据权利要求24所述的植保无人机，其特征在于，所述喷洒系统包括至少两组所述水泵，与其中一组所述水泵中任一所述水泵连接的所述喷头均位于相对所述植保无人机的机头靠前的机臂上，与其中另一组所述水泵中任一所述水泵连接的所述喷头均位于相对所述植保无人机的机头靠后的机臂上。
- 根据权利要求25所述的植保无人机，其特征在于，多个所述水泵并排设置，且每组中的两个所述水泵以机身的中心线为对称 轴对称布置。
- 根据权利要求17所述的植保无人机，其特征在于，同一所述水泵的出水口通过液管连接位于同一个机臂上的一个或多个所述喷头，对于同一所述水泵连接位于同一个机臂上的多个所述喷头的情况，多个所述喷头沿同一个机臂的长度方向依次设置于所述机臂的下方。
- 根据权利要求17所述的植保无人机，其特征在于，同一所述水泵的出水口通过液管连接位于同一侧的不同机臂上的所述喷头，所述喷头均设置于所述机臂的下方。
- 根据权利要求17至27中任一项所述的植保无人机，其特征在于，所述水泵的数量为四个，每一所述水泵的出水口通过液管连接位于同一个机臂上的两个所述喷头，八个所述喷头分设于四个所述机臂上，四个所述机臂两两对称分设于机身的两侧，且位于同一侧的两个所述机臂相对于所述植保无人机的机头位置一前一后设置。
- 根据权利要求29所述的植保无人机，其特征在于，所述喷洒系统还包括控制器，所述控制器与每一所述水泵电连接，所述控制器用于根据接收到的喷洒作业模式指令控制各个所述水泵的开启或关闭状态。
- 根据权利要求30所述的植保无人机，其特征在于，所述喷洒作业模式指令包括前喷喷洒作业模式指令、后喷喷洒作业模式指令和全喷喷洒作业模式指令；其中，所述控制器在接收到前喷喷洒作业模式指令时控制与相对靠近机头一端的两个对称机臂上的喷头相连的两个所述水泵开启；所述控制器在接收到后喷喷洒作业模式指令时控制与相对远离机头一端的两个对称机臂上的喷头相连的两个所述水泵开启；所述控制器在接收到全喷喷洒作业模式指令时控制四个所述水泵开启。
- 根据权利要求30所述的植保无人机，其特征在于，所述液管包括与所述水泵的出水口相连的总液管及与所述总液管的出液口相连的两个分支管，每一所述分支管的出液口连接一所述喷头，所述总液管和两个所述分支管的连接处或者两个所述分支管上设有用于控制其中一个所 述分支管断路的控制阀，所述控制阀与所述控制器电连接，用于根据接收到的喷洒作业模式指令控制各个所述控制阀的开启或关闭状态。
- 根据权利要求17至27中任一项所述的植保无人机，其特征在于，所述储液箱为可拆储液箱，所述储液箱可拆卸地安装在所述植保无人机的机身上。
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