WO2021077722A1 - 一种用于无人机上的生物质球体投放系统及投放方法 - Google Patents

一种用于无人机上的生物质球体投放系统及投放方法 Download PDF

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Publication number
WO2021077722A1
WO2021077722A1 PCT/CN2020/089897 CN2020089897W WO2021077722A1 WO 2021077722 A1 WO2021077722 A1 WO 2021077722A1 CN 2020089897 W CN2020089897 W CN 2020089897W WO 2021077722 A1 WO2021077722 A1 WO 2021077722A1
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biomass
ball
spheres
stirring
sphere
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PCT/CN2020/089897
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English (en)
French (fr)
Inventor
兰玉彬
展义龙
陈盛德
欧阳帆
陈鹏超
常坤
钱士程
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华南农业大学
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Publication of WO2021077722A1 publication Critical patent/WO2021077722A1/zh

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    • 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
    • B64D1/02—Dropping, ejecting, or releasing articles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
    • A01K67/033—Rearing or breeding invertebrates; New breeds of invertebrates
    • 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
    • A01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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

Definitions

  • the invention relates to the technical field of plant protection machinery, in particular to a biomass sphere dropping system and a dropping method used on an unmanned aerial vehicle.
  • Biological control is mainly based on insect control, using the parasitic or predatory relationship between natural organisms, which can effectively control the population of pests. Compared with chemical control, there will be no problems such as pest resistance and environmental pollution. In recent years, more and more attention has been paid to the use of biological control of pests and diseases. In order to achieve a better control effect, in the biological control process, natural enemies need to be reasonably arranged in the farmland. At present, the arrangement of natural enemies is mainly artificial. This method is low in efficiency and labor-intensive, and is only suitable for small-area operations. If the UAV is used to put the biomass spheres, it will greatly reduce labor intensity and improve the efficiency of prevention and control.
  • the control of corn borer can use Trichogramma to prevent insects, and the timing of Trichogramma is a key factor affecting the control effect. If the bee is released too early, the eggs of the borer are few, and a large number of Trichogramma can not be parasitic in the eggs and die; if the bee is released too late, the eggs of the borer have hatched, and the Trichogramma can not control the larvae. If the UAV is used to put the biomass spheres equipped with natural enemies (trichogramma) in the field quickly and accurately in a short period of time, it will be able to effectively improve the control effect, and have the characteristics of high operating efficiency and no pollution to the environment. . Therefore, it is necessary to develop a technology for placing biomass spheres on drones in order to achieve rapid, accurate and effective delivery of biomass spheres to the field.
  • the present invention provides a biomass sphere delivery system and a delivery method for drones, which combine with plant protection.
  • the machine can realize fast, accurate and effective delivery of biomass spheres containing natural enemies of harmful insects.
  • the biomass ball dropping system for drones includes a control module, a ball storage device, a stirring device, a ball sending device, and a release device.
  • the biomass ball is stored in the ball storage device, and the stirring device is located in the ball storage device. It is connected with the ball storage device, the ball sending device is connected with the stirring device and the releasing device, and the control module is electrically connected with the stirring device and the releasing device;
  • the stirring device continuously stirs the biomass spheres under the control of the control module to smoothly enter the inside of the ball-feeding device.
  • the ball-feeding device separates and transports the biomass spheres.
  • the release device is in the control module. Controllable release of the biomass spheres stored in the ball delivery device under control.
  • the stirring device includes a first motor, a stirring shaft, a stirring rod, and a stirring blade.
  • the first motor is respectively connected to the ball storage device and the control module and controlled by the control module, and the stirring rod is arranged on the stirring shaft.
  • the stirring blade is arranged on the stirring rod; the stirring shaft is connected with the rotating rod of the first motor, and the stirring shaft rotates under the driving of the first motor, and the stirring rod and the stirring blade rotate accordingly to stir the biomass sphere.
  • the ball-feeding device includes a ball divider and a conveyor; the rotating shaft in the ball divider is connected with the stirring shaft in the stirring device, and rotates accordingly, and the biomass is driven by the first motor.
  • the spheres are stirred and separated, so that the biomass spheres enter the conveyor one by one.
  • the ball divider includes a rotating shaft, a connecting rod, a ball dividing block, and a ball dividing tube, wherein the rotating shaft is connected to the stirring shaft in the stirring device and rotates accordingly; the connecting rod is in a "ten" shape.
  • the center of the connecting rod is connected with the rotating shaft; there are multiple ball-dividing blocks, and they are respectively arranged symmetrically on the connecting rod, and the interval between two adjacent ball-dividing blocks is greater than the diameter of the biomass sphere;
  • the ball-dividing cylinder Connected to the bottom end of the ball storage device, the bottom of the ball dividing tube is a convex curved thin wall, and the convex curved thin wall is provided with a plurality of through holes communicating with the conveyor.
  • the biomass sphere is drawn from the gap between the dividing blocks.
  • the convex curved thin wall slides down into the through hole.
  • the conveyer includes a conveying pipe, a ball collecting pipe and a photoelectric sensor;
  • the conveying pipe is provided with a plurality of conveying pipes, and the inlets are all inclined to the horizontal plane, and are respectively connected with the convex curved thin wall of the ball-dividing cylinder.
  • the through holes are connected in one-to-one correspondence, and the biomass spheres fall into the conveying pipe through the convex curved thin-walled through holes and are conveyed into the ball collecting pipe.
  • the end outlets of the multiple conveying pipes are respectively connected to the side surface of the ball collecting pipe according to different heights, and are arranged around the side surface of the ball collecting pipe.
  • the lower side of the ball collecting pipe is provided with a rectangular notch connected with the releasing device as a releasing port;
  • the releasing device is installed on the side of the ball collecting pipe and includes a controller, a second motor and a shift fork.
  • the controller is connected to the control module and is controlled by the control module; the controller controls the speed of the second motor, and the rotating rod of the second motor is connected with the shift fork.
  • the shift fork rotates around the axis of the second motor’s rotating rod. It continuously rotates and enters the inside of the ball collecting pipe through the rectangular gap below the ball collecting pipe, and continuously discharges the biomass spheres in the ball collecting pipe at a certain time interval.
  • the method for placing biomass spheres on drones of the present invention is based on the above-mentioned placing system and includes the following steps:
  • the control module Send a speed signal to the stirring device to control the speed of the first motor in the stirring device.
  • the first motor drives the stirring rod to stir the biomass spheres in the ball storage device;
  • the ball divider in the ball feeding device is connected to the stirring device through the rotating shaft
  • the mixing shaft is connected with the mixing shaft, and the rotating shaft drives the ball dividing block to rotate with it.
  • the ball dividing block combined with the ball dividing tube diverts the biomass spheres in the ball storage device to the conveyor, through the conveying pipeline in the conveyor And the ball collecting pipe arranges the biomass spheres in the release port in an orderly manner;
  • control module sends a speed signal to the controller in the release device, drives the second motor to continuously rotate, and drives the shift fork to move the biological spheres arranged in the release port to pull out the biomass spheres.
  • the present invention has the following beneficial effects:
  • the combination of the present invention and drones to deliver biomass spheres can greatly improve work efficiency, improve control effects, reduce labor intensity, save farming hours, and have higher economic benefits.
  • the delivery system has a simple structure, simple transmission components, easy assembly, and low maintenance cost.
  • the delivery system of the present invention uses the stirring device and the ball separator of the ball delivery device to continuously stir the biomass spheres in the ball storage device, which can effectively avoid the overhead phenomenon between the spheres, avoid blockages during the delivery process, and improve the efficiency of the delivery system. Stability and reliability.
  • the biomass spheres can be arranged in the ball collecting pipe in an orderly manner, which is convenient for subsequent placing work.
  • the number of released spheres can be counted in real time through the photoelectric sensor to obtain the workload. , To guide the operation process.
  • This system uses the controller in the release device to control the shifting speed of the shift fork, which can realize effective control of the release of the ball, and can change the release speed according to the actual operation requirements, ensuring the controllability of the release, and can achieve precise release.
  • Fig. 1 is a schematic diagram of the overall structure of a delivery system provided on an unmanned aerial vehicle according to an embodiment of the present invention.
  • Fig. 2 is a schematic structural diagram of a delivery system provided by an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the structure of the stirring device.
  • Fig. 4 is a schematic diagram of the structure of the ball feeding device.
  • Figure 5 is a schematic diagram of the ball divider structure.
  • Figure 6 is a schematic diagram of the ball-dividing tube structure.
  • Fig. 7 is a schematic diagram of the structure of the ball dividing block and the connecting rod.
  • Figure 8 is a schematic diagram of the conveyor structure.
  • Figure 9 is a schematic diagram of the structure of the release device.
  • the biomass sphere delivery system used on the drone is installed under the drone 5 through a bolt set, and the operation area can be performed by the positioning system on the drone.
  • Route planning and can accurately locate the real-time position of the drone;
  • the control module 6 controls the power components of the delivery system and records the delivery volume in real time, such as adjusting the motor speed of the delivery system to achieve effective control of the delivery speed.
  • the putting system includes a ball storage device (also called a ball storage box) 1, a stirring device 2, a ball delivery device 3, and a release device 4.
  • the biomass spheres are stored inside the ball storage device 1.
  • the upper part of the ball storage device is a cylinder, and the lower part is an inverted cone.
  • the upper part of the ball storage device is provided with a cover, and the stirring device 2 is located in the ball storage device. Connected to the cover in the ball storage device.
  • the stirring device 2 continuously stirs the biomass spheres under the control of the control module to smoothly enter the ball feeding device 3, and the ball feeding device 3 separates the biomass spheres
  • the release device 4 controls the release of the biomass spheres stored at the bottom of the ball delivery device 3 under the control of the control module, thereby completing the process of putting the biomass spheres.
  • a number of biomass spheres are stored in the ball storage device according to actual needs.
  • the stirring device 2 includes a first motor 205, a shaft sleeve 201, a stirring shaft 202, a stirring rod 203 and a stirring blade 204.
  • the first motor 205 and the shaft sleeve 201 are connected with the cover of the ball storage device, the first motor is connected with the control module and controlled by the control module, the shaft sleeve 201 is sleeved on the stirring shaft, and the two stirring rods 203 are symmetrically welded to the stirring On the shaft, a stirring blade 204 is welded on each stirring rod 203.
  • the stirring shaft 202 is connected to the rotating rod of the first motor 205.
  • the stirring shaft 202 rotates under the driving of the first motor 205, and the stirring rod 203 and the stirring blade 204 rotate accordingly to stir the biomass spheres to prevent the spheres from being overhead and blocked. Circumstances, it is convenient for the ball to fall and enter the ball feeding device.
  • the ball delivery device includes a ball divider 301 and a conveyor 302, which respectively realize the separation and transportation of the biomass spheres in the ball storage device.
  • the rotating shaft 301(a) in the ball divider 301 is connected with the stirring shaft 202 in the stirring device 2 and rotates accordingly.
  • the biomass spheres are stirred and separated under the drive of the first motor 205, so that the biomass spheres are separated one by one.
  • the biomass spheres entering the conveyor 302 are vertically arranged at the bottom end of the conveyor 302 under the action of their own gravity, and are released by the release device 4.
  • the ball divider 301 includes a rotating shaft 301(a), a connecting rod 301(b), a ball dividing block 301(c), and a ball dividing tube 301(d).
  • the rotating shaft 301(a) is connected to the stirring shaft 202 in the stirring device 2 and rotates accordingly;
  • the connecting rod 301(b) is arranged in a cross-shaped welding arrangement, and the center of the connecting rod is connected to the rotating shaft 301(a) ;
  • 4 ball-dividing blocks 301(c) are respectively symmetrically welded to the connecting rod 301(b), and the interval between two adjacent ball-dividing blocks 301(c) is greater than the diameter of the biomass sphere;
  • the ball-dividing cylinder 301(d) Connected to the bottom end of the ball storage device 1, the bottom of the ball-dividing cylinder is a convex curved thin wall, and the angle between the thin wall and the horizontal plane is between 20 degrees and 30 degrees, showing a certain slope, which is convenient for the biomass spheres to enter
  • the conveyor includes a conveying pipe 302(a), a ball collecting pipe 302(b), a photoelectric sensor 302(c), and a base 302(d).
  • the material sphere falls into the conveying pipe 302(a) through the convex curved thin-walled through hole and is conveyed into the ball collecting pipe 302(b).
  • the end outlets of the four conveying pipes 302(a) are respectively connected to the side of the ball collecting pipe 302(b) according to different heights, and are arranged around the side of the ball collecting pipe; thus passing through the different heights of the end outlets of the conveying pipe 302(a) ,
  • the biomass spheres are vertically arranged in the ball collecting pipe 302(b) in order, so that the spheres are arranged at the release port according to a certain height, which ensures the continuity of the throwing ball.
  • the bottom side of the ball collecting pipe 302(b) is provided with a rectangular notch connected with the release device as a release port.
  • the light source of the photoelectric sensor 302(c) is cut off, thereby generating a counting signal to the biomass sphere.
  • Statistics of the actual release amount is included in the side of the ball collecting pipe 302(b) and welded with a base 302(d) to facilitate the installation of the release device.
  • the photoelectric sensor transmits the data back to the control module in real time to record the amount of input.
  • the control module will issue a return warning to the ground control station, and At this time, the location information of the placement point is recorded, which can effectively prevent missed placement and repeated placement.
  • the release device 4 is installed on the base 302(d) on the side of the ball collecting pipe 302(b), and includes a controller 401, a second motor 402 and a shift fork 403.
  • the controller is connected to the control module and is controlled by the control Module; the controller 401 in the release device 4 controls the speed of the second motor 402, the rotating rod of the second motor is connected to the shift fork 403, driven by the second motor 402, the shift fork 403 rotates around the axis of the second motor shaft Continuously rotate, through the rectangular gap below the ball collecting pipe 302(b), enter the ball collecting pipe 302(b), and continuously discharge the biomass spheres in the ball collecting pipe 302(b) at a certain time interval to achieve Accurate and stable release of biomass spheres.
  • the control module sends a speed signal to the stirring device to control the speed of the first motor in the stirring device.
  • the first motor drives the stirring rod to stir the biomass spheres in the ball storage device to prevent the spheres from overhead and blockage.
  • the ball divider in the ball feeding device is connected to the stirring shaft in the stirring device through a rotating shaft.
  • the rotating shaft drives the ball dividing block to rotate with the driving of the stirring shaft.
  • the ball dividing block combines with the ball dividing tube to store the biomass in the ball storage device.
  • the ball diverges into the conveyor.
  • the biomass spheres are arranged in the release port in an orderly manner through the conveying pipe and the collecting pipe in the conveyor.
  • the control module sends a speed signal to the controller in the release device, drives the second motor to continuously rotate, and drives the shift fork to move the biological spheres arranged in the release port to pull out the biomass spheres.
  • the control module sends a speed signal to the controller in the release device, drives the second motor to continuously rotate, and drives the shift fork to move the biological spheres arranged in the release port to pull out the biomass spheres.
  • the light source of the photoelectric sensor installed at the bottom is cut off due to the occlusion of the biomass sphere.
  • the photoelectric sensor will feedback a digital signal to the control module to count the amount of the input.
  • the control module will stop feeding back signals to the control module, and the control module will send a return signal to the drone at this time to complete the operation.
  • the biomass balls stored in the ball storage device are continuously moved by the stirring device, and after being conveyed to the release device by the ball delivery device, the biomass spheres are thrown out one by one according to the operation requirements by the release device.
  • the delivery system can be connected to the bottom of the drone through a bolt group, and the power components and sensors in the delivery system can be controlled through the control module to realize the control and statistics of the delivery volume.
  • the invention can clear the blockage and overhead phenomenon of the biomass spheres, and arrange the spheres in the release port according to a certain position and height, so as to ensure the continuity of the throwing ball; it can autonomously control the release of the biomass spheres, realize timing and quantitative release, and improve In order to release reliability and stability, the degree of automation is high.

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Abstract

提供了用于无人机（5）上的生物质球体投放系统及投放方法。投放系统包括控制模块（6）、储球装置（1）、搅拌装置（2）、送球装置（3）及释放装置（4）。其中，搅拌装置（2）位于储球装置（1）内并与储球装置连接，送球装置（3）分别与搅拌装置（2）、释放装置（4）连接，控制模块（6）分别与搅拌装置、释放装置电连接；在投放过程中，搅拌装置（2）对生物质球体不断进行搅拌，使其顺利进入送球装置（3）内部，送球装置对其进行分离与输送，释放装置（4）对其进行可控释放，按照作业需求逐一抛出。这种投放系统能够清除生物质球体的堵塞和架空现象，并将球体按照一定的位置高度排列于释放口，从而保证抛球的连续性；能自主控制生物质球体的释放，实现定时、定量释放，提升了释放可靠性与稳定性，自动化程度高。

Description

一种用于无人机上的生物质球体投放系统及投放方法 技术领域
本发明涉及植保机械技术领域，具体涉及一种用于无人机上的生物质球体投放系统及投放方法。
背景技术
现有的农业生产中，主要采用化学药剂防治病虫草害，随着植保无人机的广泛应用，目前大都采用无人机对化学药剂或者粉末药剂进行喷洒。随着化学农药的长期使用，部分病虫害会逐渐产生抗药性，为了达到防治效果，化学药剂的使用量会逐渐增加，最终导致恶性循环，防治效果差、对环境的污染更加严重。
而生物防治主要是以虫防虫，利用自然界生物之间的寄生或者捕食关系，能有效防治害虫的种群数量，相对于化学防治不会出现害虫抗药性及环境污染等问题。近几年利用生物防治病虫害越来越受重视。为了实现较好的防治效果，在生物防治过程中，需要将天敌合理的布置于农田中。目前，天敌的布置以人工投放为主，该方式效率低，劳动强度大，仅适用于小区域作业。若利用无人机进行生物质球体的投放，将能极大的降低劳动强度，提高防治效率。
例如玉米螟虫的防治，可利用赤眼蜂防虫，而赤眼蜂的投放时机是影响防治效果的关键因素。放蜂过早，螟虫的虫卵少，大量赤眼蜂无法寄生在虫卵内而死亡；放蜂过晚，螟虫的虫卵已孵化，赤眼蜂无法防治幼虫。如果采用无人机将装有天敌(赤眼蜂)的生物质球体在短时间内大范围快速、精准的投放于田间，将能够有效提升防治效果，具有作业效率高，对环境无污染等特点。因此需要开发适用于无人机上的生物质球体的投放技术，以便实现快速、准确、有效地将生物质球体投放至田间。
发明内容
为了克服现有技术的不足，提高生物防治的效率，解决因投放周期长而影响防治效果的问题，本发明提供一种用于无人机上的生物质球体投放系统及投放方法，结合植保无人机能够实现对装有害虫天敌的生物质球体进行快速、准确及有效的投放。
根据本发明的用于无人机上的生物质球体投放系统，包括控制模块、储球装置、搅拌装置、送球装置及释放装置，生物质球体存放于储球装置内，搅拌装置位于储球装置内并与储球装置连接，送球装置分别与搅拌装置、释放装置连接，控制模块分别与搅拌装置、释放装置电连接；
在生物质球体的投放过程中，搅拌装置在控制模块的控制下对生物质球体不断进行搅拌，使其顺利进入送球装置内部，送球装置对生物质球体进行分离与输送，释放装置在控制模块的控制下对存放于送球装置内的生物质球体进行可控释放。
在优选的实施例中，所述搅拌装置包括第一电机、搅拌轴、搅拌杆及搅拌叶，第一电机分别与储球装置、控制模块连接并受控于控制模块，搅拌杆设于搅拌轴上，搅拌叶设置在搅拌杆上；搅拌轴与第一电机的转动杆连接，在第一电机的带动下搅拌轴转动，搅拌杆与搅拌叶随之旋转，对生物质球体进行搅拌。
在优选的实施例中，所述送球装置包括分球器与输送器；分球器中的转动轴与搅拌装置中的搅拌轴连接，并随之转动，在第一电机的带动下对生物质球体进行搅拌分离，使生物质球体逐一进入输送器。
在优选的实施例中，所述分球器包括转动轴、连接杆、分球块、分球筒，其中转动轴与搅拌装置中的搅拌轴连接，并随之转动；连接杆呈“十”字状布置，连接杆的中心与转动轴连接；分球块设有多个，并分别对称设于连接杆上，相邻两个分球块之间的间隔大于生物质球体直径；分球筒与储球装置底端连接，分球筒的底部为凸型曲面薄壁，凸型曲面薄壁上开有多个与输送器连通的通孔，生物质球体从分球块间的间隔中沿凸型曲面薄壁滑落至通孔中。
在优选的实施例中，所述输送器包括输送管道、集球管道和光电传感器；输送管道设有多条，且入口均与水平面倾斜，并分别与分球筒中凸型曲面薄壁上的多个通孔一一对应进行连接，生物质球体经凸型曲面薄壁通孔落入输送管道中并被输送至集球管道内。
在优选的实施例中，多条输送管道的末端出口分别按照不同高度连接在集球管道的侧面，且环绕着集球管道的侧面布置。
在优选的实施例中，所述集球管道下方侧面开有与释放装置连接的矩形缺口作为释放口；所述释放装置安装于集球管道侧面，包括控制器、第二电机和拨叉，控制器与控制模块连接，受控于控制模块；控制器控制第二电机的转速，第二电机的转动杆与拨叉连接，在第二电机的带动下，拨叉绕第二电机转动杆的轴线不断旋转，通过集球管道下方的矩形缺口进入集球管道内部，不断的将集球管道内的生物质球体按照一定的时间间隔排出。
本发明用于无人机上的生物质球体投放方法，基于上述投放系统，包括以下步骤：
(1)通过螺栓组将投放系统安装于无人机下方，根据生物质球体的有效覆盖半径，对无人机进行路径规划；
(2)根据作业面积将一定量的生物质球体装入储球装置内，将无人机按照规划好的作业航线飞至起始位置点，按照投放高度开始作业；在作业过程中，控制模块向搅拌装置发送转速 信号，控制搅拌装置中第一电机的转速，通过第一电机带动搅拌杆对储球装置内的生物质球体进行搅拌；送球装置中的分球器通过转动轴与搅拌装置中的搅拌轴连接，在搅拌轴的带动下转动轴带动分球块随之转动，分球块结合分球筒将储球装置内的生物质球体分流至输送器中，通过输送器中的输送管道及集球管道将生物质球体有序排列在释放口；
(3)在作业过程中控制模块向释放装置中的控制器发出转速信号，驱动第二电机不断旋转，带动拨叉对排列于释放口的生物球体进行拨动，从而将生物质球体拨出，完成投放工作。
本发明与现有技术相比具有以下的有益效果：
1、不同于人工投放，本发明与无人机相结合，对生物质球体进行投放，能够极大的提高作业效率，提高防治效果，降低劳动强度，节省农时，具有较高的经济效益。且投放系统的结构简单，传动部件简单，便于装配，维护成本低。
2、本发明投放系统利用搅拌装置与送球装置的分球器不断对储球装置内的生物质球体进行搅拌，能够有效避免球体间的架空现象，避免投放过程中的堵塞，提高了投放系统的稳定性与可靠性。
3、通过送球装置中输送管道末端的高度差，能够将生物质球体有序的排列于集球管道中，便于后续的投放工作，此外通过光电传感器对释放球体的数量进行实时统计，获取作业量，指导作业进程。
4、本系统利用释放装置中的控制器控制拨叉的拨动速度，可实现对球体释放的有效控制，可根据实际作业要求改变投放速度，保证了投放的可控性，可实现精准投放。
附图说明
图1为本发明实施例提供的投放系统装在无人机上的整体结构示意图。
图2为本发明实施例提供的投放系统结构示意图。
图3为搅拌装置结构示意图。
图4为送球装置结构示意图。
图5为分球器结构示意图。
图6为分球筒结构示意图。
图7为分球块与连接杆的结构示意图。
图8为输送器结构示意图。
图9为释放装置结构示意图。
具体实施方式
为了使本领域的技术人员更好地理解本发明的技术方案，下面结合实施例和附图对本发明作进一步描述，但本发明的实施方式不仅限于此。
本实施例中，用于无人机上的生物质球体投放系统，如图1-2所示，投放系统通过螺栓组安装于无人机5下方，通过无人机上的定位系统可对作业区域进行路线规划，并可精确定位无人机实时位置；控制模块6对投放系统的动力原件进行控制并实时记录投放量，如调节投放系统的电机转速，实现对投放速度的有效控制。投放系统包括储球装置(也叫储球箱)1、搅拌装置2、送球装置3及释放装置4。其中生物质球体存放于储球装置1内部，储球装置上部为圆筒，下部呈倒锥形，为了防止球体外漏，储球装置上部设有封盖，搅拌装置2位于储球装置内并与储球装置中的封盖连接，在投放过程中，搅拌装置2在控制模块的控制下对生物质球体不断进行搅拌，使其顺利进入送球装置3内部，送球装置3对生物质球体进行分离与输送，释放装置4在控制模块的控制下对存放于送球装置3底部的生物质球体进行可控释放，从而完成生物质球体的投放过程。在作业过程中，根据实际需求将若干生物质球体存放于储球装置内。
参见图3，搅拌装置2包括第一电机205、轴套201、搅拌轴202、搅拌杆203及搅拌叶204。第一电机205及轴套201与储球装置的封盖连接，第一电机与控制模块连接并受控于控制模块，轴套201套接在搅拌轴上，两根搅拌杆203对称焊接于搅拌轴上，每根搅拌杆203上均焊接有搅拌叶204。搅拌轴202与第一电机205的转动杆连接，在第一电机205的带动下搅拌轴202转动，搅拌杆203与搅拌叶204随之旋转，对生物质球体进行搅拌，防止球体出现架空与堵塞的情况，便于球体下落，进入送球装置。
参见图4-8，送球装置包括分球器301与输送器302，分别实现对储球装置内生物质球体的分离与输送。其中分球器301中的转动轴301(a)与搅拌装置2中的搅拌轴202连接，并随之转动，在第一电机205的带动下对生物质球体进行搅拌分离，使生物质球体逐一进入输送器302。进入输送器302内的生物质球体，在自身重力作用下，成竖直排列在输送器302底端，由释放装置4进行释放。
参见图5-7，分球器301包括转动轴301(a)、连接杆301(b)、分球块301(c)、分球筒301(d)。其中转动轴301(a)与搅拌装置2中的搅拌轴202连接，并随之转动；连接杆301(b)呈“十”字状焊接布置，连接杆的中心与转动轴301(a)连接；4个分球块301(c)分别对称焊接于连接杆301(b)上，相邻两个分球块301(c)之间的间隔大于生物质球体直径；分球筒301(d)与储球装置1底端连接，分球筒的底部为凸型曲面薄壁，薄壁与水平面的夹角为20度到30度之间，呈一定的斜度，便于生物质球体进入输送管道302(a)，凸型曲面薄壁上开有四个适当的通孔， 通孔与输送器的输送管道连通，生物质球体从分球块301(c)间的间隔中沿凸型曲面薄壁滑落至通孔中。
参见图8，输送器包括输送管道302(a)、集球管道302(b)、光电传感器302(c)、底座302(d)。输送管道302(a)设有四条，且入口均与水平面呈25度倾斜角度，并分别与分球筒301(d)中凸型曲面薄壁上的四个通孔一一对应进行连接，生物质球体经凸型曲面薄壁通孔落入输送管道302(a)中并被输送至集球管道302(b)内。此外，四条输送管道302(a)末端出口分别按照不同高度连接在集球管道302(b)的侧面，且环绕着集球管道的侧面布置；从而通过输送管道302(a)末端出口的不同高度，将生物质球体依次竖直排列在集球管道302(b)内部，从而将球体按照一定的位置高度排列于释放口，保证了抛球的连续性。集球管道302(b)下方侧面开有与释放装置连接的矩形缺口作为释放口，当有生物质球体释放时，光电传感器302(c)光源被切断，从而产生一个计数信号，对生物质球体的实际释放量进行统计。此外，集球管道302(b)侧面焊有底座302(d)，便于安装释放装置。光电传感器实时将数据回传至控制模块，对投放量进行记录，当生物质球体投放完毕时，光电传感器停止向控制模块回传数据，此时控制模块会对地面控制站发出返航预警，并对此时的投放点的位置信息进行记录，能有效防止漏投与重复投放。
参见图9，释放装置4安装于集球管道302(b)侧面的底座302(d)上，包括控制器401、第二电机402和拨叉403，控制器与控制模块连接，受控于控制模块；释放装置4中的控制器401控制第二电机402的转速，第二电机的转动杆与拨叉403连接，在第二电机402的带动下，拨叉403绕第二电机转动杆的轴线不断旋转，通过集球管道302(b)下方的矩形缺口，进入集球管道302(b)内部，不断的将集球管道302(b)内的生物质球体，按照一定的时间间隔排出，实现生物质球体的精准、稳定释放。
本实施例用于无人机上的生物质球体投放方法，基于前述投放系统来实现，包括以下步骤：
(1)通过螺栓组将投放系统安装于无人机下方，根据生物质球体的有效覆盖半径，对无人机进行路径规划。在无人机进行作业之前，在储球装置内预先装入少量生物质球体，对控制模块进行检测，确保投放系统能够按照需求进行生物质球体的投放工作。
(2)根据作业面积将一定量的生物质球体装入储球装置内，将无人机按照规划好的作业航线飞至起始位置点，按照投放高度开始作业。在作业过程中，控制模块向搅拌装置发送转速信号，控制搅拌装置中第一电机的转速，通过第一电机带动搅拌杆对储球装置内的生物质球体进行搅拌，以防止球体的架空和堵塞。送球装置中的分球器通过转动轴与搅拌装置中的搅 拌轴连接，在搅拌轴的带动下转动轴带动分球块随之转动，分球块结合分球筒将储球装置内的生物质球体分流至输送器中。通过输送器中的输送管道及集球管道将生物质球体有序排列在释放口。
(3)在作业过程中控制模块向释放装置中的控制器发出转速信号，驱动第二电机不断旋转，带动拨叉对排列于释放口的生物球体进行拨动，从而将生物质球体拨出，完成投放工作。在释放过程中，由于生物质球体的遮挡，安装于底部的光电传感器的光源被切断，此时光电传感器会向控制模块反馈数字信号，从而对投放量进行统计。当球体投放完毕时，光电传感器会停止向控制模块反馈信号，控制模块此时向无人机发出返航信号，从而完成作业。
由上可知，在本发明中，储存于储球装置内的生物质球体受到搅拌装置的不断拨动，通过送球装置输送至释放装置后，由释放装置按照作业需求逐一抛出。投放系统可通过螺栓组连接于无人机下方，并可通过控制模块对投放系统内的动力原件及传感器进行控制，实现投放量的控制与统计。本发明能够清除生物质球体的堵塞和架空现象，并将球体按照一定的位置高度排列于释放口，从而保证抛球的连续性；能够自主控制生物质球体的释放，实现定时、定量释放，提升了释放可靠性与稳定性，自动化程度高。
以上所述的实施例仅仅是示意性的，需要说明的是本发明的说明书中，说明了大量具体细节；然而应当理解的是，本发明的实施例可以在没有这些具体细节的情况下实现。此外，在实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
需说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (8)

  1. 一种用于无人机上的生物质球体投放系统，其特征在于，包括控制模块、储球装置、搅拌装置、送球装置及释放装置，生物质球体存放于储球装置内，搅拌装置位于储球装置内并与储球装置连接，送球装置分别与搅拌装置、释放装置连接，控制模块分别与搅拌装置、释放装置电连接；
    在生物质球体的投放过程中，搅拌装置在控制模块的控制下对生物质球体不断进行搅拌，使其顺利进入送球装置内部，送球装置对生物质球体进行分离与输送，释放装置在控制模块的控制下对存放于送球装置内的生物质球体进行可控释放。
  2. 根据权利要求1所述的用于无人机上的生物质球体投放系统，其特征在于，所述搅拌装置包括第一电机、搅拌轴、搅拌杆及搅拌叶，第一电机分别与储球装置、控制模块连接并受控于控制模块，搅拌杆设于搅拌轴上，搅拌叶设置在搅拌杆上；搅拌轴与第一电机的转动杆连接，在第一电机的带动下搅拌轴转动，搅拌杆与搅拌叶随之旋转，对生物质球体进行搅拌。
  3. 根据权利要求2所述的用于无人机上的生物质球体投放系统，其特征在于，所述送球装置包括分球器与输送器；分球器中的转动轴与搅拌装置中的搅拌轴连接，并随之转动，在第一电机的带动下对生物质球体进行搅拌分离，使生物质球体逐一进入输送器。
  4. 根据权利要求3所述的用于无人机上的生物质球体投放系统，其特征在于，所述分球器包括转动轴、连接杆、分球块、分球筒，其中转动轴与搅拌装置中的搅拌轴连接，并随之转动；连接杆呈“十”字状布置，连接杆的中心与转动轴连接；分球块设有多个，并分别对称设于连接杆上，相邻两个分球块之间的间隔大于生物质球体直径；分球筒与储球装置底端连接，分球筒的底部为凸型曲面薄壁，凸型曲面薄壁上开有多个与输送器连通的通孔，生物质球体从分球块间的间隔中沿凸型曲面薄壁滑落至通孔中。
  5. 根据权利要求4所述的用于无人机上的生物质球体投放系统，其特征在于，所述输送器包括输送管道、集球管道和光电传感器；输送管道设有多条，且入口均与水平面倾斜，并分别与分球筒中凸型曲面薄壁上的多个通孔一一对应进行连接，生物质球体经凸型曲面薄壁通孔落入输送管道中并被输送至集球管道内。
  6. 根据权利要求5所述的用于无人机上的生物质球体投放系统，其特征在于，多条输送管道的末端出口分别按照不同高度连接在集球管道的侧面，且环绕着集球管道的侧面布置。
  7. 根据权利要求5所述的用于无人机上的生物质球体投放系统，其特征在于，所述集球管道下方侧面开有与释放装置连接的矩形缺口作为释放口；
    所述释放装置安装于集球管道侧面，包括控制器、第二电机和拨叉，控制器与控制模块 连接，受控于控制模块；控制器控制第二电机的转速，第二电机的转动杆与拨叉连接，在第二电机的带动下，拨叉绕第二电机转动杆的轴线不断旋转，通过集球管道下方的矩形缺口进入集球管道内部，不断的将集球管道内的生物质球体按照一定的时间间隔排出。
  8. 一种用于无人机上的生物质球体投放方法，其特征在于，所述投放方法基于权利要求7所述的投放系统，包括以下步骤：
    (1)通过螺栓组将投放系统安装于无人机下方，根据生物质球体的有效覆盖半径，对无人机进行路径规划；
    (2)根据作业面积将一定量的生物质球体装入储球装置内，将无人机按照规划好的作业航线飞至起始位置点，按照投放高度开始作业；在作业过程中，控制模块向搅拌装置发送转速信号，控制搅拌装置中第一电机的转速，通过第一电机带动搅拌杆对储球装置内的生物质球体进行搅拌；送球装置中的分球器通过转动轴与搅拌装置中的搅拌轴连接，在搅拌轴的带动下转动轴带动分球块随之转动，分球块结合分球筒将储球装置内的生物质球体分流至输送器中，通过输送器中的输送管道及集球管道将生物质球体有序排列在释放口；
    (3)在作业过程中控制模块向释放装置中的控制器发出转速信号，驱动第二电机不断旋转，带动拨叉对排列于释放口的生物球体进行拨动，从而将生物质球体拨出，完成投放工作。
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