WO2021098162A1 - 一种农用无人机的喷雾防漂移装置及使用方法 - Google Patents

一种农用无人机的喷雾防漂移装置及使用方法 Download PDF

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Publication number
WO2021098162A1
WO2021098162A1 PCT/CN2020/089898 CN2020089898W WO2021098162A1 WO 2021098162 A1 WO2021098162 A1 WO 2021098162A1 CN 2020089898 W CN2020089898 W CN 2020089898W WO 2021098162 A1 WO2021098162 A1 WO 2021098162A1
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Prior art keywords
spray
drone
rod
horizontal support
adjustment
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PCT/CN2020/089898
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English (en)
French (fr)
Inventor
兰玉彬
常坤
陈盛德
郑斌
巫昌盛
成胜南
钱士程
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华南农业大学
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Publication of WO2021098162A1 publication Critical patent/WO2021098162A1/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
    • B64D1/16—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
    • 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
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position

Definitions

  • the invention relates to an anti-drift device for agricultural unmanned aerial vehicles, in particular to a spray anti-drift device for agricultural unmanned aerial vehicles and a method of use.
  • the invention patent with the authorized announcement number CN105775136B discloses "A spray anti-drift device for agricultural drones and its use method", which drives the left support rod and the right support rod to rotate through a driving device to realize the left support rod And the expansion and contraction of the right support rod, when spraying pesticides, reduce the height of the nozzle, so that the distance between the nozzle and the drone rotor is increased, so as to reduce the impact of the wind field on the spray; but there are still the following problems :
  • the spraying direction of the nozzle is fixed, and the direction cannot be adjusted according to the actual situation. It is difficult to achieve fixed-point spraying under the external wind field factors.
  • the purpose of the present invention is to overcome the shortcomings of the prior art and provide a spray anti-drift device for agricultural unmanned aerial vehicles, which can effectively overcome the influence of the external wind field and turbulent wind field on the droplets, prevent the droplets from drifting, and achieve precise spraying. medicine.
  • Another object of the present invention is to provide a method for using the spray anti-drift device for agricultural drones.
  • a spray anti-drift device for agricultural drones which is characterized in that it comprises a base set on the drone and two sets of spray adjustment mechanisms.
  • the two sets of spray adjustment mechanisms are set on the base and are respectively located on the drone.
  • each group of spray adjustment mechanism includes a horizontal support rod, a vertical adjustment rod, a rotation drive mechanism that drives the horizontal support rod to rotate, and a lift drive mechanism that drives the vertical adjustment rod for vertical lifting motion;
  • the horizontal The support rod is provided with a plurality of spray assemblies for spraying pesticides, and the plurality of spray assemblies are all rotatably connected to the horizontal support rod and arranged in a row along the extension direction of the horizontal support rod;
  • the vertical adjustment rod and the Each spray assembly is provided with an adjustment link, one end of the adjustment link is rotatably connected with the vertical adjustment rod, and the other end is connected with the corresponding spray assembly; it also includes a control module for controlling the vertical adjustment The lifting and lowering of the rod and the unfolding or retracting of the horizontal support rod; in the non-
  • the working principle of the spray anti-drift device of the agricultural UAV is:
  • the horizontal support rods of the two sets of spray adjustment mechanisms are stowed, close to the drone body, and set parallel to the length of the drone body; this can reduce the volume of the entire device and compare it to the drone body.
  • the fuselage is close to each other, forming a whole with the drone when spraying pesticide is not required, facilitating flight.
  • the control module controls the rotation drive mechanism of the two spray adjustment mechanisms to drive the respective horizontal support rods to rotate outward, and the two horizontal support rods are arranged in a "one" shape, and are perpendicular to the drone body; then , Open each spray assembly on the horizontal support rod and start spraying pesticides; at the same time, according to the external wind field and turbulent wind field of the site environment, control the two lifting drive mechanisms to drive the respective vertical adjustment rods to move up and down respectively,
  • the vertical adjustment rod moves up and down, it drives multiple adjustment links to move, so that each spray assembly is pushed during the adjustment and connection movement, so that each spray assembly rotates on the axis of the horizontal support rod to realize the spray direction
  • the spraying direction and area of the droplets can be changed to adapt to the actual situation of the site, so that the droplets can be accurately deposited on the designated position, and effectively improve the pesticide
  • the utilization rate of the wind field reduces the influence of the drift of the
  • a preferred solution of the present invention wherein a connecting ring is provided on the vertical adjusting rod, and the connecting ring is arranged coaxially with the vertical adjusting rod; each adjusting link of the spray adjusting mechanism of the same group is connected with The connected ends of the vertical adjusting rods are all connected together, and are sleeved on the connecting ring through a sliding ring.
  • the spray assembly includes a spray rack and a spray head.
  • the spray rack is arranged in a rectangular shape. Both sides of the spray rack are rotatably connected with a horizontal support rod by a rotating pin. The top is connected, the spray head is arranged at the bottom of the spray rack, and the spray head is connected to the medicine box on the drone through a hose.
  • the adjusting link is rotatably connected with the spray frame through a connecting ring sleeve.
  • the horizontal support rod is a hollow rod, and the hose connected to the medicine box on the drone is arranged in the inner cavity of the horizontal support rod; the horizontal support rod is located at a position corresponding to the spray assembly A through hole is provided, and the nozzle is communicated with the hose through the through hole.
  • the base includes an upper base and a lower base; wherein the upper base is arranged in a " ⁇ " shape around the outside of the drone fuselage, and the lower base is arranged at Below the drone body, the vertical adjustment rod is connected through the upper base and the lower base, the lift drive mechanism is provided on the upper base, and the rotation drive mechanism is provided on the lower base.
  • the lifting drive mechanism is composed of a first motor and a rack and pinion transmission mechanism, wherein the first motor is arranged on an upper base, and the rack and pinion transmission mechanism includes a first driving gear. And a driven rack, the first driving gear is connected with the power output shaft of the first motor, and the driven rack is arranged on the vertical adjusting rod and matched with the first driving gear.
  • the rotation driving mechanism is composed of a second motor and a gear transmission mechanism, wherein the second motor is arranged on the lower base, and the gear transmission mechanism includes a second driving gear and a driven gear,
  • the second driving gear is connected to the power output shaft of the second motor, and the driven gear is rotatably connected to the vertical adjustment rod and matched with the second driving gear; the horizontal support rod The end is fixedly connected with the driven gear through a connecting sleeve.
  • the control module includes a transmitter and a receiver
  • the transmitter is composed of a remote controller that controls the operation of the drone
  • the receiver and the transmitter wirelessly transmit control signals
  • the receiver They are respectively electrically connected with the rotating drive mechanism and the lifting drive mechanism.
  • a method for using a spray anti-drift device for agricultural unmanned aerial vehicles which is characterized in that it comprises the following steps:
  • the control module sends an adjustment instruction to control the lifting drive mechanism to make the vertical adjustment rod move up and down; through the adjustment link, the rising or falling motion of the vertical support rod drives the rotation of the nozzle assembly, thereby changing the nozzle assembly Spraying direction, spray to the center or the periphery of the drone, to achieve further controllability of the range, and then to adapt to the realistic wind field environment;
  • the control module sends a retracting instruction, the lift drive mechanism drives the vertical adjustment rod to return to the initial position, rotates the drive mechanism to work, and drives the horizontal support rod to rotate back to return to the non-working state;
  • the control module controls the drone to land and complete the spraying operation.
  • the present invention has the following beneficial effects:
  • the present invention can change the spraying direction and area of the droplets by changing the angle of the spray assembly according to the influence of the external wind field and the rotor of the drone in the field environment, so as to realize the adjustment of the spraying direction and adapt to the actual situation of the site.
  • This enables the droplets to be accurately deposited on the target operation area under the influence of the wind field, effectively improving the utilization rate of pesticides, reducing the drift effect of the wind field on the spray, and achieving precise spraying.
  • the present invention adopts a two-stage variable structure; firstly, under the action of rotating drive, the first-stage change is realized by the expansion or retracting of the horizontal support rod, and secondly, under the action of the lifting drive mechanism, the vertical adjustment rod.
  • the lift and the linkage of the adjustment link change the angle of the spray assembly to achieve the second-level change, and the angle and range of the aerial spraying of the droplets can be controlled.
  • the design is ingenious and the degree of controllability is high.
  • Figures 1 to 3 are structural schematic diagrams of the spray anti-drift device for agricultural drones of the present invention applied to agricultural drones, in which Figure 1 is a front view (horizontal support rods are in unfolded state), and Figure 2 is a top view (horizontal) The support rod is in the retracted state)
  • Figure 3 is a perspective view (the horizontal support rod is in the unfolded state).
  • Figures 4 to 8 are schematic structural diagrams of one specific embodiment of the spray anti-drift device for agricultural drones of the present invention (horizontal support rods are in an expanded state), in which Figure 4 is a front view, and Figure 5 is Figure 4 Fig. 6 is an enlarged view of middle A, Fig. 6 is an enlarged view of B in Fig. 6, and Fig. 8 is an enlarged view of C in Fig. 6.
  • the spray anti-drift device for agricultural drones of this embodiment includes a base set on the drone and two sets of spray adjustment mechanisms.
  • the two sets of spray adjustment mechanisms are set on the base and They are located on both sides of the drone; each group of spray adjustment mechanisms includes a horizontal support rod 2, a vertical adjustment rod 3, a rotating drive mechanism that drives the horizontal support rod 2 to rotate, and a vertical adjustment rod 3 for vertical lifting A moving lifting drive mechanism;
  • the horizontal support rod 2 is provided with a plurality of spray assemblies for spraying pesticides, and the plurality of spray assemblies are all rotatably connected to the horizontal support rod 2 and along the extension of the horizontal support rod 2
  • the vertical adjustment rod 3 and the plurality of spray assemblies are provided with an adjustment link 1 respectively, one end of the adjustment link 1 is rotatably connected with the vertical adjustment rod 3, and the other end is connected to the corresponding spray assembly
  • the vertical adjustment rod 3 is provided with a connecting ring 6, which is coaxially arranged with the vertical adjustment rod 3; each adjustment connection of the spray adjustment mechanism of the same group
  • the connecting ends of the rod 1 and the vertical adjusting rod 3 are all connected together, and are set on the connecting ring 6 through a sliding ring sleeve 8.
  • All adjustment connecting rods 1 of the same group of spray adjustment mechanism are connected to realize the unified adjustment of all spray components, which is beneficial to adapt to the wind field influence of the on-site environment; at the same time, the sliding ring sleeve 8 and the connection ring 6 are used to connect
  • the adjustment link 1 can be retracted and unfolded along with the horizontal support rod 2, and the adjustment link 1 can be lifted and lowered along with the vertical adjustment rod 3; the structure is simple and the design is ingenious.
  • the spray assembly includes a spray frame 15 and a spray head 17.
  • the spray frame 15 is arranged in a rectangular shape.
  • the two sides of the spray frame 15 are rotatably connected with the horizontal support rod 2 through a rotating pin 16.
  • the adjustment link 1 It is connected to the top of the spray rack 15, the spray head 17 is arranged at the bottom of the spray rack 15, and the spray head 17 is connected to the medicine box on the drone through a hose.
  • the adjusting link 1 is rotatably connected with the spray frame 15 through a connecting ring sleeve 14. This can increase the flexibility between the adjustment link 1 and the spray assembly, and make the angle adjustment of the spray assembly more flexible.
  • the horizontal support rod 2 of this embodiment is a hollow rod, and the hose connected to the medicine box on the drone is arranged in the inner cavity of the horizontal support rod 2; the horizontal support rod 2 is provided with the spray assembly at the corresponding position Through holes, the spray head communicates with the hose through the through holes.
  • the hose is arranged in the inner cavity of the horizontal support rod 2, eliminating the need to fix the hose, and can make full and reasonable use of space, reducing the effective load of the drone.
  • the base includes an upper base 4 and a lower base 5; wherein, the upper base 4 is arranged in a " ⁇ " shape around the outside of the drone fuselage, and the lower base
  • the seat 5 is arranged under the drone body, the vertical adjustment rod 3 is connected through the upper base 4 and the lower base 5, the lifting driving mechanism is arranged on the upper base 4, and the rotating The driving mechanism is arranged on the lower base 5.
  • the rear half of the upper base is narrower than the front half, and the purpose of this arrangement is to avoid the horizontal support rod in the stowed state.
  • the lifting drive mechanism is composed of a first motor 7 and a rack and pinion transmission mechanism, wherein the first motor 7 is disposed on the upper base 4, and the rack and pinion transmission mechanism includes a first driving gear. 11 and a driven rack 11, the first driving gear 11 is connected to the power output shaft of the first motor 7, and the driven rack 11 is arranged on the vertical adjustment rod 3 and is connected to the first driving gear 11 Gear 11 matches the setting.
  • the rotation drive mechanism is composed of a second motor 12 and a gear transmission mechanism, wherein the second motor 12 is disposed on the lower base 5, and the gear transmission mechanism includes a second driving gear 13 and a driven gear. 10.
  • the second driving gear 13 is connected to the power output shaft of the second motor 12, and the driven gear 10 is rotatably connected to the vertical adjustment rod 3 and matched with the second driving gear 13 ;
  • the end of the horizontal support rod 2 is fixedly connected to the driven gear 10 through a connecting sleeve 9.
  • the control module of this embodiment includes a transmitter and a receiver.
  • the transmitter is composed of a remote controller that controls the operation of the drone.
  • the receiver and the transmitter transmit control signals wirelessly.
  • the receiver is connected to the rotating drive mechanism and the receiver respectively.
  • the lifting drive mechanism is electrically connected. This control method is easy to operate, highly visible, and flexible.
  • the working principle of the spray anti-drift device for agricultural drones in this embodiment is:
  • the horizontal support rods 2 of the two sets of spray adjustment mechanisms are stowed backwards, close to the drone body, and set parallel to the length of the drone body; this can reduce the volume of the entire device, and The fuselage of the drone is closely attached to each other, forming a whole with the drone when spraying pesticides is not required, facilitating flight.
  • the transmitter sends an unfolding instruction to the receiver.
  • the unfolding instruction is sent to the rotating drive mechanism; at this time, the rotating drive mechanism drives the respective horizontal support rods 2 to rotate outward, two horizontal
  • the support rod 2 is arranged in a "one" shape and is perpendicular to the drone body; then, the transmitter sends a spraying instruction to the receiver to open the spray components on the horizontal support rod 2 and start spraying pesticides; and
  • the transmitter sends the rising or falling command to the receiver to realize the control of the two lifting driving mechanisms to drive the respective vertical adjustment rods 3 for lifting motion respectively.
  • the adjustment rod 3 moves up and down while driving the multiple adjustment links 1 to move, so that each spray assembly is pushed during the adjustment and connection movement, so that each spray assembly rotates on the axis of the horizontal support rod 2 to realize the spray direction
  • the spray direction and area of the droplets can be changed to adapt to the actual situation of the site, so that the droplets can be accurately deposited on the designated position, and effectively improve the pesticide
  • the utilization rate of the wind field reduces the influence of the drift of the spray on the spray.
  • the method of using the spray anti-drift device for agricultural drones in this embodiment includes the following steps:
  • the control module sends an adjustment command to control the lifting drive mechanism to make the vertical adjustment rod 3 move up and down; through the action of the adjustment link 1, the rising or falling motion of the vertical support rod drives the nozzle assembly to rotate, thereby changing the nozzle
  • the spray direction of the components is sprayed to the center or the periphery of the drone to achieve further controllability of the range, and then to adapt to the realistic wind field environment;
  • the control module sends a retracting instruction, the lift drive mechanism drives the vertical adjustment rod 3 to return to the initial position, rotates the drive mechanism to work, and drives the horizontal support rod 2 to rotate back and return to the non-working state;
  • the control module controls the drone to land and complete the spraying operation.

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  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)
  • Special Spraying Apparatus (AREA)

Abstract

一种农用无人机的喷雾防漂移装置及使用方法，其中的防漂移装置包括基座以及两组喷雾调节机构；每组喷雾调节机构均包括水平支撑杆（2）、竖直调节杆（3）、转动驱动机构以及升降驱动机构；水平支撑杆（2）上设有多个用于喷施农药的喷雾组件，多个喷雾组件均转动连接在水平支撑杆（2）上；竖直调节杆（3）与多个喷雾组件之间分别设有调节连杆（1），调节连杆（1）的一端与竖直调节杆（3）转动连接，另一端与对应的喷雾组件连接；还包括控制模块，该控制模块用于控制竖直调节杆（3）的升降以及水平支撑杆（2）的展开或收起。该装置能够有效克服外界风场和紊流风场对雾滴的影响，防止雾滴漂移，实现精准喷药。

Description

一种农用无人机的喷雾防漂移装置及使用方法 技术领域
本发明涉及一种农用无人机的防漂移装置，具体涉及一种农用无人机的喷雾防漂移装置及使用方法。
背景技术
因为农用无人机喷施具有作业成本低、突击能力强、操作简单安全、不受农作物长势的限制等优点，所以作为农业航空的重要标志之一的航空喷施作业方式得到了迅速应用和发展。
但是随着农用无人机喷施作业范围的进一步扩大，农用无人机航空喷施的一些方式也逐渐暴露出弊端和缺点来，其中外界风场和旋翼风场而造成的药液漂移问题尤为明显。当无人机飞行高度较高时，外界风场因素对雾滴沉积影响较大，使得雾滴不能有效地沉积在靶区内；当无人机飞行高度过低时，旋翼风场因素对雾滴沉积影响较大，紊流风场使作物剧烈摇摆不能有效着药，且飞行高度过低时，对农用无人机自身也不安全，容易碰到农作物而坠毁。为解决上述问题，授权公告号为CN105775136B的发明专利公开了“一种农用无人机喷雾防漂移装置及其使用方法”，其通过驱动装置驱动左支撑杆和右支撑杆转动，实现左支撑杆和右支撑杆的展开和收缩，在喷施农药时展开，降低喷头的高度，使得喷头与无人机旋翼之间的距离增大，从而实现减少风场对喷雾的影响；但仍存在以下问题：
1、虽然在左支撑杆和右支撑杆展开后喷头与无人机旋翼的距离增大，但喷出后的农药仍然受旋翼产生的紊流风场影响，在旋翼下的农药雾滴的飘向随机性大，农药的沉积精度低，难以实现精准喷施。
2、喷头的喷药方向固定，无法根据实际情况进行方向调整，在外界风场因数下难以实现定点喷药。
发明内容
本发明目的在于克服现有技术的不足，提供一种农用无人机的喷雾防漂移装置，该装置能够有效克服外界风场和紊流风场对雾滴的影响，防止雾滴漂移，实现精准喷药。
本发明的另一目的在于提供一种农用无人机的喷雾防漂移装置的使用方法。
本发明的目的通过以下技术方案实现：
一种农用无人机的喷雾防漂移装置，其特征在于，包括设置在无人机上的基座以及两组喷雾调节机构，所述两组喷雾调节机构设置在基座上且分别位于无人机的两侧；其中，每组喷雾调节机构均包括水平支撑杆、竖直调节杆、驱动水平支撑杆转动的转动驱动机构以及驱动竖直调节杆作竖直升降运动的升降驱动机构；所述水平支撑杆上设有多个用于喷施农药的喷雾组件，所述多个喷雾组件均转动连接在水平支撑杆上且沿着水平支撑杆的延伸方向排列设置；所述竖直调节杆与多个喷雾组件之间分别设有调节连杆，所述调节连杆的一端与竖直调节杆转动连接，另一端与对应的喷雾组件连接；还包括控制模块，该控制模块用于控制竖直调节杆的升降以及水平支撑杆的展开或收起；非工作状态下，两组喷雾调节机构的水平支撑杆均收起，紧贴无人机机身，工作状态时，在转动驱动机构的作用下两组喷雾调节机构的水平支撑杆均展开，与无人机机身相互垂直。
上述农用无人机的喷雾防漂移装置的工作原理是：
非工作状态下，两组喷雾调节机构的水平支撑杆均收起，紧贴无人机机身，与无人机机身的长度方向平行设置；这样能够缩小整个装置的体积，与无人机 机身紧贴在一起，在不需要喷施农药时与无人机形成一整体，便于飞行。
工作时，通过控制模块控制两组喷雾调节机构的转动驱动机构分别驱动各自的水平支撑杆向外转动，两个水平支撑杆呈“一”字型设置，与无人机机身相互垂直；接着，打开水平支撑杆上的各个喷雾组件，开始喷施农药；与此同时，根据现场环境的外界风场和紊流风场，控制两个升降驱动机构分别驱动各自的竖直调节杆作升降运动，在竖直调节杆作升降运动的同时带动多个调节连杆运动，从而使得在调节连接的运动过程中推动各个喷雾组件，进而使得各个喷雾组件在水平支撑杆的轴线上转动，实现喷药方向的调整；根据现场环境的风场影响，通过喷药方向的调整，改变雾滴的喷施方向和面积，从而适应现场实际情况，使得雾滴能够准确地沉积在指定的位置上，有效提高农药的利用率，降低风场对喷雾的漂移影响。
本发明的一个优选方案，其中，所述竖直调节杆上设有连接圆环，该连接圆环与所述竖直调节杆同轴设置；同一组的喷雾调节机构的每条调节连杆与竖直调节杆连接的一端均连接在一起，且通过滑动环套设在所述连接圆环上。
本发明的一个优选方案，所述喷雾组件包括喷雾架以及喷雾头，所述喷雾架呈矩形设置，喷雾架的两侧通过转动销与水平支撑杆转动连接，所述调节连杆与喷雾架的顶部连接，所述喷雾头设置在喷雾架的底部，所述喷雾头通过软管与无人机上的药箱连接。
优选地，所述调节连杆通过连接环套与所述喷雾架转动连接。
本发明的一个优选方案，所述水平支撑杆为中空杆，与无人机上的药箱连接的软管设置在水平支撑杆的内腔中；所述水平支撑杆上在与喷雾组件的对应处设有通孔，所述喷头通过通孔与软管连通。
本发明的一个优选方案，所述基座包括上基座和下基座；其中，所述上基 座呈“Π”字型环绕设置在无人机机身外部，所述下基座设置在无人机机身的下方，所述竖直调节杆穿设连接在上基座和下基座上，所述升降驱动机构设置在上基座上，所述转动驱动机构设置在下基座上。
本发明的一个优选方案，所述升降驱动机构由第一电机和齿轮齿条传动机构构成，其中，所述第一电机设置在上基座上，所述齿轮齿条传动机构包括第一主动齿轮和从动齿条，所述第一主动齿轮与第一电机的动力输出轴连接，所述从动齿条设置在所述竖直调节杆上且与所述第一主动齿轮匹配设置。
本发明的一个优选方案，所述转动驱动机构由第二电机和齿轮传动机构构成，其中，所述第二电机设置在下基座上，所述齿轮传动机构包括第二主动齿轮和从动齿轮，所述第二主动齿轮与所述第二电机的动力输出轴连接，所述从动齿轮转动连接在所述竖直调节杆上且与所述第二主动齿轮匹配设置；所述水平支撑杆的端部通过连接套与所述从动齿轮固定连接。
本发明的一个优选方案，所述控制模块包括发射机和接收机，所述发射机由控制无人机作业的遥控器构成，所述接收机与发射机通过无线传输控制信号，所述接收机分别与转动驱动机构和升降驱动机构电连接。这样的控制方式操作方便，可视化程度高，并且灵活。
一种农用无人机的喷雾防漂移装置的使用方法，其特征在于，包括以下步骤：
(1)非工作状态时，两组喷雾调节机构的水平支撑杆均收起，紧贴收于无人机机身下方，且高度高于无人机脚架高度；农用无人机在作业地块区域起飞升空后，控制模块开始发送展开指令，控制转动驱动机构工作，使得两组喷雾调节机构的水平支撑杆展开，呈“一”字型；
(2)打开喷施装置，控制无人机进行喷施作业；
(3)控制模块发送调节指令，控制升降驱动机构工作，使得竖直调节杆作升降运动；通过调节连杆的作用，竖直支撑杆的上升或者下降运动带动喷头组件转动，从而改变喷头组件的喷药方向，向无人机中心或者外围喷雾，对范围达到进一步的可控性，进而实现适应现实的风场环境；
(4)喷施作业完成后，控制模块发送收起指令，升降驱动机构驱动竖直调节杆返回初始位置，转动驱动机构工作，驱动水平支撑杆往回转动，复位到非工作状态；
(5)控制模块控制无人机降落，完成喷施作业。
本发明与现有技术相比具有以下有益效果：
1、本发明能够根据现场环境的外界风场和无人机旋翼产生的影响，通过改变喷雾组件角度，从而改变雾滴的喷施方向和面积，实现喷药方向的调整，适应现场实际情况，使得雾滴能够在风场的影响下准确地沉积在目标作业区域上，有效提高农药的利用率，降低风场对喷雾的漂移影响，实现精准喷雾。
2、本发明采用二级可变结构；首先，在转动驱动的作用下，通过水平支撑杆的展开或收起实现第一级变化，其次，在升降驱动机构的作用下，通过竖直调节杆的升降以及调节连杆的联动改变喷雾组件的角度，实现第二级变化，可控地进行航空喷施雾滴的角度和范围，设计巧妙，可控程度高。
附图说明
图1-图3为本发明的农用无人机的喷雾防漂移装置应用到农用无人机上的结构示意图，其中，图1为主视图(水平支撑杆处于展开状态)，图2为俯视图(水平支撑杆处于收起状态)图3为立体图(水平支撑杆处于展开状态)。
图4-图8为本发明的农用无人机的喷雾防漂移装置的其中一种具体实施方式的结构示意图(水平支撑杆处于展开状态)，其中，图4为主视图，图5为图4 中A的放大图，图6为立体图，图7为图6中B的放大图，图8为图6中C的放大图。
具体实施方式
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。
参见图1-图8，本实施例的农用无人机的喷雾防漂移装置，包括设置在无人机上的基座以及两组喷雾调节机构，所述两组喷雾调节机构设置在基座上且分别位于无人机的两侧；其中，每组喷雾调节机构均包括水平支撑杆2、竖直调节杆3、驱动水平支撑杆2转动的转动驱动机构以及驱动竖直调节杆3作竖直升降运动的升降驱动机构；所述水平支撑杆2上设有多个用于喷施农药的喷雾组件，所述多个喷雾组件均转动连接在水平支撑杆2上且沿着水平支撑杆2的延伸方向排列设置；所述竖直调节杆3与多个喷雾组件之间分别设有调节连杆1，所述调节连杆1的一端与竖直调节杆3转动连接，另一端与对应的喷雾组件连接；还包括控制模块，该控制模块用于控制竖直调节杆3的升降以及水平支撑杆2的展开或收起；非工作状态下，两组喷雾调节机构的水平支撑杆2均向后收起，紧贴无人机机身，工作状态时，在转动驱动机构的作用下两组喷雾调节机构的水平支撑杆2均展开，与无人机机身相互垂直。本实施例中，每个水平支撑杆2上均设有两个喷雾组件，所述调节连杆1有两个。
参见图4-图5，所述竖直调节杆3上设有连接圆环6，该连接圆环6与所述竖直调节杆3同轴设置；同一组的喷雾调节机构的每条调节连杆1与竖直调节杆3连接的一端均连接在一起，且通过滑动环套8设在所述连接圆环6上。同一组喷雾调节机构的所有调节连杆1连接起来，实现对所有喷雾组件的统一调节，有利于适应现场环境的风场影响；同时，采用滑动环套8与连接圆环6的 连接，既能够实现调节连杆1随水平支撑杆2的收起和展开，又能够实现调节连杆1随竖直调节杆3升降；结构简单，设计巧妙。
参见图8，所述喷雾组件包括喷雾架15以及喷雾头17，所述喷雾架15呈矩形设置，喷雾架15的两侧通过转动销16与水平支撑杆2转动连接，所述调节连杆1与喷雾架15的顶部连接，所述喷雾头17设置在喷雾架15的底部，所述喷雾头17通过软管与无人机上的药箱连接。通过设置这样的喷雾组件，便于与水平支撑杆2和调节连接的连接。
参见图8，所述调节连杆1通过连接环套14与所述喷雾架15转动连接。这样能够增加调节连杆1与喷雾组件之间的灵活性，使得在对喷雾组件进行角度调整时更加柔顺。
本实施例的水平支撑杆2为中空杆，与无人机上的药箱连接的软管设置在水平支撑杆2的内腔中；所述水平支撑杆2上在与喷雾组件的对应处设有通孔，所述喷头通过通孔与软管连通。将软管设置在水平支撑杆2的内腔中，省去对软管的固定，并且能充分合理利用空间，降低了无人机的有效负载。
参见图1-图8，所述基座包括上基座4和下基座5；其中，所述上基座4呈“Π”字型环绕设置在无人机机身外部，所述下基座5设置在无人机机身的下方，所述竖直调节杆3穿设连接在上基座4和下基座5上，所述升降驱动机构设置在上基座4上，所述转动驱动机构设置在下基座5上。其中，所述上基座的后半部分比前半部分窄，这样设置的目的是能够避让在收起状态时的水平支撑杆。
参见图5，所述升降驱动机构由第一电机7和齿轮齿条传动机构构成，其中，所述第一电机7设置在上基座4上，所述齿轮齿条传动机构包括第一主动齿轮11和从动齿条11，所述第一主动齿轮11与第一电机7的动力输出轴连接，所 述从动齿条11设置在所述竖直调节杆3上且与所述第一主动齿轮11匹配设置。
参见图7，所述转动驱动机构由第二电机12和齿轮传动机构构成，其中，所述第二电机12设置在下基座5上，所述齿轮传动机构包括第二主动齿轮13和从动齿轮10，所述第二主动齿轮13与所述第二电机12的动力输出轴连接，所述从动齿轮10转动连接在所述竖直调节杆3上且与所述第二主动齿轮13匹配设置；所述水平支撑杆2的端部通过连接套9与所述从动齿轮10固定连接。
本实施的控制模块包括发射机和接收机，所述发射机由控制无人机作业的遥控器构成，所述接收机与发射机通过无线传输控制信号，所述接收机分别与转动驱动机构和升降驱动机构电连接。这样的控制方式操作方便，可视化程度高，并且灵活。
参见图1-图8，本实施例的农用无人机的喷雾防漂移装置的工作原理是：
非工作状态下，两组喷雾调节机构的水平支撑杆2均向后收起，紧贴无人机机身，与无人机机身的长度方向平行设置；这样能够缩小整个装置的体积，与无人机机身紧贴在一起，在不需要喷施农药时与无人机形成一整体，便于飞行。
工作时，通过发射机向接收机发送展开指令，接收机接收到指令后将该展开指令发送到转动驱动机构中；此时转动驱动机构分别驱动各自的水平支撑杆2向外转动，两个水平支撑杆2呈“一”字型设置，与无人机机身相互垂直；接着，发射机向接收机发送喷药指令，从而打开水平支撑杆2上的各个喷雾组件，开始喷施农药；与此同时，根据现场环境的外界风场和紊流风场，通过发射机向接收机发送上升或下降指令，实现控制两个升降驱动机构分别驱动各自的竖直调节杆3作升降运动，在竖直调节杆3作升降运动的同时带动多个调节连杆1运动，从而使得在调节连接的运动过程中推动各个喷雾组件，进而使得各个喷 雾组件在水平支撑杆2的轴线上转动，实现喷药方向的调整；根据现场环境的风场影响，通过喷药方向的调整，改变雾滴的喷施方向和面积，从而适应现场实际情况，使得雾滴能够准确地沉积在指定的位置上，有效提高农药的利用率，降低风场对喷雾的漂移影响。
参见图1-图8，本实施例的农用无人机的喷雾防漂移装置的使用方法，包括以下步骤：
(1)非工作状态时，两组喷雾调节机构的水平支撑杆2均收起，紧贴收于无人机机身下方，且高度高于无人机脚架高度；农用无人机在作业地块区域起飞升空后，控制模块开始发送展开指令，控制转动驱动机构工作，使得两组喷雾调节机构的水平支撑杆2展开，呈“一”字型；
(2)打开喷施装置，控制无人机进行喷施作业；
(3)控制模块发送调节指令，控制升降驱动机构工作，使得竖直调节杆3作升降运动；通过调节连杆1的作用，竖直支撑杆的上升或者下降运动带动喷头组件转动，从而改变喷头组件的喷药方向，向无人机中心或者外围喷雾，对范围达到进一步的可控性，进而实现适应现实的风场环境；
(4)喷施作业完成后，控制模块发送收起指令，升降驱动机构驱动竖直调节杆3返回初始位置，转动驱动机构工作，驱动水平支撑杆2往回转动，复位到非工作状态；
(5)控制模块控制无人机降落，完成喷施作业。
上述为本发明较佳的实施方式，但本发明的实施方式并不受上述内容的限制，其他的任何未背离本发明的精神实质与原理下所做的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。

Claims (10)

  1. 一种农用无人机的喷雾防漂移装置，其特征在于，包括设置在无人机上的基座以及两组喷雾调节机构，所述两组喷雾调节机构设置在基座上且分别位于无人机的两侧；其中，每组喷雾调节机构均包括水平支撑杆、竖直调节杆、驱动水平支撑杆转动的转动驱动机构以及驱动竖直调节杆作竖直升降运动的升降驱动机构；所述水平支撑杆上设有多个用于喷施农药的喷雾组件，所述多个喷雾组件均转动连接在水平支撑杆上且沿着水平支撑杆的延伸方向排列设置；所述竖直调节杆与多个喷雾组件之间分别设有调节连杆，所述调节连杆的一端与竖直调节杆转动连接，另一端与对应的喷雾组件连接；还包括控制模块，该控制模块用于控制竖直调节杆的升降以及水平支撑杆的展开或收起；非工作状态下，两组喷雾调节机构的水平支撑杆均收起，紧贴无人机机身，工作状态时，在转动驱动机构的作用下两组喷雾调节机构的水平支撑杆均展开，与无人机机身相互垂直。
  2. 根据权利要求1所述的农用无人机的喷雾防漂移装置，其特征在于，所述竖直调节杆上设有连接圆环，该连接圆环与所述竖直调节杆同轴设置；同一组的喷雾调节机构的每条调节连杆与竖直调节杆连接的一端均连接在一起，且通过滑动环套设在所述连接圆环上。
  3. 根据权利要求1所述的农用无人机的喷雾防漂移装置，其特征在于，所述喷雾组件包括喷雾架以及喷雾头，所述喷雾架呈矩形设置，喷雾架的两侧通过转动销与水平支撑杆转动连接，所述调节连杆与喷雾架的顶部连接，所述喷雾头设置在喷雾架的底部，所述喷雾头通过软管与无人机上的药箱连接。
  4. 根据权利要求3所述的农用无人机的喷雾防漂移装置，其特征在于，所述调节连杆通过连接环套与所述喷雾架转动连接。
  5. 根据权利要求3所述的农用无人机的喷雾防漂移装置，其特征在于，所述 水平支撑杆为中空杆，与无人机上的药箱连接的软管设置在水平支撑杆的内腔中；所述水平支撑杆上在与喷雾组件的对应处设有通孔，所述喷头通过通孔与软管连通。
  6. 根据权利要求1所述的农用无人机的喷雾防漂移装置，其特征在于，所述基座包括上基座和下基座；其中，所述上基座呈“Π”字型环绕设置在无人机机身外部，所述下基座设置在无人机机身的下方，所述竖直调节杆穿设连接在上基座和下基座上，所述升降驱动机构设置在上基座上，所述转动驱动机构设置在下基座上。
  7. 根据权利要求6所述的农用无人机的喷雾防漂移装置，其特征在于，所述升降驱动机构由第一电机和齿轮齿条传动机构构成，其中，所述第一电机设置在上基座上，所述齿轮齿条传动机构包括第一主动齿轮和从动齿条，所述第一主动齿轮与第一电机的动力输出轴连接，所述从动齿条设置在所述竖直调节杆上且与所述第一主动齿轮匹配设置。
  8. 根据权利要求6或7所述的农用无人机的喷雾防漂移装置，其特征在于，所述转动驱动机构由第二电机和齿轮传动机构构成，其中，所述第二电机设置在下基座上，所述齿轮传动机构包括第二主动齿轮和从动齿轮，所述第二主动齿轮与所述第二电机的动力输出轴连接，所述从动齿轮转动连接在所述竖直调节杆上且与所述第二主动齿轮匹配设置；所述水平支撑杆的端部通过连接套与所述从动齿轮固定连接。
  9. 根据权利要求1所述的农用无人机的喷雾防漂移装置，其特征在于，所述控制模块包括发射机和接收机，所述发射机由控制无人机作业的遥控器构成，所述接收机与发射机通过无线传输控制信号，所述接收机分别与转动驱动机构和升降驱动机构电连接。
  10. 一种基于权利要求1-9所述的农用无人机的喷雾防漂移装置的使用方法，其特征在于，包括以下步骤：
    (1)非工作状态时，两组喷雾调节机构的水平支撑杆均收起，紧贴收于无人机机身下方，且高度高于无人机脚架高度；农用无人机在作业地块区域起飞升空后，控制模块开始发送展开指令，控制转动驱动机构工作，使得两组喷雾调节机构的水平支撑杆展开，呈“一”字型；
    (2)打开喷施装置，控制无人机进行喷施作业；
    (3)控制模块发送调节指令，控制升降驱动机构工作，使得竖直调节杆作升降运动；通过调节连杆的作用，竖直支撑杆的上升或者下降运动带动喷头组件转动，从而改变喷头组件的喷药方向，向无人机中心或者外围喷雾，对范围达到进一步的可控性，进而实现适应现实的风场环境；
    (4)喷施作业完成后，控制模块发送收起指令，升降驱动机构驱动竖直调节杆返回初始位置，转动驱动机构工作，驱动水平支撑杆往回转动，复位到非工作状态；
    (5)控制模块控制无人机降落，完成喷施作业。
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