WO2021109455A1 - 一种植保无人机的风幕式喷雾防飘移装置及方法 - Google Patents

一种植保无人机的风幕式喷雾防飘移装置及方法 Download PDF

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Publication number
WO2021109455A1
WO2021109455A1 PCT/CN2020/089896 CN2020089896W WO2021109455A1 WO 2021109455 A1 WO2021109455 A1 WO 2021109455A1 CN 2020089896 W CN2020089896 W CN 2020089896W WO 2021109455 A1 WO2021109455 A1 WO 2021109455A1
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Prior art keywords
air
wind
air curtain
curtain
blower
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PCT/CN2020/089896
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English (en)
French (fr)
Inventor
陈盛德
郑斌
兰玉彬
周志艳
成胜南
常坤
黎志宏
展义龙
钱士程
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华南农业大学
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Publication of WO2021109455A1 publication Critical patent/WO2021109455A1/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
    • A01M7/0089—Regulating or controlling systems

Definitions

  • the invention relates to a plant protection drone, in particular to an air curtain spray anti-drift device and method for the plant protection drone.
  • the purpose of the present invention is to overcome the above-mentioned problems and provide an air curtain spray anti-drift device for a planting protection drone.
  • the air curtain spray anti-drift device generates a wind wall to block the external disturbance wind field during operation. , Can effectively reduce the drift of fog drop, improve the utilization rate of liquid medicine and the operation efficiency of plant protection drone.
  • Another object of the present invention is to provide an air curtain spray anti-drift method for planting protection drones.
  • An air curtain spray anti-drift device for planting protection drones including a wind curtain generating mechanism for generating a barrier wind wall on the side of the spray nozzle of the drone spraying liquid droplets and for controlling the wind curtain
  • the air curtain generating mechanism includes an air curtain arrangement tube and a blower for emitting high-speed air flow.
  • the air curtain arrangement tube is provided with an air inlet and an air outlet, and the size of the air outlet is smaller than the air inlet
  • the air inlet is connected with the air outlet of the blower, and is used to guide the air flow into the inner cavity of the air curtain arrangement tube;
  • the air outlet is located at the bottom of the air curtain arrangement tube and is provided with a plurality of air
  • the airflow in the inner cavity of the curtain arrangement tube is led down at a high speed.
  • the air curtain control system sends a signal to the blower.
  • the blower After receiving the signal, the blower starts to perform air blowing, and delivers high-speed air flow to the air curtain arrangement tube.
  • the air flow fills the inner cavity of the air curtain arrangement tube, it is quickly blown out from a number of air outlets arranged in a certain trajectory (the size of the air outlet is much smaller than the size of the air inlet), and blows down through the air outlet at high speed, so as to arrange the air curtain
  • a high-speed wind wall (air curtain) is formed under the tube, which protects the next spray of liquid medicine.
  • the plant protection drone began to spray the liquid medicine, and the droplets were sprayed down from the nozzle.
  • the wind wall standing on the side of the nozzle can protect the droplets from depositing down.
  • the air curtain can be used as a barrier to weaken each other, thereby effectively reducing the amount of mist drifting, improving the utilization rate of liquid medicine and the efficiency of plant protection drones.
  • the air curtain control system controls the blower to stop blowing, and the drone returns and landed to complete the spraying operation.
  • the air curtain control system includes an external wind field detection terminal for detecting wind field conditions in the external environment and a central control terminal for controlling the state of the air curtain.
  • the control terminal includes a signal exchange module and a data processing module; the wind field conditions include the magnitude and direction of the wind; the state of the wind curtain includes the strength of the wind curtain and the attitude and orientation of the wind curtain;
  • the external wind field detection terminal sends the real-time detected wind field conditions to the central control terminal.
  • the signal exchange module of the central control terminal performs signal processing and transmits it to the data processing module.
  • the data processing module compares and analyzes the wind field conditions. The size of the wind in the field conditions, the flow rate of the wind flow is set, and sent to the blower through the signal exchange module, and the blower blows the air curtain arrangement tube according to the set flow speed of the wind flow.
  • the data processing module of the central control terminal can send a blowing signal to the blower through the signal exchange module to generate an air curtain before the spraying work starts; at the same time, the data processing module detects the outside world based on the external wind field detection terminal The wind farm environment controls the blower in real time.
  • the data processing module can send high-power working signals to the blower, so that the blower speeds up the flow rate of the air flow, strengthens the wind wall, and resists the external wind;
  • the data processing module can send a low-power working signal to the blower, so that the blower slows down the flow rate of the air flow and retains sufficient wind wall strength, so that the state of the air curtain can be controlled according to the actual external environment, which can effectively Ensure the normal deposition of liquid droplets.
  • the air curtain control system further includes an adjustment mechanism for adjusting the angle of the air curtain
  • the air curtain generating mechanism is connected to the unmanned aerial vehicle by a hinged mounting member, and the adjusting mechanism drives the air curtain generating mechanism to be connected around the hinge.
  • the hinged shaft on the mounting part rotates relative to the drone to adjust the direction of the air outlet, thereby adjusting the direction of the air flow, so as to obtain air curtains with different postures and adapt to different occasions.
  • the external wind field detection terminal sends the real-time detected wind field conditions to the central control terminal, and the signal exchange module of the central control terminal performs signal processing and transmits it to the data processing module.
  • the data processing module compares and analyzes The wind field conditions wind direction, set the direction of the wind flow, and send it to the adjustment mechanism through the signal exchange module.
  • the adjustment mechanism adjusts the posture of the wind curtain generating mechanism according to the set direction of the wind flow, so that the air flow out of the air outlet The wind flow direction conforms to the set flow direction.
  • the adjustment mechanism includes an adjustment drive motor and a gear transmission structure.
  • the signal exchange module includes a signal sending module and a signal receiving module.
  • a preferred solution of the present invention wherein a plurality of deflectors are arranged in the inner cavity of the air curtain arrangement cylinder, and the deflectors are facing the air inlet; the deflectors are provided with a plurality of deflectors ,
  • the multiple guide grooves are used to quickly divert the wind flow to fill the inner cavity of the air curtain arrangement cylinder, so that the air flow can be blown out from multiple air outlets at high speed at the same time.
  • the air outlets are arranged laterally behind the nozzles of the drone.
  • the drone is provided with multiple nozzles, and the multiple nozzles are arranged along the direction of the drone.
  • the direction of the man-machine flight is arranged horizontally, so that a larger spraying range can be obtained on the same flight path; and the wind wall is set behind the nozzle of the drone to protect the fog.
  • the air curtain arrangement tube is composed of a vertical cylindrical airbag and a truncated cone-shaped airbag with symmetrical ends and horizontally placed vertically intersecting, and is installed under the blower; the inlet end of the air curtain arrangement tube is connected to the blower
  • the air blast port is fixed and connected, and the center of the bottom is provided with air outlets arranged along a straight line; wherein the diameter of the vertical cylindrical airbag is equal to the diameter of the large end of the truncated cone-shaped airbag.
  • the air outlets are first arranged horizontally behind the nozzles of the drone, and then arranged forward along the flying direction of the drone after turning to surround the nozzles of the drone.
  • a wind curtain is formed on both sides of the nozzle, which minimizes the influence of the external wind field.
  • An air curtain spray anti-drift method for planting and protecting drones including the following steps:
  • the plant protection drone takes off and approaches the plant to be sprayed
  • the air curtain control system sends a blowing signal to the blower. After receiving the signal, the blower starts the blowing work, and delivers high-speed airflow to the air curtain arrangement tube;
  • the plant protection drone sprays the liquid medicine, and the droplets are sprayed down from the nozzle, and the wind wall standing on the side of the nozzle protects the droplets from depositing down;
  • the air curtain control system controls the blower to stop blowing, and the drone returns and landed to complete the spraying operation.
  • step (2) the external wind field detection terminal of the wind curtain control system sends the real-time detected wind field conditions to the central control terminal, and the signal exchange module of the central control terminal performs signal processing. And transmit it to the data processing module.
  • the data processing module compares and analyzes the wind power in the wind farm condition, sets the wind flow velocity, and sends it to the blower through the signal exchange module.
  • the blower responds to the wind according to the set wind flow velocity.
  • the curtain is arranged to blow the air.
  • step (2) the external wind field detection terminal of the wind curtain control system sends the real-time detected wind field conditions to the central control terminal, and the signal exchange module of the central control terminal performs signal processing. And transmit it to the data processing module.
  • the data processing module compares and analyzes the wind direction under the conditions of the wind farm, sets the direction of the wind flow, and sends it to the adjustment mechanism through the signal exchange module.
  • the adjustment mechanism adjusts the direction according to the set wind flow direction.
  • the posture of the air curtain generating mechanism is adjusted so that the flow direction of the air flow from the air outlet conforms to the set flow direction.
  • the present invention has the following beneficial effects:
  • the present invention generates a wind wall (wind curtain) on one side of the spray head.
  • the wind wall can block the external interference wind field, thereby effectively reducing the droplets.
  • Drift improve the utilization rate of liquid medicine and the operation efficiency of plant protection drones.
  • the high-speed airflow output from the air outlet of the air curtain arrangement tube can turn the leaves of the plant, which helps the droplets on the back, leaf surface and the middle and lower layers of the plant. Deposit to improve the effect of pesticide application.
  • Fig. 1 is a schematic diagram of the three-dimensional structure of the air curtain spray anti-drift device of the present invention applied to a drone.
  • Fig. 2 is a partial three-dimensional structure diagram of the air curtain spray anti-drift device in the present invention.
  • Fig. 3 is a top view of the air curtain arrangement tube in the present invention.
  • Fig. 4 is a bottom view of the wind curtain arrangement tube in the present invention.
  • Fig. 5 is a schematic diagram of the three-dimensional structure of the hinge mounting member in Fig. 2.
  • Fig. 6 is a schematic diagram of the three-dimensional structure of the deflector in the present invention.
  • Fig. 7 is a working flow chart of the air curtain spray anti-drift device in the present invention.
  • the air curtain spray anti-drift device of the plant protection drone in this embodiment includes a wind-blocking wall generated on the side where the spray nozzle b of the drone a sprays the droplets of the liquid medicine.
  • the air curtain generating mechanism includes an air curtain arrangement tube 1 and a blower 2 for emitting high-speed air flow.
  • the air curtain arrangement tube 1 is provided with an inlet The size of the air outlet 1-1 and the air outlet 1-2, the size of the air outlet 1-2 is smaller than the size of the air inlet 1-1; the air inlet 1-1 is connected with the air outlet of the blower 2 to guide the air flow into The inner cavity of the air curtain arrangement tube 1; the air outlet 1-2 is located at the bottom of the air curtain arrangement tube 1 and is provided with a plurality of air outlets for guiding the airflow in the inner cavity of the air curtain arrangement tube 1 downward at a high speed.
  • the blower 2 is an axial flow fan.
  • the air curtain control system includes an external wind field detection terminal for detecting wind field conditions in the external environment and a central control terminal for controlling the state of the air curtain.
  • the central control terminal includes a signal exchange module and data processing. Module;
  • the wind field conditions include the magnitude of the wind and the direction of the wind;
  • the state of the wind screen includes the strength of the wind screen and the attitude and orientation of the wind screen.
  • the air curtain control system further includes an adjustment mechanism for adjusting the angle of the air curtain.
  • the air curtain generating mechanism is connected to the UAV a through a hinged mounting member 3, and the adjustment mechanism drives the air curtain.
  • the curtain generating mechanism rotates relative to the unmanned aerial vehicle a around the hinge axis on the hinge mount 3 to adjust the direction of the air outlet 1-2, thereby adjusting the direction of the air flow, so as to obtain different postures of the air curtain to adapt to different occasions.
  • the hinge mounting member 3 is a carbon fiber board, which has the advantages of high strength and light weight.
  • the adjustment mechanism includes an adjustment drive motor, a driving member, and a gear transmission structure.
  • the gear transmission structure includes a driving gear and a driven gear.
  • the driving gear is connected to the adjustment driving motor and drives the driven gear to rotate; one end of the driving member It is connected with the base, and the other end is connected with the driven gear.
  • the driving gear and the driven gear are respectively fixed at one end of the hinge, and the adjusting drive motor and the driving gear are fixed at the same end of the hinge.
  • the adjusting mechanism may also be another turning drive mechanism capable of driving the air curtain generating mechanism to rotate around the hinge axis.
  • the signal exchange module includes a signal sending module and a signal receiving module, and reference may be made to a signal transmission module capable of realizing signal exchange in the prior art.
  • the inner cavity of the air curtain arrangement cylinder 1 is provided with a deflector 4, and the deflector 4 is suspended by a fixed plate 5 fixed on the water inlet of the air curtain arrangement cylinder 1.
  • Hanging installation, and facing the air inlet 1-1; the deflector 4 is provided with a plurality of diversion grooves, arranged symmetrically with the center line as the symmetry axis, and the distance between the diversion grooves is 3-20mm (preferably 8mm ); Multiple diversion grooves are used to quickly divert the wind flow to fill the inner cavity of the air curtain arrangement cylinder 1, so that the air flow can be blown out from multiple air outlets 1-2 at a high speed at the same time.
  • the number of the baffle 4 is 1-10 (preferably one).
  • the air curtain arrangement cylinder 1 and the deflector 4 are made of polyethylene materials, and the air cylinder can be folded and stored when no plant protection operation is performed, thereby reducing the transportation and storage space.
  • FIG. 1 a preferred solution of the present invention, wherein, along the flying direction of the drone a, the air outlets 1-2 are arranged laterally behind the nozzle b of the drone a, generally on the drone a There are multiple nozzles b, which are arranged horizontally along the flying direction of the drone a, so that a larger spraying range can be obtained on the same flight path; and the wind wall is set on the drone a Behind the nozzle b, protect the fog.
  • the air curtain arrangement tube 1 is composed of a vertical cylindrical airbag and a truncated cone-shaped airbag with symmetrical ends and horizontally placed vertically intersecting, and is installed under the blower 2; the inlet end of the air curtain arrangement tube 1 It is fixed and communicated with the air outlet of the blower 2, and the center of the bottom is provided with air outlets 1-2 arranged along a straight line; wherein the diameter L of the vertical cylindrical airbag is equal to the diameter H of the large end of the truncated cone airbag.
  • the air outlets 1-2 are first arranged horizontally behind the nozzle b of the drone a, and then arranged forward along the flying direction of the drone a after turning to surround the nozzle b of the drone a. In this way, not only a high-speed wind wall is formed behind the nozzle b, but also a wind curtain is formed on both sides of the nozzle b to minimize the influence of the external wind field.
  • the working principle of the air curtain spray anti-drift device in this embodiment is:
  • the air curtain control system sends a blowing signal to the blower 2.
  • the blower 2 After receiving the signal, the blower 2 starts to perform the blowing work, and delivers high speed to the air curtain arrangement tube 1.
  • the air flow fills the inner cavity of the air curtain arrangement tube 1, it will quickly blow out from a number of air outlets 1-2 arranged in a certain trajectory (the size of the air outlet 1-2 is much smaller than the size of the air inlet 1-1). It blows down through the air outlet 1-2 at high speed, thereby forming a high-speed wind wall (air curtain) below the air curtain arrangement tube 1 to provide protection for the subsequent spraying of the liquid medicine.
  • the plant protection drone a starts to spray the liquid, and the droplets are sprayed down from the nozzle b.
  • the wind wall standing on the side of the nozzle b can protect the droplets from depositing downward.
  • the air curtain can be used as a barrier to weaken each other, thereby effectively reducing the amount of mist droplets drifting, improving the utilization rate of the liquid medicine and the operating efficiency of the plant protection drone a.
  • the air curtain control system controls the blower 2 to stop blowing, and the UAV a returns and landed to complete the spraying operation.
  • the air curtain spray anti-drift method for plant protection drones in this embodiment includes the following steps:
  • the plant protection drone a takes off and approaches the plant to be sprayed.
  • the air curtain control system sends a blowing signal to the blower 2. After receiving the signal, the blower 2 starts the blowing work, and sends a high-speed airflow to the air curtain arrangement tube 1.
  • the plant protection drone a sprays the liquid, and the droplets are sprayed down from the nozzle b, and the wind wall standing on the side of the nozzle b protects the droplets from depositing down.
  • the air curtain control system controls the blower 2 to stop blowing, and the UAV a returns and landed to complete the spraying operation.
  • step (2) the external wind field detection terminal of the wind curtain control system sends the real-time detected wind field conditions to the central control terminal, and the signal exchange module of the central control terminal performs signal processing and transmits it to the data processing module
  • the data processing module compares and analyzes the magnitude of the wind force in the wind farm condition, sets the flow rate of the wind flow, and sends it to the blower 2 through the signal exchange module.
  • the blower 2 performs the air curtain arrangement tube 1 according to the set flow rate of the wind flow. Blast.
  • the data processing module of the central control terminal can send a blowing signal to the blower 2 through the signal exchange module to generate an air curtain before the spraying work is started; at the same time, the data processing module detects the air curtain according to the external wind field detection terminal.
  • the external wind farm environment controls the blower 2 in real time.
  • the data processing module can send high-power working signals to the blower 2, so that the blower 2 speeds up the flow rate of the air flow, strengthens the wind wall, and resists the external wind ;
  • the data processing module can send a low-power working signal to the blower 2 so that the blower 2 slows down the flow rate of the air flow and retains sufficient wind wall strength, so that the air curtain can be controlled according to the actual external environment The state can effectively ensure the normal deposition of the droplets of the liquid medicine.
  • step (2) the external wind field detection terminal of the wind curtain control system sends the real-time detected wind field conditions to the central control terminal, and the signal exchange module of the central control terminal performs signal processing and transmits it to the data processing module
  • the data processing module compares and analyzes the wind direction of the wind field condition, sets the direction of the wind flow, and sends it to the adjustment mechanism through the signal exchange module.
  • the adjustment mechanism performs the posture of the wind curtain generating mechanism according to the set direction of the wind flow. Adjust so that the flow direction of the air flow from the air outlet 1-2 conforms to the set flow direction.
  • the air curtain control system in this embodiment includes a detection device, a transmitter, and a receiver.
  • the transmitter is a remote control for controlling the operation of the plant protection drone a
  • the receiver is a remote control
  • the receiver is matched with the transmitter, and the receiver receives the instruction information sent by the transmitter.
  • the receiver controls the adjustment mechanism to complete the action of adjusting the angle of the air outlet 1-2 of the air curtain.

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Abstract

一种植保无人机（a）的风幕式喷雾防飘移装置及方法。防飘移装置包括用于在雾滴沉降的一侧生成风墙的风幕生成机构和对风幕进行控制的风幕控制系统，风幕生成机构包括风幕布置筒（1）和鼓风机（2），风幕布置筒（1）上设有与鼓风机（2）的鼓风口连通的进风口（1-1）和多个出风口（1-2），出风口（1-2）的尺寸小于进风口（1-1）的尺寸。防飘移方法包括：风幕控制系统向鼓风机发送鼓风信号，鼓风机进行鼓风工作，往风幕布置筒输送高速气流，当气流充满后，通过出风口高速往下吹送，形成风幕，植保无人机进行喷施，雾滴往下喷射，侧立在喷头（b）的一侧的风墙对雾滴的沉积进行防护。通过生成风墙对外界风场进行阻挡，有效减少雾滴的飘移，提高药液的利用率和作业效率。

Description

一种植保无人机的风幕式喷雾防飘移装置及方法 技术领域
本发明涉及植保无人机，具体涉及一种植保无人机的风幕式喷雾防飘移装置及方法。
背景技术
近年来，由于农用无人机喷施具有作业成本低、突击能力强、操作安全、不受农作物长势的限制等优点，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。
随着农用无人机喷施应用范围的逐渐扩大，农用无人机航空喷施方式的一些弊端和缺点也渐渐的暴露出来。其中，外界风场和旋翼风场会对雾滴的正常沉积造成影响，会引起雾滴药液发生飘移，偏离预想的沉积路径和位置，从而降低航空植保的作业效果。
现在的无人机植保作业往往缺乏对雾滴沉积的监测，导致作业时喷洒出来的雾滴受各方面的影响(尤其是自然风)，得不到有效的缓解办法，而这往往导致雾滴飘移严重，重喷漏喷现象的产生，使得作业效果下降，飘移的农药化肥雾滴又容易造成环境污染。目前，许多学者都开始寻找减少航空喷施作业中雾滴飘移的方法，如通过在雾滴中加上电荷、药液中加沉积助剂以及试图掌握雾滴沉积分布规律而减少雾滴飘移，但效果甚微。
发明内容
本发明的目的在于克服上述存在的问题，提供一种植保无人机的风幕式喷雾防飘移装置，该风幕式喷雾防飘移装置在作业时通过生成风墙对外界的干扰风场进行阻挡，可以有效减少雾滴的飘移，提高药液的利用率和植保无人机作 业效率。
本发明的另一个目的在于提供一种植保无人机的风幕式喷雾防飘移方法。
本发明的目的通过以下技术方案实现：
一种植保无人机的风幕式喷雾防飘移装置，包括用于在无人机的喷头喷施药液雾滴的一侧生成阻挡风墙的风幕生成机构和用于对风幕进行控制的风幕控制系统，所述风幕生成机构包括风幕布置筒和用于发出高速风流的鼓风机，所述风幕布置筒上设有进风口和出风口，所述出风口的尺寸小于进风口的尺寸；所述进风口与鼓风机的鼓风口连通，用于将风流导进风幕布置筒的内腔；所述出风口位于风幕布置筒的底部，且设有多个，用于将风幕布置筒内腔中的气流高速往下导出。
上述风幕式喷雾防飘移装置的工作原理是：
工作时，植保无人机靠近待喷药的种植物后，风幕控制系统向鼓风机发送鼓风的信号，鼓风机接收到信号后开始进行鼓风工作，往风幕布置筒输送高速的风流，当风流充满风幕布置筒的内腔后，迅速从多个按照一定轨迹排列的出风口(出风口的尺寸远小于进风口的尺寸)吹出，高速地通过出风口往下吹送，从而在风幕布置筒的下方形成高速的风墙(风幕)，为接下来的药液喷施作好防护。
接着，植保无人机开始进行药液喷施，雾滴从喷头往下喷射，竖立在喷头的一侧的风墙可以对雾滴往下的沉积进行防护。当有侧风时，风幕可以作为屏障与之互相削弱，从而有效地降低雾滴的飘移量，提高药液的利用率和植保无人机作业效率。药液喷施完成后，风幕控制系统控制鼓风机停止鼓风，无人机返航并降落，完成喷施作业。
本发明的一个优选方案，其中，所述风幕控制系统包括用于对外界环境的 风场条件进行检测的外风场检测终端和用于对风幕的状态进行控制的中央控制终端，该中央控制终端包括信号交换模块和数据处理模块；所述风场条件包括风力的大小和风力的方向；所述风幕的状态包括风幕的强度和风幕的姿态以及朝向；
所述外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件的风力的大小，设定风流的流速，并通过信号交换模块发送至鼓风机中，鼓风机根据设定的风流的流速对风幕布置筒进行鼓风。在实际使用过程中，中央控制终端的数据处理模块可以在喷施工作启动前通过信号交换模块向鼓风机发送鼓风信号，生成风幕；同时，数据处理模块根据外风场检测终端检测到的外界风场环境实时对鼓风机进行控制，当外界风场比较大时，数据处理模块可以向鼓风机发送高功率的工作信号，使得鼓风机加快风流的流速，对风墙进行加强，抵御外界风力；当外界风场比较小时，数据处理模块可以向鼓风机发送低功率的工作信号，使得鼓风机减慢风流的流速，保留足够的风墙强度即可，这样可以根据实际的外界环境控制风幕的状态，能够有效地保证药液雾滴的正常沉积。
优选地，所述风幕控制系统还包括用于调节风幕的角度的调节机构，所述风幕生成机构通过铰接安装件连接在无人机上，所述调节机构驱动风幕生成机构绕着铰接安装件上的铰接轴相对于无人机进行转动，调节出风口的朝向，从而调整风流的方向，以获得不同姿态的风幕，适应不同的场合。
进一步，所述外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件风力的方向，设定风流的朝向，并通过 信号交换模块发送至调节机构中，调节机构根据设定的风流的朝向对风幕生成机构的姿态进行调节，使得从出风口流出的风流流向符合设定的流向。
具体地，所述调节机构包括调节驱动电机和齿轮传动结构。
优选地，所述信号交换模块包括信号发送模块和信号接收模块。
本发明的一个优选方案，其中，所述风幕布置筒的内腔中设有若干个导流板，该导流板正对着进风口；所述导流板上设有多个导流槽，多个导流槽用于将风流快速导流充满风幕布置筒的内腔，使得气流能够同时高速地从多个出风口吹出。
本发明的一个优选方案，其中，沿着无人机飞行的方向，所述出风口横向排列在无人机的喷头后方，一般地，无人机上设有多个喷头，多个喷头沿着无人机飞行的方向横向排列，这样可以在同一个飞行路径上获得更大的喷施范围；而将风墙设置在无人机的喷头后方，对雾滴进行防护。
具体地，所述风幕布置筒由一个竖立圆柱气囊和一个两端对称、水平放置的圆锥台状气囊垂直相交组成，且安装在鼓风机的下方；所述风幕布置筒的进口端与鼓风机的鼓风口固定并连通，其底部的中央设有沿着直线排列的出风口；其中，所述竖立圆柱状气囊直径与圆锥台状气囊大端直径相等。
优选地，所述出风口先在无人机的喷头后方横向排列，拐弯后再沿着无人机飞行的方向往前排列，将无人机的喷头包围。这样不仅在喷头的后方形成高速风墙，在喷头的两侧也形成风幕，最大程度地降低外界风场的影响。
一种植保无人机的风幕式喷雾防飘移方法，包括以下步骤：
(1)植保无人机起飞，靠近待喷药的种植物；
(2)风幕控制系统向鼓风机发送鼓风的信号，鼓风机接收到信号后开始进行鼓风工作，往风幕布置筒输送高速的气流；
(3)当气流充满风幕布置筒的内腔后，同时高速地通过出风口往下吹送，从而在风幕布置筒的下方形成风幕；
(4)植保无人机进行药液喷施，雾滴从喷头往下喷射，侧立在喷头的一侧的风墙对雾滴往下的沉积进行防护；
(5)药液喷施完成后，风幕控制系统控制鼓风机停止鼓风，无人机返航并降落，完成喷施作业。
本发明的一个优选方案，在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件的风力的大小，设定风流的流速，并通过信号交换模块发送至鼓风机中，鼓风机根据设定的风流的流速对风幕布置筒进行鼓风。
本发明的一个优选方案，在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件风力的方向，设定风流的朝向，并通过信号交换模块发送至调节机构中，调节机构根据设定的风流的朝向对风幕生成机构的姿态进行调节，使得从出风口流出的风流流向符合设定的流向。
本发明与现有技术相比具有以下有益效果：
1、本发明通过在喷头的一侧生成风墙(风幕)，当雾滴从喷头往下喷射时，风墙(风幕)可对外界的干扰风场进行阻挡，从而有效减少雾滴的飘移，提高药液的利用率和植保无人机作业效率。
2、在药液喷施过程中，从风幕布置筒的出风口输出的高速气流可以翻动种植物的叶片，有助于雾滴在种植物的叶片的叶背、叶面以及植株中下层的沉积， 提高施药效果。
3、在风幕发挥屏障的作用时，部分药液雾滴会受到风幕布置筒的出风口的高速气流的撞击，进行二次雾化，并在气流的带动下，加速吹向种植物。
附图说明
图1为本发明中的风幕式喷雾防飘移装置应用于无人机中的立体结构示意图。
图2为本发明中的风幕式喷雾防飘移装置的局部立体结构示意图。
图3为本发明中的风幕布置筒的俯视图。
图4为本发明中的风幕布置筒的仰视图。
图5为图2中的铰接安装件的立体结构示意图。
图6为本发明中的导流板的立体结构示意图。
图7为本发明中的风幕式喷雾防飘移装置的工作流程图。
具体实施方式
为了使本领域的技术人员很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。
实施例1
参见图1-4，本实施例中的植保无人机的风幕式喷雾防飘移装置，包括用于在无人机a的喷头b喷施药液雾滴的一侧生成阻挡风墙的风幕生成机构和用于对风幕进行控制的风幕控制系统，所述风幕生成机构包括风幕布置筒1和用于发出高速风流的鼓风机2，所述风幕布置筒1上设有进风口1-1和出风口1-2，所述出风口1-2的尺寸小于进风口1-1的尺寸；所述进风口1-1与鼓风机2的鼓风口连通，用于将风流导进风幕布置筒1的内腔；所述出风口1-2位于风幕布置筒1的底部，且设有多个，用于将风幕布置筒1内腔中的气流高速往下导 出。所述鼓风机2为轴流风机。
所述风幕控制系统包括用于对外界环境的风场条件进行检测的外风场检测终端和用于对风幕的状态进行控制的中央控制终端，该中央控制终端包括信号交换模块和数据处理模块；所述风场条件包括风力的大小和风力的方向；所述风幕的状态包括风幕的强度和风幕的姿态以及朝向。
参见图1-5，所述风幕控制系统还包括用于调节风幕的角度的调节机构，所述风幕生成机构通过铰接安装件3连接在无人机a上，所述调节机构驱动风幕生成机构绕着铰接安装件3上的铰接轴相对于无人机a进行转动，调节出风口1-2的朝向，从而调整风流的方向，以获得不同姿态的风幕，适应不同的场合。具体地，所述铰接安装件3为碳纤维板，碳纤维板具有强度高、质量轻的优点。
具体地，所述调节机构包括调节驱动电机、带动件和齿轮传动结构，该齿轮传动结构包括主动齿轮和从动齿轮，主动齿轮与调节驱动电机连接，并带动从动齿轮转动；带动件的一端与基座连接，另一端与从动齿轮连接，主动齿轮和从动齿轮各固定在铰链一端，所述调节驱动电机和主动齿轮固定在铰链同一端。当然，所述调节机构也可以为其他能够驱动风幕生成机构绕着铰接轴转的翻转驱动机构。
具体地，所述信号交换模块包括信号发送模块和信号接收模块，可参考现有技术中的能够实现信号交换的信号传输模块。
参见图2和图6，所述风幕布置筒1的内腔中设有导流板4，所述导流板4通过固定在风幕布置筒1的进水口之上的固定板5进行悬吊设置，且正对着进风口1-1；所述导流板4上设有多个导流槽，以中线为对称轴对称布置，导流槽之间距离为3～20mm(优选为8mm)；多个导流槽用于将风流快速导流充满风幕布置筒1的内腔，使得气流能够同时高速地从多个出风口1-2吹出。进一步，所 述导流板4数量为1～10个(优选为1个)。
进一步，所述风幕布置筒1和导流板4材料均采用聚乙烯材料，在不进行植保作业时风筒可以折叠收纳，减小运输储藏空间。
参见图1，本发明的一个优选方案，其中，沿着无人机a飞行的方向，所述出风口1-2横向排列在无人机a的喷头b后方，一般地，无人机a上设有多个喷头b，多个喷头b沿着无人机a飞行的方向横向排列，这样可以在同一个飞行路径上获得更大的喷施范围；而将风墙设置在无人机a的喷头b后方，对雾滴进行防护。具体地，所述风幕布置筒1由一个竖立圆柱气囊和一个两端对称、水平放置的圆锥台状气囊垂直相交组成，且安装在鼓风机2的下方；所述风幕布置筒1的进口端与鼓风机2的鼓风口固定并连通，其底部的中央设有沿着直线排列的出风口1-2；其中，所述竖立圆柱状气囊直径L和圆锥台状气囊大端直径H相等。
进一步，所述出风口1-2先在无人机a的喷头b后方横向排列，拐弯后再沿着无人机a飞行的方向往前排列，将无人机a的喷头b包围。这样不仅在喷头b的后方形成高速风墙，在喷头b的两侧也形成风幕，最大程度地降低外界风场的影响。
参见图1-6，本实施例中的风幕式喷雾防飘移装置的工作原理是：
工作时，植保无人机a靠近待喷药的种植物后，风幕控制系统向鼓风机2发送鼓风的信号，鼓风机2接收到信号后开始进行鼓风工作，往风幕布置筒1输送高速的风流，当风流充满风幕布置筒1的内腔后，迅速从多个按照一定轨迹排列的出风口1-2(出风口1-2的尺寸远小于进风口1-1的尺寸)吹出，高速地通过出风口1-2往下吹送，从而在风幕布置筒1的下方形成高速的风墙(风幕)，为接下来的药液喷施作好防护。
接着，植保无人机a开始进行药液喷施，雾滴从喷头b往下喷射，竖立在喷头b的一侧的风墙可以对雾滴往下的沉积进行防护。当有侧风时，风幕可以作为屏障与之互相削弱，从而有效地降低雾滴的飘移量，提高药液的利用率和植保无人机a作业效率。药液喷施完成后，风幕控制系统控制鼓风机2停止鼓风，无人机a返航并降落，完成喷施作业。
参见图1-7，本实施例中的植保无人机的风幕式喷雾防飘移方法，包括以下步骤：
(1)植保无人机a起飞，靠近待喷药的种植物。
(2)风幕控制系统向鼓风机2发送鼓风的信号，鼓风机2接收到信号后开始进行鼓风工作，往风幕布置筒1输送高速的气流。
(3)当气流充满风幕布置筒1的内腔后，同时高速地通过出风口1-2往下吹送，从而在风幕布置筒1的下方形成风幕。
(4)植保无人机a进行药液喷施，雾滴从喷头b往下喷射，侧立在喷头b的一侧的风墙对雾滴往下的沉积进行防护。
(5)药液喷施完成后，风幕控制系统控制鼓风机2停止鼓风，无人机a返航并降落，完成喷施作业。
在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件的风力的大小，设定风流的流速，并通过信号交换模块发送至鼓风机2中，鼓风机2根据设定的风流的流速对风幕布置筒1进行鼓风。在实际使用过程中，中央控制终端的数据处理模块可以在喷施工作启动前通过信号交换模块向鼓风机2发送鼓风信号，生成风幕；同时，数据处理模块根据外风场检测终端检测到的外界风场环境实 时对鼓风机2进行控制，当外界风场比较大时，数据处理模块可以向鼓风机2发送高功率的工作信号，使得鼓风机2加快风流的流速，对风墙进行加强，抵御外界风力；当外界风场比较小时，数据处理模块可以向鼓风机2发送低功率的工作信号，使得鼓风机2减慢风流的流速，保留足够的风墙强度即可，这样可以根据实际的外界环境控制风幕的状态，能够有效地保证药液雾滴的正常沉积。
在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件风力的方向，设定风流的朝向，并通过信号交换模块发送至调节机构中，调节机构根据设定的风流的朝向对风幕生成机构的姿态进行调节，使得从出风口1-2流出的风流流向符合设定的流向。
实施例2
与实施例1不同的是，本实施例中的风幕控制系统包括检测装置、发射机和接收机，所述发射机为控制植保无人机a作业的遥控器，所述接收机为与遥控器配套的接收机，接收机接收发射机发送的指令信息。
另外，接收机接收发射机发送的指令信息后，通过控制调节机构完成调节风幕出风口1-2角度的动作。
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. 一种植保无人机的风幕式喷雾防飘移装置，其特征在于，包括用于在无人机的喷头喷施药液雾滴的一侧生成阻挡风墙的风幕生成机构和用于对风幕进行控制的风幕控制系统，所述风幕生成机构包括风幕布置筒和用于发出高速风流的鼓风机，所述风幕布置筒上设有进风口和出风口，所述出风口的尺寸小于进风口的尺寸；所述进风口与鼓风机的鼓风口连通，用于将风流导进风幕布置筒的内腔；所述出风口位于风幕布置筒的底部，且设有多个，用于将风幕布置筒内腔中的气流高速往下导出。
  2. 根据权利要求1所述的植保无人机的风幕式喷雾防飘移装置，其特征在于，所述风幕控制系统包括用于对外界环境的风场条件进行检测的外风场检测终端和用于对风幕的状态进行控制的中央控制终端，该中央控制终端包括信号交换模块和数据处理模块；所述风场条件包括风力的大小和风力的方向；所述风幕的状态包括风幕的强度和风幕的姿态以及朝向；
    所述外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件的风力的大小，设定风流的流速，并通过信号交换模块发送至鼓风机中，鼓风机根据设定的风流的流速对风幕布置筒进行鼓风。
  3. 根据权利要求2所述的植保无人机的风幕式喷雾防飘移装置，其特征在于，所述风幕控制系统还包括用于调节风幕的角度的调节机构，所述风幕生成机构通过铰接安装件连接在无人机上，所述调节机构驱动风幕生成机构绕着铰接安装件上的铰接轴相对于无人机进行转动，调节出风口的朝向，调整风流的方向。
  4. 根据权利要求2所述的植保无人机的风幕式喷雾防飘移装置，其特征在 于，所述外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件风力的方向，设定风流的朝向，并通过信号交换模块发送至调节机构中，调节机构根据设定的风流的朝向对风幕生成机构的姿态进行调节，使得从出风口流出的风流流向符合设定的流向。
  5. 根据权利要求1-4任一项所述的植保无人机的风幕式喷雾防飘移装置，其特征在于，所述风幕布置筒的内腔中设有若干个导流板，该导流板正对着进风口；所述导流板上设有多个导流槽，多个导流槽用于将风流快速导流充满风幕布置筒的内腔。
  6. 根据权利要求5所述的植保无人机的风幕式喷雾防飘移装置，其特征在于，沿着无人机飞行的方向，所述出风口横向排列在无人机的喷头后方；所述出风口先在无人机的喷头后方横向排列，拐弯后再沿着无人机飞行的方向往前排列，将无人机的喷头包围。
  7. 根据权利要求6所述的植保无人机的风幕式喷雾防飘移装置，其特征在于，所述风幕布置筒由一个竖立圆柱气囊和一个两端对称、水平放置的圆锥台状气囊垂直相交组成，且安装在鼓风机的下方；所述风幕布置筒的进口端与鼓风机的鼓风口固定并连通，其底部的中央设有沿着直线排列的出风口；其中，所述竖立圆柱状气囊直径与圆锥台状气囊大端直径相等。
  8. 一种植保无人机的风幕式喷雾防飘移方法，其特征在于，包括以下步骤：
    (1)植保无人机起飞，靠近待喷药的种植物；
    (2)风幕控制系统向鼓风机发送鼓风的信号，鼓风机接收到信号后开始进行鼓风工作，往风幕布置筒输送高速的气流；
    (3)当气流充满风幕布置筒的内腔后，同时高速地通过出风口往下吹送，从 而在风幕布置筒的下方形成风幕；
    (4)植保无人机进行药液喷施，雾滴从喷头往下喷射，侧立在喷头的一侧的风墙对雾滴往下的沉积进行防护；
    (5)药液喷施完成后，风幕控制系统控制鼓风机停止鼓风，无人机返航并降落，完成喷施作业。
  9. 根据权利要求8所述的植保无人机的风幕式喷雾防飘移方法，其特征在于，在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件的风力的大小，设定风流的流速，并通过信号交换模块发送至鼓风机中，鼓风机根据设定的风流的流速对风幕布置筒进行鼓风。
  10. 根据权利要求8所述的植保无人机的风幕式喷雾防飘移方法，其特征在于，在步骤(2)中，风幕控制系统的外风场检测终端将实时检测到的风场条件发送至中央控制终端，由中央控制终端的信号交换模块进行信号处理，并传输至数据处理模块中，所述数据处理模块对比分析该风场条件风力的方向，设定风流的朝向，并通过信号交换模块发送至调节机构中，调节机构根据设定的风流的朝向对风幕生成机构的姿态进行调节，使得从出风口流出的风流流向符合设定的流向。
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