WO2022108489A1

WO2022108489A1 - Automatically flying sprayer connectable to ground vehicles

Info

Publication number: WO2022108489A1
Application number: PCT/RU2021/050377
Authority: WO
Inventors: Константин Георгиевич АНИМИЦА
Original assignee: Константин Георгиевич АНИМИЦА
Priority date: 2020-11-17
Filing date: 2021-11-16
Publication date: 2022-05-27
Also published as: RU2750543C1

Abstract

The invention relates to technical devices for spraying large, long areas with liquids and reagents. The technical solution proposed by the present invention is a flexible pipe which is connectable to a master source of working liquids and electrical power (a transport platform or stationary system), said pipe having nozzles and a power and control cable and being automatically carried when in operating mode by one or a number of vertical takeoff and landing unmanned aerial vehicles which are connected to the pipe and receive power and working fluids from the master source, said pipe as a whole providing as it moves for the automatic spraying of an area to be treated with target volumes of working fluids supplied from tanks disposed in the master source or connected thereto.

Description

Ground-attached auto-flying sprayer

[0001]

technical field

[0002] The invention relates to technical devices designed for irrigation with liquids and reagents of objects of large area and length.

background art

[0003] In this application, the technical solution of the invention is further described in the application for chemical processing of farmland, but a similar scheme can be used in other applications, including those described below.

[0004] The proposed technical solution with a high level of automation provides: an increase in the coverage of the cultivated area of crops than traditional chemical treatment and irrigation systems have; a significant increase in productivity per unit of equipment; work on soils with low bearing capacity without damaging the seedlings of growing crops and disturbing the fertile layer; work on difficult terrain, where growing crops are located on an inclined or non-rectilinear surface (including mountains, hills, checks, embankments, etc.); targeted accurate (if necessary and sufficient) volumes of application of working fluids.

Summary of Invention

[0005] The technical solution of the complex with an automatically flying sprayer connected to ground equipment (abbreviated - “LetO”) for the chemical treatment of crops consists of the following components:

[0006] pipeline sprayer (5) of flexible hoses connected to each other and containing, in addition to pipes, also located at a certain distance from each other atomizers (6) with electrically controlled spraying of liquids and its cutoff; [0007] in parallel with the pipeline (5) there is a cable (8) of power supply (from the onboard network of the transport platform) and control (from the control system of the complex);

[0008] the pipeline (5) with cable (8) and nozzles (6) is attached to vertical takeoff and landing unmanned aerial vehicles (UAVs) (4) through periodic distances provided by the carrying capacity of the UAVs used;

[0009] systems for automatic control of spraying and UAV flight with planning and tracking the trajectory of the movement of the complex with a control panel.

[0010] Summer connects to a transport platform (1) (driver-controlled, remote-controlled or unmanned), which, by the design of its chassis, has minimal mechanical impact on the underlying surface and vegetation of the cultivated field (without disturbing the fertile layer). As a platform, for example, pneumatic ducts of various brands or trailers for them, including those already available on the farm, can be used.

[0011] On such a platform or on a trailer to it are installed:

[0012] (2) - a supply tank (or a system of several tanks) for water or liquid fertilizers (hereinafter referred to as "liquids", "working fluids"), a pumping unit (3) for pumping them into the spraying system pipeline (5);

[0013] for compact transportation and movement between areas for processing, the pipeline is laid or coiled on the transport drums (7) of the transport platform, where also for all UAVs there are sites for their deployment.

Technical Problem

[0014] The intensity of land use and the increasing role of agricultural products in the GDP of developing countries is currently leading to an increased role of chemical treatment of crops in increasing their productivity. So, in the cost of one ton of agricultural products, plant protection products can take 20-30%, and if the year is unfavorable, then all 50% of the cost of producing crops.

[0015] Global warming is developing at a record rate. An increasingly hot summer in different areas of the planet leads to a drought that can last for several years in a row, for example, in California (USA), a record drought over the past 1200 years lasted from 2011 to 2017. A severe drought, in addition to harming the agricultural sector, creates favorable conditions for the spread of fire, which leads to catastrophic fires in different parts of the world: in Australia, the USA, Russia and other countries.

[0016] In view of the low productivity of ground agricultural sprayers, if it is necessary to quickly carry out chemical treatment of a large area of land, agricultural producers are forced to simultaneously use several pieces of equipment with sprayers and resort to expensive agricultural aviation services.

Solution to Problem

[0017] The problem of performance limitations of known ground sprayers and limitations of single unmanned aerial vehicles used for spraying is solved by the present invention. The component composition of the technical solution is described above.

[0018] To ensure greater effect and maximum performance of the complex, in addition to one trailer (9) or one transport platform with a tank of liquids, additional trailers with tanks (10) connected by pipelines with power and control cables (11) can be docked to the complex by a road train each other into a single system. The number of trailers is limited by the condition of ensuring the movement of the road train with the speed, maneuverability and safety necessary for the processing mode. Pumping liquid between several trailers with connected tanks and a supply tank can be carried out by additional pumps installed both on the transport platform and on the trailers (12), and controlled automatically, as the supply tank on the platform is emptied. [0019] The number of UAVs with the complex is limited by the capabilities of the power system of the transport platform and the capabilities of the pressure pump to ensure the operating mode of spraying liquids through the sprayer nozzles along the entire pipeline. At the same time, to increase the pressure and compensate for pressure losses in a long pipeline, small backwater electric pumps can be installed at its end sections.

[0020] A distinctive feature of the working fluid tanks used in the complex is their equipping with sensors for the level of the liquid in them, information from the sensors is transmitted to the complex control system.

[0021] These trailers can be replaced as the tanks are empty with similar ones filled with working fluids by transporting them by a supply vehicle, without leaving the LetO complex from the working trajectory, reducing the number of intermediate stops and returns to the base for refueling.

[0022] The control system console of the complex can be placed both on board the transport platform and remotely, at the location of the operator of the complex, taking into account the provision of wireless communication between them.

[0023] The complex control system has the following functionality:

[0024] - planning the trajectory of the movement of the complex across the field (parallel tracks, the distance between which is determined by the length of the pipeline of the sprayer with the UAV), with the calculation of the liquids used for processing in the required mode of processing the land, while on the information panel (display) this trajectory is shown with marks stops of the complex at the end of the liquid in the supply tanks, when the complex will stop to refuel with a new volume of liquid, or when trailers with tanks in the road train will change. Information about the imminent end of the working fluid is transmitted to the base of the transport vehicle, for its advanced readiness for transportation and replacement of trailers with empty tanks, excluding downtime of the complex in anticipation of their delivery.

[0025] - be able to automatically set the operating modes of each sprayer in the system according to the map of vegetation indices of the cultivated field loaded into the system or the map of the state of the soil obtained earlier from aerial or space photography;

[0026] - indication on the information panel (display) to the driver (or operator) of the complex, what area of processing has been done and what is still to be done with the specified current flow rate of the liquid used, how much time and what distance along the trajectory is left to travel to the next stop to fill consumables tanks;

[0027] - introduction by the operator when filling the tank and indication during operation of the type of liquids used for processing, their volume on board the complex at the time of refueling and their current volume during operation;

[0028] - remote communication between the transport platform and the location of the remote operator of the complex.

[0029] The design of unmanned aerial vehicles has the following distinctive features:

[0030] - anti-corrosion protection of all UAV elements from liquids used in the process of operation;

[0031 ] - the presence on board each UAV of a control system that allows for piloting and controlling the device in autonomous mode within the specified loads and restrictions; at the same time, the UAV control system can provide coordination of its position with respect to the design of the sprayer and the transport platforms on the drum autonomously and without georeferencing to the terrain (according to the pipeline geometry loaded into the system and the monitored position of the UAV during operation);

[0032] - the UAV control system maintains the constancy of the given altitude, direction and flight speed, depending on the terrain loaded into the system and the program of their flight along the trajectory of the complex;

[0033] - the presence of communication of the onboard control systems of the UAV with a single control system of the complex, including for the purpose of deploying the system into the operating mode and folding it into the transport mode, as well as controlling the location of the UAV relative to the transport platform and transport drums.

[0034] In addition to the above configuration, LetO can work together with a boom sprayer located on the same transport platform. In this case, LetO joins the end section of the boom sprayer pipeline and becomes its coverage expander, while work is carried out by both spraying systems.

Advantageous Effects of Invention

[0035] The present invention is close in technical essence to the widespread ground agricultural machinery with a boom sprayer moved on the machine itself or on its trailer, where, in addition to the sprayer, there are supply tanks, a pump unit and all the necessary piping for operation, but is devoid of its disadvantages, namely :

[0036] - the width of the LetO coverage and the speed of movement, which means that the productivity is much greater than that of the widely used ground equipment (the indicator depends on the length of the LetO pipeline)

[0037] - LetO automatically follows difficult terrain and flies around obstacles;

[0038] - Summer does not put pressure on the soil - the transport platform can tow trailers with additional containers of working fluids, which can reduce the number of stops for refueling working fluids.

[0039] Unlike flying sprayers based on single UAVs, LetO has the following advantages:

[0040] - the duration of the working stroke of the complex with the LetO flying sprayer is limited by a much larger volume of working fluids, located on a ground transport platform than is available on board a single UAV;

[0041 ] - the duration of the stroke depends only on the availability of fuel on board the transport platform from which LetO receives power and is not limited by the capacity of electric batteries on board a single UAV;

[0042] - Summer has a wide range of realizable flow rates of working fluids, which is provided by the multi-injector head of the used sprayers and the pump performance on board the transport platform, in contrast to the installed injectors of the same type and a low-power pump on single UAVs;

[0043] - Summer does not require registration and airworthiness certification, which is required for UAVs (with an MTOW of more than 30 kg) or agricultural aviation, does not require permission to use the airspace, because LetO is an integrated structural element of ground equipment with continuous power supply, and not an aircraft.

[0044] Unlike agricultural aviation, LetO has the following advantages:

[0045] - is not a high-risk vehicle for the lives of people (pilots);

[0046] - can work at night;

[0047] - due to the mode of its operation at a height of 0.5 m above the ground or crops - has the least drift and loss of reagents;

[0048] - the complex carries a larger volume of working fluids than aviation, which ensures greater continuity of productive work.

Brief Description of Drawings

[0049] The essence of the invention is shown in Fig. 1, where the front and side views schematically show the complex with the LetO sprayer; view in a partially expanded position (one branch); the UAV is also shown in the working position in flight, front view, with a section of the pipeline and working sprayers. [0050] In Fig. 1, for greater clarity, only those elements that are necessary for understanding the essence of the technical solution are summarized, and auxiliary details known to specialists in this field are not shown.

[0051] The above diagram is only one of the possible embodiments (implementation) of the present invention, and the scope of protection of the present invention is not limited to this option.

Fig.1

[0052] [Fig.1] Fig.1. Scheme of the invention.

[0053] The diagram shows: Front and side views in transport position; View in a partially expanded position (one branch); View of a UAV carrying a pipeline section with sprayers and a power and control cable.

[0054] Designations in the diagram: 1 - transport platform, 2 - supply tank, 3 - pump unit, 4 - UAV, 5 - spray system pipeline, 6 - sprayers, 7 - transport drums, 8 - power supply and control cable, 9 - trailers, 10 - additional tanks, 11 - connecting pipelines with power and control cable, 12 - additional pumps.

Description of Embodiments

[0055] The technical result from the implementation of the invention is formed from several factors:

[0056] - ensuring the maximum coverage and area of one-time cultivation of land, comparable to stationary irrigation systems,

[0057] - reduction of unproductive time spent on maintenance of the complex with a sprayer,

[0058] - reduction of the area of mechanical impact on seedlings from the wheels of heavy agricultural machinery,

[0059] - saving of working fluids, due to the precisely regulated amount of fertilizer application on the cultivated area, [0060] - obtaining the possibility of processing lands with complex terrain, where growing crops are located on an inclined or non-rectilinear surface (including mountains, hills, checks, etc.).

[0061] The technical result is achieved by the fact that the expansion of area coverage and speed of spraying and irrigation of lands, as well as work with difficult terrain, is carried out using automatically flying UAVs (a network of several UAVs) carrying a flexible pipeline of the spraying system connected to the transport platform ; a reduction in maintenance time is achieved by using a road train with the supply of working fluids by a supply vehicle, and savings from the accuracy of applying working fluids is achieved by using an advanced control system for the complex that works with maps of vegetation indices, which controls the operating modes of sprayers that form targeted accurate (if necessary and sufficiency) volumes introduction of working fluids.

Examples

[0062]

Industrial Applicability

[0063] The invention is applicable in agriculture, in particular, as a technical device designed for irrigation and chemical treatment (including weeding, application of mineral fertilizers and pest control) of field crops and crops grown on checks, fruit , bushes, trees, etc.

[0064] The invention is also applicable to irrigation with chemicals in order to eliminate emergency spills of oil and oil products.

[0065] The invention can also be used to extinguish areal or local fires, as well as washing windows in high-rise buildings (in this case, the device can be mounted as a stationary building engineering system).

Reference Sign List

[0066]

Reference to Deposited Biological Material [0067]

Sequence Listing Free Text

[0068]

Citation List

[0069]

Patent Literature

[0070] PTL1 : Sprayer vehicle comprising; a frame with an engine, transmission, wheel suspension with ultra-low pressure tires, a body and a boom sprayer, the body is equipped with a compartment in which the sprayer tank on the subframe and the pump are located (Utility model patent RU No. 138934 MPK V60R 3/00; , 2014).

[0071] PTL2: A flying sprayer is known in the form of a vertical takeoff and landing unmanned aerial vehicle carrying a payload in the form of a liquid tank and a nozzle for spraying liquid from the tank (International application No. PCT / CN 2015 / 080528, 01.06.2015 ., patent for invention US 2017043870 A1, 16.02.2017);

[0072] PTL3: A similar patent is known describing a vehicle with flying sprayers, comprising: a vehicle (tractor with a trailer with a large supply tank) having a front platform with a front tank, on which vertical take-off and landing unmanned aerial vehicles are mobile sprayers, filling the internal tanks of which occurs periodically when they return to the platform and are connected to the front tank located on the front platform (Patent for invention RU No. 2712710 IPC A01 M 7/00, B64D 1/18);

[0073] PTL4: There is also a patent describing "Robotic complex for automated aviation chemical processing of plants and method of its application" (Patent for invention RU No. 2586142 IPC A01 M 7/00).

Non Patent Literature

[0074] NPL1 : io

Claims

[Claim 1] An auto-flying sprayer connected to ground vehicles is a flexible pipeline with sprayers, a power supply and control cable connected to the base source of working fluids and power supply (transport platform or stationary system), which in the operating mode is automatically carried by one or more connected to it vertical take-off and landing unmanned aerial vehicles that receive power and working fluids from the base source, and which, in general, ensures automatic spraying over the cultivated area of addressable volumes of working fluids consumed from the base source or from tanks attached to it during its movement.