CN105775136A - Mist spray anti-drifting device for agricultural unmanned aerial vehicle and method for applying mist spray anti-drifting device - Google Patents
Mist spray anti-drifting device for agricultural unmanned aerial vehicle and method for applying mist spray anti-drifting device Download PDFInfo
- Publication number
- CN105775136A CN105775136A CN201610218229.1A CN201610218229A CN105775136A CN 105775136 A CN105775136 A CN 105775136A CN 201610218229 A CN201610218229 A CN 201610218229A CN 105775136 A CN105775136 A CN 105775136A
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- support rod
- unmanned plane
- support bar
- driving device
- main support
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- 239000007921 spray Substances 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000003595 mist Substances 0.000 title abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000005507 spraying Methods 0.000 claims description 33
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 238000012856 packing Methods 0.000 claims description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000000575 pesticide Substances 0.000 abstract 1
- 239000007788 liquid Substances 0.000 description 6
- 230000008021 deposition Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 208000031968 Cadaver Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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
- A01M7/006—Mounting of the nozzles
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a mist spray anti-drifting device for an agricultural unmanned aerial vehicle and a method for applying the mist spray anti-drifting device.The mist spray anti-drifting device comprises a control end, three driving devices and a support rod assembly.The control end comprises a transmitter and a receiver, the driving devices comprise power devices, transmission gears and bases, the support rod assembly comprises a main support rod, a left support rod and a right support rod, and the three driving devices are respectively arranged between the main support rod and an unmanned aerial vehicle body, between the main support rod and the left support rod and between the main support rod and the right support rod and can drive the support rod assembly to be folded and unfolded under the control of the control end; pesticide delivery hoses are arranged in the various support rods of the support rod assembly, and mist spray nozzles are arranged at corresponding positions of the left support rod and the right support rod.The mist spray anti-drifting device and the method have the advantages that the designed support rods are of unfolding and folding structures, can be folded when operation is not carried out and can be unfolded when spray and application operation is carried out; the nozzles are lowered, so that sprayed and applied fog drop can be kept away from influence of wind fields, accurate aviation spray and application operation can be carried out, and the mist spray anti-drifting device is simple in structure and easy and convenient to operate and is small and safe.
Description
Technical field
The present invention relates to precision agriculture equipment research field, spray particularly to a kind of agricultural unmanned plane anti-shift and using method thereof.
Background technology
In recent years, have that operating cost is low, assault ability strong owing to agricultural unmanned plane sprays, operation safety, not by advantages such as the restrictions of Grain Growth Situation, spray operating type as the aviation of one of the important symbol of agricultural aviation and obtain application rapidly and development.
Along with agricultural unmanned plane sprays the expansion gradually of job area, agricultural unmanned plane aviation sprays some drawbacks of mode and shortcoming also coming out gradually.Wherein, extraneous wind field and rotor wind field the medicinal liquid caused seriously drifts about and has become the emphasis that people pay close attention to.When unmanned plane during flying height is higher, extraneous wind field factor is bigger on mist droplet deposition impact so that it is can not effectively be deposited on target area；When unmanned plane during flying height is too low, rotor wind field factor is relatively big on mist droplet deposition impact, turbulent performance make crop acutely wave can not be effective medicine, and when flying height is too low, unmanned plane itself is also dangerous, it is easy to encounter object and crash.At present, many scholars begin look for reducing the method that aviation sprays the drift of droplet in operation, as passed through plus adding deposition aid in electric charge, medicinal liquid and attempting to grasp the mist droplet deposition regularity of distribution and reduce droplet and drift about in droplet, but have little effect.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, provide a kind of agricultural unmanned plane anti-shift of spraying and using method thereof, present configuration is simple, easy and simple to handle, safety, and can effectively prevent aviation from spraying droplet drift, increase medicinal liquid effective rate of utilization, improve agricultural unmanned plane working performance.
The purpose of the present invention is realized by following technical scheme: a kind of agricultural unmanned plane anti-shift of spraying, including controlling end, driving device and supporting rod member；Wherein: described control end includes transmitter and receiver, described driving device includes power set, actuating device and pedestal, described support rod member includes main support rod, left support bar, right support bar, being equipped with a driving device between main support rod and unmanned plane body, between main support rod and left support bar, between main support rod and right support bar, described control end controls driving device and drives support rod member to pack up and expansion；In supporting each support bar of rod member, it is equipped with loading hose, is provided with spraying nozzle in the relevant position of left support bar and right support bar.Spraying nozzle of the present invention is arranged on support rod member, supporting rod member is deployable contraction structure, this support rod member can be packed up when not carrying out spraying operation, launch when carrying out spraying operation, then reduce nozzle position, make to spray droplet and may be located remotely from wind field impact and spray operation carrying out aviation accurately.
Preferably, described transmitter is the remote controller controlling agricultural unmanned plane operation, and described receiver is the receiver supporting with remote controller, the command information that receiver receiver/transmitter sends.After the command information that receiver receiver/transmitter sends, support rod member is driven to complete the action packed up or launch by controlling driving device.
Preferably, described actuating device is made up of gear and drivening piece, and wherein, gear is divided into driving gear and driven gear, and driving gear is connected with power set, and drives driven gear to rotate；One end of drivening piece is connected with pedestal, and the other end is connected with driven gear, supports each support bar one end in rod member and is fixed on drivening piece.By the program, driven gear rotation can drive drivening piece to rotate, and then drives each support bar to rotate, and then realize the expansion supporting rod member and pack up.
Further, described drivening piece is toroidal, supports each support bar one end in rod member and is fixed in this annulus.
Further, one end of described drivening piece is connected by rolling bearing with pedestal.
Preferably, described pedestal is divided into main basal base and secondary pedestal, and main basal base one end and unmanned plane body are fixed, and driving device and actuating device between main support rod and unmanned plane body are arranged on this main basal base；Secondary pedestal is arranged between main support rod and left support bar and between main support rod and right support bar, and driving device that the lower end of main support rod, left support bar and right support pole pair answer is fixed in its one end and actuating device is arranged on this pair pedestal.
Further, described power set are steering wheel, control its relevant action by controlling end.
Preferably, described support rod member is hollow rods, equipped with loading hose in the middle of rod member；Relevant position below left support bar and right support bar is provided with some shower nozzles.
Further, described support rod member is hollow carbon fiber pipe, and described shower nozzle number is 4.The advantage that hollow carbon fiber pipe has light quality.
A kind of using method of anti-shift of spraying based on above-mentioned agricultural unmanned plane, including step: at agricultural unmanned plane after taking off in overhead, operation plot, controlling end transmission instruction control driving device drives support rod member to launch, and then opens sprayer apparatus, controls unmanned plane and carry out spraying operation；After operation completes, control end transmission instruction control driving device and drive support rod member to pack up.
Concrete, comprise the following steps:
A. agricultural unmanned plane is after taking off in overhead, operation plot, and transmitter sends and launches instruction to receiver, and command information is sent to each driving device after receiving expansion instruction by receiver；During original state, described anti-shift is packed up, and becomes " one " shape to close at below unmanned plane, and highly higher than unmanned plane foot rest height；
B. the driving device between main support rod and unmanned plane body first controls main support rod and moves downwardly to immediately below unmanned plane, driving device between main support rod and left support bar, between main support rod and right support bar controls left support bar and right support bar respectively and is expanded to level to the both sides of main support rod, becomes inverted " t " shape to be hung on immediately below unmanned plane；
C. open sprayer apparatus, control unmanned plane and carry out spraying operation；
D. spraying after operation completes, transmitter sends and shrinks instruction to receiver, and receiver will send information to each driving device after receiving contraction command information；
E. the driving device between main support rod and left support bar, between main support rod and right support bar first controls left support bar and right support bar is packed up to main support rod direction；After packing up completely, the driving device control main support rod between main support rod and unmanned plane body rearward moves and receives to level；
F., after described anti-shift is packed up completely, unmanned plane lands, and completes to spray operation.
The present invention compared with prior art, has the advantage that and beneficial effect:
1. present configuration is simple, and collapsible with expansion, lightweight.Support rod member and can be used as spray boom to load spraying nozzle, not only use space without influence on agricultural unmanned plane, nor the payload that unmanned plane is limited can be affected.
2. applying flexible of the present invention, automaticity is high, can the packing up and expansion of device described in remote wireless control, when agricultural unmanned plane needs to carry out spraying operation after taking off, the expansion of described device can be controlled；When agricultural unmanned plane fulfil assignment need land time, packing up of described device can be controlled, it is ensured that the safe take-off of unmanned plane and landing.
3. the present invention adopts the spraying method reducing shower nozzle, it is possible not only to increase the operation height of agricultural unmanned plane distance corps canopy, improve safety during agricultural unmanned plane operation, and extraneous wind field and the impact on spraying droplet of the rotor wind field can be reduced, ensure that medicinal liquid droplet is deposited on the canopy of crops effectively, increase the effective rate of utilization of medicinal liquid.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram when being in unmanned plane bottom level state of the device described in the present embodiment.
Overall structure schematic diagram when Fig. 2 is that in device described in the present embodiment, main support rod turns to vertical state.
Fig. 3 be device described in embodiment fully deployed time overall structure schematic diagram.
Fig. 4 is the structural representation of Fig. 1 shown device middle and upper part driving device.
Fig. 5 is the structural representation of Fig. 1 shown device middle and lower part driving device.
Fig. 6 is the present embodiment using method flow chart.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
Referring to Fig. 1-5, a kind of agricultural unmanned plane anti-shift of spraying of the present embodiment, including controlling end, driving device and supporting rod member；Wherein, described control end includes transmitter and receiver, described driving device includes 3, each driving device includes power set 21, actuating device and pedestal, described support rod member includes main support rod 31 and left support bar 32, right support bar 33, being provided with a driving device between main support rod 31 and unmanned plane body, between main support rod 31 and left support bar 32, between main support rod 31 and right support bar 33 respectively, described control end controls driving device and drives packing up and expansion of support rod member.Above-mentioned each support bar is equipped with loading hose, is provided with spraying nozzle 35 in the relevant position of left support bar and right support bar.
Described control end includes transmitter and receiver, after the command information that receiver receiver/transmitter sends, drives packing up and launching action of support rod member by controlling driving device.In the present embodiment, transmitter adopts the remote controller controlling agricultural unmanned plane operation, and receiver adopts the receiver supporting with remote controller.
Described actuating device is made up of gear and drivening piece 222, and wherein, gear is divided into driving gear 2211 and driven gear 2212, and driving gear 2211 is connected with power set 21, and drives driven gear 2212 to rotate.One end of drivening piece is connected with pedestal by rolling bearing 2213, the other end is connected with driven gear 2212, its annulus size just buckles with each support bar in support rod member, therefore driving gear rotates under power set drive, and then drives driven gear to rotate, and driven gear drives drivening piece to rotate, owing to support bar one end and drivening piece are fixed, therefore, support bar will rotate along with drivening piece, thus realizing the action shunk or launch.
Described pedestal can be divided into main basal base 231 and secondary pedestal 232, and main basal base 231 is fixed on unmanned plane body by union joint 24, and driving device and the actuating device of main support rod 31 correspondence are arranged on this main basal base.Secondary pedestal 232 is arranged between main support rod 31 and left and right sidesing post 32,33, and driving device that the lower end of main support rod 31, left support bar and right support pole pair answer is fixed in its one end and actuating device is arranged on this pair pedestal.Described power set 21 are steering wheel, control its relevant action by controlling end.
Described support rod member is hollow rods, is provided with the loading hose of conveying medicinal liquid in the middle of rod member.Respective distance below left and right sidesing post part 32,33 is provided with some shower nozzles 35；Described support rod member is the hollow carbon fiber pipe of light quality.
The using method of the above-mentioned agricultural unmanned plane anti-shift of spraying, comprises the steps:
A. agricultural unmanned plane is after taking off in overhead, operation plot, and transmitter sends and launches instruction to receiver, and command information is sent to each driving device after receiving expansion instruction by receiver；During original state, described anti-shift is packed up, and becomes " one " shape to close at below unmanned plane, and highly higher than unmanned plane foot rest height；
B. the driving device between main support rod and unmanned plane body first controls main support rod and moves downwardly to immediately below unmanned plane, driving device between main support rod and left support bar, between main support rod and right support bar controls left support bar and right support bar respectively and is expanded to level to the both sides of main support rod, becomes inverted " t " shape to be hung on immediately below unmanned plane；
C. open sprayer apparatus, control unmanned plane and carry out spraying operation；
D. spraying after operation completes, transmitter sends and shrinks instruction to receiver, and receiver will send information to each driving device after receiving contraction command information；
E. the driving device between main support rod and left support bar, between main support rod and right support bar first controls left support bar and right support bar is packed up to main support rod direction；After packing up completely, the driving device control main support rod between main support rod and unmanned plane body rearward moves and receives to level；
F., after described anti-shift is packed up completely, unmanned plane lands, and completes to spray operation.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the agricultural unmanned plane anti-shift of spraying, it is characterised in that include controlling end, driving device and supporting rod member；Wherein: described control end includes transmitter and receiver, described driving device includes power set, actuating device and pedestal, described support rod member includes main support rod, left support bar, right support bar, being equipped with a driving device between main support rod and unmanned plane body, between main support rod and left support bar, between main support rod and right support bar, described control end controls driving device and drives support rod member to pack up and expansion；In supporting each support bar of rod member, it is equipped with loading hose, is provided with spraying nozzle in the relevant position of left support bar and right support bar.
2. the anti-shift of agricultural unmanned plane according to claim 1 spraying, it is characterised in that described transmitter is the remote controller controlling agricultural unmanned plane operation, and described receiver is the receiver supporting with remote controller, the command information that receiver receiver/transmitter sends.
3. the anti-shift of agricultural unmanned plane according to claim 1 spraying, it is characterised in that described actuating device is made up of gear and drivening piece, wherein, gear is divided into driving gear and driven gear, and driving gear is connected with power set, and drives driven gear to rotate；One end of drivening piece is connected with pedestal, and the other end is connected with driven gear, supports each support bar one end in rod member and is fixed on drivening piece.
4. the anti-shift of agricultural unmanned plane according to claim 3 spraying, it is characterised in that described drivening piece is toroidal, supports each support bar one end in rod member and is fixed in this annulus；
One end of described drivening piece is connected by rolling bearing with pedestal.
5. the anti-shift of agricultural unmanned plane according to claim 1 spraying, it is characterized in that, described pedestal is divided into main basal base and secondary pedestal, and main basal base one end and unmanned plane body are fixed, and driving device and actuating device between main support rod and unmanned plane body are arranged on this main basal base；Secondary pedestal is arranged between main support rod and left support bar and between main support rod and right support bar, and driving device that the lower end of main support rod, left support bar and right support pole pair answer is fixed in its one end and actuating device is arranged on this pair pedestal.
6. the anti-shift of agricultural unmanned plane according to claim 5 spraying, it is characterised in that described power set are steering wheel.
7. the anti-shift of agricultural unmanned plane according to claim 1 spraying, it is characterised in that described support rod member is hollow rods, equipped with loading hose in the middle of rod member；Relevant position below left support bar and right support bar is provided with some shower nozzles.
8. the anti-shift of agricultural unmanned plane according to claim 7 spraying, it is characterised in that described support rod member is hollow carbon fiber pipe, and described shower nozzle number is 4.
9. one kind based on described in any one of claim 1-8 agricultural unmanned plane spray anti-shift using method, it is characterized in that, including step: at agricultural unmanned plane after taking off in overhead, operation plot, controlling end transmission instruction control driving device drives support rod member to launch, then open sprayer apparatus, control unmanned plane and carry out spraying operation；After operation completes, control end transmission instruction control driving device and drive support rod member to pack up.
10. using method according to claim 9, it is characterised in that comprise the following steps:
A. agricultural unmanned plane is after taking off in overhead, operation plot, and transmitter sends and launches instruction to receiver, and command information is sent to each driving device after receiving expansion instruction by receiver；During original state, described anti-shift is packed up, and becomes " one " shape to close at below unmanned plane, and highly higher than unmanned plane foot rest height；
B. the driving device between main support rod and unmanned plane body first controls main support rod and moves downwardly to immediately below unmanned plane, driving device between main support rod and left support bar, between main support rod and right support bar controls left support bar and right support bar respectively and is expanded to level to the both sides of main support rod, becomes inverted " t " shape to be hung on immediately below unmanned plane；
C. open sprayer apparatus, control unmanned plane and carry out spraying operation；
D. spraying after operation completes, transmitter sends and shrinks instruction to receiver, and receiver will send information to each driving device after receiving contraction command information；
E. the driving device between main support rod and left support bar, between main support rod and right support bar first controls left support bar and right support bar is packed up to main support rod direction；After packing up completely, the driving device control main support rod between main support rod and unmanned plane body rearward moves and receives to level；
F., after described anti-shift is packed up completely, unmanned plane lands, and completes to spray operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218229.1A CN105775136B (en) | 2016-04-08 | 2016-04-08 | A kind of agricultural unmanned plane is sprayed anti-shift and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218229.1A CN105775136B (en) | 2016-04-08 | 2016-04-08 | A kind of agricultural unmanned plane is sprayed anti-shift and its application method |
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| Publication Number | Publication Date |
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| CN105775136A true CN105775136A (en) | 2016-07-20 |
| CN105775136B CN105775136B (en) | 2018-01-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021098162A1 (en) * | 2019-11-21 | 2021-05-27 | 华南农业大学 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
| CN113148171A (en) * | 2021-04-07 | 2021-07-23 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Spraying unmanned aerial vehicle |
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| CN205574279U (en) * | 2016-04-08 | 2016-09-14 | 华南农业大学 | Device that drifts about is prevented in spraying of agricultural unmanned aerial vehicle |
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| US20150264914A1 (en) * | 2002-11-07 | 2015-09-24 | Mark S. Ellsworth | System for Balancing and Tilt Biasing a Self-Leveling Crop Spraying Apparatus |
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| WO2021098162A1 (en) * | 2019-11-21 | 2021-05-27 | 华南农业大学 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
| CN113148171A (en) * | 2021-04-07 | 2021-07-23 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Spraying unmanned aerial vehicle |
| CN113148171B (en) * | 2021-04-07 | 2022-07-08 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Spraying unmanned aerial vehicle |
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| Publication number | Publication date |
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| CN105775136B (en) | 2018-01-09 |
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