CN107284649A - A kind of many rotor plant protection unmanned planes of Y types - Google Patents
A kind of many rotor plant protection unmanned planes of Y types Download PDFInfo
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- CN107284649A CN107284649A CN201710578249.4A CN201710578249A CN107284649A CN 107284649 A CN107284649 A CN 107284649A CN 201710578249 A CN201710578249 A CN 201710578249A CN 107284649 A CN107284649 A CN 107284649A
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- protection unmanned
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000007921 spray Substances 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 14
- 210000003739 neck Anatomy 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 8
- 239000003814 drug Substances 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 2
- 238000005111 flow chemistry technique Methods 0.000 claims 1
- 239000000725 suspension Substances 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 51
- 238000013461 design Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 241000607479 Yersinia pestis Species 0.000 description 4
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000007514 turning Methods 0.000 description 4
- 239000003905 agrochemical Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention discloses a kind of many rotor plant protection unmanned planes of Y types.The many rotor plant protection unmanned planes of Y types include fog machine body, flight control system located at the dispenser system of the fog machine body and for controlling many rotor plant protection unmanned plane job states of the Y types, the fog machine body includes frame main body, the undercarriage being connected with the frame main body bottom, the multiple Y types cantilevers and Power Component angularly set around the frame main body, the Y types cantilever includes one end and stretches into the main boom being fixedly connected in the frame main body with the frame main body and be connected to the main boom other end and on the symmetrically arranged two sub- cantilevers of the main boom bearing of trend, one end that the sub- cantilever is connected with institute main boom can horizontally rotate to close to the main boom direction, the other end of the sub- cantilever is provided with the Power Component.Stable, service life is long when the foldable diminution volume of many rotor plant protection unmanned planes of Y types that the present invention is provided and flight.
Description
Technical field
The present invention relates to plant protection unmanned air vehicle technique field, and in particular to a kind of many rotor plant protection unmanned planes of Y types.
Background technology
In agricultural production, disease pest and weed preventing and treating is always important topic, and the disease pest and weed preventing and treating of paddy rice is main for a long time
Carried out by manpower using hand sprayer and engine-driven knapsack sprayer, not only labor intensity is big, and operation quality is poor, Er Qiezuo
Industry efficiency is low, it is difficult to adapts to the requirement of the rapid effectively control great disease pest and weed of fulminant, also realizes that paddy rice is complete as restriction
The major technology bottleneck of journey mechanization target.
It is the effective means for solving the special farm work condition of rice terrace to be sprayed insecticide using plant protection unmanned plane, but often
The fixed wing aircraft spray application of rule, operation height is high, and droplet drift distance is big, and place to use and time are by very big
Limitation, is not suitable for the requirement of the paddy field prevention and control of plant diseases, pest control.Rotary wing aircraft is particularly the hair of unpiloted small-sized rotary wind type unmanned plane
Transform into ripe, new dispenser equipment carrier is provided to solve rice terrace dispenser operation.Rotary wind type unmanned plane have operation height it is low,
Drift is few, can hovering, without special landing airport, rotor produce downdraught contribute to increase spray crop is worn
Permeability, prevention effect is high, and long-distance remote control operation, spraying operation personnel avoid the danger exposed to agricultural chemicals, improve sprinkling
Many advantages, such as operational security, the extreme low-altitude low amounts aviation that carrier is equipped using it as dispenser sprays technology as agricultural chemicals spray
Spill one of study hotspot of technology.
Existing many rotor plant protection unmanned plane complex structural designs, the length of cantilever causes complete machine space-consuming big, installation
It is inconvenient during transport, be also inconvenient to be put into interior when idle and space-consuming is big.To solve the technical problem, existing design will be outstanding
Arm is connected with frame main body by attachment structure so that cantilever arm foldable is so as to volume, but plant protection unmanned plane when reducing installation
In use for some time, trickle loosening occurs between the cantilever and frame main body fixed by attachment structure, plant protection without
The problem of having cantilevered swing during man-machine flight, produces the unstable technical problem of plant protection unmanned plane during flying, influence plant protection without
Man-machine flight stability and service life.
Therefore, real necessity provides a kind of improved many rotor plant protection unmanned planes to solve above-mentioned technical problem.
The content of the invention
Stable, many rotations of service life length when the main object of the present invention is to provide a kind of foldable diminution volume and flight
Wing plant protection unmanned plane.
To achieve the above object, the present invention proposes many rotor plant protection unmanned planes of Y types, and it includes fog machine body, located at institute
The dispenser system of fog machine body and the flight control system for controlling many rotor plant protection unmanned plane job states of the Y types are stated, its
In,
The fog machine body include frame main body, be connected with the frame main body bottom undercarriage, angularly surround
Multiple Y types cantilevers and carried for being flown for the fog machine body that the frame main body sets and stretched into the frame main body
For the Power Component of power, the Y types cantilever is stretched into including one end and is fixedly connected in the frame main body with the frame main body
Main boom and be connected to the main boom other end and outstanding on symmetrically arranged two sons of the main boom bearing of trend
Arm, one end that the sub- cantilever is connected with institute main boom can horizontally rotate to close to the main boom direction, the sub- cantilever
The other end be provided with the Power Component；
The dispenser system include be fixedly arranged on the undercarriage and be suspended in below the frame main body medicine-chest, with it is described
The confession Teat pipette of the outlet of medicine-chest and the multiple shower nozzles being fixedly arranged on below the Power Component connected with the confession Teat pipette；
The flight control system includes manual control module, automatic hovering module and spray management module, the manual control
Module is used for course and the flight attitude for receiving remote signal and the fog machine body being controlled by the remote signal；It is described from
Dynamic hovering module is used to control many rotor plant protection unmanned planes of the Y types to hover automatically when not receiving remote signal；The spray
Medicine management module is used to be controlled the sprinkling flow of dispenser system according to the flying speed of the fog machine body and to spray
Flow is spilt to be recorded, inquired about and monitored.
Preferably, many rotor plant protection unmanned planes of the Y types also include the GPS for being fixedly arranged on the frame main body, the winged control
System also includes intelligent operation module, and the intelligent operation module is used to be sat according to the start position of the operating area of GPS gathers
Mark and final position coordinate plan spray path automatically.
Preferably, the spray management module includes being used to detect that the fog machine originally stops the speed detector of flying speed
And for controlling the data processing unit of the confession Teat pipette output flow, the speed detector, the data processing unit and
The confession Teat pipette is sequentially connected electrically.
Preferably, the fog machine body also includes being sheathed on rotation of the sub- cantilever away from described Power Component one end
Button, when the knob is tightened, the sub- cantilever can not be rotated, and when the knob unclamps, the sub- cantilever can be rotated.
Preferably, the fog machine body also includes the catch being fixedly connected with the main boom, and the catch is used to hinder
Only the sub- cantilever horizontally rotates to close to the main boom bearing of trend.
Preferably, the Power Component include motor, house the motor and be fixedly connected with the sub- cantilever it is motionless
Disk housing, the Moving plate housing on the inactive order housing, rotor and it is fixedly arranged on the Moving plate housing and is used to install described
The mounting bracket of rotor, the mounting bracket is connected with the output shaft of the motor.
Preferably, the mounting bracket includes two installing plates being oppositely arranged and is located between two installing plates
And be symmetricly set in two installation axles at the mounting bracket two ends, the output shaft of the motor through an installing plate with
Another described installing plate is fixedly connected, and the rotor includes two blades, and two blades are rotatably mounted to two respectively
The individual installation axle.
Preferably, the mounting bracket also includes two be located between the output shaft of the motor and the installation axle
Gag lever post, the gag lever post is used for the anglec of rotation for limiting blade described in homonymy.
Preferably, part, the folding are drawn in the fog machine body also folding including quantity identical with the Y types cantilever in
Drawing part in includes two first necks of the opening towards outside and the opening located at upper end located at lower end towards two second of outside
Neck, adjacent Y types cantilever and two sub- cantilevers close to each other are arranged in two first necks for folding and drawing part in respectively,
Rotor correspondence on sub- cantilever is contained in two second necks.
Preferably, the main boom and two sub- cantilevers are cylindrical horn, and the length of the sub- cantilever is big
In the length of the main boom.
The beneficial effect for many rotor plant protection unmanned planes of Y types that the present invention is provided is：
First, it is Y type cantilevers by the cantilever design for connecting Power Component and frame main body, main boom one end is consolidated with frame main body
Connect and stretch into frame main body calmly, be seamlessly connected, the other end is provided with two on the symmetrical sub- cantilever of main boom bearing of trend,
Two sub- cantilevers can opposite to each other be rotated to close to main boom direction, be turned in opposite directions positioned at different Y types cantilevers and two neighboring sub- cantilever
When moving to both parallel positions, the Y types cantilever of many rotor plant protection unmanned planes of Y types, which is folded, to be completed, and is occupied little space, is adapted to installation,
Convenient transport, while be also convenient for from outdoor shift-in interior, and it stores required space-consuming small volume, Operation and Maintenance is convenient.
2nd, rotor is connected by the output shaft of mounting bracket and motor, and mounting bracket includes two installation axles, and rotor includes
Two blades, two blades are rotatably mounted in two installation axles respectively so that two blades can be folded, side
Just fixed together by folding gathering part with sub- cantilever, it is easy to operate, and folded state is stable.
3rd, set up speed detector and detect the flying speed of many rotor plant protection unmanned planes of Y types, and testing result is sent to
Data processing unit, data processing unit adjusts the electric current of the power supply circuit for Teat pipette according to testing result, and flying speed is faster,
Power supply circuit electric current is bigger, then the power output for Teat pipette is bigger, and the flow that the shower nozzle connected with for Teat pipette sprays is also bigger.When
When plant protection unmanned plane during flying speed is fast, i.e., plant protection unmanned plane, which is flown over, treats that the time of operating area is short, by increasing for the defeated of Teat pipette
Go out the flow increase that power makes to spray in the shower nozzle unit interval, so that ensure that the crops spray for treating operating area is uniform, and energy
Save medicament.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 provides the part isometric structural representation of many preferred embodiments of rotor plant protection unmanned plane one of Y types for the present invention；
Fig. 2 is part A mplifying structure schematic diagram shown in Fig. 1；
Fig. 3 draws the structural representation of part in for the folding that the present invention provides many rotor plant protection unmanned planes of Y types；
Fig. 4 provides the structured flowchart of the flight control system of many rotor plant protection unmanned planes of Y types for the present invention；
Fig. 5 provides the spray management module and the connection block diagram for Teat pipette of many rotor plant protection unmanned planes of Y types for the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that institute is directional in the embodiment of the present invention indicates that (such as up, down, left, right, before and after ...) is only used
In explaining relative position relation, motion conditions under a certain particular pose (as shown in drawings) between each part etc., if should
When particular pose changes, then directionality indicates also correspondingly therewith to change.
In addition, in the present invention such as relating to the description of " first ", " second " etc. be only used for describe purpose, and it is not intended that
Indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
At least one this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " connection ", " fixation " etc. should be interpreted broadly,
For example, " fixation " can be fixedly connected or be detachably connected, or integrally；Can be mechanically connect or
Electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, can be the connection or two of two element internals
The interaction relationship of individual element, unless otherwise clear and definite restriction.For the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the technical scheme between each embodiment of the invention can be combined with each other, but must be general with this area
Logical technical staff can be implemented as basis, when the combination appearance of technical scheme is conflicting or can not realize it will be understood that this
The combination of technical scheme is not present, also not within the protection domain of application claims.
The present invention proposes a kind of many rotor plant protection unmanned planes of Y types.
Fig. 1 to Fig. 4 is refer to, in an embodiment of the present invention, many rotor plant protection unmanned planes of Y types include fog machine sheet
Body 10, the dispenser system 30 located at the fog machine body 10 and for controlling many rotor plant protection unmanned plane job states of Y types
Flight control system 50.
The fog machine body 10 include frame main body 11, be connected with the bottom of frame main body 11 undercarriage 13, etc.
Multiple Y types cantilevers 15 that angle is set and stretched into the frame main body 11 around the frame main body 11, for for the machine
The flight of frame body 11 provides the Power Component 16 of power.The Y types cantilever 15 stretches into the frame main body 11 and institute including one end
State main boom 151 and be connected to the other end of main boom 151 and on the main boom that frame main body 11 is fixedly connected
Symmetrically arranged two sub- cantilevers 153 of 151 bearing of trends.One end that the sub- cantilever 153 is connected with institute main boom 151 can be to
Horizontally rotate close to the direction of main boom 151, i.e., the two sub- cantilevers 153 are rotated opposite to each other, the sub- cantilever 153 it is another
End is provided with the Power Component 16.
The main boom 151 and two sub- cantilevers 153 are located at same level, the main boom 151 and the son
Cantilever 153 is cylindrical horn, and the length of the sub- cantilever 153 is more than the length of the main boom 151.Revolving the Y types more
When wing plant protection unmanned plane works, two sub- cantilevers 153 are fixed from rotating, and angle now between the two is minimum, Liang Zheyu
Angle between the main boom 151 is equal and more than 90 degree, i.e., both are symmetrical arranged on the main boom 151；In the Y
When many rotor plant protection unmanned planes of type are in off working state, sub- cantilever 153 is rotated to close to the direction of main boom 151, i.e.,
It is considered that two sub- cantilevers 153 on same Y types cantilever are rotated to direction away from each other, and on difference Y types cantilever 15 and
Two adjacent sub- cantilevers 153 be then it is opposite rotate, when two rotated in opposite directions sub- cantilevers 153 are parallel, Y types cantilever 15 is folded
Complete, occupy little space, convenient transport is also convenient for many rotor plant protection unmanned planes of Y types being placed in interior.
The dispenser system 30 includes being fixedly arranged on the undercarriage 13 and is suspended in the medicine-chest of the lower section of frame main body 11
31st, what is connected with the confession Teat pipette 33 of the outlet of the medicine-chest 31 and with the confession Teat pipette 33 multiple is fixedly arranged on the power packages
The shower nozzle 35 of the lower section of part 16.The sprinkling flow of the shower nozzle 35 uses intelligent control, joins with the flying speed of fog machine body 10
It is dynamic, it can accomplish to save medicament while high-efficiency homework.
The flight control system 50 includes manual control module 51, automatic hovering module 53 and spray management module 55, described
Manual control module 51 is used for the boat for receiving remote signal and many rotor plant protection unmanned planes of Y types being controlled by the remote signal
To and flight attitude；The automatic hovering module 53 is used to not receive remote signal time control in many rotor plant protection unmanned planes of Y types
The many rotor plant protection unmanned planes of Y types processed hover automatically；The spray management module 55 is used for the flying speed according to fog machine body
The sprinkling flow of dispenser system is controlled and sprinkling flow is recorded, inquired about and monitored.
In the present embodiment, the quantity of the main boom 151 is four, and the quantity of the corresponding sub- cantilever 153 is
Eight, the structure of following fog machine body is illustrated exemplified by including four main booms.
Specifically, the frame main body 11 includes roof, the bottom wall that is oppositely arranged with roof and is connected roof and bottom wall
Side wall, roof, bottom wall and side wall surround the receiving space of the frame main body 11 jointly.Side wall includes spaced four and hung down
Straight wall and four corner walls for connecting two adj acent vertical walls, vertical wall interlocks to be connected with corner walls surrounds side wall.Opened on roof
Provided with groove, for placing electric-controlled box.Undercarriage 13 is connected with bottom wall.The main boom 151 of Y types cantilever 15 stretches into the corner walls
And be fixedly connected with the corner walls, such a design method, in plant protection unmanned plane during flying, main boom 151 will not be swung so that
It is more stable during plant protection unmanned plane during flying.
In many rotor plant protection unmanned plane work of Y types, two sub- cantilevers 153 can not be rotated, and be planted in many rotors of Y types
When guarantor's unmanned plane does not work, two sub- cantilevers 153 need to horizontally rotate.To realize object above, in a specific embodiment
In, the fog machine body 10 also includes being sheathed on knob 17 of the sub- cantilever 153 away from described one end of Power Component 16,
When the knob 17 is tightened, the sub- cantilever 153 can not be rotated, and when the knob 17 unclamps, the sub- cantilever 153 can turn
It is dynamic.
As a preferred scheme, in order to preferably control the slewing area of the sub- plane where it of cantilever 153, the plant
Guarantor's machine body 10 also includes the catch being fixedly connected with the main boom 151, and the catch is used to prevent the court of sub- cantilever 153
Another direction is rotated, i.e., horizontally rotate to close to the bearing of trend of main boom 151, and the setting of catch can ensure that two sons hang
Arm 153 in fixed angle and is symmetrical arranged in many rotor plant protection unmanned plane work of Y types.
In a specific embodiment, the Power Component 16 include motor, house the fixed motor and with it is described
Inactive order housing 161 that sub- cantilever 153 is fixedly connected, the Moving plate housing 163 on the inactive order housing 161, rotor 165
And be fixedly arranged on the Moving plate housing 163 for the mounting bracket 167 for installing the rotor 165, the mounting bracket 167 and institute
State the output shaft connection of motor.The rotor 165 is nylon paste.In the present embodiment, described one end of inactive order housing 161 is arranged
It is connected in sub- cantilever 153 and with the sub- cantilever 153 by screw, offers heat emission hole on the inactive order housing 161, be used for
Motor radiating.
Specifically, the mounting bracket 167 includes two installing plates being oppositely arranged and is located in two installing plates
Between and be symmetricly set in two installation axles at the mounting bracket two ends, the output shaft of the motor described is installed through one
Plate is fixedly connected with installing plate another described, and the rotor 165 includes two blades, and two blades distinguish rotatable peace
Loaded on two installation axles.When rotating sub- cantilever folding gathering Y type cantilevers, two blades of rotor 165 can also be opposite
Rotate, fold.When plant protection unmanned plane works, under the influence of centrifugal force, the folder of 180 degree is kept between two blades
Angle.
As a preferred scheme, the mounting bracket 167 also includes the output shaft and installation axle for being located in the motor
Between two gag lever posts, the gag lever post is used to limit the anglec of rotation of blade described in homonymy.
As a preferred scheme, the folding that the fog machine body 10 also includes with the identical quantity of Y types cantilever 15 is drawn in
Part 19, folds and draws part 19 in for fixing rotor 165 and sub- cantilever 153.Described fold draws part 19 in including being located at opening for lower end
Two the second necks 193 of mouthful two the first necks 191 towards outside and the opening located at upper end towards outside.It is many in the Y types
When rotor plant protection unmanned plane is in off working state, adjacent Y types cantilever 15 and the rotation in opposite directions of close to each other two sub- cantilevers 153
It is arranged in two first necks 191 for folding and drawing part 19 in respectively afterwards；On adjacent Y types cantilever and close to each other two
Individual rotor 165 is contained in two the second necks 193 respectively after folding gathering.Correspond to and house respectively in two adjacent rotors 165
In two second necks 193, two adjacent sub- cantilevers 153 are corresponded to respectively to be contained in after two first necks 191,
Now, it is viewed from above, fold surround for quadrilateral structure.Pass through set fold draw in part 19, it is ensured that sub- cantilever and
Folded state is stable after rotor, convenient transport.
In a specific embodiment, the medicine-chest 31 is fixed on the support bar of the undercarriage 13, the confession medicine
Pump 33 is fixed on the lower section of the medicine-chest 31, its outlet with medicine-chest 31, and the outlet for Teat pipette 33 passes through flexible pipe and shower nozzle
35 connections.Specifically, the quantity of shower nozzle 35 is four, and is symmetrical arranged, two branch cantilevers being connected with same main boom 151
A shower nozzle 35 is provided only with 153, the shower nozzle 35 is fixedly arranged on the lower section of inactive order housing 161.The medicine-chest 31 is anti-vibration
Medicine-chest, the interior multiple spaced anti-vibration members of setting, the anti-vibration member has receiving space, and offers multiple apertures.
As a preferred scheme, many rotor plant protection unmanned planes of Y types also include being fixedly arranged on the frame main body
GPS, the flight control system 50 also includes intelligent operation module 57, and the intelligent operation module 57 is used for the work according to GPS gathers
The start position coordinate (longitude and latitude) and final position coordinate (longitude and latitude) in industry region plan spray path automatically.
When operating area is rectangle, it will treat that operating area is divided into polylith subregion arranged parallel and adjacent, its path that sprays is
The shape of class " bow ".Specifically, starting point A and terminal B position coordinates is gathered first, and it is X to define described in A points and B point lines on side
Axle, by A points and with X-axis weight, straight side is Y1, is Y2, many rotor plant protection unmanned planes of Y types by B points and the side vertical with X-axis
The operation since A points, flies along X-axis first, flight arrive B points after 90 degree turning, along Y2 axles flight, rectilinear flight 1 minute or
After default distance, then 90 degree of turnings, along the direction rectilinear flight parallel with X-axis, arrive at after Y1 axles, then 90 degree of turnings, along Y1
Axle flies, after rectilinear flight 1 minute or default distance, then 90 degree of turnings, so repeatedly, until operation completion, then manually
The control many rotor plant protection unmanned planes of Y types stop operation.
Referring to Fig. 5, as a preferred scheme, the spray management module 55 includes being used to detect that many rotors of Y types are planted
Protect the speed detector 551 of unmanned plane during flying speed and the data processing unit for controlling the output flow of confession Teat pipette 33
553, the speed detector 551, the data processing unit 553 and the confession Teat pipette 33 are sequentially connected electrically.Data processing list
Member 553 receives the testing result of the transmission of speed detector 551, and is adjusted according to the testing result for the power supply circuit of Teat pipette 33
Size of current, and the data that speed detector 551 is detected are bigger, electric current is bigger, then the power output for Teat pipette is bigger, with confession
The flow that the shower nozzle 35 that Teat pipette 33 is connected sprays is also bigger.When plant protection unmanned plane during flying speed is fast, i.e. plant protection unmanned plane is flown over
Treat that the time of operating area is short, the flow sprayed in the shower nozzle unit interval is increased by the power output increased for Teat pipette, from
And ensure that the crops spray for treating operating area is uniform.
In the present embodiment, many rotor plant protection unmanned planes of Y types are eight rotor plant protection unmanned planes, and weight is 15.8Kg, weight
Gently, sub- cantilever and rotor use foldover design, and volume after folding is small, and convenient transport, Operation and Maintenance is convenient.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the design of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/it is used in indirectly
He is included in the scope of patent protection of the present invention related technical field.
Claims (10)
1. a kind of many rotor plant protection unmanned planes of Y types, it is characterised in that it includes fog machine body, located at the fog machine body
Dispenser system and flight control system for controlling many rotor plant protection unmanned plane job states of the Y types, wherein,
The fog machine body is including frame main body, the undercarriage being connected with the frame main body bottom, angularly around described
Multiple Y types cantilevers and moved for being provided for fog machine body flight that frame main body sets and stretched into the frame main body
The Power Component of power, the Y types cantilever includes one end and stretches into the master being fixedly connected in the frame main body with the frame main body
Cantilever and it is connected to the main boom other end and on the symmetrically arranged two sub- cantilevers of the main boom bearing of trend, institute
Stating one end that sub- cantilever is connected with the main boom can horizontally rotate to close to the main boom direction, the sub- cantilever it is another
One end is provided with the Power Component；
The dispenser system includes the medicine-chest for being fixedly arranged on the undercarriage and being suspended in below the frame main body and the medicine-chest
Outlet confession Teat pipette and multiple shower nozzles being fixedly arranged on below the Power Component for being connected with the confession Teat pipette；
The flight control system includes manual control module, automatic hovering module and spray management module, the manual control module
For receiving remote signal and the course by the remote signal control fog machine body and flight attitude；The automatic suspension
Stopping module is used to control many rotor plant protection unmanned planes of the Y types to hover automatically when not receiving remote signal；The medicine spraying tube
Reason module is used to be controlled and to spray flow the sprinkling flow of dispenser system according to the flying speed of the fog machine body
Amount is recorded, inquired about and monitored.
2. many rotor plant protection unmanned planes of Y types according to claim 1, it is characterised in that many rotor plant protection of Y types nobody
Machine also includes being fixedly arranged on the GPS of the frame main body, and the flight control system also includes intelligent operation module, is treating that operating area is
During rectangle, the intelligent operation module is used for the start position coordinate and final position coordinate of the operating area according to GPS gathers
Automatic planning spray path.
3. many rotor plant protection unmanned planes of Y types according to claim 1, it is characterised in that the spray management module includes
For detecting the speed detector of the fog machine body flying speed and data for controlling the confession Teat pipette output flow
Processing unit, the speed detector, the data processing unit and the confession Teat pipette are sequentially connected electrically.
4. many rotor plant protection unmanned planes of Y types according to claim 1, it is characterised in that the fog machine body also includes
Knob of the sub- cantilever away from described Power Component one end is sheathed on, when the knob is tightened, the sub- cantilever can not turn
Dynamic, when the knob unclamps, the sub- cantilever can be rotated.
5. many rotor plant protection unmanned planes of Y types according to claim 4, it is characterised in that the fog machine body also includes
The catch being fixedly connected with the main boom, the catch is used to prevent the sub- cantilever to close to the main boom bearing of trend
Horizontally rotate.
6. many rotor plant protection unmanned planes of Y types according to any one of claim 1 to 5, it is characterised in that the Power Component
Including motor, the inactive order housing for housing the motor and being fixedly connected with the sub- cantilever, on the inactive order housing
Moving plate housing, rotor and be fixedly arranged on the Moving plate housing and be used to the mounting bracket of the rotor, the mounting bracket are installed
It is connected with the output shaft of the motor.
7. many rotor plant protection unmanned planes of Y types according to claim 6, it is characterised in that the mounting bracket includes relative
Two installing plates setting and it is located between two installing plates and is symmetricly set in two of the mounting bracket two ends
Installation axle, the output shaft of the motor is fixedly connected through an installing plate with installing plate another described, the rotor
Including two blades, two blades are rotatably mounted to two installation axles respectively.
8. many rotor plant protection unmanned planes of Y types according to claim 7, it is characterised in that the mounting bracket also includes folder
Two gag lever posts between the output shaft and the installation axle of the motor, the gag lever post is used to limit leaf described in homonymy
The anglec of rotation of piece.
9. many rotor plant protection unmanned planes of Y types according to claim 8, it is characterised in that the fog machine body also includes
Part is drawn in the folding of quantity identical with the Y types cantilever in, and part is drawn in the folding, which in, includes opening located at lower end towards the two of outside
Individual first neck and located at upper end opening towards two second necks in outside, adjacent Y types cantilever and two sons close to each other
Cantilever is arranged in two first necks for folding and drawing part in respectively, and the rotor correspondence on sub- cantilever is contained in two described the
Two draw-in groove.
10. many rotor plant protection unmanned planes of Y types according to claim 1, it is characterised in that the main boom and the son are outstanding
Arm is cylindrical horn, and the length of the sub- cantilever is more than the length of the main boom.
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| CN201710578249.4A CN107284649A (en) | 2017-07-16 | 2017-07-16 | A kind of many rotor plant protection unmanned planes of Y types |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082490A (en) * | 2018-01-20 | 2018-05-29 | 南京拓恒电子科技有限公司 | A kind of plant protection unmanned plane |
| CN108522467A (en) * | 2018-03-07 | 2018-09-14 | 芜湖翼讯飞行智能装备有限公司 | A kind of pesticide spraying unmanned plane |
| CN109263851A (en) * | 2018-10-29 | 2019-01-25 | 珠海银通无人机科技有限公司 | A kind of 12 kilograms of load-carrying of novel unmanned plane |
| CN109383741A (en) * | 2018-11-15 | 2019-02-26 | 航天神舟飞行器有限公司 | A kind of multi-rotor unmanned aerial vehicle cantilever fast folding retaining mechanism |
| CN110963030A (en) * | 2019-12-03 | 2020-04-07 | 徐州飞梦电子科技有限公司 | Unmanned aerial vehicle and using method thereof |
| CN114194371A (en) * | 2020-09-02 | 2022-03-18 | 新疆大学 | Rotor UAV Modular Variability Rack |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108082490A (en) * | 2018-01-20 | 2018-05-29 | 南京拓恒电子科技有限公司 | A kind of plant protection unmanned plane |
| CN108522467A (en) * | 2018-03-07 | 2018-09-14 | 芜湖翼讯飞行智能装备有限公司 | A kind of pesticide spraying unmanned plane |
| CN109263851A (en) * | 2018-10-29 | 2019-01-25 | 珠海银通无人机科技有限公司 | A kind of 12 kilograms of load-carrying of novel unmanned plane |
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| CN110963030A (en) * | 2019-12-03 | 2020-04-07 | 徐州飞梦电子科技有限公司 | Unmanned aerial vehicle and using method thereof |
| CN114194371A (en) * | 2020-09-02 | 2022-03-18 | 新疆大学 | Rotor UAV Modular Variability Rack |
| CN114194371B (en) * | 2020-09-02 | 2024-06-21 | 新疆大学 | Rotor unmanned aerial vehicle modularization variability frame |
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Application publication date: 20171024 |