CN206255196U - A kind of fixed-wing unmanned plane for spraying insecticide - Google Patents

Abstract

The utility model discloses a fixed-wing unmanned aerial vehicle for spraying pesticides, which comprises a fuselage and a wing and a tail mounted on the fuselage. The wing is provided with an aircraft motor and a propeller, and the fuselage is provided with methanol Hydrogen reforming and power generation modules, air inlets, jet regulators, pesticide sprayers, pesticide storage bins, methanol water storage containers, transfer pumps, power controllers and supercapacitors, of which: methanol water reforming hydrogen production and power generation The module integrates a reformer and a fuel cell; the air inlet is used to input outside air, and the outside air is output from the pesticide sprayer after passing through the fuel cell and the jet regulator in turn; the supercapacitor is used to start the fixed-wing UAV When the instantaneous power of the aircraft motor increases rapidly, it supplies power to the aircraft motor. The utility model has a high energy utilization rate and conversion rate, a large amount of pesticides, can use methanol water reforming to produce hydrogen and spray pesticides with the outside air used up by the power generation module, has low operating costs, and does not pollute the environment.

Description

A fixed-wing drone for spraying pesticides

technical field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle used for spraying pesticides.

Background technique

In 1918, the United States first used aircraft to spray pesticides to kill cotton bugs, and agricultural aviation kicked off the history. Over the past 100 years, agricultural aviation has been rapidly applied and promoted in the United States, New Zealand, Australia, the United Kingdom, Japan, China and other countries. Due to the advantages of small size, light weight, flexible control, good pesticide spraying effect, and high operating efficiency, UAVs are gradually replacing manned aircraft in the field of aircraft spraying pesticides.

At present, there are two main types of UAVs used for spraying pesticides, one is the rotary-wing unmanned helicopter, and the other is the fixed-wing UAV. The fixed-wing UAV has the characteristics of long range and fast speed. Wing drones also have the following disadvantages:

(1) Aviation fuel engines are usually used as power, and their fuel consumption is very large, and the fuel utilization efficiency is low. Therefore, UAVs need to carry a large amount of aviation fuel, which is not only expensive and expensive, but also causes the weight of UAV Heavy, low pesticide load;

(2) When spraying pesticides, it is necessary to set up a separate device to absorb the outside air for spraying;

(3) The fixed-wing UAV needs to be equipped with a generator driven by a fuel engine to supply power to the airframe control system and the device for spraying pesticides. After the generator is installed, the load on the fuel engine is increased and the energy conversion efficiency is reduced. ;

(4) Aviation fuel engines will produce a large amount of exhaust gas during operation, causing air pollution, which is not conducive to environmental protection.

Utility model content

The technical problem to be solved by the utility model is to provide a device with high energy utilization rate and conversion rate, a large amount of pesticides, and the ability to use methanol water reforming to produce hydrogen and power generation modules to be exhausted. It is a fixed-wing unmanned aerial vehicle for spraying pesticides in the outside air, low operating cost, and the body itself does not pollute the environment.

In order to solve the above-mentioned technical problems, the technical solution of the utility model is: a fixed-wing unmanned aerial vehicle for spraying pesticides, including a fuselage and a wing and an empennage installed on the fuselage, and an aircraft motor is arranged on the wing and propeller, characterized in that: the fuselage is equipped with methanol water reforming hydrogen and power generation module, air inlet, air jet regulator, pesticide sprayer, pesticide storage bin, methanol water storage container, delivery pump, power control Devices and supercapacitors, of which:

The methanol-water reforming hydrogen production and power generation module integrates a reformer and a fuel cell. The reformer is equipped with a reforming chamber and a hydrogen purification device. The temperature in the reforming chamber is 300-570°C. The whole room is equipped with a catalyst, and methanol and water undergo reforming hydrogen production reaction in the reforming room to produce hydrogen-containing gas. The reforming room is connected to the hydrogen purification device through a connecting pipeline, and all or part of the connecting pipeline is set In the reforming chamber, the high temperature in the reforming chamber can continue to heat the gas output from the reforming chamber; the connecting pipeline serves as a buffer between the reforming chamber and the hydrogen purification device, so that the temperature of the gas output from the reforming chamber The temperature is the same as or close to that of the hydrogen purification device, hydrogen is obtained from the gas-producing end of the hydrogen purification device, and supplied to the fuel cell; the fuel cell is used for the electrochemical reaction between hydrogen and oxygen in the air to generate electricity;

The air inlet is used to input outside air, and the input outside air is output from the pesticide sprayer after passing through the fuel cell and the air jet regulator in turn; in the fuel cell, the air provides the fuel cell with the oxygen required for the electrochemical reaction , and cooling the fuel cell; the pesticide sprayer is provided with a pesticide injection pipe, and after the air with the adjusted flow rate and air pressure is mixed with the pesticide output from the pesticide storage bin, it is sprayed out from the pesticide injection pipe;

Liquid methanol and water raw materials are stored in the methanol-water storage container, and the delivery pump is used to transport the methanol and water raw materials in the methanol-water storage container to the reformer of the methanol-water reforming hydrogen production and power generation module;

The power controller is used to convert the electric energy output by the fuel cell into the appropriate voltage and current AC/DC required by the aircraft motor/supercapacitor; Provides power to aircraft motors when instantaneous power is rapidly increased.

There are at least two sets of methanol water reforming hydrogen production and power generation modules, at least two delivery pumps, and the number of methanol water reforming hydrogen production and power generation modules matches the number of delivery pumps.

The air inlet is arranged on the head of the fuselage, and the pesticide sprayer is arranged on the underside of the tail of the fuselage; the aircraft motor includes a first motor and a second motor, which are symmetrically arranged on the wings. The propellers include a first propeller and a second propeller.

A heat exchanger is installed between the delivery pump and the reformer of the methanol-water reforming hydrogen production and power generation module, and the low-temperature methanol and water raw materials are in the heat exchanger to exchange heat with the high-temperature hydrogen output from the reformer , the temperature of methanol and water rises and vaporizes, and the temperature of high-temperature hydrogen drops, which is sent to the fuel cell of methanol-water reforming hydrogen production and power generation modules.

The reformer is provided with an electric heater powered by a fuel cell, and the electric heater provides a temperature of 300-570° C. for the reforming chamber.

The fixed-wing UAV also includes a UAV flight controller, a global positioning module, a course sensing module, an altitude sensing module, an airspeed sensing module, a flight attitude sensing module, an elevator, a rudder, an aileron and a wireless Signal receiving and transmitter; the UAV flight controller is electrically connected to the global positioning module, heading sensing module, height sensing module, airspeed sensing module, flight attitude sensing module, elevator, rudder, aileron , wireless signal receiver and transmitter, aircraft motor, methanol water reforming hydrogen production and power generation module, super capacitor and pesticide sprayer.

The global positioning module is a GPS satellite positioning module or a Beidou satellite positioning module; the airspeed sensing module is a pitot tube; the heading sensing module is a three-axis magnetic heading sensor; the height sensing module is a semiconductor silicon A piezoresistive air pressure altitude sensor; the flight attitude sensing module includes a vertical gyroscope that detects the pitch/roll attitude angle of the drone and an angular rate gyroscope that detects the pitch/tilt attitude angular rate of the drone.

The beneficial effects of the utility model are:

(1) This utility model uses methanol water reforming hydrogen production and power generation modules to supply power for the engine and fuselage control system, and abandons the traditional aviation fuel engine as power. The raw material price of methanol water is low, the energy density is high, and methanol The utilization efficiency of water reforming hydrogen production and power generation modules for methanol water raw materials can reach more than 99%, and the weight of methanol water reforming hydrogen production and power generation modules is also very light. Fuel, only need to carry a lighter amount of methanol water raw material, thus significantly increasing the amount of pesticides;

(2) The external air input from the air inlet of the utility model can not only provide oxygen for the fuel cell, dissipate heat and cool down the fuel cell, but also mix with pesticide and spray out from the pesticide injection pipe; therefore, the utility model The pesticide sprayer does not need to be equipped with a separate device to absorb the outside air;

(3) The methanol-water reforming hydrogen production and power generation module of the utility model can directly supply power to each module of the aircraft control system while supplying power to the aircraft motor, so there is no need to install an additional generator, which reduces the load on the aircraft motor;

(4) The utility model adopts methanol water raw material for reforming hydrogen production, and generates electricity through fuel cells, no polluting gas is produced, and the operation of the body itself does not pollute the environment;

(5) The preferred mode of the present utility model adopts at least two sets of methanol water reforming hydrogen production and power generation modules. When the immediate power demand is small, fewer methanol water reforming hydrogen production power generation When the demand is large, more methanol-water reforming hydrogen generation power generation modules are controlled to operate, so no-load can be greatly reduced, the overall energy consumption is small, the raw material consumption of methanol and water is low, and the utilization rate is high and stable. Good reliability and high intelligence.

Description of drawings

Figure 1 is a schematic diagram of the external structure of a fixed-wing UAV.

Fig. 2 is a block diagram of the overall structure of the utility model.

Fig. 3 is a structural block diagram of the methanol-water reforming hydrogen production and power generation module of the present invention.

Fig. 4 is a block diagram of the overall structure of a preferred embodiment of the utility model.

Fig. 5 is a structural block diagram of the cooperation of the methanol-water reforming hydrogen production and power generation module and the heat exchanger of the present invention.

Fig. 6 is a structural block diagram of the control system of the present invention.

detailed description

Below in conjunction with accompanying drawing, structural principle and working principle of the present utility model are described in further detail.

Embodiment one

As shown in Figure 1, the utility model is a fixed-wing unmanned aerial vehicle for spraying pesticides, comprising a fuselage 1 and a wing 2 and an empennage 3 installed on the fuselage 1, and the wing 2 is provided with an aircraft motor 4 and propeller 5. It should be noted that the fixed-wing UAV shown in Figure 1 is only a schematic structural diagram, and does not limit the external shape of the fixed-wing UAV. As shown in Figures 2 to 5, the fuselage 1 is equipped with methanol water reforming hydrogen and power generation module 6, air inlet 7, air jet regulator 8, pesticide sprayer 9, pesticide storage bin 10, methanol water storage Container 11, delivery pump 12, power controller 13 and supercapacitor 14, wherein:

The methanol-water reforming hydrogen production and power generation module 6 is integrated with a reformer 61 and a fuel cell 62. The reformer 61 is equipped with a reforming chamber and a hydrogen purification device. The temperature in the reforming chamber is 300-570 ℃ temperature, the reforming chamber is equipped with a catalyst, and under the action of the catalyst, methanol cracking reaction and carbon monoxide shift reaction occur to generate hydrogen and carbon dioxide. This is a multi-component, multi-reaction gas-solid catalytic reaction system. The equation is: (1) CH ₃ OH→CO+2H ₂ , (2) H ₂ O+CO→CO ₂ +H ₂ , (3) CH ₃ OH+H ₂ O→CO ₂ +3H ₂ , and carbon dioxide is obtained It is a high-temperature mixed gas mainly composed of hydrogen; the reforming chamber and the hydrogen purification device are connected through a connecting pipeline, and all or part of the connecting pipeline is set in the reforming chamber, which can continue to be heated by the high temperature in the reforming chamber and output from the reforming chamber Gas; the connecting pipeline is used as a buffer between the reforming chamber and the hydrogen purification device, so that the temperature of the gas output from the reforming chamber is the same as or close to the temperature of the hydrogen purification device, and hydrogen is obtained from the gas-producing end of the hydrogen purification device , supplied to the fuel cell 62; the fuel cell 62 is used for the electrochemical reaction of hydrogen and oxygen in the air to generate electricity; at the anode of the fuel cell 62: 2H ₂ → 4H ⁺ +4e ^- , H ₂ is split into two protons and two electrons, the protons pass through the proton exchange membrane (PEM), the electrons pass through the anode plate, pass through the external load, and enter the cathode bipolar plate, at the cathode of the fuel cell 62: O ₂ +4e ^- +4H ⁺ → 2H ₂ O , protons, electrons and O ₂ recombine to form H ₂ O;

The air inlet 7 is used to input outside air, and the input outside air is output from the pesticide sprayer 9 after passing through the fuel cell 62 and the jet regulator 8 in sequence; in the fuel cell 62, the air provides electricity for the fuel cell 62. Oxygen needed for the chemical reaction, and heat radiation and cooling for the fuel cell 62; the pesticide sprayer 9 is provided with a pesticide injection pipe, and after the air with the adjusted flow rate and air pressure is mixed with the pesticide output from the pesticide storage bin 10, the pesticide is injected from the pesticide storage bin 10. ejected from the tube;

Liquid methanol and water raw materials are stored in the methanol water storage container 11, and the delivery pump 12 is used to transport the methanol and water raw materials in the methanol water storage container 11 to the methanol water reforming hydrogen production and power generation module 6. reformer 61;

The power controller 13 is used to convert the electric energy output by the fuel cell 62 into the appropriate voltage and current AC/DC required by the aircraft motor 4/supercapacitor 14; the supercapacitor 14 is used when the fixed-wing UAV starts Power supply, and when the instant power of aircraft motor 4 increases rapidly, supply power for aircraft motor 4.

As shown in Figure 4, there are at least two sets of the methanol water reforming hydrogen production and power generation module 6, and at least two delivery pumps 12 are provided, and the methanol water reforming hydrogen production and power generation module 6 is connected with the transportation The number of pumps 12 is matched. When multiple sets of methanol water reforming hydrogen production and power generation modules are installed, it is preferable to use micro methanol water reforming hydrogen production and power generation modules with power less than 500W.

As shown in Figure 1, the air inlet 7 is arranged on the head of the fuselage 1, and the pesticide sprayer 9 is arranged on the tail lower side of the fuselage 1; the aircraft motor 4 includes a first motor and a second motor. The motor is arranged symmetrically on the wing 2, and the propeller 5 includes a first propeller and a second propeller.

As shown in Fig. 5, a heat exchanger 63 is provided between the delivery pump 12 and the reformer 61 of the hydrogen production by methanol water reforming and power generation module 6, and the low-temperature methanol and water raw materials are in the heat exchanger 63, Exchanging heat with the high-temperature hydrogen output from the reformer 61, the methanol and water temperature rises and vaporizes, and the temperature of the high-temperature hydrogen decreases, and is sent to the fuel cell 62 of the methanol-water reforming hydrogen production and power generation module 6.

As a preferred mode of the reformer 61, a combustion chamber is provided in the reformer, and the combustion chamber is used to combust part of the produced hydrogen with oxygen in the outside air to provide heat for the operation of the reformer 61; as shown in Figure 5 As shown, as a more preferred form of the reformer 61, the reformer 61 is provided with an electric heater powered by the fuel cell 62, and the electric heater provides a temperature of 300-570° C. for the reforming chamber.

As shown in Figure 6, this fixed-wing unmanned aerial vehicle also comprises unmanned aerial vehicle flight controller 15, global positioning module 16, course sensing module 17, altitude sensing module 18, airspeed sensing module 19, flight posture sensing Module 20, elevator 21, rudder 22, aileron 23, and wireless signal receiver and transmitter 24; the UAV flight controller 15 is electrically connected to the global positioning module 16, heading sensing module 17, and height sensing module 18 respectively , airspeed sensing module 19, flight attitude sensing module 20, elevator 21, rudder 22, aileron 23, wireless signal receiver and transmitter 24, aircraft motor 4, methanol water reforming hydrogen production and power generation module 6, super Capacitor 14 and pesticide sprinkler 9. Preferably, the global positioning module 16 is a GPS satellite positioning module or a Beidou satellite positioning module; the airspeed sensing module 19 is a pitot tube; the heading sensing module 17 is a three-axis magnetic heading sensor; the altitude The sensing module 18 is a semiconductor silicon piezoresistive air pressure altitude sensor; the flight attitude sensing module 20 includes a vertical gyroscope that detects the pitch/tilt attitude angle of the drone and an angular rate that detects the pitch/tilt attitude angular rate of the drone Gyro.

Embodiment two

In the above technical scheme, the pesticide spraying method of the fixed-wing unmanned aerial vehicle comprises the following working steps:

a. Load the pesticide to be sprayed into the pesticide storage bin, and add the methanol water raw material into the methanol water storage container;

b. Start the fixed-wing UAV. During the start-up process, the supercapacitor supplies power to the aircraft control system, methanol water reforming hydrogen generation module and delivery pump; after the methanol water reforming hydrogen generation module starts, the The methanol-water reforming hydrogen production module supplies power to the aircraft control system, delivery pump and aircraft motor, and charges the supercapacitor;

c. The fixed-wing unmanned aerial vehicle flies to the target airspace. During the flight, the power controller converts the electric energy output by the methanol-water reforming hydrogen production module into the AC/DC power of the appropriate voltage and current required by the aircraft motor. When the immediate power of the aircraft motor increases rapidly, the supercapacitor and the methanol-water reforming hydrogen production module together supply power to the aircraft motor;

d. Pesticide spraying operation, the outside air input from the air inlet passes through the fuel cell and the jet regulator in turn, and then is output from the pesticide sprayer; in the fuel cell, the air provides the fuel cell with the oxygen required for the electrochemical reaction, And to cool down the fuel cell; in the pesticide sprayer, the air with adjusted flow rate and air pressure is mixed with the pesticide output from the pesticide storage bin, and then sprayed out from the pesticide injection pipe of the pesticide sprayer to complete the pesticide spraying operation.

Preferably, there are at least two groups of the methanol-water reforming hydrogen production and power generation modules. During the working process of the aircraft motor, the real-time power demand is fed back to the aircraft control system; the aircraft control system controls the appropriate A large number of methanol water reforming hydrogen production power generation modules are in operation, and the methanol water storage and delivery device is controlled to deliver methanol water raw materials to the running methanol water reforming hydrogen production power generation modules; when the immediate power demand is small, less methanol is controlled Water reforming hydrogen production power generation modules are running. When the immediate power demand is large, more methanol water reforming hydrogen production power generation modules are controlled to operate.

Preferably, the pesticide spraying method of the fixed-wing unmanned aerial vehicle also includes the steps of the flight control method:

a. During the flight of the fixed-wing UAV, the ground control station sends control instructions to the UAV flight controller through the wireless signal receiver and transmitter; The ground control station sends flight status and pesticide spraying status information;

b. During the flight of the fixed-wing UAV, the UAV flight controller collects the latitude and longitude information of the global positioning module, the course information of the heading sensor module, the height information of the UAV of the altitude sensor module, and the airspeed sensor. The UAV flight speed information of the module, the UAV flight attitude information of the flight attitude sensing module;

c. After the UAV flight controller collects latitude and longitude information, heading information, UAV height information, UAV flight speed information, and UAV flight attitude information, it realizes the UAV turning by controlling the rudder and aileron. By controlling the elevator, the UAV can be lifted and lowered, and the aircraft speed can be adjusted by controlling the aircraft motor, and the real-time control information can be fed back to the ground control station. The UAV flight controller of the utility model can use the information of a plurality of sensing modules to set the autonomous flight mode through the calculation of the UAV flight controller program, and reduce the operations of personnel at the ground control station.

The above is only a preferred embodiment of the utility model, and any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical solution of the utility model all belong to the scope of the technical solution of the utility model.

Claims (7)

1. a kind of fixed-wing unmanned plane for spraying insecticide, including fuselage and the wing and empennage that are installed on fuselage, machine Aircraft motor and propeller are provided with the wing, it is characterised in that：The fuselage is provided with methanol-water recasting hydrogen and power generation module group, air Air inlet, jet adjuster, pesticide sprayer, agricultural chemicals storage warehouse, methanol-water storage container, delivery pump, electric power controller and super Level electric capacity, wherein：

The methanol-water reformation hydrogen production and power generation module group are integrated with reformer and fuel cell, and reformer chamber is provided with the reformer And hydrogen purification apparatus, the temperature of reformer chamber is 300-570 DEG C of temperature, and reformer chamber is provided with catalyst, and first alcohol and water is in weight The reformation hydrogen production reaction of whole indoor generation first alcohol and water is obtained hydrogen-containing gas, and reformer chamber passes through connecting line with hydrogen purification apparatus Connection, all or part of connecting line is arranged at reformer chamber, can continue to heat from reformer chamber by the high temperature of reformer chamber The gas of output；The connecting line is used as the buffering between reformer chamber and hydrogen purification apparatus so that from reformer chamber output The temperature of gas is identical with the temperature of hydrogen purification apparatus or close, and hydrogen is obtained from the aerogenesis end of hydrogen purification apparatus, supply To fuel cell；The fuel cell is used for hydrogen and electrochemical reaction generation electric energy occurs with the oxygen in air；

The air inlet is used to be input into outside air, the outside air of input successively through fuel cell, jet adjuster after, Exported from pesticide sprayer；In a fuel cell, the oxygen required for air provides electrochemical reaction for fuel cell, and be Fuel cell radiating and cooling；The pesticide sprayer is provided with agricultural chemicals playpipe, is adjusted the air of flow velocity and air pressure, with agricultural chemicals After the agricultural chemicals of storage warehouse output is mixed, sprayed from agricultural chemicals playpipe；

The first alcohol and water raw material of liquid is stored in the methanol-water storage container, the delivery pump is used to for methanol-water to store appearance First alcohol and water feedstock transportation in device is to methanol-water reformation hydrogen production and the reformer of power generation module group；

The electric power controller is required appropriate for the electric energy that fuel cell is exported to be converted into aircraft motor/super capacitor Alternating current/the direct current of voltage, electric current；The super capacitor is used to be powered when fixed-wing unmanned plane starts, and in aircraft motor It is aircraft motor power supplying when real-time power increases rapidly.

2. the fixed-wing unmanned plane for spraying insecticide according to claim 1, it is characterised in that：The methanol-water is reformed , at least provided with two groups, the delivery pump is at least provided with two, and methanol-water reformation hydrogen production and generating for hydrogen manufacturing and power generation module group Module matches with the quantity of delivery pump.

3. the fixed-wing unmanned plane for spraying insecticide according to claim 1, it is characterised in that：The air inlet The head of fuselage is arranged at, the pesticide sprayer is arranged at the afterbody downside of fuselage；The aircraft motor includes the first motor And second motor, it is symmetricly set on wing, the propeller includes the first propeller and the second propeller.

4. the fixed-wing unmanned plane for spraying insecticide according to claim 1, it is characterised in that：The delivery pump and first Heat exchanger is provided between alcohol water reformation hydrogen production and the reformer of power generation module group, the first alcohol and water raw material of low temperature in heat exchanger, with The high-temperature hydrogen of reformer output is exchanged heat, and methyl alcohol and coolant-temperature gage are raised, vaporized, and the reduction of high-temperature hydrogen temperature transfers to methyl alcohol The fuel cell of water reformation hydrogen production and power generation module group.

5. the fixed-wing unmanned plane for spraying insecticide according to claim 1, it is characterised in that：The reformer is provided with Electric heater, by fuel cell-powered, the electric heater provides 300-570 DEG C of temperature to the electric heater for reformer chamber.

6. the fixed-wing unmanned plane for spraying insecticide according to claim 1, it is characterised in that：The fixed-wing unmanned plane Also include UAV Flight Control device, global positioning module, course sensing module, highly sensing module, air speed sensing module, fly Row attitude sensing module, elevator, rudder, aileron and reception of wireless signals and transmitter；The UAV Flight Control device It is electrically connected with global positioning module, course sensing module, highly sensing module, air speed sensing module, flight attitude sensing Module, elevator, rudder, aileron, reception of wireless signals and transmitter, aircraft motor, methanol-water reformation hydrogen production and generating mould Group, super capacitor and pesticide sprayer.

7. the fixed-wing unmanned plane for spraying insecticide according to claim 6, it is characterised in that：The global location mould Block is gps satellite locating module or big-dipper satellite locating module；The air speed sensing module is pitot；The course senses mould Block is three axle magnetic course transmitters；The highly sensing module is semiconductor silicon pressure resistance type pressure-altitude sensor；The flight Attitude sensing module includes the vertical gyroscope of detection unmanned plane pitching/tilt attitude angle and detection unmanned plane pitching/tilt appearance The angular rate gyroscope of state angular speed.