CN209274903U - An agricultural unmanned aerial vehicle air-collecting down-pressing type precision seeding device - Google Patents

Abstract

An agricultural unmanned aerial vehicle gathers air and presses down a type of precise sowing device. The sowing device includes an air collecting and guiding mechanism, a seed box, a lane sorting mechanism, a seeding and spraying mechanism and a control module. The air collection and diversion mechanism is fixedly installed on the fuselage of the unmanned aircraft, and there is an air collection cabin; the seed box is installed inside the air collection cabin; Seed pipeline, the inoculation hopper is fixedly connected with the bottom of the seed material box, and the seed discharge pipeline is connected with the outlet at the bottom of the inoculation hopper; the seed spraying mechanism is installed at the bottom of the wind collecting and guiding mechanism, and includes a plurality of seed spraying units. A Venturi structure is arranged inside the seed spraying unit. The utility model is based on the low-altitude precision operation platform of the agricultural unmanned aircraft, and through the improvement of the seeding mechanism, the down-pressure wind field of the unmanned fan rotor is efficiently used to realize the deep penetration of the seeds into the soil, and the uniform rowing of the seedlings, so as to improve the survival of the seeds. efficiency and agronomic applicability, and the control method is simple, suitable for popularization.

Description

An agricultural unmanned aerial vehicle air-collecting down-pressing type precision seeding device

technical field

The utility model belongs to the technical field of low-altitude precision operation of an agricultural unmanned aircraft, and specifically relates to an agricultural unmanned aircraft collecting wind and pressing down a precision drilling device.

Background technique

Due to the traditional ground machinery walking in special ground environments such as paddy fields and mountains and hills, the adaptability of field operations is severely limited. The low-altitude precision operation platform for agricultural unmanned aerial vehicles with the characteristics of strong adaptability to operating terrain and advanced autonomous navigation control technology has been adopted. It is applied to fields such as plant protection and pesticide application, seed fertilizer spreading, auxiliary pollination, and agricultural monitoring. Especially, agricultural unmanned aerial vehicle seeding operations have significant advantages such as high efficiency, low cost, and strong adaptability to farmland, and are gradually being promoted. However, the existing agricultural unmanned aerial vehicle sowing operations mainly adopt the form of throwing seeds, and there are still many problems: first, the throwing seeds can only be scattered on the soil surface, the depth of the seeds entering the soil is shallow, and the germination rate is low; secondly, the throwing seeds are scattered irregularly , it is impossible to achieve the agronomic requirements of precise sowing with consistent row spacing and uniform grain spacing; thirdly, the controllability of the seeding speed of the throwing and spreading device is not strong, and the real-time matching between seeding volume and operating parameters is not high.

Utility model content

The technical purpose of this utility model is to provide an agricultural unmanned aerial vehicle that collects wind and presses down the precision drilling device, so as to improve the deficiencies of the prior art.

For realizing above-mentioned technical purpose, the technical scheme that the utility model provides is:

An agricultural unmanned aerial vehicle air-collecting and pressing-down precision drilling device, characterized in that it includes an air-collecting and diverting mechanism, a seed box, a lane-separating seeding mechanism, a seeding spraying mechanism and a control module;

The wind-collecting and deflecting mechanism is fixedly installed on the fuselage of the unmanned aircraft, including an air-collecting cabin, and the wind-collecting cabin is provided with two air-collecting outlets on the left and right, and the two air-collecting outlets are arranged symmetrically under the rotor of the unmanned aircraft;

The seed box is installed inside the wind collecting cabin. The top of the seed box is provided with a feeding port, and the bottom is provided with a discharge port. The cutouts are combined, and the outer edge of the bottom plate cutout is provided with a plurality of parallel rectangular wheel grooves, and the rectangular wheel grooves open in a direction perpendicular to the side plate, and a flow suppression baffle is provided on the top of the side plate cutout , one end of the suppressed flow baffle is fixed on the side wall of the seed box, the other end is suspended above the discharge opening, and the bottom surface of the suppressed flow baffle is arc-shaped;

The lane sorting mechanism includes a seed brush roller, a nest roller, a plurality of inoculation hoppers and a plurality of seed discharge pipes;

The brush seed roller is installed under the flow suppression baffle, and the bristles on the surface are attached to the arc-shaped bottom surface of the flow suppression baffle;

The nest roller is arranged outside the seed material box, located at the oblique lower side of the brush seed roller, and kept parallel with the brush seed roller; the nest groove roller is composed of a central wheel shaft and a plurality of cams fixed on the central wheel shaft, and the cam and the The rectangular wheel grooves correspond one by one, the top of the cam passes through the rectangular wheel grooves, protrudes from the bottom plate of the seed box, is tangent to the outer arc surface of the seed brush roller, and cooperates with the seed brush roller to block the discharge opening; The circumferential surface of the cam is provided with a recessed dimple. Driven by the rotary drive device, the top of the cam rotates towards the direction of the brush seed roller all the time. The rotary driving device of the groove roller is connected with the control module;

The inoculation hopper is fixedly connected to the bottom of the seed box, and the cam of the nest roller is installed in the inoculation hopper, and the cams correspond to the inoculation hopper one by one;

The seeding pipeline is connected to the outlet at the bottom of the inoculation hopper. With the rotation of the nest roller, the seed material is transferred from the seed box to the inoculation hopper through the transport of the nest groove on the cam, and then transported to the inoculation hopper through the seeding pipeline. Drill spraying mechanism;

The seed drilling and spraying mechanism is installed at the bottom of the wind collecting and guiding mechanism, and includes a plurality of seed spraying and spraying units. The venturi structure is arranged inside the seed drilling and spraying units, and the top of the Venturi structure is an air inlet. The inner chamber of the air collecting cabin has a mixing chamber in the middle, and a spraying outlet at the bottom, the air inlet is connected to the mixing chamber through a tapered pipe section, and the outlet of the mixing chamber is connected to the spraying outlet through a gradually expanding pipe section, and the mixing The side wall of the cavity is provided with a seed inlet connected to the seed discharge pipe.

On the basis of the above scheme, further improved or preferred schemes also include:

A plurality of "inverted V-shaped" comb seed partitions are installed in the seed box, and do not overlap in the vertical direction.

Taking the nest roller as the midpoint, the inoculation bucket has a ventilation window on the bucket wall on the side opposite to the seed brushing roller.

The shell of the seed box is composed of straight side plates and arc-shaped shells. The side arm straight plate is fixed on the inner wall of the air collection cabin, and a guide is formed between the arc-shaped shell and the outer wall of the air collection cabin. flow channel.

The air-collecting opening of the air-collecting cabin is semicircular and is arranged near the center of the rotor; both sides of the air-collecting cabin are provided with two arms extending outward, and the inner cavities of the two arms of the air-collecting cabin gradually outwards. zoom out.

The radius of the air collecting port is no more than 25% of the radius of the rotor.

The seed-drilling and spraying mechanism includes a longitudinal guide rail, and the seed-drilling and spraying unit is installed on the longitudinal guide rail, so that the distance between the seed-drilling and spraying units can be adjusted.

The drill device is provided with a linear drive device that controls the movement of each drill seed injection unit on the longitudinal guide rail, and the linear drive device is connected with the control module.

During operation, the unmanned aircraft equipped with the seeding drill device can control the sowing seedling spacing by adjusting the forward speed of the aircraft or the rotational speed of the vortex roller according to the preset seeding density. Further, if a longitudinal guide rail is provided at the bottom of the wind collecting and deflecting mechanism, the seed spraying unit can be installed on the longitudinal guide rail, and a linear drive device is set to control the movement of each seed spraying unit on the longitudinal guide rail, The linear drive device is connected with the control module, and controls the row spacing of sowing by adjusting the spacing of each spraying unit according to the planned route and preset sowing density.

Beneficial effect:

The utility model is based on the low-altitude precision operation platform of the agricultural unmanned aircraft, and through the improvement of the seeding mechanism, the down-pressure wind field of the unmanned fan rotor is efficiently used to realize the deep penetration of the seeds into the soil, and the uniform rowing of the seedlings, so as to improve the survival of the seeds. High efficiency and agronomic applicability, low energy consumption, simple control method, suitable for popularization and use.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the unmanned aircraft of assembling drill device;

Fig. 2 is a schematic diagram of the local structure of the drill device located on one side of the drone;

Fig. 3 is the overall structure schematic diagram of kind material box;

Fig. 4 is the schematic diagram of the transverse section structure of the seed box;

Fig. 5 is the schematic diagram of the longitudinal section structure of the seed box;

Fig. 6 is a schematic structural view of the lane sorting mechanism;

Fig. 7 is the structural representation of brush seed roller and nest groove roller;

Fig. 8 is a schematic structural view of the drill spraying mechanism;

Fig. 9 is a flow chart of the control method of the present invention.

Detailed ways

In order to further clarify the technical scheme and working principle of the utility model, the utility model will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

Embodiment one:

As shown in Figures 1 to 8, an agricultural unmanned aircraft gathers wind and presses down the precision drilling device, which includes a wind gathering and guiding mechanism 1, a seed box 2, a lane sorting mechanism 3, a drill spraying mechanism 4 and components such as control modules.

As shown in FIG. 1 , the wind collecting and deflecting mechanism 1 is fixedly installed on the fuselage of the unmanned aircraft, with the unmanned aircraft as the center and symmetrical structures on both sides.

As shown in FIG. 2 , the wind collecting and deflecting mechanism 1 is provided with an air collecting cabin, and the wind collecting cabin is provided with two left and right air collecting ports, and the two air collecting ports are arranged symmetrically under the rotor of the unmanned aircraft. The air collecting port is semicircular and is set near the center of the rotor (with its diameter side facing inward and its arc side facing outward), and the radius of the air collecting port does not exceed 25% of the rotor radius to ensure that the rotor downpresses the wind field. The lift is sufficient to ensure the maneuverability of the unmanned wind turbine. Both sides of the wind collecting cabin are provided with two arms extending outward, and the cross-sectional dimension of the inner cavity of the two arms of the wind collecting cabin is gradually reduced outwards to ensure the wind pressure at the far end, so that the wind force can be evenly transmitted to the drill spraying Institution 4.

The seed box 2 is installed inside the wind collecting cabin, and one is respectively arranged in the left and right two wind collecting ports. As shown in Figures 3 and 4, the housing of the seed box 2 is composed of a straight side plate and an arc-shaped shell, the straight side plate is fixed on the inner side wall of the wind collecting cabin, and the arc-shaped shell A diversion channel is formed between the hood and the bulkhead of the wind collecting cabin. The top of the seed box 2 is provided with a feeding port, and the bottom is provided with a discharge port. The discharge opening is composed of a cutout on the bottom plate of the seed box and a cutout on the side plate. The outer edge of the cutout on the bottom plate is provided with a plurality of parallel rectangular wheel grooves 2-3, and the rectangular wheel grooves 2-3 are perpendicular to the Opening in the direction of the side panels. The top of the side plate cutout is provided with a damper baffle 2-1, one end of the damper 2-1 is fixed on the side plate of the seed box 2, and the other end is suspended above the discharge opening. The bottom surface of the damper baffle 2-1 is arc-shaped. The bottom surface of the seed box 2 is provided with one group of corresponding axle seats for installing the nest roller 3-2. As shown in Figure 5, three "inverted V-shaped" comb partitions in a triangular arrangement are installed in the seed box 2, and the seed material is divided and dredged by the comb partition during the falling process of gravity, so as to Improve the fluency of seed material discharge.

As shown in Fig. 6, the said lane sorting mechanism 3 comprises a brushing roller 3-1, a nest roller 3-2, a plurality of inoculation hoppers 3-4 and a plurality of seeding pipelines 3-5, and said seeding Pipeline 3-5 adopts the flexible pipe that is easy to bend and shape. The brush seed roller 3-1 is installed under the flow suppression baffle 2-1, and is composed of a center roller and nylon bristles attached to the surface of the center roller. The surface bristles of the brush seed roller 3-1 and the flow suppression baffle 2-1 1. The curved bottom surface is closely fitted (interference fit can be used). The nest roller 3-2 is arranged below the seed box 2, and is positioned obliquely below the brush seed roller 3-1, keeping parallel with the brush seed roller 3-1; the nest roller 3-2 is fixed at the center by the center wheel shaft and A plurality of cams on the wheel shaft are formed, and the cams correspond to the rectangular wheel grooves 2-3 one by one. The top of the cams passes through the rectangular wheel grooves 2-3, protrudes from the bottom surface of the seed box 2, and is connected with the brush seed. The outer circular arc surface of the roller 3-1 is tangent, and cooperates with the brush roller 3-1 to block the discharge port; the circumferential surface of the cam is provided with a plurality of evenly distributed recesses 3-3, which are rotated Driven by the driving equipment, the top of the cam rotates toward the direction close to the brush seed roller 3-1 all the time, and the steering of the brush seed roller 3-1 is the same as that of the nest roller 3-2, counterclockwise as shown in Figure 6. In this embodiment, the rotary driving device driving the seed brush roller 3-1 and the groove roller 3-2 adopts a servo motor, and the servo motor is connected to the control module, and the control module controls the start and stop.

The inoculation hopper 3-4 is fixedly connected to the bottom of the seed box 2, the two ends of the center wheel shaft of the nest roller 3-2 are installed on the axle seat 2-4, and each cam is installed on the corresponding inoculation hopper 3-4 Inside.

The inlet of the seeding pipeline 3-5 is connected to the outlet at the bottom of the inoculation hopper 3-4.

During the rotation process of the seed brush roller 3-1 and the groove roller 3-2, the seed material carried upward by the seed brush roller 3-1 is blocked by the flow suppression baffle 2-1, and the overflow of the seed material is suppressed; 3-1 is brushed from the surface of the nest 3-3 to ensure that the seed material contained in each nest 3-3 is equal; when the nest 3-3 is inside the seed box 2, the seed material is under the action of gravity Drop into nest groove 3-3, when nest groove turns to below along with nest groove roller 3-2, falls in the inoculation bucket 3-4. With the nest roller as the middle position, the inoculation bucket 3-4 has a ventilation window on the bucket wall opposite to the seed brushing roller 3-1, that is, when the nest groove 3-3 is turned to the position corresponding to the ventilation window, The seed material has been emptied.

As shown in Figure 8, the seed spraying mechanism 4 is installed at the bottom of the wind collecting and guiding mechanism 1, and includes a plurality of seed spraying units arranged equidistantly. The seed spraying unit is provided with a Venturi structure inside, so The top of the Venturi structure is an air inlet, which is connected to the inner cavity of the wind collection cabin, the middle part is a mixing chamber, and the bottom is provided with a spraying outlet. The air inlet is connected to the mixing chamber through a reducer section, and the outlet of the mixing chamber is The expanding pipe section is connected with the seed injection outlet, and the side wall of the mixing chamber is provided with a seed inlet connected to the outlet of the seed discharge pipeline 3-5.

In this embodiment, the bottom of the wind-collecting cabin is closed, and the drill spraying unit and the wind-collecting cabin are integrally structured, that is, the air inlet of the Venturi structure directly communicates with the inner cavity of the wind-collecting cabin, driven by the downward pressure wind , a suction negative pressure is formed inside the Venturi structure, and the seed material in the inoculation hopper 3-4 is sucked into the mixing chamber, and then sprayed to the ground. In addition to the action of gravity, the rotor presses down the wind field to further accelerate the seed material to achieve deep seeding. Drill.

The control module can adopt a 32-bit high-performance STM32F103 microcontroller as the main control chip.

The unmanned aircraft control method of assembling the above-mentioned drilling device, the process is as follows:

According to the information of the target operation field and the sowing agronomic requirements, the sowing route and the pre-sowing density are planned through the ground control terminal, and the operation plan is formed and uploaded to the airborne control terminal of the unmanned aircraft. The airborne control terminal is adjusted through the flight control system The forward speed of the aircraft, or through the variable seeding system including the control module to adjust the rotation speed of the nest rollers, to achieve the purpose of adjusting the distance between sowing seedlings (that is, the distance between adjacent sowing positions in the same row).

Embodiment two:

Different from Embodiment 1, in this embodiment:

1) The seeding and spraying mechanism 4 includes a longitudinal (perpendicular to the direction of the sowing row) guide rail, the seeding and spraying unit is installed on the longitudinal guide rail through a slider, and is equipped with a device to control each seeding and spraying unit on the longitudinal guide rail a linear drive device that moves upward, and the linear drive device is connected to the control module;

2) The bottom of the air-collecting chamber is provided with a plurality of exhaust ports, and the seed-drilling and spraying unit is used as a movable unit, and its air inlets can be connected to the exhaust ports of the air-collecting chamber one by one through hoses.

On the basis of Embodiment 1, the control method of this embodiment can also control the row spacing of sowing by adjusting the spacing of each row sowing and spraying unit. The process is shown in Figure 9 to realize autonomous navigation and precise sowing.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and the protection scope of the utility model is defined by the appended claims, the description and their equivalents.

Claims (8)

1. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type, which is characterized in that including collection wind deflector (1), Kind hopper (2), shunting feed mechanism (3), drilling Pen Zhong mechanism (4) and control module；

The collection wind deflector (1) is fixedly mounted on the fuselage of unmanned aerial vehicle, including collection wind cabin, the collection wind cabin are equipped with a left side Right two collection air ports, two collection air ports are symmetricly set on the lower section of unmanned aerial vehicle rotor；

Described kind of hopper (2) is mounted on inside collection wind cabin, and the top of kind hopper (2) is equipped with feeding port, and bottom is equipped with discharge gate, institute It states side plate notch split of the discharge gate by kind of hopper base plate cut and positioned at kind of hopper side to constitute, the outer of the base plate cut Equipped with multiple parallel rectangle races (2-3), the rectangle race (2-3) is open towards the direction perpendicular to the side plate, described The top of side plate notch is equipped with a suppression baffle (2-1), and one end of the suppression baffle (2-1) is fixed on the side of kind of a hopper (2) On plate, the other end is hanging, and positioned at the top of discharge gate, the bottom surface of suppression baffle is arc-shaped；

The shunting feed mechanism (3) includes brush kind of idler wheel (3-1), socket idler wheel (3-2), multiple seed reception buckets (3-4) and a plurality of Seeding pipeline (3-5), the brush kind idler wheel (3-1) are mounted on the lower section of suppression baffle (2-1), surface bristle and suppression baffle The lower arcuate surface of (2-1) is bonded；

The socket idler wheel (3-2) setting kind of a hopper (2) outside, be located at the obliquely downward of brush kind idler wheel (3-1), with a brush kind idler wheel (3-1) keeping parallelism；Socket idler wheel (3-2) is made of center-wheel arbor and the multiple cams being fixed on center-wheel arbor, described convex Wheel is corresponded with the rectangle race (2-3), and the rectangle race (2-3) is penetrated at the top of cam, protrudes from kind of a hopper (2) Bottom surface, it is tangent with the exterior arc surface of brush kind idler wheel (3-1), the discharge gate is blocked with brush kind idler wheel (3-1) cooperation；The cam Periphery be equipped with recess socket (3-3), under the drive of rotational driving device, the top of cam always towards close to brush kind The direction of idler wheel (3-1) rotates, and brush kind idler wheel (3-1) is identical as the steering of socket idler wheel (3-2), drives brush kind idler wheel (3-1) It is connect with the rotational driving device of socket idler wheel (3-2) with the control module；

The seed reception bucket (3-4) is fixedly connected with the bottom of kind hopper (2), and the cam of socket idler wheel (3-2) is mounted on described connect In kind bucket (3-4), cam and seed reception bucket (3-4) are corresponded；

The seeding pipeline (3-5) connect with the outlet of the bottom seed reception bucket (3-4), with the rotation of socket idler wheel (3-2), kind material It by the carrying of socket on cam (3-3), is transferred in seed reception bucket (3-4) from planting in hopper (2), then passes through seeding pipeline (3-5) is transported to drilling Pen Zhong mechanism (4)；

Drilling Pen Zhong mechanism (4) is mounted on the bottom of collection wind deflector (1), including multiple drillings spray kind unit, described Venturi tube structure is equipped with inside drilling spray kind unit, the top of the Venturi tube structure is air inlet, accesses the collection wind cabin Inner cavity, middle part are mixing chamber, and bottom end is equipped with spray kind outlet, and the air inlet is connect by tapered pipeline section with mixing chamber, mixing chamber Outlet by the pipeline section of flaring and spray kind outlet connection, mixing chamber side wall be equipped with connect the seeding pipeline (3-5) into kind Mouthful.

2. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 1, which is characterized in that institute It states and multiple " inverted V types " comb kind partition is installed in kind of a hopper (2), and be not overlapped in the vertical direction.

3. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 1, which is characterized in that with Socket idler wheel (3-2) is midpoint, and the seed reception bucket (3-4) is provided with ventilation on the headwall for planting idler wheel (3-1) opposite side with brush Window.

4. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 1, it is characterised in that: institute The shell for stating kind of hopper is spliced to form by straight type side plate and arc clamshell, and the straight type side plate is fixed on the inner sidewall in collection wind cabin On, flow-guiding channel is formed between arc clamshell and collection wind cabin bulkhead.

5. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 1, it is characterised in that: institute The collection air port semicircular in shape for stating collection wind cabin, is positioned close to the position of rotor centers；The two sides in the collection wind cabin are equipped with to extension The two-arm stretched, and the inner cavity for collecting wind cabin two-arm is gradually reduced outward.

6. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 5, it is characterised in that: institute The radius for stating collection air port is no more than the 25% of rotor radius.

7. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 1 to 6, It is characterized in that, drilling Pen Zhong mechanism (4) includes longitudinal rail, and the drilling spray kind unit is mounted on the longitudinal rail On, keep the spacing of drilling spray kind unit adjustable.

8. a kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type according to claim 7, which is characterized in that set Have and controls the linear drives equipment that each drilling spray kind unit moves on longitudinal rail, the linear drives equipment and the control The connection of molding block.