CN110884658B - Accurate seeder of unmanned aerial vehicle - Google Patents
Accurate seeder of unmanned aerial vehicle Download PDFInfo
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- CN110884658B CN110884658B CN201911271033.9A CN201911271033A CN110884658B CN 110884658 B CN110884658 B CN 110884658B CN 201911271033 A CN201911271033 A CN 201911271033A CN 110884658 B CN110884658 B CN 110884658B
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- 238000010899 nucleation Methods 0.000 claims abstract description 52
- 238000000926 separation method Methods 0.000 claims abstract description 8
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- 238000005192 partition Methods 0.000 claims description 20
- 108010016634 Seed Storage Proteins Proteins 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 241000721671 Ludwigia Species 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000003892 spreading Methods 0.000 claims description 2
- 230000007480 spreading Effects 0.000 claims description 2
- 238000007664 blowing Methods 0.000 abstract description 3
- 230000035515 penetration Effects 0.000 abstract description 3
- 239000002689 soil Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
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- 238000009826 distribution Methods 0.000 description 5
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- 240000007594 Oryza sativa Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 239000008141 laxative Substances 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sowing (AREA)
Abstract
The invention discloses an unmanned aerial vehicle precision seeding device, which belongs to the technical field of precision seeding in agriculture and comprises a seed separating module, a seed throwing module, a connecting hose, a direction adjusting module and a control module, wherein the seed separating module can conveniently form different seed separating sizes to meet the requirements of different crop seed sizes, the precise seed separation of single or a plurality of seeds can be completed according to the requirements, the control module integrates the posture, the position, the speed and the wind speed information of an unmanned aerial vehicle, automatically controls a steering engine, a motor control signal and a control signal of the direction adjusting module, accelerates the seeds subjected to the precise seed separation from the seed throwing hole of the seed throwing module to an accurate ground position at a required angle, and can have a certain soil penetration depth after the seeds accelerated by the seed throwing module fall to the ground, so that the landing precision of the seeds can be ensured, and the change of the seed position caused by the blowing of wind and the rain impact on the seeds can be overcome, thereby ensuring the planting precision of the seeds and realizing the accurate growth of the crops.
Description
Technical Field
The invention relates to the technical field of agricultural accurate seeding, in particular to an accurate seeding device for an unmanned aerial vehicle.
Background
The accurate seeding device is key equipment for realizing accurate seeding operation, and the performance of the accurate seeding device is directly related to the yield and quality of crop production. At present, the precision seeding device mainly comprises three types, namely a mechanical type, an air suction type and a vibration type. The mechanical seeder mainly takes a grooved pulley type, a pocket wheel type and a raised head type as core working components, has simple structure and low cost, but has poor seeding uniformity, large seed consumption and more seed damage, and can not realize single-seed precise seeding. The air-suction seeding device mainly comprises a suction needle type seeding device, a suction disc type seeding device, an air-suction drum type seeding device and the like, can realize single-seed accurate seeding, but has a complex structure and high production cost, and a suction hole is easy to block. The vibrating seeding devices can be divided into electromagnetic vibrating type and pneumatic vibrating type, cannot realize single-seed accurate seeding, and are influenced by parameters such as amplitude, frequency and the like.
With the continuous maturity of unmanned aerial vehicle technology, its application in agriculture is also more and more extensive, if utilize unmanned aerial vehicle to apply medicine to prevent and treat the pest and disease damage and replace artifical gradually, become important agricultural plant protection means like ground laxative machine. With the development of direct seeding technology of crops such as rice in China, the unmanned aerial vehicle seeding has the advantages of high speed, high efficiency, no terrain limitation and the like, and becomes a selection mode for seeding crops such as rice. However, the volume and the weight of the conventional precision seeding equipment for the ground machine are large, and the carrying capacity of the existing unmanned aerial vehicle is limited, so that the conventional precision seeding equipment for the ground machine cannot be used on the unmanned aerial vehicle. In addition, current unmanned aerial vehicle seeder can't realize accurate seeding, simultaneously, the seed leaves and is in the free fall state after the device, receives wind, unmanned aerial vehicle gesture and high influence, and the scope of falling to the ground is very big, can't realize accurate seeding.
A seed metering structure for unmanned aerial vehicle seeding is given like application number CN 110073779A's patent application, it is rotatory to drive the cylinder through gear motor, utilizes the concave check in row on the cylinder to realize the same or similar volume of seed and broadcast, and the seed leaves to be in the free fall state after the device, receives wind, unmanned aerial vehicle gesture and factor influence such as height, and the seed falls to the ground the scope and changes greatly, unable accurate seeding.
Still like patent application with application number CN 110040252A provides a mechanism of scattering that unmanned aerial vehicle used, it is rotatory with the piece of scattering to drive blanking subassembly through utilizing drive structure, and the material that falls through the blanking hole of blanking subassembly falls to a plurality of baffle boxes of the piece of scattering through the guide duct, and the rotation of the piece of scattering can make the material evenly spill out, realizes the homogeneity of sowing the seed or scattering chemical fertilizer, and this scheme can't realize accurate seeding, and the seed of scattering also falls to ground in the free fall.
The patent application for application number CN 109665103A provides a seeder and has device's seeding unmanned aerial vehicle again, the device includes actuating mechanism, dwang and seed container, it throws the seed out the container with the seed to drive the seed container through the dwang, the dwang drives a plurality of seed containers rotatory, because all be equipped with the seed in advance in every seed container, consequently, the inertia of dwang and a plurality of seed container is very big, it is big to lead to the consumption, the rotational speed is low, the seed throws out fastly, the throw-out direction of seed probably is upwards in addition, downwards or to the oblique direction, consequently this scheme also can't accurate seeding.
Disclosure of Invention
Aiming at the technical problem, the invention provides the precise seeding device for the unmanned aerial vehicle, which can realize precise seeding.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention firstly provides an unmanned aerial vehicle accurate seeding device, which comprises:
the seed separating module is connected with the seed box and used for temporarily storing seeds to be separated and continuously throwing the seeds to the seed throwing module through the driving steering engine;
the seed throwing module is driven by a motor to accelerate seeds to fall to the ground;
the connecting hose is used for connecting the seed separating module and the seed throwing module and providing a channel for the seeds to move from the seed separating module to the seed throwing module;
the direction adjusting module is respectively connected with the seed distributing module and the seed throwing module, and adjusts the direction of the precise seeding device of the unmanned aerial vehicle through a pitching adjusting motor and a rolling adjusting motor which are perpendicular to each other;
and the control module is respectively connected with the seed sorting module and the unmanned aerial vehicle through the connecting bin, and respectively controls the motion of a seed sorting module steering engine, the motion of a seed throwing module motor, and the motions of a pitching adjusting motor and a rolling adjusting motor of the direction adjusting module through a control panel in the connecting bin.
Furthermore, the seed separating module comprises a seed storing chamber, a partition plate, a seed separating rotary disc, a bottom plate and a driving steering engine, wherein the upper part of the seed storing chamber is connected with the seed box, the lower part of the seed storing chamber is provided with a third seed leaking hole, the inside of the seed storing chamber is sequentially provided with the partition plate, the seed separating rotary disc and the bottom plate from top to bottom, the partition plate is provided with a first seed leaking hole, the seed separating rotary disc is provided with a seed separating hole, the bottom plate is provided with a second seed leaking hole, the size of the second seed leaking hole is larger than that of a seed separating hole row and is equal to that of the first seed leaking hole, the first seed leaking hole and the second seed leaking hole are opposite in position, and seeds enter the seed separating hole on the seed separating rotary disc through the first seed leaking hole on the partition plate and; the driving steering engine is fixed on the partition plate, and the rotating shaft of the driving steering engine is connected to the rotating center of the seed separating turntable to drive the seed separating turntable to rotate.
Furthermore, the seed separating rotary disc is composed of a plurality of seed separating rotary disc sheets, each seed separating rotary disc sheet is identical in shape, a plurality of rows of seed separating hole rows which are circumferentially arranged are arranged on each seed separating rotary disc sheet, and each seed separating hole row is provided with a plurality of seed separating holes which are radially arranged.
Furthermore, a brush is arranged on one side of the partition board facing the seed separating rotating disc.
Furthermore, the size of the seed distributing hole is adjusted by installing a backing ring in the seed distributing hole of the seed distributing rotary disc.
Furthermore, a gasket is arranged between the plurality of seed separation rotary discs.
Furthermore, the direction adjusting module comprises a pitching adjusting module and a rolling adjusting module, the pitching adjusting module comprises a pitching supporting frame, a pitching adjusting motor and a pitching adjusting bearing, the pitching supporting frame is fixedly connected with the seed throwing module, and the pitching adjusting frame is rotatably connected with the pitching supporting frame through the pitching adjusting motor and the pitching adjusting bearing; the rolling adjustment module comprises a rolling support frame, a rolling adjustment frame and a rolling adjustment motor, the rolling support frame is connected to the seed separation module, and the rolling adjustment motor is fixedly connected with the rolling support frame through the rolling adjustment frame; the pitch adjusting module can rotate around a pitch axis, the roll adjusting module can rotate around a roll axis, and the directions of the rotating axes of the pitch adjusting module and the roll adjusting module are perpendicular to each other.
Furthermore, the seed throwing module comprises a shell, a motor, a turntable and a shell cover plate, the shell is connected to a pitching supporting frame of the pitching adjusting module, and a seed throwing hole is formed in the lower end of the shell; the carousel is located the shell, and the shell cover board lock has the fourth hole that leaks in one side of shell, and the third hole that leaks of fourth hole through coupling hose and seed storage room is linked together, and motor stator installs the opposite side at the shell, and motor rotor connects on the carousel center, and the motor drives the carousel rotation, and the seed that leaks from the fourth hole that leaks is rotatory with higher speed along with the carousel in the shell, falls ground with higher speed when the seed rotates to get rid of the seed position along with the carousel.
Furthermore, the control module comprises a control panel, an airspeed head, a GPS module and a connecting bin, the connecting bin is connected with the storage chamber and the unmanned aerial vehicle, and the control panel is installed in the connecting bin; the control panel comprises a main control chip, an inertia measurement unit and a communication module, the main control chip receives data of the inertia measurement unit, a GPS module and a pitot tube, then obtains movement speed and position information through operation, the main control chip outputs four paths of signals according to seed spreading requirements and the obtained speed and position information, the four paths of signals respectively control and drive a steering engine, a motor of the seed throwing module, a motor of the pitching adjustment module and a motor of the rolling adjustment module, and the communication module is used for receiving task information and sending the task information to the main control chip.
Further, the communication module is a wired module or a wireless module.
Compared with the prior art, the invention has the technical effects that:
the invention provides an unmanned aerial vehicle accurate seeding device, a seed separating module can conveniently form different seed separating sizes to meet the requirements of different crop seed sizes, accurate seed separation of a single seed or a plurality of seeds can be completed according to requirements, a control module integrates the posture, position, speed and wind speed information of an unmanned aerial vehicle, and automatically controls a steering engine, a motor control signal and a control signal of a direction adjusting module, so that the accurately-separated seeds can be accelerated to fall to an accurate ground position from a seed throwing hole of the seed throwing module at a required angle, and meanwhile, the seeds accelerated by the seed throwing module can have a certain depth of penetration after falling to the ground, so that the falling accuracy of the seeds can be ensured, the problem that the seeds are changed in position due to blowing of wind and impact of rain on the seeds can be overcome, the accuracy of the seeds is ensured, and accurate growth of crops is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle precision seeding device of the invention;
FIG. 2 is a schematic structural diagram of a seed sorting module according to the present invention;
FIG. 3 is a schematic structural view of another direction of the seed separating module of the present invention;
FIG. 4 is a schematic view of the separator of the seeding module of the present invention;
FIG. 5 is a schematic structural diagram of a seed separating rotary disk of the seed separating module according to the present invention;
FIG. 6 is a schematic structural view of a backing ring of the seed separating module of the present invention;
FIG. 7 is a schematic structural view of a bottom plate of the seed module of the present invention;
FIG. 8 is a schematic structural diagram of a direction adjustment module according to the present invention;
FIG. 9 is a schematic structural diagram of a pitch adjustment module of the direction adjustment module of the present invention;
FIG. 10 is a schematic structural diagram of a roll adjustment module of the orientation adjustment module according to the present invention;
FIG. 11 is a schematic structural view of a seed throwing module according to the present invention;
FIG. 12 is a schematic structural view of a housing of the seed throwing module of the present invention;
FIG. 13 is a schematic structural view of a cover plate of a housing of the seed throwing module of the present invention;
fig. 14 is a schematic diagram of signal reception and output of the control board of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the precise seeding device for the unmanned aerial vehicle comprises a seed separating module 1, a direction adjusting module 2, a seed throwing module 3, a connecting hose 4 and a control module 5.
As shown in fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7, the seed sorting module 1 of the precise seeding device for the unmanned aerial vehicle comprises a seed storage chamber 101, a partition plate 102, a seed sorting turntable 103, a bottom plate 104 and a driving steering engine 105.
The seed storage chamber 101 is used for storing seeds, is provided with threads at the upper part and is conveniently connected with other seed boxes, the seed storage chamber 101 is only a temporary seed storage device for seeds to be separated, the space volume of the seed storage chamber is not required to be large, the continuous seed separation of the seeds can be met, and the lower part of the seed storage chamber 101 is provided with a third seed leaking hole 1011.
The partition plate 102 is provided with a first seed discharge hole 1022, and seeds enter the seed discharge hole 1031 on the seed discharge rotary plate 103 through the first seed discharge hole 1022 on the partition plate 102. In order to ensure that seeds are to be separated from the seed separating holes 1031 on the seed separating rotary plate 103, the number of the first seed discharging holes 1022 is generally 3-5, and the number of the seed discharging holes 1022 is 3, so that when the seed separating rotary plate 103 is driven by the driving steering engine 105 to rotate, each seed separating hole 1031 can pass through the first seed discharging holes 1022 for multiple times, thereby ensuring that each seed separating hole 1031 has seeds and effectively preventing seed leakage. Preferably, the side of the partition plate 102 facing the seed separating turntable 103 is provided with a brush, and the height of the brush is 1-2 mm.
The seed separating rotary disk 103 is composed of a plurality of seed separating rotary disk sheets, each seed separating rotary disk sheet has the same shape, each seed separating rotary disk sheet is provided with a plurality of seed separating hole rows which are arranged circumferentially, each seed separating hole row is provided with a plurality of seed separating holes 1031 which are arranged radially, and the thickness of each seed separating rotary disk sheet is 1 mm; the seed distributing hole is cylindrical, and the diameter D (millimeter) of the cylindrical seed distributing hole; the seed separating rotary disc 103 of this embodiment is composed of 4 seed separating rotary disc sheets, each seed separating rotary disc sheet has the same shape, each seed separating rotary disc sheet has 4 rows of seed separating hole rows arranged circumferentially, each seed separating hole row has 3 seed separating holes 1031 arranged radially, and the thickness of the seed separating rotary disc sheet is 1 mm; the seed hole 1031 is cylindrical, and the diameter of the cylindrical seed hole 1031 is 6 mm.
The seed separating holes of the seed separating rotary disc 103 can be provided with backing rings 1033 as required to adjust the size of the seed separating holes 1031, the backing rings 1033 are in a series, the outer diameters of the backing rings are D, D-1, D-2 and … D-N (millimeters), D-N is larger than or equal to 1 millimeter, for example, the outer diameter of the backing ring 1033 is 6 millimeters, the radial wall thickness of the backing ring 1033 is 1 millimeter, and the axial thickness of the backing ring 1033 is 1 millimeter; the 4 seed separating disks 1032 cooperate with the 4 backing rings 1033 to adjust the diameter and height of the seed separating hole 1031 of the seed separating disk 103 to 4 mm.
The diameters and heights of the seed distributing holes 1031 of the seed distributing disc 103 can be adjusted to D-1, D-2 and … D-N (millimeters) by the backing rings with different sizes and the seed distributing rotary discs with different numbers, and when the diameter and height of a certain seed distributing hole are adjusted to D-N, the seed distributing hole no longer has a seed distributing function, so that the number of seed leaking in each time can be conveniently adjusted; the adjustable size precision of the seed separating holes is D-N, and only one seed in each seed separating hole is ensured by combining a brush with the diameter of 1-2 mm on one side of the partition plate facing the seed separating rotary disc.
The bottom plate 104 is provided with a second seed discharge hole 1043, the size of the second seed discharge hole 1043 is larger than that of the seed distribution hole row, so that seeds in each seed distribution hole row can be discharged through the second seed discharge hole 1043 at the same time, the sizes of the second seed discharge hole 1043 and the third seed discharge hole 1011 are equal, the second seed discharge hole 1043 and the third seed discharge hole 1011 are opposite, and the seeds discharged from the second seed discharge hole 1043 can be discharged through the third seed discharge hole 1011; the distance between the chassis 104 and the seed separating turntable 103 is 0.5-1 mm, which ensures that one seed in each seed separating hole 1031 rotates to the second seed discharging hole 1043 along with the seed separating turntable 103 and is discharged.
The distance between the seed separating turntable 103 and the bottom plate 104 is ensured by a gasket between the seed storage chamber 101 and the partition plate 102. The size between the bottom plate 104 and the seed separating turntable 103 is 0.5-1 mm, which ensures that one seed in each seed separating hole 1031 rotates to the position of the third seed discharging hole 1011 along with the seed separating turntable 103 and is discharged. When the seed separating rotary table 103 takes different numbers of seed separating rotary tables, the distance between the seed separating rotary table 103 and the bottom plate 104 is ensured by adding a gasket between the seed storage chamber 101 and the partition plate 102.
The driving steering engines 105 are connected to four mounting holes of the partition plate 102, and the rotating shafts of the driving steering engines 105 are directly connected to the rotating center of the seed separating turntable 103 to drive the seed separating turntable 103 to rotate. The seed throwing speed can be conveniently adjusted by adjusting the rotating frequency of the driving steering engine 105, and the seed throwing speed can be easily achieved by multiplying the rotating frequency of the driving steering engine 105 by the seed distributing hole rows due to the fact that the seed distributing turnplate 103 is provided with a plurality of rows of seed distributing holes, and the seed throwing speed is smaller in size and weight compared with a motor, a speed reducer and other transmission mechanisms.
As shown in fig. 8, 9 and 10, the direction adjustment module 2 includes a pitch adjustment module 201 and a roll adjustment module 202. The pitch adjustment module 201 comprises a pitch support 2011, a pitch adjustment frame 2012, a pitch adjustment motor 2013 and a pitch adjustment bearing 2014; the roll adjustment module 202 includes a roll holder 2021, a roll adjustment frame 2022, and a roll adjustment motor 2023. The pitch adjustment module 201 may be rotatable about a pitch axis and the roll adjustment module 202 may be rotatable about a roll axis, the directions of the axes of rotation of the pitch adjustment module 201 and the roll adjustment module 202 being perpendicular to each other. The roll holder 2021 of the roll adjustment module 202 is attached to the base plate 104 of the seeding module 1.
As shown in fig. 11, 12 and 13, the seed throwing module 3 comprises a housing 301, a motor 302, a turntable 303 and a housing cover plate 304. The shell 301 of the seed throwing module 3 is connected to the pitching supporting frame 2011 of the pitching adjusting module 201, and a seed throwing hole 3011 is formed in the shell 301; the motor stator is installed on the shell 301, the motor rotor is connected on the turntable 303, the motor 302 drives the turntable 303 to rotate, the fourth seed discharge hole 3044 is formed in the shell cover plate 304, seeds discharged from the fourth seed discharge hole 3044 rotate with the turntable 303 at an accelerated speed, and the seeds fall onto the ground at an accelerated speed when rotating to the position of the seed throwing hole 3011 along with the turntable 303.
As shown in fig. 1, the connection hose 4 is connected between the third seed discharge opening 1011 of the seed separating module 1 and the fourth seed discharge opening 3044 of the seed throwing module 3, and the connection hose 4 has flexibility, so as to ensure reliable connection of the seed throwing module 3 when moving along with the direction adjusting module 2, and provide a passage for seeds to move from the seed separating module 1 to the seed throwing module 3 under the action of gravity.
As shown in fig. 2, the control module 5 includes a control board 501, a pitot tube 502, a GPS module 503, and a connecting bin 504. Connect storehouse 504 and connect in storage room 101 and unmanned aerial vehicle. The control module 5 controls the driving steering engine 105 of the seed separating module 1 to move, the motor 302 of the seed throwing module 3 to move, the pitching adjusting module 201 of the direction adjusting module 2 and the rolling adjusting module 202 to move, the control module 5 calculates and drives control signals of the steering engine 105 and the motor 302, the pitching adjusting module 201 and the rolling adjusting module 202 according to task requirements, postures of the unmanned aerial vehicle and wind speeds, and accurate seed throwing-in positions on the ground are guaranteed.
The control board 501 includes a main control chip (MCU controller), an inertia measurement unit (IMU inertia measurement unit) and a communication module, and the control board 501 is installed in the connection bin 504. As shown in fig. 14, the MCU controller receives data of the IMU inertia measurement unit, the GPS module, and the pitot tube, obtains the movement velocity and the position information through calculation, and outputs four paths of PWM signals according to the seeding requirement and the obtained velocity and position information, wherein the four paths of PWM signals respectively control the driving steering engine 105, the motor 302 of the seeding module 3, the pitch adjustment motor 2013 of the pitch adjustment module 201, and the roll adjustment motor 2023 of the roll adjustment module 202. The communication module is used for receiving the task information, can be a wired module or a wireless module, and supports the task information to be sent to the control module in a wired or wireless mode. This device supplies power through unmanned aerial vehicle power supply system.
The unmanned aerial vehicle precision seeding device can conveniently form different seed distribution hole sizes through the seed distribution module to meet the requirements of different crop seed sizes, can complete the precision seed distribution of a single seed or a plurality of seeds according to requirements, integrates the posture, position, speed and wind speed information of the unmanned aerial vehicle through the control module, automatically controls the steering engine, the motor control signal and the control signal of the direction adjusting module, ensures that the precisely distributed seeds fall to the accurate ground position at a required angle from the seed throwing hole of the seed throwing module, and can have a certain penetration depth after falling to the ground after being accelerated by the seed throwing module, thereby not only ensuring the falling precision of the seeds, but also overcoming the phenomenon that the seeds are changed due to the blowing of wind and the impact of rain, further ensuring the precision of the seeds, and realizing the precision growth of crops
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (10)
1. The utility model provides an accurate seeder of unmanned aerial vehicle, its characterized in that includes:
the seed separating module is connected with the seed box and used for temporarily storing seeds to be separated and continuously throwing the seeds to the seed throwing module through the driving steering engine;
the seed throwing module is driven by a motor to accelerate seeds to fall to the ground;
the connecting hose is used for connecting the seed separating module and the seed throwing module and providing a channel for the seeds to move from the seed separating module to the seed throwing module;
the direction adjusting module is respectively connected with the seed distributing module and the seed throwing module, and adjusts the direction of the precise seeding device of the unmanned aerial vehicle through a pitching adjusting motor and a rolling adjusting motor which are perpendicular to each other;
and the control module is respectively connected with the seed sorting module and the unmanned aerial vehicle through the connecting bin, and respectively controls the motion of a seed sorting module steering engine, the motion of a seed throwing module motor, and the motions of a pitching adjusting motor and a rolling adjusting motor of the direction adjusting module through a control panel in the connecting bin.
2. The accurate seeding device of the unmanned aerial vehicle as claimed in claim 1, wherein the seed separating module comprises a seed storage chamber, a partition plate, a seed separating rotary plate, a bottom plate and a driving steering engine, the upper part of the seed storage chamber is connected with the seed box, the lower part of the seed storage chamber is provided with a third seed leaking hole, the inside of the seed storage chamber is sequentially provided with the partition plate, the seed separating rotary plate and the bottom plate from top to bottom, the partition plate is provided with a first seed leaking hole, the seed separating rotary plate is provided with a seed separating hole, the bottom plate is provided with a second seed leaking hole, the size of the second seed leaking hole is larger than that of a seed separating hole row and is equal to that of the first seed leaking hole, the first seed leaking hole and the second seed leaking hole are opposite, and seeds enter the seed separating rotary plate through the first seed leaking hole on the partition plate and then continue to leak downwards through; the driving steering engine is fixed on the partition plate, and the rotating shaft of the driving steering engine is connected to the rotating center of the seed separating turntable to drive the seed separating turntable to rotate.
3. The precise seeding apparatus for unmanned aerial vehicle of claim 2, wherein the partition plate has a brush on one side facing the seed separating turntable.
4. The precise seeding device for unmanned aerial vehicles according to claim 2, wherein the size of the seed distributing hole is adjusted by installing a backing ring in the seed distributing hole of the seed distributing turntable.
5. The precise seeding device for unmanned aerial vehicles according to claim 2, wherein the seed separating rotary plate is composed of a plurality of seed separating rotary plate sheets, each seed separating rotary plate sheet is identical in shape, each seed separating rotary plate sheet is provided with a plurality of rows of seed separating holes which are circumferentially arranged, and each seed separating hole row is provided with a plurality of seed separating holes which are radially arranged.
6. The precise seeding device for unmanned aerial vehicles according to claim 5, wherein a gasket is arranged between the plurality of seed separation rotary discs.
7. The precise seeding device for unmanned aerial vehicles according to claim 1, wherein the direction adjusting module comprises a pitch adjusting module and a roll adjusting module, the pitch adjusting module comprises a pitch support, a pitch adjusting frame, a pitch adjusting motor and a pitch adjusting bearing, the pitch support is fixedly connected with the seed throwing module, and the pitch adjusting frame is rotatably connected with the pitch support through the pitch adjusting motor and the pitch adjusting bearing; the rolling adjustment module comprises a rolling support frame, a rolling adjustment frame and a rolling adjustment motor, the rolling support frame is connected to the seed separation module, and the rolling adjustment motor is fixedly connected with the rolling support frame through the rolling adjustment frame; the pitch adjusting module can rotate around a pitch axis, the roll adjusting module can rotate around a roll axis, and the directions of the rotating axes of the pitch adjusting module and the roll adjusting module are perpendicular to each other.
8. The precise seeding device for unmanned aerial vehicles according to claim 1, wherein the seed throwing module comprises a housing, a motor, a turntable and a housing cover plate, the housing is connected to a pitching supporting frame of the pitching adjusting module, and the lower end of the housing is provided with a seed throwing hole; the carousel is located the shell, and the shell cover board lock has the fourth hole that leaks in one side of shell, and the third hole that leaks of fourth hole through coupling hose and seed storage room is linked together, and motor stator installs the opposite side at the shell, and motor rotor connects on the carousel center, and the motor drives the carousel rotation, and the seed that leaks from the fourth hole that leaks is rotatory with higher speed along with the carousel in the shell, falls ground with higher speed when the seed rotates to get rid of the seed position along with the carousel.
9. The precise seeding device for unmanned aerial vehicles according to claim 1, wherein the control module comprises a control panel, a pitot tube, a GPS module and a connecting bin, the connecting bin is connected with the seed storage chamber and the unmanned aerial vehicle, and the control panel is installed in the connecting bin; the control panel comprises a main control chip, an inertia measurement unit and a communication module, the main control chip receives data of the inertia measurement unit, a GPS module and a pitot tube, then obtains movement speed and position information through operation, the main control chip outputs four paths of signals according to seed spreading requirements and the obtained speed and position information, the four paths of signals respectively control and drive a steering engine, a motor of the seed throwing module, a motor of the pitching adjustment module and a motor of the rolling adjustment module, and the communication module is used for receiving task information and sending the task information to the main control chip.
10. The precision seeding device for unmanned aerial vehicles according to claim 9, wherein the communication module is a wired module or a wireless module.
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| CN115349326B (en) * | 2022-07-02 | 2023-06-09 | 中国建筑一局(集团)有限公司 | Unmanned aerial vehicle for aerial seeding forestation and aerial seeding method thereof |
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