Multifunctional air-ground dual-purpose agricultural unmanned airship

Abstract

The invention discloses a multifunctional air-ground dual-purpose agricultural unmanned airship, and relates to the technical field of multi-mode unmanned aerial vehicles, and the multifunctional air-ground dual-purpose agricultural unmanned airship comprises an unmanned vehicle, an unmanned aerial vehicle airship, a composite hanger mechanism and a pesticide spraying transmission mechanism; the unmanned aerial vehicle airship comprises an air bag, a high-pressure pesticide spraying nozzle, a ducted wing arm, a ducted engine, a compressed gas storage tank, an airship support rod, a multifunctional sensor, a compression pump, an airship main rack and a wing arm control motor, and the compressed gas storage tank and the compression pump are arranged on the airship main rack. The unmanned aerial vehicle airship is provided with the compression pump and the compressed gas storage tank, inflation or deflation can be carried out at any time, accurate control over the flight height is improved, each unmanned aerial vehicle airship is provided with the two ducted engines, self-sustaining of the unmanned aerial vehicle airship is completed, the course and the flight attitude can be conveniently and rapidly adjusted in the air, the flight speed is conveniently controlled, and the unmanned aerial vehicle airship is convenient to use. And compared with an existing airship, the airship is higher in controllability, and accurate operation can be completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-modal unmanned aerial vehicle, in particular to a multifunctional air-ground dual-purpose agricultural unmanned airship. BACKGROUND

[0002] With the development of agricultural modernization, the demand for agricultural aircraft is increasing, such as pesticide spraying, high-altitude farmland information collection, transportation in mountainous and hilly areas, and other agricultural aerial operations. The commonly used agricultural aircraft currently includes fixed-wing aircraft, unmanned helicopters and airships, etc.

[0003] The fixed-wing aircraft has a large load, but requires a long runway and is not suitable for small-area farmland operations; the unmanned helicopter has good maneuverability, but has short endurance and small load, while the traditional airship has poor controllability and cannot be precisely operated. Therefore, a multifunctional air-ground dual-purpose agricultural unmanned airship with good controllability and precise operation is proposed. SUMMARY

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a multifunctional air-ground dual-purpose agricultural unmanned airship, comprising an unmanned vehicle, an unmanned aerial vehicle, a composite hanging mechanism and a pesticide spraying transmission mechanism; The unmanned aerial vehicle comprises a gas bag, a high-pressure pesticide spraying nozzle, a ducted wing arm, a ducted engine, a compressed gas storage tank, an airship support rod, a multifunctional sensor, a compression pump, an airship main frame and a wing arm control motor. The compressed gas storage tank and the compression pump are arranged on the airship main frame. Both ends of the gas bag are fixedly installed on the airship main frame, and one airship support rod is installed at each end of the airship main frame. The multifunctional sensor is installed on one of the airship support rods, and a pipeline connection port is installed on the other airship support rod. The ducted wing arm is installed on the airship main frame through the wing arm control motor. The ducted wing arm is internally provided with a rechargeable battery. The high-pressure pesticide spraying nozzle and the ducted engine are arranged on the ducted wing arm. The pipeline connection port on the airship support rod is communicated with the high-pressure pesticide spraying nozzle through a pipeline. The pipeline connection port is connected with the vehicle-mounted battery of the unmanned vehicle and the liquid pump of the pesticide spraying transmission mechanism through the liquid and power transmission pipeline of the pesticide spraying transmission mechanism. The airship main frame is provided with a composite hanging mechanism. The unmanned aerial vehicle is placed on the unmanned vehicle through the airship support rod.

[0005] As a preferred, the unmanned vehicle comprises a vehicle-mounted computer, an airship support, a wheel, a wheel motor, a vehicle-mounted battery, a vehicle frame and a vehicle-mounted pesticide box. The vehicle-mounted computer, the airship support, the wheel motor, the vehicle-mounted battery and the vehicle-mounted pesticide box are arranged on the vehicle frame. The output end of the wheel motor is provided with the wheel. The airship support is used to support the unmanned aerial vehicle in cooperation with the airship support rod.

[0006] As preferred, the medicine spraying transmission mechanism comprises an infusion transmission pipeline, a winch, an infusion pump, an infusion pump support, a winch motor and a medicine box infusion pipe, the infusion pump support and the winch motor are fixed on the vehicle frame, the winch motor is provided with the winch, the winch is wound with the infusion transmission pipeline, the infusion transmission pipeline comprises a power line and a medicine pipe, the infusion pump is fixed on the infusion pump support, the medicine box infusion pipe is used for connecting the vehicle-mounted medicine box and the infusion pump input end, the infusion pump output end is connected with the medicine pipe of the infusion transmission pipeline, and the end of the infusion transmission pipeline away from the infusion pump is connected with the pipeline connection port on the airship support rod.

[0007] As preferred, the composite hanging mechanism comprises a hanging arm, a hanging electromagnet, a hanging arm control motor and a hanging hook, the hanging arm is installed on the airship main frame through the hanging arm control motor, the hanging electromagnet is fixedly installed on the hanging arm through the control motor, and the hanging hook is fixedly installed on the airship main frame.

[0008] As preferred, the vehicle frame is provided with a vehicle-mounted computer on the vehicle frame cross beam.

[0009] As preferred, two unmanned airships are arranged, and the pipeline connection ports of the two unmanned airships are connected with the infusion pump and the vehicle-mounted battery through one infusion transmission pipeline.

[0010] The unmanned airship has the following beneficial effects: The unmanned airship is provided with a compression pump and a compressed gas storage tank, can be inflated or deflated at any time, improves the precise control on the flight height, and is provided with two duct engines, so that the unmanned airship can be self-sustained, the flight direction and the flight attitude can be quickly adjusted in the air, the flight speed can be controlled conveniently, the control performance is stronger than that of the prior airship, and precise operation can be completed. When the scene needs to be changed, the unmanned airship can be carried on the unmanned vehicle to realize quick scene change, when the flight operation does not pursue the speed, the unmanned airship can be dragged by the unmanned vehicle to complete movement, energy loss is reduced, and energy use efficiency is improved. The unmanned airship can carry a large amount of materials, and movement of the unmanned airship is realized by dragging the unmanned airship by the unmanned vehicle, so that heavy load and low energy consumption transportation are realized. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a structure schematic view of the multifunctional air-ground dual-purpose agricultural unmanned airship in the ground driving state of the application; Figure 2 It is a structure schematic view of the multifunctional air-ground dual-purpose agricultural unmanned airship in the spraying state of the application; Figure 3 It is a structure schematic view of the air bag, the duct wing arm and the hanging arm in the application; Figure 4 It is a structure schematic view of the winch, the infusion pump and the medicine box infusion pipe in the application; Figure 5 This is a schematic diagram of the airship main frame, airbag, and airship support rod in this invention; Figure 6 This is a schematic diagram of the structure of the mounting arm, the mounting arm control motor, and the mounting hook in this invention.

[0012] In the diagram: 1. Onboard computer; 2. Airship support frame; 3. Wheel; 4. Wheel motor; 5. Onboard battery; 6. Frame; 7. Onboard medicine box; 8. Infusion and power supply lines; 9. Airbag; 10. High-pressure spray nozzle; 11. Mounting arm; 12. Mounting electromagnet; 13. Ducted wing arm; 14. Ducted engine; 15. Frame crossbeam; 16. Winch; 17. Infusion pump; 18. Infusion pump support frame; 19. Winch motor; 20. Medicine box infusion line; 21. Compressed gas storage tank; 22. Airship support rod; 23. Multifunctional sensor; 24. Compressor pump; 25. Airship main frame; 27. Wing arm control motor; 28. Mounting arm control motor; 29. ​​Mounting hook. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0015] Embodiments of the present invention: such as Figures 1 to 6 As shown, a multi-functional agricultural unmanned airship that can be used both in the air and on the ground includes an unmanned vehicle, an unmanned airship, a composite mounting mechanism, and a spraying and transport mechanism. The unmanned vehicle includes an onboard computer 1, an airship support 2, wheels 3, wheel motors 4, an onboard battery 5, a frame 6, and an onboard medicine tank 7. The airship support 2, wheel motors 4, onboard battery 5, and onboard medicine tank 7 are mounted on the frame 6. The onboard computer 1 is mounted on the frame crossbeam 15 of the frame 6. The wheels 3 are mounted on the output end of the wheel motors 4. The airship support 2 is used to cooperate with the airship support rod 22 of the unmanned airship to support the unmanned airship. The onboard computer 1, wheel motors 4, and onboard battery 5 are all existing technologies and will not be described in detail here.

[0016] The unmanned aerial vehicle airship comprises a gas bag 9, a high-pressure pesticide spraying nozzle 10, two ducted wing arms 13, a ducted engine 14, a compressed gas storage tank 21, an airship support rod 22, a multifunctional sensor 23, a compression pump 24, an airship main frame 25 and a wing arm control motor 27, the airship main frame 25 is provided with the compressed gas storage tank 21 and the compression pump 24, both ends of the gas bag 9 are fixedly installed on the airship main frame 25, the lightweight gas in the compressed gas storage tank 21 can be delivered into the gas bag 9 through the compression pump 24, so that the gas bag 9 is inflated to drive the unmanned aerial vehicle airship to ascend, and the lightweight gas in the gas bag 9 can also be re-compressed into the compressed gas storage tank 21 through the compression pump 24, so as to conveniently adjust the flight height of the unmanned aerial vehicle airship; the airship main frame 25 is provided with one airship support rod 22 at each end, one of the airship support rods 22 is provided with the multifunctional sensor 23 (containing a multi-spectrum sensor, an infrared sensor and a millimeter wave radar, which can detect the growth of crops and the ammonia nitrogen condition, and is used for cooperating with precise pesticide spraying and self trajectory planning, the multifunctional sensor 23 is prior art, and details are not described herein), and the other airship support rod 22 is provided with a pipeline connecting port, the pipeline connecting port can be manually connected with the liquid and power transmission pipeline 8 of the pesticide spraying transmission mechanism, the ducted wing arm 13 is installed on the airship main frame 25 through the wing arm control motor 27, the ducted wing arm 13 can be driven to rotate through the wing arm control motor 27, the ducted wing arm 13 is internally provided with a charging battery, which can supply power to the electric appliances such as the ducted engine 14, the multifunctional sensor 23, the compression pump 24, the wing arm control motor 27, the mounting electromagnet 12 and the mounting arm control motor 28, the high-pressure pesticide spraying nozzle 10 and the ducted engine 14 are arranged on the ducted wing arm 13, the pipeline connecting port on the airship support rod 22 is communicated with the high-pressure pesticide spraying nozzle 10 through a pipeline, the pipeline connecting port on the airship support rod 22 is connected with the electric appliances such as the ducted engine 14, the multifunctional sensor 23, the compression pump 24, the wing arm control motor 27, the mounting arm control motor 28 and the mounting electromagnet 12 through wires, and the pipeline connecting port is connected with the vehicle-mounted battery 5 of the unmanned vehicle and the liquid pump 17 of the pesticide spraying transmission mechanism through the liquid and power transmission pipeline 8 of the pesticide spraying transmission mechanism, so that the liquid in the vehicle-mounted pesticide box 7 can be sprayed out of the high-pressure pesticide spraying nozzle 10, the airship main frame 25 is provided with a composite hanger mechanism, the unmanned aerial vehicle airship is placed on the airship support 2 of the unmanned vehicle through the airship support rod 22, and the airship support 2 can limit and fix the airship support rod 22; the ducted engine 14, the compressed gas storage tank 21, the compression pump 24 and the wing arm control motor 27 are prior art, and details are not described herein.

[0017] The medicine spraying transmission mechanism comprises a liquid delivery and power supply pipeline 8, a winch 16, a liquid pump 17, a liquid pump support 18, a winch motor 19 and a medicine tank liquid delivery pipeline 20. The liquid pump support 18 and the winch motor 19 are fixed on the vehicle frame 6. The winch motor 19 is provided with the winch 16 at the output end. The winch 16 is wound with the liquid delivery and power supply pipeline 8. The winch motor 19 is used to drive the winch 16 to rotate, so as to wind or unwind the liquid delivery and power supply pipeline 8. The liquid delivery and power supply pipeline 8 comprises a power supply line and a medicine delivery pipeline. The outer packaging material of the liquid delivery and power supply pipeline 8 is an anti-fatigue material. The liquid pump 17 is fixed on the liquid pump support 18. The medicine tank liquid delivery pipeline 20 is used to connect the vehicle-mounted medicine tank 7 and the input end of the liquid pump 17. The output end of the liquid pump 17 is connected with the medicine delivery pipeline of the liquid delivery and power supply pipeline 8. The end of the liquid delivery and power supply pipeline 8 away from the liquid pump 17 is connected with the pipeline connection port on the airship support rod 22, and the liquid delivery and power supply pipeline 8 can be manually separated from the pipeline connection port. The medicine delivery pipeline is used to deliver the liquid in the vehicle-mounted medicine tank 7 to the high-pressure medicine spraying nozzle 10. The power supply line is used to connect the electric appliances of the unmanned airship with the vehicle-mounted battery 5, so that the vehicle-mounted battery 5 can supply power to the electric appliances such as the vehicle-mounted computer 1, the wheel motor 4, the mounting electromagnet 12, the ducted fan engine 14, the liquid pump 17, the winch motor 19, the multifunctional sensor 23, the compression pump 24, the wing arm control motor 27 and the mounting arm control motor 28. The unmanned airship is provided with two airships. The pipeline connection ports of the two unmanned airships are connected with the liquid pump 17 and the vehicle-mounted battery 5 through one liquid delivery and power supply pipeline 8. The winch 16, the liquid pump 17 and the winch motor 19 are all prior art, and will not be repeated here.

[0018] The composite mounting mechanism comprises a mounting arm 11, a mounting electromagnet 12, a mounting arm control motor 28 and a mounting hook 29. The mounting arm 11 is installed on the airship main frame 25 through the mounting arm control motor 28 and can be driven to rotate by the mounting arm control motor 28. The mounting electromagnet 12 is fixedly installed on the mounting arm 11 through a control motor three, which is used to adjust the angle of the mounting electromagnet 12. The mounting hook 29 is fixedly installed at the bottom of the airship main frame 25. The mounting electromagnet 12, the mounting arm control motor 28 and the control motor three are all prior art, and will not be repeated here.

[0019] The working principle of all the contents in the above embodiments is as follows: In the flying and spraying state: The compression pump 24 works, the compressed light gas is pumped into the air bag 9, so that the air bag 9 is inflated, the lifting force is provided, and the light gas in the air bag 9 can also be compressed back into the compressed gas storage tank 21 by the compression pump 24, so as to adjust the flight height of the unmanned airship; the wing arm control motor 27 drives the ducted wing arm 13 to rotate, so that the ducted wing arm 13 is in an open state, the heading and flight attitude can be quickly adjusted through the ducted engine 14, the ducted engine 14 is used to complete the self-sustaining of the unmanned airship, and the self-control of the unmanned airship can be realized; the infusion pump 17 is used to convey the liquid medicine in the vehicle-mounted medicine box 7 to the high-pressure medicine spraying nozzle 10 through the infusion and power supply pipeline 8, the pipeline connection port and the pipeline, and the liquid medicine is sprayed out through the high-pressure medicine spraying nozzle 10. The unmanned airship of the application is provided with a compression pump 24 and a compressed gas storage tank 21, can be inflated or deflated at any time, the precision control of the flight height is improved, and each unmanned airship is provided with two ducted engines 14, which are used to complete the self-sustaining of the unmanned airship, the heading and flight attitude can be quickly adjusted in the air, the flight speed is controlled conveniently, the control performance of the existing airship is stronger, and accurate operation can be completed.

[0020] In the hanging state: First, manually separate the infusion and power supply pipeline 8 from the pipeline connection port, supply power through the charging battery in the ducted wing arm 13, the lighter goods can be directly hung on the hanging hook 29 through the pulling rope, when the heavier metal goods are hung, the hanging arm control motor 28 is used to lower the hanging arm 11, the metal goods are adsorbed through the hanging electromagnet 12, the goods are prevented from shaking in the flight process, and the transportation safety is improved.

[0021] In the ground driving state: When scene transfer operation is needed, the unmanned airship can be carried on the unmanned vehicle to realize quick scene transfer, when flight operation is not pursued, the unmanned airship can be moved by dragging the unmanned airship through the unmanned vehicle, energy loss is reduced, and energy use efficiency is improved. The unmanned airship can hang a large amount of materials, in the state that the infusion and power supply pipeline 8 is partially separated from the pipeline connection port, the unmanned airship can be moved by dragging the unmanned airship through the unmanned vehicle, power is not needed to be provided by the unmanned airship, large load, low energy consumption transportation is realized.

[0022] Although the embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the foregoing embodiment, since many modifications, substitutions, changes and alterations thereof can be made by those skilled in the art without departing from the spirit and scope of the application. The scope of the application is defined by the appended claims and their equivalents.

Claims

1. A multi-functional, dual-purpose (air and ground) agricultural unmanned airship, characterized in that: This includes unmanned vehicles, drone airships, composite mounting mechanisms, and spraying and transport mechanisms; The unmanned aerial vehicle (UAV) airship includes an airbag (9), a high-pressure spray nozzle (10), a ducted wing arm (13), a ducted engine (14), a compressed gas storage tank (21), an airship support rod (22), a multi-functional sensor (23), a compressor pump (24), an airship main frame (25), and a wing arm control motor (27). The airship main frame (25) is equipped with a compressed gas storage tank (21) and a compressor pump (24). Both ends of the airbag (9) are fixedly mounted on the airship main frame (25), and an airship support rod (22) is installed at both ends of the airship main frame (25). One airship support rod (22) is equipped with a multi-functional sensor (23), and the other airship support rod (24) is equipped with a multi-functional sensor (23). 2) The airship is equipped with a pipe connection port. The ducted wing arm (13) is mounted on the airship main frame (25) via the wing arm control motor (27). The ducted wing arm (13) has a built-in rechargeable battery. The ducted wing arm (13) is equipped with a high-pressure spray nozzle (10) and a ducted engine (14). The pipe connection port on the airship support rod (22) is connected to the high-pressure spray nozzle (10) via a pipe. The pipe connection port is connected to the vehicle battery (5) of the unmanned vehicle and the infusion pump (17) of the spray transmission mechanism via the liquid and power transmission pipeline (8) of the spray transmission mechanism. The airship main frame (25) is equipped with a composite hanger mechanism. The unmanned airship is placed on the unmanned vehicle via the airship support rod (22).

2. The multi-functional air-ground dual-purpose agricultural unmanned airship according to claim 1, characterized in that, The unmanned vehicle includes an onboard computer (1), an airship bracket (2), wheels (3), wheel motors (4), an onboard battery (5), a frame (6), and an onboard medicine box (7). The onboard computer (1), airship bracket (2), wheel motors (4), onboard battery (5), and onboard medicine box (7) are installed on the frame (6). The wheel motor (4) has wheels (3) at its output end. The airship bracket (2) is used to cooperate with the airship bracket rod (22) to support the unmanned airship.

3. The multi-functional air-ground dual-purpose agricultural unmanned airship according to claim 2, characterized in that, The spraying and transmission mechanism includes an infusion and power supply line (8), a winch (16), an infusion pump (17), an infusion pump bracket (18), a winch motor (19), and a medicine box infusion pipe (20). The infusion pump bracket (18) and the winch motor (19) are fixed on the vehicle frame (6). The output end of the winch motor (19) is equipped with a winch (16). The infusion and power supply line (8) is wound on the winch (16). The infusion and power supply line (8) includes a power line and a medicine delivery pipe. The infusion pump (17) is fixed on the infusion pump bracket (18). The medicine box infusion pipe (20) is used to connect the vehicle medicine box (7) and the input end of the infusion pump (17). The output end of the infusion pump (17) is connected to the medicine delivery pipe of the infusion and power supply line (8). The end of the infusion and power supply line (8) away from the infusion pump (17) is connected to the pipe connection port on the airship support rod (22).

4. A multi-functional air-ground dual-purpose agricultural unmanned airship according to claim 3, characterized in that, The composite mounting mechanism includes a mounting arm (11), a mounting electromagnet (12), a mounting arm control motor (28), and a mounting hook (29). The mounting arm (11) is mounted on the airship main frame (25) via the mounting arm control motor (28). The mounting electromagnet (12) is fixedly mounted on the mounting arm (11) via the control motor. The mounting hook (29) is fixedly mounted on the airship main frame (25).

5. A multi-functional air-ground dual-purpose agricultural unmanned airship according to claim 4, characterized in that, The vehicle computer (1) is installed on the crossbeam (15) of the frame (6).

6. A multi-functional air-ground dual-purpose agricultural unmanned airship according to claim 5, characterized in that, There are two drone airships. The pipeline connection ports of the two drone airships are connected to the infusion pump (17) and the vehicle battery (5) through an infusion and power transmission pipeline (8).

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