CN110861562B

CN110861562B - Hybrid power agricultural unmanned vehicle

Info

Publication number: CN110861562B
Application number: CN201911152671.9A
Authority: CN
Inventors: 张旭超
Original assignee: Dongguan Muqin Intelligent Technology Co ltd
Current assignee: Dongguan Muqin Intelligent Technology Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2025-07-29
Anticipated expiration: 2039-11-22
Also published as: CN110861562A

Abstract

A hybrid agricultural unmanned vehicle is used for agricultural operations. The hybrid agricultural unmanned vehicle includes a spraying module, an air supply module, a drive module, a power module, a body module, a control module and an agricultural function expansion module. The spraying module includes a nozzle, the air supply module is used to spray air to expand the spraying range, the drive module is used to drive the hybrid agricultural unmanned vehicle to travel, the power module includes a generator, the generator includes an internal combustion engine and a generator disk, the internal combustion engine drives the generator disk to rotate to generate electricity and power each module, the control module is used to control the operation between each module and receive remote control signals, the body module is used to carry each module, and the agricultural function expansion module is used to expand the functions of the hybrid agricultural unmanned vehicle.

Description

Hybrid power agricultural unmanned vehicle

Technical Field

The invention relates to a hybrid power agricultural unmanned vehicle.

Background

At present, most of the existing agricultural vehicles and mechanical equipment are operated in modes of internal combustion engine driving, pure mechanical transmission and manual operation driving, so that the existing agricultural vehicles and mechanical equipment are too large in appearance, poor in ground entering performance, high in operation difficulty, incapable of being accurately controlled and low in safety, and are particularly limited to the planting space and the luxuriant branches and leaves of the existing farmland, so that the existing agricultural equipment cannot be well used in the existing farmland, such as an orchard.

Disclosure of Invention

In view of the above, it is necessary to provide a hybrid agricultural unmanned vehicle which is unmanned, small in size, and strong in expansibility, so as to be suitable for existing farm works.

The utility model provides a hybrid agricultural unmanned aerial vehicle for agricultural operation, hybrid agricultural unmanned aerial vehicle includes spray module, air supply module, drive module, power module, automobile body module, control module and agricultural function expansion module, spray module includes the shower nozzle, the air supply module is used for the jet to enlarge spray the scope of spraying the module, drive module is used for driving hybrid agricultural unmanned aerial vehicle's traveling, the power module includes the generator, the generator includes internal-combustion engine and generating disc, the internal-combustion engine drive generating disc rotation electricity and for spray module the air supply module the drive module automobile body module control module reaches agricultural function expansion module power supply, control module is used for controlling spray module the air supply module automobile body module the operation between the power module reaches the agricultural function expansion module receives remote control signal, automobile body module is used for bearing spray module the air supply module the drive module the power module the control module reaches agricultural function expansion module is used for agricultural function expansion module.

Further, the spraying module further comprises a water tank, a water pump and a filter, wherein the water pump is used for pumping the sprayed objects in the water tank and conveying the sprayed objects to the spray head, and the filter is installed between the water tank and the water pump and used for filtering impurities in the sprayed objects.

Further, the air supply module further comprises a fan and an air outlet, the fan comprises an air inlet and an air outlet, the air inlet is used for sucking air, the air outlet is used for spraying air, the air outlet is communicated with the air outlet, the spray heads are distributed around the air outlet, and the air outlet is used for spraying air to expand the spraying range of the spray heads and atomize the sprayed objects.

Further, the driving module comprises wheels, a motor, a speed reducer, a chain wheel and a chain, wherein the motor drives the wheels to rotate so as to drive the hybrid power agricultural unmanned vehicle, the wheels comprise driving wheels and driven wheels, the motor drives the driving wheels to rotate through the speed reducer, the chain wheel penetrates through the driving wheel shaft and the driven wheel shaft, and the chain is installed on the chain wheel and used for transmission, so that the driving wheels drive the driven wheels to rotate.

Further, the power module further comprises a battery, the battery is used for storing the electric energy of the power generation disc during low-power operation, the battery and the generator are used for providing electric energy for all modules during high-power operation, the battery directly provides electric energy for all modules to maintain operation when the generator stops working, and the generator can be replaced by an additional battery so that the hybrid agricultural unmanned aerial vehicle becomes purely electric drive.

Further, the control module comprises a main control computer, a remote controller, a power distribution box, a motor driver and a camera, wherein the main control computer is used for summarizing and processing signals and data of the spraying module, the air supply module, the driving module, the car body module, the power module and the agricultural function expansion module, the remote controller is used for transmitting instructions to the main control computer for remotely controlling the hybrid agricultural unmanned aerial vehicle, the power distribution box is used for distributing power to each power utilization module, the motor driver is used for controlling rotation of the motor, and the camera is used for recording real-time images of the hybrid agricultural unmanned aerial vehicle when the hybrid agricultural unmanned aerial vehicle runs and transmitting the real-time images to the remote controller.

Further, the automobile body module includes shell, chassis, skeleton, car light and function extension mechanism, the skeleton install in on the chassis, the chassis reaches the skeleton is used for bearing spray the module the air supply module the power module the control module reaches agricultural function extension module, the shell is located the skeleton is outside, the shell includes preceding protecgulum and back protecgulum, preceding protecgulum is used for protecting control module with spray the module, back protecgulum is used for protecting air supply module with power module, the car light is located the front end and the rear end of hybrid agricultural unmanned aerial vehicle, the function extension mechanism is used for external agricultural function extension module.

Further, the air inlet of the fan is arranged in the hybrid power agricultural unmanned aerial vehicle, a vent hole is formed in the front end of the front cover, the air inlet sucks in external air from the vent hole, and the air inlet is used for radiating and cooling internal structures such as the main control computer, the motor, the speed reducer, the motor driver, the water pump and the generator in the hybrid power agricultural unmanned aerial vehicle.

Further, the operation of the hybrid agricultural unmanned aerial vehicle is provided with an automatic driving mode and a manual remote control mode, a program of the automatic driving mode is stored in the main control computer, and the manual remote control mode is used for remotely controlling the hybrid agricultural unmanned aerial vehicle through the remote controller.

Further, the functions of the agricultural function extension module may be at least one of transportation, weeding, tilling, fertilizing, and watering.

The hybrid power agricultural unmanned aerial vehicle realizes the purpose of unmanned efficient agricultural spraying operation through the mutual coordination among the spraying module, the air supply module, the driving module, the power module, the vehicle body module and the control module, achieves the purpose of strong agricultural function expansibility through the function expansion mechanism and the agricultural function expansion module, and realizes the purposes of sufficient power, high control precision, small volume, strong ground entering property and flexible expansion through the hybrid power of the internal combustion engine and the power generation disc and the pure electric energy driving of each module, thereby achieving the purpose of multipurpose operation of one machine in the existing farmland.

Drawings

Fig. 1 is a schematic perspective view of a hybrid agricultural vehicle according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view illustrating an internal structure of a hybrid agricultural unmanned vehicle according to an embodiment of the present invention.

Fig. 3 is a top view of a chassis and a driving module according to an embodiment of the invention.

Fig. 4 is a schematic perspective view illustrating an internal structure of a hybrid agricultural unmanned vehicle according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view illustrating an internal structure of a hybrid agricultural unmanned vehicle according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of a hybrid agricultural vehicle and an agricultural function expansion module according to an embodiment of the present invention.

Description of the main reference signs

Hybrid agricultural unmanned vehicle 100

Spray module 10

Water tank 11

Water pump 12

Filter 13

Spray head 14

Air supply module 20

Blower fan 21

Air outlet hole 22

Drive module 30

Wheel 31

Active wheel 311

Driven wheel 312

Motor 32

Speed reducer 33

Sprocket 34

Chain 35

Power module 40

Generator 41

Internal combustion engine 411

Power generation disc 412

Battery 42

Control module 50

Main control computer 51

Power distribution box 52

Motor driver 53

Body module 60

Chassis 61

Beam 611

Mask 612

Skeleton 62

Outer casing 63

Front cover 631

Vent 6311

Rear cover 632

Car light 64

Function expanding mechanism 65

Agricultural function expansion module 70

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without collision.

Referring to fig. 1,2,3 and 4, in an embodiment of the present invention, a hybrid agricultural vehicle 100 includes a spraying module 10, an air supply module 20, a driving module 30, a power module 40, a control module 50, a vehicle body module 60 and an agricultural function expansion module 70.

Referring to fig. 1 and 2, a vehicle body module 60 includes a chassis 61, a skeleton 62, a housing 63, and a function expanding mechanism 65. The housing 63 includes a front cover 631 and a rear cover 632. The front cover 631 and the rear cover 632 cover are used for protection and sealing. The chassis 61 is used to fix the drive module 40 and the agricultural function extension module 70. The frame 62 is mounted on the chassis 61 for fixing and supporting the spray module 10, the air supply module 20, the power module 40, and the control module 50. The power module 40 is positioned at the bottom of the backbone 62 (i.e., inside the chassis 61). The left and right sides of the chassis 61 are provided with beams 611, and the beams 611 are of a U-shaped semi-closed structure. The outside of the beam 611 is provided with a mask 612, and the mask 612 can seal the beam 611, so that erosion of dust and water mist is avoided, and the service life of the beam 611 is greatly prolonged.

Referring to fig. 6, a function expansion mechanism 65 is disposed at the front and rear ends of the chassis 61 and is used for connecting with an agricultural function expansion module 70, such as a transportation module, a weeding module, a tilling module, a fertilizing module, etc., to expand the functions of the hybrid agricultural vehicle 100.

Referring to fig. 1 and 2, the air supply module 20 includes two fans 21 and two air outlets 22. The fans 21 are disposed on the frame 62 and distributed on both sides of the rear of the frame 62. The air outlet 22 is disposed at the rear of the frame 62 and is removable for replacement. The fan 21 includes an air inlet for extracting air and an air outlet (not shown) through which the air is discharged. The air outlet is communicated with the air outlet hole 22, and the air outlet hole 22 is used for spraying out air discharged by the air outlet. In one embodiment of the invention, the fan 21 is a volute fan.

The spray module 10 includes a water tank 11, a water pump 12, a filter 13, and a plurality of spray heads 14. The water tank 11 is installed in the middle of the front cover 631 and the rear cover 632. The water pump 12 and filter 13 are positioned on the frame 62 below the front cover 631. The water pump 12 is connected to the water tank 11 through a filter 13. The water pump 12 is used to pump the spray in the water tank 11 and send it to the spray head 14. The filter 13 is used to filter impurities in the spray. The plurality of spray heads 14 are uniformly distributed around the two air outlet holes 22, and the air discharged from the air outlet holes 22 is used for expanding the spraying range of the spray heads 14 and enhancing the atomization effect and the penetrating power of the sprayed objects.

Referring to fig. 3, the driving module 30 includes four wheels 31, two motors 32, two reducers 33, four sprockets 34, and two chains 35. The motor 32, the decelerator 33, the sprocket 34 and the chain 35 are installed inside the chassis 61, and the wheel 31 is coupled to the decelerator 33 through a wheel shaft provided to the chassis 61 and the beam 611. Bearings are fixed to the beam 611 at the positions corresponding to the inner and outer surfaces thereof to fix the wheel 31. The wheel 31 includes two driving wheels 311 and two driven wheels 312. Each motor 32 drives one driving wheel 311 to rotate through one decelerator 33 to drive the hybrid agricultural vehicle 100. Sprocket 34 and chain 35 are disposed inside beam 611. Each sprocket 34 is provided to pass through the shaft of one wheel 31. Two chains 35 are respectively mounted on the left and right chain wheels 34 for transmission, so that the driving wheel 311 drives the driven wheel 312 to rotate. The wheels 31 are driven by two motors 32 which are independent respectively, and the speed, turning, reversing and in-situ steering of the hybrid agricultural unmanned vehicle 100 are controlled by controlling the rotation speed and the direction of the motors 32.

Referring to fig. 2, the control module 50 is configured to take charge of receiving a remote control signal and summarizing and returning various sensor data, and simultaneously control coordination and accurate operation of various parts of the hybrid agricultural unmanned vehicle 100. The control module 50 includes a main control computer 51, a power distribution box 52, a motor driver 53, a remote controller (not shown) and a camera (not shown). The main control computer 51 and the power distribution box 52 are arranged below the front cover 631 and above the framework 62, and the motor driver 53 is arranged below the framework and inside the chassis 61. The main control computer 51 is used for summarizing signals and data of the air supply module 20, the driving module 30, the power module 40, the spraying module 10 and the agricultural function expansion module 70. The remote controller transmits instructions to the host computer 51 for remotely controlling the hybrid agricultural vehicle 100. The power distribution box 52 is used to protect the circuit. The motor driver 53 is used to control the rotation of the motor 32. The camera is used for recording real-time images of the hybrid agricultural vehicle 100 while traveling and transmitting the images to the remote controller.

Referring to fig. 4, the power module 40 includes a generator 41 and a battery 42. The generator 41 includes an internal combustion engine 411 and a power generation disc 412. The internal combustion engine 411 and the power generation tray 412 are mounted on the frame 62 below the rear cover 632, and the battery 42 is mounted below the frame 62 inside the chassis 61. The internal combustion engine 411 drives the power generation disc 412 to rotate and generate power. The battery 42 is used to store electrical energy for the power generation disc 412. The power of the power generation panel 412 and the battery 42 is used to drive the operation of the spray module 10, the air supply module 20, the driving module 30, the control module 50, the body module 60, and the agricultural function extension module 70. When the hybrid agricultural unmanned aerial vehicle 100 is in low-power operation, the surplus electric energy of the generator 41 can charge the battery 42, and when the hybrid agricultural unmanned aerial vehicle 100 is required to output high power, the battery 42 can also output electric energy simultaneously so as to meet the power requirement of the whole vehicle, and the purposes of continuous and strong power and high control precision are achieved. In addition, when no fuel stops in the generator 41, the battery 42 can still directly supply electric power to each module to maintain operation, and the space of the generator 41 can be replaced with an additional battery 42 to increase the electric energy storage capacity of the hybrid agricultural unmanned aerial vehicle 100, thereby changing the hybrid agricultural unmanned aerial vehicle 100 into a purely electric driven agricultural unmanned aerial vehicle.

Referring to fig. 1, it is noted that a vent hole 6311 is provided at the front end of the front cover 631. Because the air inlet of the fan 21 is arranged in the hybrid agricultural unmanned aerial vehicle 100 (inside the chassis 61 and below the framework 62), the air inlet sucks outside air from the air hole 6311, and can simultaneously radiate heat and cool for the internal structures of the main control computer 51, the motor 32, the speed reducer 33, the motor driver 53, the water pump 12, the generator 41 and the like in the hybrid agricultural unmanned aerial vehicle 100.

Referring to fig. 5, the water tank 11 is detachably mounted on the frame 62, and the space of the water tank 11 after being detached can be used for loading other objects for transportation work of the farmland orchard.

In addition, the body module 60 further includes a vehicle lamp 64. The lamps 64 are positioned at the front and rear ends of the hybrid agricultural vehicle 100 for illumination and warning.

The hybrid agricultural vehicle 100 is operated in an automatic driving mode and a manual remote control mode. The automatic driving mode is to intelligently control the hybrid agricultural unmanned aerial vehicle 100 by the main control computer 51 to operate according to the signals of a designated line or each sensor, and the manual remote control mode is to remotely control the hybrid agricultural unmanned aerial vehicle 100 to run by a remote controller and observe the running condition of the hybrid agricultural unmanned aerial vehicle 100 by a camera.

It will be appreciated that when the hybrid agricultural vehicle 100 is used in agriculture, the spray in the tank 11 may be water, pesticide, foliar fertilizer, etc. The hybrid agricultural unmanned vehicle can also be used for spraying in other scenes. In other embodiments, the hybrid agricultural vehicle 100 may have other numbers of air outlets 22, and the positions of the air outlets 22 may be disposed around the hybrid agricultural vehicle 100, the hybrid agricultural vehicle 100 may further change four-wheel drive into six-wheel drive or eight-wheel drive by increasing the number of driven wheels 312, sprockets 34 and chains 35 and the length of the chassis 61, beams 611 and cover 612, so as to achieve higher bearing capacity, and the sprockets 34 and chains 35 may also change into pulleys and tracks, and the control system 50 may further add other various sensors to improve the accuracy of the hybrid agricultural vehicle 100 and expand other functions of the hybrid agricultural vehicle 100.

The hybrid power agricultural unmanned aerial vehicle 100 achieves the purpose of unmanned high-efficiency agricultural spraying operation through the mutual coordination among the spraying module 10, the air supply module 20, the driving module 30, the power module 40, the control module 50 and the vehicle body module 60, achieves the purpose of strong agricultural function expansibility through the function expansion mechanism and the agricultural function expansion module 70, achieves the purposes of sufficient power, high control precision, small size, strong ground entering property and flexible expansion through the hybrid power of the internal combustion engine 411 and the power generation disc 412 and the pure electric driving of each module, and achieves the purpose of multipurpose operation in the existing farmland.

The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention. Those skilled in the art can make other changes and modifications within the spirit of the invention, which are intended to be within the scope of the invention, without departing from the technical spirit of the invention. Such variations, which are in accordance with the spirit of the invention, are intended to be included within the scope of the invention as claimed.

Claims

1. The hybrid power agricultural unmanned aerial vehicle is used for agricultural operation and is characterized by comprising a spraying module, an air supply module, a driving module, a power module, a vehicle body module, a control module and an agricultural function expansion module, wherein the spraying module comprises a spray head, the air supply module is used for spraying air to expand the spraying range of the spraying module, the driving module is used for driving the hybrid power agricultural unmanned aerial vehicle to run, the power module comprises a generator, the generator comprises an internal combustion engine and a power generation disc, the internal combustion engine drives the power generation disc to rotate for generating electricity and supplying power for the spraying module, the air supply module, the driving module, the vehicle body module, the control module and the agricultural function expansion module, the control module is used for controlling the operation among the spraying module, the air supply module, the driving module, the vehicle body module, the power module and the agricultural function expansion module and receiving remote control signals, and the vehicle body is used for bearing the spraying module, the air supply module, the driving module, the power module, the control module and the agricultural function expansion module;

The air supply module comprises a fan and an air outlet, the fan comprises an air inlet and an air outlet, the air inlet is used for sucking air, the air outlet is used for spraying air, the air outlet is communicated with the air outlet, and the air outlet is used for spraying air to enlarge the spraying range of the spray head;

The air inlet of the fan is arranged in the hybrid power agricultural unmanned aerial vehicle, the front end of the front machine cover is provided with a vent hole, and the air inlet is used for sucking external air from the vent hole and cooling a main control computer of the control module, a motor of the driving module, a speed reducer of the driving module, a motor driver of the control module, a water pump of the spraying module and the generator in the hybrid power agricultural unmanned aerial vehicle;

the operation of the hybrid agricultural unmanned aerial vehicle is provided with an automatic driving mode and a manual remote control mode, a program of the automatic driving mode is stored in the main control computer, and the manual remote control mode is used for remotely controlling the hybrid agricultural unmanned aerial vehicle through a remote controller of the control module;

the functions of the agricultural function expansion module are at least one of transportation, weeding, farmland, fertilization and irrigation.

2. The hybrid agricultural vehicle of claim 1, wherein the spray module further comprises a water tank and a filter, the water pump is used for pumping the spray in the water tank and delivering the spray to the spray head, and the filter is installed between the water tank and the water pump and is used for filtering impurities in the spray.

3. The hybrid agricultural vehicle of claim 2, wherein the spray heads are distributed around the air outlet openings, the air outlet openings further configured to atomize the spray.

4. The hybrid power agricultural vehicle of claim 3, wherein the driving module further comprises wheels, a chain wheel and a chain, the motor drives the wheels to rotate so as to drive the hybrid power agricultural vehicle, the wheels comprise driving wheels and driven wheels, the motor drives the driving wheels to rotate through the speed reducer, the chain wheel penetrates through the driving wheel shaft and the driven wheel shaft, and the chain is mounted on the chain wheel for transmission so that the driving wheels drive the driven wheels to rotate.

5. The hybrid agricultural vehicle of claim 4, wherein the power module further comprises a battery for storing the electrical energy of the power generation tray during low power operation, for providing electrical energy to each module in conjunction with the generator during high power operation, for directly providing electrical energy to each module to maintain operation when the generator is inactive, and for replacing the generator with additional battery to change the hybrid agricultural vehicle to electric only drive.

6. The hybrid power agricultural unmanned aerial vehicle of claim 5, wherein the control module further comprises a power distribution box and a camera, the main control computer is used for summarizing signals and data of the spraying module, the air supply module, the driving module, the vehicle body module, the power module and the agricultural function expansion module, the remote controller is used for transmitting instructions to the main control computer for remotely controlling the hybrid power agricultural unmanned aerial vehicle, the power distribution box is used for distributing power to each power utilization module, the motor driver is used for controlling rotation of the motor, and the camera is used for recording real-time images of the hybrid power agricultural unmanned aerial vehicle when in driving and transmitting the real-time images to the remote controller.

7. The hybrid power agricultural unmanned aerial vehicle of claim 6, wherein the vehicle body module further comprises a chassis, a framework, a vehicle lamp and a function expansion mechanism, the framework is mounted on the chassis, the chassis and the framework are used for bearing the spraying module, the air supply module, the power module, the control module and the agricultural function expansion module, the shell is arranged outside the framework, the vehicle lamp is arranged at the front end and the rear end of the hybrid power agricultural unmanned aerial vehicle, and the function expansion mechanism is used for externally connecting the agricultural function expansion module.