Patent RU-2703198-C1 (RU)
Title: Aerostatic robot device for monitoring and application of plant protection agents, fertilizers in precision agriculture
Inventor: Izmajlov Andrej YUrevich
IPC: B64B1/06
Filed: 2019-04-25
Granted: 2019-10-15
Abstract: FIELD: agriculture; machine building. 
     SUBSTANCE: invention relates to the field of agricultural machine building. Aeronautical robotic apparatus (1) for monitoring and applying plant protection agents and fertilizers in accurate farming comprises two rigid airships (2 and 3) in the form of frames (4 and 5) with shells (6 and 7). Shells (6 and 7) form cavities with inner bow (12 and 13) and stern (14 and 15) compartments with ballast tanks, medium (16 and 17) compartments filled with gas lighter than air. Aeronautical robotic apparatus (1) is equipped with stabilizers (20, 21, 22 and 23) with rudders (25 and 26) and heights (27 and 28), a wing with extending ends (49 and 50), power plants with engines (29, 30, 31 and 32), panels of solar batteries (35 and 36), power supply unit with storage batteries connecting the frames with rigid flat-convex space shell (37) with bow and stern technical cavities, takeoff-landing platform (39) with take-off and landing sites (40 and 41) for unmanned aerial vehicles (43), autonomous drone with vertical take-off and landing (42), equipped with flight-navigation equipment, devices for obtaining species information and dispersion of working solutions, automated on-board control system, onboard equipment control system unit, actuators automatic control unit, digital optical system control unit, automated system for controlling application of plant protection agents and fertilizers, a unit of digital optical systems, modules for dispersing fertilizers and plant protection agents. Process module in the form of a rigid plane-convex spatial shell (37) is made in the form of a half of the body of an ellipsoid of revolution elongated along a major axis (s-s), which is simultaneously a symmetry axis of an aerostatic robotic apparatus (1) parallel to the longitudinal axes of symmetry (a-a and b-b) of airships (2 and 3), and small axis (m-m) coinciding with symmetry axis (n-n) of aerostatic robotized apparatus (1) perpendicular to airships symmetry axes (a-a and b-b) of airships (2 and 3). Longitudinal (a-a and b-b) and crosswise (n-n) axes of symmetry of airships (3 and 3), large (s-s) and small (m-m) axis of connecting spatial shell (37), lie in one plane (θ). Mobile aerial take-off landing platform (39) is divided into elementary landing pads (40 and 41) in the form of squares, each side of which is at least more than half the diameter of circumference describing overall dimensions of each unmanned aerial vehicle (42 and 43). Each takeoff-landing site (40 and 41) is equipped with high-speed automatic docking-undocking devices for recharging of storage batteries and, additionally for drones for application of fertilizers and plant protection means is equipped with automatic filling device. In inner part of connecting space shell (37) there are at least five hydraulic reservoirs separated by flat segmented partitions, having two-sided end surfaces, conjugated with side surfaces of shells (6 and 7) of airships (2 and 3), and cumulative bottom, which is part of surface of elongated ellipsoid of rotation. Tail part of technical cavity is equipped with filling necks, each of which is connected by hydraulic lines to corresponding hydraulic reservoir. In reservoirs for plant protection agents and fertilizers there installed are electrohydraulic dosing pumps connected at the outlet with fast-acting filling and docking refueling devices, and at the inlet – with hydraulic lines filters with hydraulic reservoirs filters, each of which, in turn, is connected to a separate module for supply and dosing unit automated control system for distribution, dosing and application of plant protection agents and fertilizers, integrated into control system of aerostatic robotic apparatus. Each feed and batching module is connected by hydraulic lines with separate hydraulic communication, to each of which dispersing modules are connected. Dispersion modules are installed in the lower part of the wing with a pitch providing at least triple coverage of spraying nozzles of adjacent nozzles at half the working altitude of flight, and equipped with distribution manifolds with electrohydraulic injectors of at least four standard sizes with increase in nozzle outlet nozzle area of each subsequent nozzle by not less than one quarter part. 
     EFFECT: higher reliability and safety of flight, higher efficiency, efficiency and quality of application of plant protection agents and fertilizers. 
     1 cl, 7 dwg