A plant protection drone capable of contour spraying and a spraying method thereof

Abstract

The present invention relates to the field of agricultural equipment technology, and more specifically, to a plant protection drone capable of contour spraying and a spraying method thereof. The drone comprises a drone equipped with a medicine box, a contouring device, and a three-dimensional shape detection device. The drone and the contouring device are both equipped with a spraying device, and the medicine box and the spraying device are in communication with each other. The plant protection drone also includes a data processing and analysis device, and the drone, the contouring device, the three-dimensional shape detection device, and the spraying device are all in communication with the data processing and analysis device. The present invention can increase the coverage rate of the pesticide solution on the canopy of fruit trees and crops, and can also achieve precise target spraying, significantly reducing the rate of missed spraying and repeated spraying, and improving the utilization rate of pesticides.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and more particularly to a plant protection drone capable of contour spraying and a spraying method thereof. Background Art

[0002] In recent years, aerial spraying, one of the important symbols of agricultural aviation, has been rapidly applied and developed due to the advantages of agricultural drones such as fast operation speed, flexible mobility, safe operation, no influence from terrain and environmental factors, and energy saving and environmental protection.

[0003] As the application of agricultural drones expands, some drawbacks in their operation methods are gradually becoming apparent. For example, the difficulty in adjusting the operating range of a drone makes it difficult for the same drone to achieve optimal results when operating on different targets. This can lead to high rates of overspraying, missed spraying, and inability to reach areas outside the canopy with pesticides, thus reducing the effectiveness of aerial plant protection operations.

[0004] Current drones are unable to adjust their spray width according to the shape and size of crops. This means that drones need to repeat spraying operations on a single type of vegetation to ensure that the liquid spray completely covers the target. This often leads to increased re-spraying and missed spraying rates, as well as waste of liquid spray. This problem is particularly evident when the target is fruit crops.

[0005] Chinese patent document with publication number CN112224414A discloses a multi-rotor drone for spraying fruit trees and a method for spraying pesticides. The spraying robot arm can automatically change its posture and extend and retract to adapt to the spraying of pesticides on fruit trees.

[0006] However, the above scheme cannot perform contour spraying on fruit trees, resulting in waste of liquid medicine and low spraying efficiency. Summary of the Invention

[0007] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a plant protection drone capable of contour spraying and a spraying method thereof, which can increase the coverage rate of the liquid medicine on the canopy of fruit trees and crops, and can also achieve precise target spraying, greatly reduce the miss spray rate and re-spray rate, and improve the utilization rate of pesticides.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] Provided is a plant protection drone capable of contour spraying, comprising a drone, wherein the drone is provided with a medicine box, a contouring device, and a three-dimensional morphology detection device; the drone and the contouring device are both provided with a spraying device, and the medicine box is communicated with the spraying device; the plant protection drone also comprises a data processing and analysis device, and the drone, the contouring device, the three-dimensional morphology detection device, and the spraying device are all communicatively connected to the data processing and analysis device.

[0010] The present invention includes a plant protection drone capable of contour spraying, wherein the medicine box is used to store liquid medicine, the three-dimensional morphology detection device is used to perform three-dimensional morphological recognition of fruit tree crops, and the data processing and analysis device controls the contouring device to contour the fruit tree crops according to the recognition results, and controls the spraying device to spray the fruit trees. This can increase the coverage rate of the liquid medicine on the canopy of the fruit tree crops, and can also achieve precise target spraying, greatly reduce the spray miss rate and the re-spray rate, and improve the utilization rate of pesticides.

[0011] Preferably, the profiling device includes a plurality of robotic arm mechanisms communicatively connected to the data processing and analysis device, the robotic arm mechanisms being composed of a plurality of alternating joint units and telescopic units. The arrangement of the telescopic units and joint units enables the robotic arm mechanisms to sculpt the shape of the fruit tree canopy, enabling spraying beneath the entire fruit tree canopy, thereby increasing the coverage of the pesticide solution on the fruit tree canopy.

[0012] Preferably, the spraying device includes a pump body, a conduit, and multiple first nozzles, the multiple first nozzles are connected to the output end of the pump body through the conduit, the input end of the pump body is connected to the medicine box, and the pump body is communicatively connected to the data processing and analysis device; the first nozzle is connected to the end of the profiling device away from the drone.

[0013] Preferably, the spraying device further comprises a second nozzle connected to the bottom of the drone, and the second nozzle is connected to the pump body through a conduit.

[0014] Preferably, a blocking member is connected to the bottom of the drone, and the second nozzle is located inside the blocking member.

[0015] Preferably, the three-dimensional morphology detection device is connected to the outer wall of the blocking member.

[0016] Preferably, the system further includes a distance detection device communicatively connected to the data processing and analysis device, the distance detection device being mounted on the profiling device. When the profiling device is too far or too close to the fruit tree or crop, the data processing and analysis device can readjust the position of the profiling device to prevent misalignment of the spraying device or collision between the profiling device and the fruit tree or crop.

[0017] Preferably, the distance detection device comprises at least one distance sensor, and the distance sensor is provided on the telescopic unit.

[0018] Preferably, the device further includes an alarm device in communication with the data processing and analysis device. When the plant protection drone fails, the alarm device can quickly prompt the operator to check the plant protection drone.

[0019] The present invention also includes a spraying method for a plant protection drone capable of contour spraying, comprising the following steps:

[0020] S1. After the drone takes off and flies above the fruit tree to be operated, the three-dimensional morphology detection device detects and obtains the three-dimensional morphology data of the fruit tree crop canopy and transmits it to the data processing and analysis device;

[0021] S2. After step S1, the data processing and analysis device performs processing and analysis based on the three-dimensional morphological data to obtain a motion trajectory signal for controlling the profiling device;

[0022] S3. After step S2, the drone flies toward the fruit tree, and the data processing and analysis device controls the profiling device to perform profiling motion according to the motion trajectory signal, and controls the spraying device to perform a top-down circumferential spraying operation on the fruit tree canopy;

[0023] S4. After the spraying operation is completed, the data processing and analysis device controls the spraying device to stop spraying and controls the profiling device to return to the initial state. Then the drone flies to the next target fruit tree and returns to step S1.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention includes a plant protection drone capable of contour spraying and a spraying method thereof. The medicine box is used to store liquid medicine, the three-dimensional morphology detection device is used to perform three-dimensional morphological recognition of fruit tree crops, and the data processing and analysis device controls the contouring device to contour the fruit tree crops according to the recognition results, and controls the spraying device to spray the fruit trees. This can increase the coverage rate of the liquid medicine on the canopy of the fruit tree crops, and can also achieve precise target spraying, greatly reduce the spray miss rate and the re-spray rate, and improve the utilization rate of pesticides. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The figure is a schematic structural diagram of a plant protection drone capable of contour spraying according to the present invention.

[0027] Figure 2 for Figure 1 main view.

[0028] Figure 3 This is a diagram of the use status of a plant protection drone capable of contour spraying according to the present invention.

[0029] Figure 4 The present invention is a flow chart of a spraying method of a plant protection drone capable of contour spraying.

[0030] The icon marks are explained as follows:

[0031] 1-UAV, 2-medicine box, 3-profiling device, 31-joint unit, 32-telescopic unit, 33-first connecting rod, 34-second connecting rod, 4-three-dimensional morphology detection device, 5-spraying device, 51-first nozzle, 52-second nozzle, 6-distance detection device, 7-blocking member, 8-connecting member. DETAILED DESCRIPTION

[0032] The present invention is further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0033] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] Example 1

[0035] like Figures 1 to 3 The figure shows a first embodiment of a plant protection drone capable of contour spraying according to the present invention, comprising a drone 1, on which is provided a medicine box 2, a contouring device 3, and a three-dimensional morphology detection device 4. Both the drone 1 and the contouring device 3 are provided with a spraying device 5, and the medicine box 2 is connected to the spraying device 5; the plant protection drone also includes a data processing and analysis device, and the drone 1, the contouring device 3, the three-dimensional morphology detection device 4, and the spraying device 5 are all communicatively connected to the data processing and analysis device.

[0036] The medicine box 2 is used to store liquid medicine, and the three-dimensional shape detection device 4 is used to perform three-dimensional shape recognition of fruit trees and crops. Based on the recognition results, the data processing and analysis device controls the profiling device 3 to perform profiling of the fruit trees and crops, and controls the spraying device 5 to spray the fruit trees. This can improve the coverage of the fruit tree crop canopy with liquid medicine, achieve precise target spraying, significantly reduce the rate of missed spraying and repeated spraying, and improve the utilization rate of pesticides. In this embodiment, the data processing and analysis device is a single-chip microcomputer, which is installed in the frame of the drone 1; the three-dimensional shape detection device 4 is a laser radar.

[0037] In addition, the profiling device 3 includes several mechanical arm mechanisms electrically connected to the data processing and analysis device. The mechanical arm mechanisms are composed of multiple alternately arranged joint units 31 and telescopic units 32. The joint units 31 and telescopic units 32 are all electrically connected to the data processing and analysis device. Figures 1 to 3 As shown, in this embodiment, the telescopic unit 32 is an electric push rod, and the joint unit 31 includes a steering gear and a gear set connected to the steering gear. The steering gear drives the gear set to rotate to control the rotation of the electric push rod. Figure 1 As shown, six robotic arm mechanisms are provided in this embodiment, and the distances between adjacent robotic arm mechanisms are equal.

[0038] In addition, the spraying device 5 includes a pump body, a conduit, and multiple first nozzles 51. The multiple first nozzles 51 are connected to the output end of the pump body through the conduit, the input end of the pump body is connected to the medicine box 2, and the pump body is electrically connected to the data processing and analysis device; the first nozzle 51 is connected to the end of the profiling device 3 away from the drone 1.

[0039] Furthermore, the profiling device 3 is hinged to the drone 1 via a connector 8. Figure 2 and 3 As shown, the profiling device 3 also includes a first connecting rod 33 and a second connecting rod 34; one end of the first connecting rod 33 is connected to the joint unit 31 at the end of the robotic arm mechanism, and the other end is connected to the first nozzle 51; one end of the second connecting rod 34 is connected to the joint unit 31 at the front end of the robotic arm mechanism, and the other end is connected to the bottom of the drone 1 through a steering gear and a gear set. It should be noted that the end of the robotic arm mechanism refers to the end of the robotic arm mechanism away from the drone 1, and the front end of the robotic arm mechanism refers to the end of the robotic arm mechanism close to the drone 1. Figure 2 and Figure 3 As shown, in this embodiment, the connecting member 8 is a third connecting rod, and both ends of the third connecting rod are respectively hinged to the frame of the drone 1 and the second connecting rod 34. The provision of the second connecting rod 34 can improve the profiling effect of the profiling device 3.

[0040] The spraying device 5 further includes a second nozzle 52 connected to the bottom of the drone 1, and the second nozzle 52 is connected to the pump body through a conduit. Figure 2 and Figure 3As shown, the first nozzle 51 and the second nozzle 52 are both atomizing nozzles, specifically, conical atomizing nozzles, and their atomizing angles are greater than 60 degrees, which can avoid the phenomenon of spray leakage in the canopy of fruit trees.

[0041] In addition, a blocking member 7 is connected to the bottom of the drone 1, and the second nozzle 52 is located inside the blocking member 7. Figure 2 and Figure 3 As shown, in this embodiment, the blocking member 7 is a C-shaped block, and the second nozzle 52 is located in a recessed position of the block. The three-dimensional shape detection device 4 is connected to the outer wall of the blocking member 7 to prevent the liquid from being sprayed onto the three-dimensional shape detection device 4.

[0042] Example 2

[0043] This embodiment is similar to the embodiment 1, except that the plant protection drone in this embodiment further includes a distance detection device 6 electrically connected to the data processing and analysis device, and the distance detection device is provided on the profiling device 3. Figures 2 to 3 As shown, in this embodiment, the distance detection device 6 includes at least one distance sensor, which is mounted on the first connecting rod 33 and can also be mounted on the telescopic unit 32 as needed. When the telescopic unit 32 is too far from the fruit tree crop, the data processing and analysis device can adjust the position of the profiling device 3 to prevent the first nozzle 51 from spraying inaccurately. When the telescopic unit 32 is too close to the fruit tree crop, the data processing and analysis device can adjust the position of the profiling device 3 to prevent the profiling device 3 from colliding with the fruit tree crop.

[0044] The plant protection drone also includes an alarm device electrically connected to the data processing and analysis device. In this embodiment, the alarm device is an audible and visual alarm connected to the top of the drone 1. When the drone 1 malfunctions or anomalies, the data processing and analysis device controls the audible and visual alarm to sound and flash, facilitating inspection by operators.

[0045] Example 3

[0046] like Figure 4 The first embodiment of the present invention is a spraying method for a plant protection drone capable of contour spraying, comprising the following steps:

[0047] S1. Assume that the number of fruit trees to be sprayed is n (n = 1, 2, ...), and the number of fruit trees that have completed spraying is m (m = 0, 1, 2, ...); UAV 1 takes off. After UAV 1 flies above the fruit trees to be sprayed, the three-dimensional morphology detection device 4 detects and obtains the three-dimensional morphology data of the fruit tree crop canopy and transmits it to the data processing and analysis device.

[0048] S2. After step S1, the data processing and analysis device processes and analyzes the three-dimensional morphological data to obtain a motion trajectory signal for controlling the profiling device 3.

[0049] S3. After step S2, the UAV 1 slowly flies downward. The data processing and analysis device controls the joint unit 31, the telescopic unit 32, the first connecting rod 33, and the second connecting rod 34 to perform a profiling motion according to the motion trajectory signal. At the same time, the data processing and analysis device controls the pump body to start, and the liquid medicine flows through the pump body and the catheter to the first nozzle 51 and the second nozzle 52 in sequence. The liquid medicine sprayed by the first nozzle 51 and the second nozzle 52 performs a top-down hugging spraying operation on the fruit tree canopy along the motion trajectory of the first connecting rod 33 from top to bottom.

[0050] It should be noted that the profiling motion controlled by the data processing and analysis device according to the motion trajectory signal for the profiling device 3 means that during the process of the UAV 1 slowly flying downward and approaching the fruit tree, the distances between the joint unit 31, the telescopic unit 32, the first connecting rod 33, the second connecting rod 34 and the outermost layer of the fruit tree canopy continuously maintain a certain value, and the shape formed by the profiling device 3 during this process is similar to the fruit tree canopy.

[0051] S4. After completing the spraying operation, the data processing and analysis device controls the pump body to stop, the first nozzle 51 and the second nozzle 52 stop spraying, and controls the profiling device 3 to return to the initial state, and then makes m + 1.

[0052] S5. After step S4, if m < n, the UAV 1 flies to the next target fruit tree and returns to step S1 to repeat the operation; otherwise, the spraying ends.

[0053] Embodiment 4

[0054] This embodiment is similar to Embodiment 3, and the difference is that in this embodiment, the plant protection UAV further includes a distance detection device 6 and an alarm device electrically connected to the data processing and analysis device; step S3 specifically includes the following steps:

[0055] S31. After step S2, the UAV 1 slowly flies downward, and the distance detection device 6 continuously detects the distances between the first connecting rod 33, the joint unit 31 and the fruit tree canopy.

[0056] S32. The data processing and analysis device controls the joint unit 31, the telescopic unit 32, the first connecting rod 33, and the second connecting rod 34 to perform contour movement according to the motion trajectory signal. At the same time, the data processing and analysis device controls the pump body to start, and the liquid medicine flows through the pump body and the conduit to the first nozzle 51 and the second nozzle 52 in turn. The liquid medicine sprayed by the first nozzle 51 and the second nozzle 52 performs a circular spraying operation on the fruit tree canopy from top to bottom along the motion trajectory of the first connecting rod 33; during the spraying process, when the distance detection device 6 detects that the distance between the contouring device 3 and the fruit tree canopy is relatively close, step S33 is executed; when the distance detection device 6 detects that the distance between the contouring device 3 and the fruit tree canopy is relatively far, step S34 is executed.

[0057] S33. The data processing and analysis device controls the corresponding joint unit 31, telescopic unit 32, or the first connecting rod 33 away from the fruit tree canopy; when the corresponding joint unit 31, telescopic unit 32, or the first connecting rod 33 fails to operate, the alarm device sounds.

[0058] S34. The data processing and analysis device controls the corresponding joint unit 31, telescopic unit 32, or first connecting rod 33 to approach the fruit tree canopy; when the corresponding joint unit 31, telescopic unit 32, or first connecting rod 33 fails to operate, the alarm device sounds.

[0059] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A spraying method for a plant protection drone capable of contour spraying, the plant protection drone comprising a drone (1), characterized in that: The drone (1) is provided with a medicine box (2), a profiling device (3), and a three-dimensional morphology detection device (4); the drone (1) and the profiling device (3) are both provided with a spraying device (5); the medicine box (2) is connected to the spraying device (5); the plant protection drone further comprises a data processing and analysis device; the drone (1), the profiling device (3), the three-dimensional morphology detection device (4), and the spraying device (5) are all in communication with the data processing and analysis device: wherein, The profiling device (3) includes a plurality of mechanical arm mechanisms that are communicatively connected to the data processing and analysis device, and the mechanical arm mechanisms are composed of a plurality of alternately arranged joint units (31) and telescopic units (32); The profiling device (3) further comprises a first connecting rod (33) and a second connecting rod (34), wherein one end of the first connecting rod (33) is connected to a joint unit (31) located at the end of the robotic arm mechanism; one end of the second connecting rod (34) is connected to the joint unit (31) located at the front end of the robotic arm mechanism, and the other end is connected to the bottom of the UAV (1) via a steering gear and a gear set; Six mechanical arm mechanisms are provided, and the spacing between adjacent mechanical arm mechanisms is equal; the telescopic unit (32) is an electric push rod, and the joint unit (31) includes a steering gear and a gear set connected to the steering gear, and the steering gear drives the gear set to rotate to control the rotation of the electric push rod; The spraying device (5) comprises a pump body, a conduit, and a plurality of first spray heads (51), wherein the plurality of first spray heads (51) are connected to the output end of the pump body through the conduit, the input end of the pump body is connected to the medicine box (2), and the pump body is communicatively connected to the data processing and analysis device; the first spray head (51) is connected to the end of the profiling device (3) away from the drone (1); the spraying device (5) further comprises a second spray head (52) connected to the bottom of the drone (1), and the second spray head (52) is connected to the pump body through the conduit; It also includes a distance detection device (6) in communication with the data processing and analysis device, wherein the distance detection device is arranged on the profiling device (3); The spraying method comprises the steps: S1. After the drone (1) takes off and flies above the fruit tree to be operated, the three-dimensional morphology detection device (4) detects and obtains the three-dimensional morphology data of the fruit tree crop canopy and transmits it to the data processing and analysis device; S2. After step S1, the data processing and analysis device processes and analyzes the three-dimensional morphological data to obtain a motion trajectory signal for controlling the profiling device (3); S3. After step S2, the UAV (1) flies in a direction close to the fruit tree, and the data processing and analysis device controls the profiling device (3) to perform profiling movement according to the motion trajectory signal, and controls the spraying device (5) to perform a circumferential spraying operation on the canopy of the fruit tree; specifically, the UAV (1) flies slowly downward, and the data processing and analysis device controls the joint unit (31), the telescopic unit (32), the first connecting rod (33), and the second connecting rod (34) to perform profiling movement according to the motion trajectory signal, and at the same time, the data processing and analysis device controls the pump body to start, and the liquid medicine flows through the pump body and the conduit to the first nozzle (51) and the second nozzle (52) in sequence, and the liquid medicine sprayed by the first nozzle (51) and the second nozzle (52) performs a circumferential spraying operation on the canopy of the fruit tree from top to bottom along the motion trajectory of the first connecting rod (33); In the process of the drone (1) flying in the direction close to the fruit tree, the distance between the joint unit (31), the telescopic unit (32), the first connecting rod (33), the second connecting rod (34) and the outermost layer of the fruit tree canopy is continuously maintained at a certain value, and in this process, the shape formed by the profiling device (3) is similar to the fruit tree canopy; S4. After the spraying operation is completed, the data processing and analysis device controls the spraying device (5) to stop spraying and controls the profiling device (3) to return to the initial state, and then the drone (1) flies to the next target fruit tree and returns to step S1.

2. The spraying method of the plant protection drone capable of contour spraying according to claim 1, characterized in that: The bottom of the drone (1) is connected to a blocking member (7), and the second nozzle (52) is located inside the blocking member (7).

3. The spraying method of the plant protection drone capable of contour spraying according to claim 2, characterized in that: The three-dimensional morphology detection device (4) is connected to the outer wall of the blocking member (7).

4. The spraying method of the plant protection drone capable of contour spraying according to claim 1, characterized in that: The distance detection device comprises at least one distance sensor, and the distance sensor is arranged on the telescopic unit (32).

5. The spraying method of the plant protection drone capable of contour spraying according to claim 1, characterized in that: It also includes an alarm device that is communicatively connected to the data processing and analysis device.

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