Intelligent spraying system for unmanned aerial vehicle

Abstract

The application discloses an unmanned plane intelligent spraying system, which comprises an unmanned plane, a follower trolley, a Y-shaped supporting assembly, a spraying assembly, a material conveying assembly, a dynamic joint control system and a ground station. The Y-shaped supporting assembly is detachably arranged at the lower end of the unmanned plane, the spraying assembly is detachably arranged at the center of the Y-shaped supporting assembly, the material conveying assembly is arranged on the follower trolley, and the material conveying assembly is connected with the spraying assembly through a material conveying pipe. The dynamic joint control system is used for controlling the power output and pipeline winding and unwinding of the unmanned plane and the follower trolley. The ground station is in communication connection with the unmanned plane, the follower trolley and the dynamic joint control system, and is used for data analysis and processing. According to the unmanned plane intelligent spraying system, the ground station plans a spraying route of the unmanned plane according to spraying object data, and the spraying efficiency is improved. The dynamic joint control system realizes real-time linkage between the unmanned plane and the follower trolley, ensures that the unmanned plane and the follower trolley do not influence each other in movement, and guarantees the spraying quality.

Description

TECHNICAL FIELD

[0001] The application relates to the field of unmanned spraying control, in particular to an unmanned aerial vehicle intelligent spraying system. BACKGROUND

[0002] Ship painting is a process of implementing ship coating protection in a shipbuilding process flow, is one of three process pillars of modern shipbuilding, and runs through the whole shipbuilding process. Dock plate painting, as the last stage of the whole ship painting, is spraying a ship shell surface paint on a ship in a dock before launching. The painting quality of the ship directly affects the maintenance cycle, speed and service life of the ship, and the efficiency of the painting operation directly affects the construction cycle and cost of the ship.

[0003] At present, the basic painting methods are manual spraying, wall climbing robot painting and track frame robot painting, and these spraying methods have problems of high labor intensity of workers, low spraying efficiency, poor adaptability to complex curved surfaces, easy scratches caused by rolling primer, complex construction and low intelligentization degree. SUMMARY

[0004] The purpose of the application is to provide an unmanned aerial vehicle intelligent spraying system, which solves the problems of low spraying efficiency, poor adaptability to complex curved surfaces, high labor intensity of workers and low intelligentization degree.

[0005] The technical scheme is as follows: an unmanned aerial vehicle; a follower trolley; a Y-shaped support assembly which is detachably arranged at the lower end of the unmanned aerial vehicle; a spraying assembly which is detachably arranged at the center of the Y-shaped support assembly; a material conveying assembly which is arranged on the follower trolley and connected with the spraying assembly through a conveying pipe; a dynamic joint control system which is used for controlling the power output and pipeline winding and unwinding of the unmanned aerial vehicle and the follower trolley; and a ground station which is in communication connection with the unmanned aerial vehicle, the follower trolley and the dynamic joint control system and is used for data analysis and processing.

[0006] Further, the Y-shaped support assembly comprises at least two Y-shaped supports and at least one auxiliary support, the upper end of the Y-shaped support is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing seat, the lower end of the Y-shaped support is detachably connected with the landing gear of the unmanned aerial vehicle through an inclined three-way fixing seat, the upper end of the auxiliary support is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing seat, the middle of the Y-shaped support and the lower end of the auxiliary support are both provided with sleeves, the spraying assembly is detachably arranged in the sleeves, and the two ends of the sleeve are provided with double-pass fixing seats.

[0007] Further, the spraying assembly comprises a spraying rod, a nozzle, an automatic spray gun and a universal camera, the nozzle and the automatic spray gun are respectively arranged at two ends of the spraying rod, the universal camera is arranged at one end of the spraying rod close to the nozzle, the spraying rod is detachably arranged at the center of the Y-shaped support assembly, the automatic spray gun is connected with the material conveying assembly through the material conveying pipe, and the nozzle can rotate relative to the spraying rod.

[0008] Further, the spraying assembly further comprises a material conveying pipe fixing device, the material conveying pipe fixing device is detachably arranged on the cross bar of the unmanned aerial vehicle landing gear, and the material conveying pipe fixing device is perpendicular to the gravity center of the unmanned aerial vehicle.

[0009] Further, the dynamic joint control system comprises: an unmanned aerial vehicle controller arranged on the unmanned aerial vehicle and used for controlling the movement of the unmanned aerial vehicle; a gravity sensor electrically connected with the unmanned aerial vehicle controller and used for measuring the gravity of the pipeline; a follow-up trolley controller arranged on the follow-up trolley and used for controlling the movement of the follow-up trolley; a distance sensor electrically connected with the unmanned aerial vehicle controller and the follow-up trolley controller and used for measuring the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle; a pipeline winding and unwinding controller used for controlling the pipeline automatic winding and unwinding device; and a tension sensor electrically connected with the pipeline winding and unwinding controller and used for measuring the tension of the pipeline, wherein the unmanned aerial vehicle controller, the follow-up trolley controller and the tension sensor are communicatively connected with each other.

[0010] Further, the dynamic response time of the gravity sensor is less than or equal to 1ms.

[0011] Further, the dynamic response time of the tension sensor is less than or equal to 2ms.

[0012] Further, the dynamic response time of the dynamic joint control system is less than or equal to 2s.

[0013] Further, the distance sensor is an infrared radar and / or an ultrasonic radar, and the transmitting end and the receiving end of the infrared radar and the ultrasonic radar are electrically connected with the unmanned aerial vehicle controller and the follow-up trolley controller.

[0014] Advantages: Compared with the prior art, the present application has the following advantages:

[0015] 1. The spray gun is lifted into the air by the unmanned aerial vehicle, and only the flight route of the unmanned aerial vehicle needs to be set in advance, thereby improving the spraying efficiency.

[0016] 2. The follow-up trolley is used for conveying paint and power, thereby reducing the load of the unmanned aerial vehicle and improving the endurance of the unmanned aerial vehicle.

[0017] 3, the information of the spraying object is collected by the universal camera, the intelligent planning of the spraying path can be realized, and the optimization of the spraying path and the compactness of the spraying coverage area are realized.

[0018] 4, the dynamic joint control system realizes the real-time linkage of the unmanned aerial vehicle and the follow-up trolley, ensures that the unmanned aerial vehicle and the follow-up trolley do not affect each other, ensures that the unmanned aerial vehicle moves at a constant speed during spraying, and improves the spraying quality.

[0019] 5, the spray head can reasonably adjust the pressure to deliver the coating according to different height positions and different outer plate shapes, self-adaptively adjust the feeding pressure, and realize uniform coating thickness. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a left side view of the unmanned aerial vehicle intelligent spraying system of the embodiment of the application.

[0021] Figure 2 It is a right side view of the unmanned aerial vehicle intelligent spraying system of the embodiment of the application.

[0022] Figure 3 It is a bottom view of the unmanned aerial vehicle of the embodiment of the application.

[0023] Figure 4 It is a side view of the unmanned aerial vehicle of the embodiment of the application.

[0024] Figure 5 It is a front view of the Y-shaped support assembly of the embodiment of the application.

[0025] Figure 6 It is a schematic view of the dynamic joint control system of the application. DETAILED DESCRIPTION

[0026] The technical solutions of the application will be further described below with reference to the drawings.

[0027] Referring to Figure 1 and Figure 2 , the unmanned aerial vehicle intelligent spraying system according to the embodiment of the application comprises an unmanned aerial vehicle, a follow-up trolley, a Y-shaped support assembly 100, a spraying assembly 200, a feeding assembly 300, a dynamic joint control system and a ground station. The Y-shaped support assembly 100 is detachably arranged at the lower end of the unmanned aerial vehicle, the spraying assembly 200 is detachably arranged at the center of the Y-shaped support assembly 100, the feeding assembly 300 is arranged on the follow-up trolley, and the feeding assembly 300 is connected with the spraying assembly 200 through a feeding pipe. The dynamic joint control system is used for controlling the power output and pipeline winding and unwinding of the unmanned aerial vehicle and the follow-up trolley. The ground station is in communication connection with the unmanned aerial vehicle, the follow-up trolley and the dynamic joint control system, and is used for analyzing and processing data, establishing a model of a spraying object, and planning a spraying path of the unmanned aerial vehicle according to the model of the spraying object.

[0028] According to the unmanned aerial vehicle intelligent spraying system of the technical solution, the ground station analyzes data to plan a flight route of the unmanned aerial vehicle, and the unmanned aerial vehicle sprays according to the route planned by the ground station, so that the spraying efficiency is improved. The trolley conveys paint and power, reduces the load of the unmanned aerial vehicle, and prolongs the endurance time of the unmanned aerial vehicle. The dynamic linkage control system realizes real-time linkage between the unmanned aerial vehicle and the trolley, ensures that the unmanned aerial vehicle and the trolley maintain a set relative distance and angle, do not affect each other, ensure uniform motion of the unmanned aerial vehicle in the spraying process, and further improve the spraying quality. Meanwhile, the components are detachably connected, are convenient to quickly assemble and disassemble, and can be placed and stored separately, so that transportation and storage are facilitated. The spraying assembly 200 is firmly supported on the unmanned aerial vehicle body through the multiple triangular structures of the Y-shaped support assembly 100, so that vibration and relative displacement of the unmanned aerial vehicle are avoided during spraying, and the spraying quality is improved. The material conveying assembly 300 can provide paint for the spraying assembly 200 on the ground, avoids time waste caused by the unmanned aerial vehicle returning for paint supply, and improves the spraying efficiency.

[0029] Referring to Figures 2 to 5 In some embodiments, the Y-shaped support assembly 100 includes at least two Y-shaped supports 110 and an auxiliary support 130. One corner of the Y-shaped support 110 is detachably connected to the bottom of the unmanned aerial vehicle through a single-pass fixed seat 120, and the other two ends of the Y-shaped support 110 are respectively detachably connected to the landing gear of the unmanned aerial vehicle through two inclined three-way fixed seats 150. The auxiliary support 130 is arranged between the two Y-shaped supports 110, and the upper end of the auxiliary support 130 is detachably connected to the bottom of the unmanned aerial vehicle through a single-pass fixed seat 120. The auxiliary support 130 can share a part of the weight of the spraying assembly 200, further improve the stability of the fixed spraying assembly 200, and improve the spraying quality. Figure 3 The middle of the Y-shaped support 110 and the lower end of the auxiliary support 130 are provided with sleeves, the spray rod 210 of the spraying assembly 200 is detachably connected to the Y-shaped support assembly 100 through the sleeves, and both ends of the sleeve are provided with double-pass fixed seats 140. The double-pass fixed seat 140 is used to prevent the spraying assembly 200 from being displaced relative to the unmanned aerial vehicle under the reaction force of spraying paint, so as to cause uneven spraying thickness.

[0030] In some embodiments, the Y-shaped support assembly 100 is made of carbon fiber material, which is light in weight, high in strength, and good in corrosion resistance, high temperature resistance and fatigue resistance. It can be understood that the spray rod 210 can have different length specifications, and different length spray rods 210 can be selected and installed according to the spraying scene during use.

[0031] Referring to Figures 1 to 3In some embodiments, the spraying assembly 200 comprises a spraying rod 210, a spraying nozzle 220, an automatic spraying gun 230 and a universal camera 240. The spraying nozzle 220 and the automatic spraying gun 230 are respectively arranged at two ends of the spraying rod 210, and the universal camera 240 is arranged at one end of the spraying rod 210 close to the spraying nozzle 220. The automatic spraying gun 230 is connected with the paint conveying pipe of the paint conveying assembly 300 through a conveying pipe. In some embodiments, the spraying nozzle 220 is a self-adaptive spraying nozzle which can rotate freely within a certain range relative to the spraying rod. An automatic valve is arranged in the automatic spraying gun 230, which is automatically opened and closed according to the pressure in the automatic spraying gun 230. The universal camera 240 can move within a range of 180 degrees upward, downward, leftward and rightward. The universal camera 240 collects information of the spraying surface and feeds back to the controller. The controller adjusts the parameters of the self-adaptive spraying nozzle according to the information collected by the universal camera 240, keeps the spraying nozzle 220 perpendicular to the curved segmented outer plate being sprayed, ensures the spraying thickness uniform, and ensures the spraying distance and spraying width within a suitable range, thereby further improving the spraying quality.

[0032] In some embodiments, the spraying assembly 200 further comprises a conveying pipe fixing device 250 which is detachably arranged on the crossbar of the unmanned aerial vehicle landing gear. The conveying pipe fixing device 250 vertically fixes the conveying pipe below the center of gravity of the unmanned aerial vehicle, thereby preventing the unmanned aerial vehicle from rolling over due to the excessive weight of the paint.

[0033] In some embodiments, the two ends of the spraying rod 210 are provided with threads, and the spraying nozzle 220 and the automatic spraying gun 230 are connected with the spraying rod 210 through the threads, thereby facilitating disassembly, replacement or cleaning.

[0034] Referring to Figure 1 and Figure 2 In some embodiments, the paint conveying assembly 300 comprises a paint bin 310, a pressurizing pump 320, a paint conveying pipe and a pipe automatic winding and unwinding device 330. The pressurizing pump 320 is connected with the paint bin 310, and directly applies a constant high pressure to the paint in the paint bin 310 according to a set pressure value, so that the paint generates pressure in the automatic spraying gun 230, is atomized and sprayed from the self-adaptive spraying nozzle, and is not mixed with air during the spraying process, thereby improving the spraying efficiency and making the spraying effect more uniform. One end of the paint conveying pipe is connected with the automatic spraying gun 230, and the other end is connected with the paint bin 310. The paint conveying pipe is wound on the pipe automatic winding and unwinding device 330 and is wound and unwound under the control of the pipe automatic winding and unwinding device 330. It can be understood that the pipe automatic winding and unwinding device 330 comprises a tension sensor, a roller for winding the paint conveying pipe and a motor for driving the roller. The controller controls the rotation of the motor and the torque of the motor according to the tension of the paint conveying pipe detected by the tension sensor, so that the paint conveying pipe is kept in a tension state and the smooth transmission of the paint is ensured.

[0035] Referring to Figure 6 In some embodiments, the dynamic control system comprises a UAV controller for controlling the movement of the UAV, a gravity sensor for measuring the gravity of the pipeline, a trolley controller for controlling the movement of the trolley, a distance sensor for measuring the relative distance and angle between the trolley and the UAV, a pipeline winding controller for controlling the pipeline winding device, and a tension sensor for measuring the tension of the pipeline. The gravity sensor is electrically connected to the UAV controller, the tension sensor is electrically connected to the pipeline winding controller, and the distance sensor is electrically connected to the UAV controller and the trolley controller, respectively. The UAV controller, the trolley controller, and the tension sensor are communicatively connected to each other. It can be understood that the UAV controller, the trolley controller, and the pipeline winding controller can be selected from a programmable controller such as a DSP, a single-chip microcomputer, or a PLC. The distance sensor can be selected from an infrared radar and / or an ultrasonic radar, and the transmitting end and the receiving end of the infrared radar and the ultrasonic radar are electrically connected to the UAV controller and the trolley controller, respectively. Before each operation, the transmitting end or the receiving end of the infrared radar and the ultrasonic radar is rotated within a certain angle range to detect the corresponding receiving end or transmitting end.

[0036] In this embodiment, the trolley controller is selected from a single-chip microcomputer, and the UAV controller and the pipeline winding controller are selected from PLCs. In order to meet the response time of the UAV intelligent spraying control system, in some embodiments, the dynamic response time of the tension sensor needs to be less than or equal to 2 ms, the dynamic response time of the gravity sensor needs to be less than or equal to 1 ms, and the dynamic response time of the entire dynamic control system needs to be less than or equal to 2 s.

[0037] In some embodiments, the dynamic control system adopts the following control method to realize the linkage control of the UAV and the trolley, which includes a vertical direction linkage control process and a horizontal direction linkage control process performed simultaneously. The vertical direction linkage control process includes the following steps:

[0038] Step 100: The gravity sensor measures the pipeline gravity of the UAV load, and the tension sensor measures the pipeline tension value.

[0039] Step 110: According to the pipeline tension value, the pipeline winding device is controlled to wind or unwind the pipeline, so that the pipeline remains in a tension state.

[0040] Step 120: According to the change of the pipeline gravity, the power output of the UAV is adjusted to keep the UAV moving at a constant speed.

[0041] The horizontal direction linkage control process includes the following steps:

[0042] Step 200: The distance sensor measures the relative distance and angle between the trolley and the UAV.

[0043] Step 210: Adjust the speed of the trolley according to the relative distance and angle, so as to maintain the distance and angle between the trolley and the UAV at a preset distance and angle.

[0044] According to the above technical solution, the power output of the UAV is adjusted according to the change of the pipeline gravity measured by the gravity sensor. When the UAV rises or falls, the pipeline gravity will increase or decrease. By adjusting the power output of the UAV according to the change of the pipeline gravity, the uniform motion of the UAV can be maintained, and the uniformity of the spraying process of the UAV can be maintained. The pipeline winding and unwinding device arranged on the trolley controls the winding and unwinding of the pipeline according to the pipeline tension measured by the tension sensor, so as to maintain the pipeline tension within a suitable range and prevent the pipeline from hindering the motion of the UAV. The trolley measures the relative distance and angle with the UAV through the distance sensor, and adaptively adjusts the power of the trolley, so as to adjust the speed of the trolley and maintain the relative distance and angle between the trolley and the UAV at a preset value. The trolley intelligently follows the motion of the UAV, and further ensures the stability of the pipeline tension. The above control method ensures that the UAV can maintain a uniform speed during the spraying process whether it rises or moves horizontally, and ensures the uniformity of the spraying thickness.

[0045] It can be understood that the power of the UAV and the trolley is realized by stepless speed regulation of the motor driving module to each driving motor.

[0046] In some embodiments, the winding and unwinding of the pipeline by the pipeline automatic winding and unwinding device (330) in step 110 is controlled by the following method: if the pipeline tension value is greater than the maximum value of the preset threshold range, the pipeline automatic winding and unwinding device (330) is controlled to unwind; if the pipeline tension value is less than the minimum value of the preset threshold range, the pipeline automatic winding and unwinding device (330) is controlled to wind. In this embodiment, the maximum value of the preset threshold range is 50N, and the minimum value of the preset threshold range is 1N. In actual use, the preset threshold range can be adaptively adjusted according to factors such as pipeline material.

[0047] In some embodiments, step 120 includes the following steps:

[0048] Step 121: Calculate the pipeline gravity change value between the last two sampling times of the gravity sensor;

[0049] Step 122: Calculate the power output change value of the UAV according to the pipeline gravity change value. If the pipeline gravity decreases, the power output of the UAV decreases by the power output change value; if the pipeline gravity increases, the power output of the UAV increases by the power output change value.

[0050] Through the above method, the power of the unmanned aerial vehicle and the pipeline gravity are simultaneously increased and decreased, so as to ensure that the force on the unmanned aerial vehicle is stable, and then ensure that the moving speed of the unmanned aerial vehicle is constant, or ensure that the unmanned aerial vehicle is stably hovering, ensure that the state of the unmanned aerial vehicle is stable during the spraying process, and ensure the spraying quality.

[0051] In some embodiments, step 210 includes the following steps:

[0052] Step 211: comparing the relative distance and angle with the preset distance and angle, adjusting the speed of the trolley to make the relative distance and angle between the trolley and the unmanned aerial vehicle equal to the preset distance and angle;

[0053] Step 212: making the speed of the trolley follow the change of the unmanned aerial vehicle.

[0054] When the relative distance and angle between the trolley and the unmanned aerial vehicle returned by the distance sensor are not equal to the preset value, first control the trolley to accelerate or decelerate, so that the distance and angle between the trolley and the unmanned aerial vehicle are equal to the preset value, and then control the trolley to move at the same speed as the unmanned aerial vehicle, so that the trolley can stably follow the movement of the unmanned aerial vehicle. It can be understood that the preset value of the distance and angle between the trolley and the unmanned aerial vehicle can be set by human or calculated by the spraying position through a calculation algorithm. The trolley can use a PID algorithm or other adaptive following algorithm to maintain a fixed distance and angle with the unmanned aerial vehicle.

[0055] In some embodiments, the ground station plans the spraying path of the unmanned aerial vehicle by the following method: first, the spraying unmanned aerial vehicle collects images of the spraying object, such as the hull plate, through the universal camera 240, and transmits the collected pictures to the ground station; then the ground station performs three-dimensional reverse modeling on the collected images, and divides the hull plate model according to the regularity of the shape, divides the hull plate into plane, regular curved surface and complex curved surface; the ground station then plans the flight frequency and spraying path of the spraying unmanned aerial vehicle for the plane, regular curved surface and complex curved surface respectively, and generates the spraying operation parameters of the unmanned aerial vehicle; finally, the ground station sends the spraying path and spraying operation parameters to the controllers of the unmanned aerial vehicle and the trolley, the unmanned aerial vehicle controls the movement of the unmanned aerial vehicle and the work of the nozzle 220 according to the spraying path, and completes the spraying task.

Claims

1. An unmanned aerial vehicle intelligent spraying system, characterized in that, The application relates to a spraying device for unmanned aerial vehicles. The spraying device comprises the following components: an unmanned aerial vehicle; a trolley; a Y-shaped support assembly (100) which is detachably arranged at the lower end of the unmanned aerial vehicle; a spraying assembly (200) which is detachably arranged at the center of the Y-shaped support assembly (100); a material conveying assembly (300) which is arranged on the trolley and is connected with the spraying assembly (200) through a conveying pipe; a dynamic joint control system which is used for controlling the power output and pipeline winding and unwinding of the unmanned aerial vehicle and the trolley; a ground station which is in communication connection with the unmanned aerial vehicle, the trolley and the dynamic joint control system and is used for data analysis and processing. The Y-shaped support assembly (100) comprises at least two Y-shaped supports (110) and at least one auxiliary support (130), the upper end of the Y-shaped support (110) is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing base (120), the lower end of the Y-shaped support (110) is detachably connected with the landing gear of the unmanned aerial vehicle through an inclined three-way fixing base (150), the upper end of the auxiliary support (130) is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing base (120), the middle of the Y-shaped support (110) and the lower end of the auxiliary support (130) are provided with sleeves, the spraying assembly (200) is detachably arranged in the sleeves, and double-pass fixing bases (140) are arranged at the two ends of the sleeves.

2. The drone intelligent spraying system of claim 1, wherein, The material conveying assembly (300) comprises a coating warehouse (310), a pressurizing pump (320), a coating conveying pipe and a pipeline automatic winding and unwinding device (330), the pressurizing pump (320) is connected with the coating warehouse (310), one end of the coating conveying pipe is connected with the coating warehouse (310), the other end of the coating conveying pipe is connected with an automatic spraying gun (230), and the coating conveying pipe is wound on the pipeline automatic winding and unwinding device (330).

3. The drone intelligent spraying system of claim 2, wherein, The spraying assembly (200) comprises a spraying rod (210), a spraying nozzle (220), an automatic spraying gun (230) and a universal camera (240), the spraying nozzle (220) and the automatic spraying gun (230) are arranged at the two ends of the spraying rod (210) respectively, the universal camera (240) is arranged at the end of the spraying rod (210) close to the spraying nozzle (220), the spraying rod (210) is detachably arranged at the center of the Y-shaped support assembly (100), the automatic spraying gun (230) is connected with the material conveying assembly (300) through the conveying pipe, and the spraying nozzle (220) can rotate relative to the spraying rod (210).

4. The unmanned aerial vehicle intelligent spraying system of claim 1, wherein, The spraying assembly (200) further comprises a conveying pipe fixing device (250) which is detachably arranged on the horizontal rod of the landing gear of the unmanned aerial vehicle, and the conveying pipe fixing device (250) makes the conveying pipe vertical to the center of gravity of the unmanned aerial vehicle. The dynamic joint control system comprises: an unmanned aerial vehicle controller which is arranged on the unmanned aerial vehicle and is used for controlling the movement of the unmanned aerial vehicle; a gravity sensor which is in electric connection with the unmanned aerial vehicle controller and is used for measuring the gravity of the pipeline; A trolley controller is arranged on the trolley and used to control the movement of the trolley. A distance sensor is electrically connected with the UAV controller and the trolley controller, and used to measure the relative distance and angle between the trolley and the UAV. A pipeline winding and unwinding controller is used to control the pipeline automatic winding and unwinding device (330). A tension sensor is electrically connected with the pipeline winding and unwinding controller, and used to measure the pipeline tension. The UAV controller, the trolley controller and the tension sensor are communicatively connected with each other.

5. The drone intelligent spraying system of claim 4, wherein, The dynamic response time of the gravity sensor is less than or equal to 1 ms.

6. The unmanned aerial vehicle intelligent spraying system of claim 4, wherein, The dynamic response time of the tension sensor is less than or equal to 2 ms.

7. The unmanned aerial vehicle intelligent spraying system of claim 4, wherein, The dynamic response time of the dynamic joint control system is less than or equal to 2 s.

8. The unmanned aerial vehicle intelligent spraying system of claim 4, wherein, The distance sensor is an infrared radar and / or an ultrasonic radar, and the transmitting end and the receiving end of the infrared radar and the ultrasonic radar are electrically connected with the UAV controller and the trolley controller respectively.

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