A laser radar system for plant protection machines

Abstract

The present invention discloses a laser radar system for a plant protection machine, which belongs to the technical field of laser radars and comprises an upper radar assembly and a lower radar assembly which are symmetrically arranged up and down. The upper radar assembly and the lower radar assembly are installed in the inner cavity of an inner cylinder. A two-way telescopic cylinder is fixedly connected to the middle of the inner cavity of the inner cylinder. The two-way telescopic cylinder is provided with a telescopic rod which can be pushed in two directions. The heads of the telescopic rods are respectively fixedly connected to the upper radar assembly and the lower radar assembly through push plates. Two elastic sleeves which are arranged up and down are fixedly connected to the inner wall surface of the inner cylinder. The inner wall surface of the elastic sleeve is slidably connected to the outer wall surface of the upper radar assembly and the lower radar assembly. The laser radar system for a plant protection machine provided by the present invention can have the ability of 360-degree omnidirectional recognition of obstacles, and the measured obstacle distance is accurate, thereby improving the safety of the plant protection machine in plant protection operations. It avoids the influence of light and allows the plant protection machine to operate in the evening or even at night and still ensures safety.

Description

Technical Field

[0001] The invention relates to a laser radar system for a plant protection machine, belonging to the technical field of laser radars. Background Art

[0002] Plant protection drones, also known as unmanned aerial vehicles, are unmanned aircraft used for agricultural and forestry plant protection operations. This type of unmanned aircraft consists of three parts: a flight platform (fixed-wing, helicopter, multi-axis aircraft), a navigation flight control, and a spraying mechanism. Spraying operations are carried out through ground remote control or GPS flight control. It can spray pesticides, seeds, powders, etc.

[0003] The plant protection drones in the existing technology have the functions of real-time image transmission and real-time attitude monitoring. When spraying pesticides, professional flight controllers are required to control them. Due to the generally complex environment around farmland, high-voltage wires, low-voltage wires, ponds, melon racks, ridges, etc. are very common when drones are used for plant protection operations. Grass, trees, shrubs, etc. with a height of more than 1 meter are also often encountered in harsh working environments. When the flight controller controls the plant protection drone, he can only control the throttle amplitude by visual inspection, which places very high technical requirements on the flight controller. Since the plant protection drone does not have the ability to identify obstacles in 360 degrees in all directions, and the measured obstacle distance is not accurate, it is difficult to effectively identify the obstacles in front and the surface features below during flight. The safety of drone plant protection operations still has a lot of room for improvement, and it is difficult for drones to effectively achieve automatic obstacle avoidance.

[0004] In addition, most plant protection drones perform plant protection operations during the day, but the time for spraying pesticides during the day may not be enough. In addition, the prevention and control of crop diseases and pests is highly seasonal, so some prevention and control needs to be carried out in the evening or even at night. It is difficult to ensure the safety of plant protection drones during night operations.

[0005] In summary, the existing technology obviously has inconveniences and defects in actual use, so it is necessary to propose a laser radar system for plant protection machines to solve the bottleneck of the existing technology. Summary of the invention

[0006] In view of the deficiencies in the background technology, the present invention provides a laser radar system for a plant protection machine, which has the ability to identify obstacles in 360 degrees in all directions, and the measured obstacle distance is accurate, so that obstacles can be effectively identified and automatically circumvented, thereby improving the safety of the plant protection machine in plant protection operations; avoiding the influence of light, allowing the plant protection machine to operate in the evening or even at night and still ensure safety.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A laser radar system for a plant protection machine, comprising an upper radar assembly and a lower radar assembly which are symmetrically arranged in an upper and lower direction, wherein the upper radar assembly and the lower radar assembly are moved toward or away from each other through a bidirectional telescopic cylinder, and the upper radar assembly and the lower radar assembly are installed in the inner cavity of an inner cylinder;

[0009] The axis of the inner cylinder is arranged vertically, a bidirectional telescopic cylinder is fixedly connected to the middle of the inner cavity of the inner cylinder, the bidirectional telescopic cylinder is provided with a telescopic rod that can be pushed bidirectionally, and the head of the telescopic rod is fixedly connected to the upper radar assembly and the lower radar assembly respectively through a push plate;

[0010] Two elastic sleeves arranged up and down are fixedly connected to the inner wall surface of the inner cylinder, and the inner wall surface of the elastic sleeve is slidably connected to the outer wall surface of the upper radar assembly and the lower radar assembly;

[0011] The upper radar assembly comprises a connecting seat, a cylindrical body is arranged in the end surface of the connecting seat away from the push plate, a step hole is arranged in the cylindrical body, the step hole is composed of an upper step hole large diameter section and a lower step hole small diameter section, a receiving lens is embedded in the step hole large diameter section, a through hole is arranged in the receiving lens, and a collimating lens barrel is penetrated in the through hole;

[0012] The outside of the cylindrical body is sleeved with a motor coil stator and a motor rotor in sequence, and the outside of the motor rotor is fixedly connected with a reflector which rotates synchronously with the motor rotor.

[0013] Furthermore, the top of the upper elastic sleeve is flush with the top of the inner cylinder, and the bottom of the upper elastic sleeve is flush with the top of the cylinder body of the two-way telescopic cylinder; the bottom of the lower elastic sleeve is flush with the bottom of the inner cylinder, and the top of the lower elastic sleeve is flush with the bottom of the cylinder body of the two-way telescopic cylinder.

[0014] Furthermore, the connection seat is provided with screw holes evenly distributed in a circumference, and the connection seat is fixedly connected to the push plate through the screw holes.

[0015] Furthermore, the barrel portion and the connecting seat are coaxially arranged and integrally formed.

[0016] Furthermore, a light source generator is embedded in the lower end of the collimating lens barrel, and a transmitting collimating lens is embedded in the upper end of the collimating lens barrel.

[0017] Furthermore, the receiving lens is fixedly connected to the bottom end surface of the large diameter section of the step hole; and the lower end of the collimating lens barrel is fixedly connected to the small diameter section of the step hole.

[0018] Furthermore, the motor coil stator and the motor rotor are both annular structures, and the motor coil stator, the motor rotor and the top end of the barrel are arranged flush.

[0019] Furthermore, the reflector is set at an angle of 45°, a cover body is provided on the outside of the reflector, an open end is provided at the bottom of the cover body, a shoulder is provided inside the open end of the cover body, and the cover body is fixedly connected to the connecting seat through the shoulder; the lower end surfaces of the cover body and the connecting seat are set flush; and a closed chamber is formed between the cover body and the connecting seat.

[0020] Furthermore, the outer part of the inner cylinder is sequentially sleeved with a middle cylinder and an outer cylinder; the left and right sides of the bottom of the outer cylinder are fixedly connected with landing gears, and a plurality of rotors are arranged around the outer cylinder.

[0021] Furthermore, a plurality of storage batteries evenly distributed in a circle are installed in the cavity between the inner cylinder and the middle cylinder, and a plurality of liquid storage tanks evenly distributed in a circle are installed in the cavity between the middle cylinder and the outer cylinder.

[0022] After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] The upper radar assembly and the lower radar assembly in the present invention are moved toward or away from each other through a two-way telescopic cylinder. The telescopic and hidden design of the radar assembly avoids damage to the radar assembly during non-plant protection work and avoids the 360-degree scanning of the radar during plant protection work due to the structure of the plant protection machine itself.

[0024] The present invention sets two scanning optical paths, which can scan synchronously without interfering with each other, can effectively identify horizontal omnidirectional obstacles, and the measured obstacle distance is accurate, so that the plant protection machine can realize automatic obstacle avoidance and terrain-imitating flight functions, fully guarantee the safety of plant protection operations, and realize true 360-degree safety protection;

[0025] The elastic sleeve in the present invention cooperates with the radar component, and the elastic sleeve plays a shock-absorbing and protective function for the radar component. The radar component is slidably connected with the elastic sleeve during the extension and retraction process, and the dirt adhering to the surface of the radar component is rubbed off by the elastic sleeve, thereby ensuring the cleanliness of the surface of the radar component and preventing the dirt from affecting the scanning of the radar and affecting the reliability and accuracy of the scanning process.

[0026] The laser radar system in the present invention will not be affected by light, and can ensure safety even in the evening or at night, further improving flight safety and achieving true 360-degree safety protection. The present invention solves problems such as obstacles that cannot be avoided and obstacle distances that cannot be accurately measured, greatly improving the safety and efficiency of UAV plant protection operations.

[0027] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the installation positions of the upper radar assembly and the lower radar assembly;

[0029] Figure 2 yes Figure 1 A top view of

[0030] Figure 3 is a schematic diagram of the telescopic drive of the upper radar assembly and the lower radar assembly;

[0031] Figure 4 yes Figure 3 A magnified view of the structure at M in the middle;

[0032] Figure 5 It is a structural diagram of the connecting seat.

[0033] In the figure, 1-upper radar assembly, 101-connecting seat, 102-barrel, 103-step hole large diameter section, 104-step hole small diameter section, 105-screw hole, 106-receiving lens, 107-collimating lens barrel, 108-light source generator, 109-transmitting collimating lens, 1010-motor coil stator, 1011-motor rotor, 1012-reflector, 1013-cover; 2-lower radar assembly, 3-inner barrel, 4-two-way telescopic cylinder, 5-telescopic rod, 6-push plate, 7-elastic sleeve, 8-middle barrel, 9-battery, 10-outer barrel, 11-liquid storage tank, 12-landing gear, 13-rotor. DETAILED DESCRIPTION

[0034] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0035] like Figure 1-Figure 5 As shown together, the present invention provides a laser radar system for a plant protection machine, comprising an upper radar assembly 1 and a lower radar assembly 2 which are symmetrically arranged in an upper and lower manner, and the upper radar assembly 1 and the lower radar assembly 2 are moved toward or away from each other through a two-way telescopic cylinder 4; the upper radar assembly 1 and the lower radar assembly 2 are installed in the inner cavity of an inner cylinder 3, and during the plant protection work process, the upper radar assembly 1 and the lower radar assembly 2 extend from the inner cavity of the inner cylinder 3, and during the non-plant protection work process, the upper radar assembly 1 and the lower radar assembly 2 are retracted into the inner cavity of the inner cylinder 3.

[0036] The axis of the inner cylinder 3 is arranged vertically, and a two-way telescopic cylinder 4 is fixedly connected to the middle of the inner cavity of the inner cylinder 3. The two-way telescopic cylinder 4 is provided with a telescopic rod 5 that can be pushed in both directions; the head of the telescopic rod 5 is fixedly connected to the upper radar assembly 1 and the lower radar assembly 2 through a push plate 6 respectively.

[0037] Two elastic sleeves 7 arranged up and down are fixedly connected to the inner wall surface of the inner cylinder 3 , and the inner wall surface of the elastic sleeve 7 is slidably connected to the outer wall surfaces of the upper radar assembly 1 and the lower radar assembly 2 .

[0038] The top end of the upper elastic sleeve 7 is flush with the top end of the inner cylinder 3, and the bottom end of the upper elastic sleeve 7 is flush with the top end of the cylinder body of the two-way telescopic cylinder 4; the bottom end of the lower elastic sleeve 7 is flush with the bottom end of the inner cylinder 3, and the top end of the lower elastic sleeve 7 is flush with the bottom end of the cylinder body of the two-way telescopic cylinder 4; the elastic sleeve 7 has shock absorption and cleaning functions, and the elastic sleeve 7 has a certain elasticity, which plays a shock absorption and protection function for the upper radar assembly 1 and the lower radar assembly 2. The upper radar assembly 1 and the lower radar assembly 2 are slidingly connected with the elastic sleeve 7 during the telescopic process, and the dirt adhered to the surface of the upper radar assembly 1 and the lower radar assembly 2 is rubbed and removed by the elastic sleeve 7, so that the surface of the upper radar assembly 1 and the lower radar assembly 2 is kept clean.

[0039] The upper radar assembly 1 includes a connecting seat 101 , on which screw holes 105 evenly distributed in a circumference are provided, and the connecting seat 101 is fixedly connected to the push plate 6 via the screw holes 105 .

[0040] A cylindrical body 102 is disposed in the end surface of the connection seat 101 away from the push plate 6 . The cylindrical body 102 is coaxially arranged with the connection seat 101 and is integrally formed.

[0041] A step hole is provided inside the cylindrical body 102 , and the step hole consists of an upper step hole large diameter section 103 and a lower step hole small diameter section 104 ; a receiving lens 106 is embedded in the step hole large diameter section 103 , and the receiving lens 106 is fixedly connected to the bottom end surface of the step hole large diameter section 103 .

[0042] The receiving lens 106 has a through hole therein, through which a collimating lens barrel 107 is passed, and the lower end of the collimating lens barrel 107 is fixedly connected to the small diameter section 104 of the step hole; a light source generator 108 is embedded in the lower end of the collimating lens barrel 107, and a transmitting collimating lens 109 is embedded in the upper end of the collimating lens barrel 107.

[0043] The outside of the cylindrical body 102 is sequentially sleeved with a motor coil stator 1010 and a motor rotor 1011, both of which are annular structures, and the motor coil stator 1010, the motor rotor 1011 and the top of the cylindrical body 102 are arranged flush; the outside of the motor rotor 1011 is fixedly connected with a reflector 1012 that rotates synchronously with the motor rotor 1011, the reflector 1012 is arranged at an angle of 45°, and the reflector 1012 is arranged above the emitting collimating mirror 109.

[0044] A stable current flows through the motor coil stator 1010, which generates a magnetic field force to drive the motor rotor 1011 to rotate. The motor rotor 1011 drives the reflector 1012 to rotate, thereby realizing 360° full-angle scanning of the radar.

[0045] A cover body 1013 is provided on the outside of the reflector 1012, and an open end is provided at the bottom of the cover body 1013. A shoulder is provided in the open end of the cover body 1013, and the cover body 1013 is fixedly connected to the connecting seat 101 through the shoulder; the lower end surfaces of the cover body 1013 and the connecting seat 101 are arranged flush; a closed chamber is provided between the cover body 1013 and the connecting seat 101, and the reflector 1012 is located in the closed chamber.

[0046] The outside of the inner cylinder 3 is sequentially sleeved with a middle cylinder 8 and an outer cylinder 10; a plurality of storage batteries 9 evenly distributed in a circle are installed in the cavity between the inner cylinder 3 and the middle cylinder 8; a plurality of liquid storage tanks 11 evenly distributed in a circle are installed in the cavity between the middle cylinder 8 and the outer cylinder 10; landing gears 12 are fixedly connected to the left and right sides of the bottom of the outer cylinder 10, and a plurality of rotors 13 are arranged around the outer cylinder 10.

[0047] During the plant protection work, the upper radar assembly 1 and the lower radar assembly 2 extend from the inner cavity of the inner cylinder 3. The height of the upper radar assembly 1 after being extended is higher than the height of the rotor 13, and the height of the lower radar assembly 2 after being extended is lower than the height of the landing gear 12, so as to prevent the radar from having a scanning blind spot due to the existence of the rotor 13 and the landing gear 12, and avoid affecting the radar's 360° full-angle scanning.

[0048] The specific working principle of the present invention:

[0049] The upper radar assembly 1 and the lower radar assembly 2 in the present invention are moved toward or away from each other through a two-way telescopic cylinder 4. During the plant protection work, the upper radar assembly 1 and the lower radar assembly 2 extend from the inner cavity of the inner cylinder 3 to perform 360° full-angle scanning; during the non-plant protection work, the upper radar assembly 1 and the lower radar assembly 2 are retracted into the inner cavity of the inner cylinder 3. The telescopic and hidden design of the radar assembly can avoid damage to the radar assembly during non-plant protection work, and avoid the 360-degree scanning of the radar during the plant protection work due to the structure of the plant protection machine itself.

[0050] The upper radar assembly 1 and the lower radar assembly 2 in the present invention have the same working principle. The transmitting collimator 109, the reflector 1012 and the receiving lens 106 in the upper radar assembly 1 constitute a first-line scanning optical path, and the transmitting collimator 109, the reflector 1012 and the receiving lens 106 in the lower radar assembly 2 constitute a second-line scanning optical path; the two-line optical paths can be scanned synchronously without interfering with each other, and horizontal omnidirectional obstacles can be effectively identified, and the measured obstacle distance is accurate, thereby enabling the plant protection machine to realize automatic obstacle avoidance and ground-imitation flight functions, fully ensuring the safety of plant protection operations and achieving true 360-degree safety protection.

[0051] The elastic sleeve 7 in the present invention cooperates with the upper radar assembly 1 and the lower radar assembly 2. The elastic sleeve 7 has a certain elasticity and plays a shock-absorbing and protective function for the upper radar assembly 1 and the lower radar assembly 2. The upper radar assembly 1 and the lower radar assembly 2 are slidingly connected with the elastic sleeve 7 during the extension and retraction process. The dirt adhered to the surface of the upper radar assembly 1 and the lower radar assembly 2 is rubbed off by the elastic sleeve 7, thereby maintaining the cleanliness of the surface of the upper radar assembly 1 and the lower radar assembly 2.

[0052] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. A laser radar system for a plant protection machine, characterized in that: The invention comprises an upper radar assembly (1) and a lower radar assembly (2) which are symmetrically arranged in an upper and lower manner, wherein the upper radar assembly (1) and the lower radar assembly (2) are movable towards or away from each other via a bidirectional telescopic cylinder (4), and the upper radar assembly (1) and the lower radar assembly (2) are installed in the inner cavity of an inner cylinder (3); The axis of the inner cylinder (3) is arranged vertically, a bidirectional telescopic cylinder (4) is fixedly connected to the middle of the inner cavity of the inner cylinder (3), the bidirectional telescopic cylinder (4) is provided with a telescopic rod (5) that can be pushed bidirectionally, and the head of the telescopic rod (5) is fixedly connected to the upper radar assembly (1) and the lower radar assembly (2) respectively through a push plate (6); Two elastic sleeves (7) arranged in an upper and lower manner are fixedly connected to the inner wall surface of the inner cylinder (3), and the inner wall surfaces of the elastic sleeves (7) are slidably connected to the outer wall surfaces of the upper radar assembly (1) and the lower radar assembly (2); the top end of the upper elastic sleeve (7) is arranged flush with the top end of the inner cylinder (3), and the bottom end of the upper elastic sleeve (7) is arranged flush with the top end of the cylinder body of the two-way telescopic cylinder (4); the bottom end of the lower elastic sleeve (7) is arranged flush with the bottom end of the inner cylinder (3), and the top end of the lower elastic sleeve (7) is arranged flush with the bottom end of the cylinder body of the two-way telescopic cylinder (4); The inner cylinder (3) is sleeved with a middle cylinder (8) and an outer cylinder (10) in sequence on the outside; landing gears (12) are fixedly connected to the left and right sides of the bottom of the outer cylinder (10); a plurality of rotors (13) are arranged around the outer cylinder (10); a plurality of storage batteries (9) evenly distributed in a circumference are installed in the cavity between the inner cylinder (3) and the middle cylinder (8); a plurality of liquid storage tanks (11) evenly distributed in a circumference are installed in the cavity between the middle cylinder (8) and the outer cylinder (10); The upper radar assembly (1) comprises a connecting seat (101), a cylindrical body (102) is provided in the end surface of the connecting seat (101) away from the push plate (6), a stepped hole is provided in the cylindrical body (102), the stepped hole is composed of an upper stepped hole large diameter section (103) and a lower stepped hole small diameter section (104), a receiving lens (106) is embedded in the stepped hole large diameter section (103), a through hole is provided in the receiving lens (106), and a collimating lens barrel (107) is inserted in the through hole; The exterior of the cylindrical portion (102) is sequentially sleeved with a motor coil stator (1010) and a motor rotor (1011), and the exterior of the motor rotor (1011) is fixedly connected with a reflector (1012) that rotates synchronously therewith.

2. The laser radar system for a plant protection machine according to claim 1, characterized in that: The connection seat (101) is provided with screw holes (105) evenly distributed in a circumference, and the connection seat (101) is fixedly connected to the push plate (6) via the screw holes (105).

3. The laser radar system for a plant protection machine according to claim 1, characterized in that: The cylindrical body (102) and the connecting seat (101) are coaxially arranged and integrally formed.

4. The laser radar system for a plant protection machine according to claim 1, characterized in that: A light source generator (108) is embedded in the lower end of the collimating lens barrel (107), and a transmitting collimating lens (109) is embedded in the upper end of the collimating lens barrel (107).

5. The laser radar system for a plant protection machine according to claim 1, characterized in that: The receiving lens (106) is fixedly connected to the bottom end surface of the stepped hole large diameter section (103); and the lower end of the collimating lens barrel (107) is fixedly connected to the stepped hole small diameter section (104).

6. The laser radar system for a plant protection machine according to claim 1, characterized in that: The motor coil stator (1010) and the motor rotor (1011) are both annular structures, and the motor coil stator (1010), the motor rotor (1011) and the top ends of the barrel portion (102) are arranged flush with each other.

7. The laser radar system for a plant protection machine according to claim 1, characterized in that: The reflector (1012) is arranged at an angle of 45°, a cover body (1013) is arranged outside the reflector (1012), an open end is arranged at the bottom of the cover body (1013), a shaft shoulder is arranged inside the open end of the cover body (1013), and the cover body (1013) is fixedly connected to the connecting seat (101) via the shaft shoulder; the lower end surfaces of the cover body (1013) and the connecting seat (101) are arranged flush; and a closed chamber is formed between the cover body (1013) and the connecting seat (101).

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