Intelligent agricultural pesticide spraying unmanned aerial vehicle and control method

Abstract

The application discloses a kind of wisdom agricultural pesticide spraying unmanned plane and control method, including, base, connecting board;Paddle arm, circumferentially distributed by multiple, can be linearly slid along the center of base and be arranged in base, and its end is fixed with motor, and motor is connected with paddle blade;Water tank, fixed below base;Warehouse body, fixedly arranged above base, including battery, control device, visual device in it;Lifting shaft, vertically slidably arranged in the center of base, and it is through to the warehouse body above above base, and it is through to the water tank below below base;Nozzle, it is arranged in the lower end of lifting shaft, and it is connected with water tank by conduit;Support, fixed below base both sides, and lower than the lowest point of nozzle.Compared with prior art, the application can adapt to environment and improve flexibility or stability, and customize the spraying amount and spraying mode of pesticide for different vegetation types.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field, in particular to a wisdom agricultural pesticide spraying unmanned aerial vehicle and control method. BACKGROUND

[0002] The agricultural pesticide spraying unmanned aerial vehicle has the advantages of low operation height, less drift, aerial hovering, no need for special take-off and landing airport, downward airflow generated by the rotor helping to increase the penetration of the mist flow to the crops, high prevention and control effect, remote control operation, spraying operation personnel avoiding exposure to pesticides, improving spraying operation safety and the like. The existing agricultural pesticide spraying unmanned aerial vehicle carries a water tank and a spray head through a flight device, flies to the top of vegetation and performs sheet-like continuous pesticide spraying. It is inconvenient to spray pesticides on single plants, easy to spray to the empty land and cause waste, and different spray heads are needed for different spraying methods, which is difficult to adapt to agricultural pesticide spraying of various plant types.

[0003] Therefore, it is necessary to provide a wisdom agricultural pesticide spraying unmanned aerial vehicle and control method to solve the problems in the background art. SUMMARY

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a wisdom agricultural pesticide spraying unmanned aerial vehicle, comprising,

[0005] a base, a connecting plate;

[0006] a paddle arm, which is circumferentially distributed by a plurality of roots, is linearly slidably arranged in the base, a motor is fixed at the end of the paddle arm, and a paddle blade is connected to the motor;

[0007] a water tank, which is fixed below the base;

[0008] a warehouse body, which is fixed above the base, and includes a battery, a control device and a visual device in the warehouse body;

[0009] a lifting shaft, which is vertically slidably arranged at the center of the base and penetrates the base above to the warehouse body and penetrates the base below to the water tank below;

[0010] a nozzle, which is arranged at the lower end of the lifting shaft and connected to the water tank through a conduit;

[0011] a foot stand, which is fixed below the base on both sides and lower than the lowest point of the nozzle.

[0012] Further, as a preferred, a plurality of linear bearings are circumferentially fixed on the edge of the base, and the paddle arm is slidably connected with the base through the linear bearings.

[0013] Further, as preferred, a center of the base is rotatably provided with an adjusting turntable, a plurality of arc-shaped slots are circumferentially arranged in the adjusting turntable, and each end of the paddle arm near the center of the base is correspondingly limited in the arc-shaped slot through a sliding pin.

[0014] Further, as preferred, a center of the adjusting turntable is fixed with an adjusting nut, and the lifting shaft penetrates through the adjusting nut, and a thread is arranged on an outer wall of the lifting shaft and can engage with the adjusting nut.

[0015] Further, as preferred, the nozzle is connected with the lifting shaft through a hinged disc, a center of the hinged disc is fixed on a lower end of the lifting shaft, and a plurality of nozzles are circumferentially arranged in the hinged disc and can rotate up and down in the hinged disc to change a spray angle.

[0016] Further, as preferred, a torsion spring is arranged in a connecting shaft of the nozzle and the hinged disc, and the torsion spring provides a torsion force for rotating each nozzle in a direction of gathering downward.

[0017] Further, as preferred, a pull rope is fixed in a middle part of the nozzle, and the other end of the pull rope is fixed to the water tank.

[0018] Further, as preferred, a rotating handle is fixed on the adjusting nut, and the other end of the rotating handle is hinged with a servo telescopic rod, and the servo telescopic rod is hinged to the bottom of the bin body.

[0019] Further, as preferred, the sliding pin 62 is provided with a Teflon coating on an outer wall.

[0020] A control method of an intelligent agricultural pesticide spraying unmanned aerial vehicle, S1, obtaining a planar model of plants in a set range: through a visual device, the visual device classifies and locates different vegetation types based on vegetation color and texture, and customizes the spraying amount and spraying mode of pesticides for different vegetation types;

[0021] S2, after preparing pesticides, performing pesticide spraying: controlling the unmanned aerial vehicle to fly above the vegetation and spraying pesticides on the vegetation through nozzles, wherein the spraying amount is controlled by the flight speed and the residence time of the unmanned aerial vehicle, and the spraying mode is divided into:

[0022] S2-1, point vegetation spraying: driving the adjusting nut and the adjusting turntable to rotate through the servo telescopic rod, so that the paddle pitch becomes smaller, the spraying range of the nozzle becomes smaller synchronously, the flexibility of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is convenient to pass through between plants and perform point pesticide spraying on the plants;

[0023] S2-2, spray the sheet vegetation: through servo telescopic rod drive adjusting nut and adjusting the rotation of the turntable, make the paddle pitch become larger, the nozzle spray range synchronous become larger, make the unmanned aerial vehicle stability improve, raise the height of unmanned aerial vehicle, the nozzle continues to spray while unmanned aerial vehicle cruising in the vegetation range.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] In the present application, since the paddle arms are limited in the path of sliding along the linear bearing, by rotating the adjusting turntable, the position of the arc-shaped groove is changed, thereby changing the position of the sliding pin in the arc-shaped groove, to synchronously drive each paddle arm to slide linearly, change the length of the paddle arm extending out of the base, and change the pitch, so that it can adapt to the environment to improve flexibility or stability.

[0026] In the present application, when the adjusting turntable is rotated, the adjusting nut is rotated, thereby synchronously lifting the lifting shaft, and in the present embodiment, the thread direction of the adjusting nut is such that when the adjusting turntable is rotated to make the paddle pitch larger, the height of the lifting shaft is lowered, and when the lifting shaft is lowered, the nozzle is opened outward under the action of the pulling force of the pulling rope, and vice versa, that is, when the adjusting turntable is rotated to make the paddle pitch larger, the height of the lifting shaft is lowered to make the nozzle open outward synchronously, thereby making the spray range larger.

[0027] In the present application, the visual device scans within the range, the visual device classifies and locates different types of vegetation based on the color and texture of the vegetation, and customizes the spray amount and spray method of the pesticide for different types of vegetation. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 It is a structural schematic diagram of a smart agricultural pesticide spraying unmanned aerial vehicle;

[0029] Fig. 2 It is a structural schematic diagram of an adjusting turntable;

[0030] Fig. 3 It is a structural schematic diagram of a nozzle;

[0031] In the figure: 1, base; 2, paddle arm; 21, motor; 22, paddle; 23, linear bearing; 3, lifting shaft; 4, water tank; 5, nozzle; 51, hinged disc; 52, pulling rope; 53, torsion spring; 6, adjusting turntable; 61, arc-shaped groove; 62, sliding pin; 7, adjusting nut; 8, rotating handle; 9, servo telescopic rod; 10, bin body; 11, foot stand. DETAILED DESCRIPTION

[0032] Please refer to Figs. 1-3 In the embodiment of the present application, a smart agricultural pesticide spraying unmanned aerial vehicle comprises a base 1 and a connecting plate material.

[0033] Paddle arms 2, circumferentially distributed by a plurality of, can be linearly slidably provided in the base 1 center, the end fixed with the motor 21, and the motor 21 is connected with the paddle 22;

[0034] Water tank 4, fixed below the base 1;

[0035] The warehouse body 10 is fixed above the base 1, which includes the battery, the control device, the visual device;

[0036] Lifting shaft 3, vertically slidably provided in the center of the base 1, and penetrates the base 1 above to the warehouse body 10, and penetrates the base 1 below the water tank 4 below;

[0037] Nozzle 5, provided at the lower end of the lifting shaft 3, connected with the water tank 4 through the conduit;

[0038] The foot 11 is fixed below the base 1 on both sides, and is lower than the lowest point of the nozzle 5.

[0039] In this embodiment, the base 1 edge circumferentially distributedly fixed with a plurality of linear bearings 23, the paddle arm 2 through the linear bearing 23 and the base 1 slidably connected.

[0040] In this embodiment, the base 1 on the center rotatably provided with the adjustment turntable 6, the adjustment turntable 6 circumferentially distributedly provided with a plurality of arc grooves 61, and each of the paddle arm 2 close to the base 1 center one end through the sliding pin 62 one by one corresponding to limit in the arc groove 61, the sliding pin 62 and the arc groove 61 slidably connected;

[0041] Because the paddle arm 2 is limited in the path along the linear bearing 23 sliding, by rotating the adjustment turntable 6, the position of the arc groove 61 changes and the position of the sliding pin 62 in the arc groove 61 changes, to synchronously drive each paddle arm 2 linearly sliding, change the length of the paddle arm 2 extending out of the base 1, play the role of changing the pitch, so that it can adapt to the environment to improve flexibility or stability.

[0042] In this embodiment, the center of the adjustment turntable 6 is fixed with the adjusting nut 7, the lifting shaft 3 penetrates from the adjusting nut 7, and the outer wall of the lifting shaft 3 is provided with a thread capable of engaging with the adjusting nut 7;

[0043] That is, when the adjustment turntable 6 rotates, the adjusting nut 7 is driven to rotate, so that the lifting shaft 3 is synchronously lifted, and the thread of the adjusting nut 7 in this embodiment is oriented so that when the adjustment turntable 6 rotates to make the pitch larger, the lifting shaft 3 height is lowered.

[0044] In the embodiment, the nozzles 5 are connected to the lifting shaft 3 through a hinged disc 51, the center of the hinged disc 51 is fixed to the lower end of the lifting shaft 3, and a plurality of the nozzles 5 are circumferentially distributed and hinged in the hinged disc 51, and the nozzles 5 can rotate up and down in the hinged disc 51 to change the spray angle.

[0045] In the embodiment, a torsion spring 53 is arranged in the connecting shaft of the nozzles 5 and the hinged disc 51, and the torsion spring 53 provides a torsion force for rotating each nozzle 5 in a direction of gathering downward.

[0046] In the embodiment, a pull rope 52 is fixed in the middle of the nozzle 5, and the other end of the pull rope 52 is fixed to the water tank 4;

[0047] Through the action of the pull rope 52, when the lifting shaft 3 is lowered, the nozzles 5 are spread outward under the action of the pulling force of the pull rope 52, and vice versa, that is, when the adjusting turntable 6 is rotated to increase the pitch of the paddle 22, the height of the lifting shaft 3 is lowered to enable the nozzles 5 to be synchronously spread outward, so that the spray range is increased.

[0048] In the embodiment, a rotating handle 8 is fixedly sleeved on the adjusting nut 7, the other end of the rotating handle 8 is hinged with a servo telescopic rod 9, and the servo telescopic rod 9 is hinged to the bottom of the bin body 10.

[0049] Through the extension and contraction of the servo telescopic rod 9, the adjusting nut 7 and the adjusting turntable 6 can be driven to rotate, so that the pitch of the paddle 22 and the spray range of the nozzle 5 are adjusted.

[0050] In the embodiment, the outer wall of the sliding pin 62 has a polytetrafluoroethylene coating, and the polytetrafluoroethylene can be self-lubricated in friction to reduce the friction between the sliding pin 62 and the arc-shaped groove 61.

[0051] The embodiment also includes a control method of a smart agricultural pesticide spraying unmanned aerial vehicle,

[0052] S1, obtaining a plane model of plants in a set range: through a visual device, the visual device classifies and locates different vegetation types based on vegetation color and texture, and customizes the spraying amount and spraying mode of pesticides for different vegetation types;

[0053] S2, after preparing the pesticide, spraying the pesticide: controlling the unmanned aerial vehicle to fly above the vegetation to spray the pesticide on the vegetation through the nozzles 5, wherein the spraying amount is controlled by the flight speed and the residence time of the unmanned aerial vehicle, and the spraying mode is divided into:

[0054] S2-1, point vegetation spraying: through the servo telescopic rod 9 drives the adjusting nut 7 and the adjusting turntable 6 to rotate, the pitch of the paddle 22 is reduced, the spraying range of the nozzle 5 is reduced synchronously, the flexibility of the unmanned aerial vehicle is improved, the unmanned aerial vehicle is convenient to pass through between plants, and the plants are sprayed with pesticides.

[0055] S2-2, sheet vegetation spraying: through the servo telescopic rod 9 drives the adjusting nut 7 and the adjusting turntable 6 to rotate, the pitch of the paddle 22 is increased, the spraying range of the nozzle 5 is increased synchronously, the stability of the unmanned aerial vehicle is improved, the height of the unmanned aerial vehicle is increased, and the unmanned aerial vehicle cruises in the vegetation range while the nozzle 5 continuously sprays pesticides.

[0056] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle for intelligent agricultural pesticide spraying operation, characterized in that, Comprising, a base (1), a connecting plate; a paddle arm (2), a plurality of which are circumferentially distributed and slidably arranged in the base (1) along the center line of the base (1), the distal end of which is fixed with a motor (21), and the motor (21) is connected with a paddle (22); a water tank (4) fixed below the base (1); a warehouse body (10) fixedly arranged above the base (1), which includes a battery, a control device, and a visual device; a lifting shaft (3) vertically slidably arranged in the center of the base (1) and penetrating through the base (1) above to the warehouse body (10) and through the base (1) below to the water tank (4) below; a nozzle (5) arranged at the lower end of the lifting shaft (3) and connected with the water tank (4) through a conduit; a foot support (11) fixed on both sides below the base (1) and lower than the lowest point of the nozzle (5); a center of the base (1) is rotatably provided with an adjusting turntable (6), a plurality of arc-shaped grooves (61) are circumferentially arranged in the adjusting turntable (6), and one end of each paddle arm (2) near the center of the base (1) is correspondingly limited in the arc-shaped groove (61) through a sliding pin (62), and the sliding pin (62) and the arc-shaped groove (61) are slidably connected; the center of the adjusting turntable (6) is fixed with an adjusting nut (7), the lifting shaft (3) penetrates through the adjusting nut (7), and the outer wall of the lifting shaft (3) is provided with a thread capable of engaging with the adjusting nut (7), and the thread of the adjusting nut (7) is arranged in a direction that the height of the lifting shaft (3) is lowered when the adjusting turntable (6) is rotated to increase the paddle pitch; the nozzle (5) is connected with the lifting shaft (3) through a hinged disc (51), the center of the hinged disc (51) is fixed at the lower end of the lifting shaft (3), a plurality of nozzles (5) are circumferentially arranged in the hinged disc (51), and the nozzles (5) can rotate up and down in the hinged disc (51) to change the spray angle; when the adjusting turntable (6) is rotated to increase the paddle pitch of the paddle (22), the height of the lifting shaft (3) is lowered to enable the nozzle (5) to open outward synchronously; a rotating handle (8) is fixedly sleeved on the adjusting nut (7), the other end of the rotating handle (8) is hinged with a servo telescopic rod (9), and the servo telescopic rod (9) is hinged to the bottom of the warehouse body (10). 2.The unmanned aerial vehicle for intelligent agricultural pesticide spraying operation of claim 1, wherein, A plurality of linear bearings (23) are circumferentially arranged on the edge of the base (1), and the paddle arm (2) is slidably connected with the base (1) through the linear bearing (23). 3.The unmanned aerial vehicle of claim 1, wherein A torsion spring (53) is arranged in the connecting shaft of the nozzle (5) and the hinged disc (51), which provides a torsion force for rotating each nozzle (5) downward.

4. The unmanned aerial vehicle for agricultural pesticide spraying operation according to claim 3, characterized in that, A pull rope (52) is fixed in the middle of the nozzle (5), and the other end of the pull rope (52) is fixed to the water tank (4). 5.The unmanned aerial vehicle for intelligent agricultural pesticide spraying operation of claim 1, wherein, The outer wall of the sliding pin (62) has a Teflon coating.

6. A control method of an intelligent agricultural pesticide spraying unmanned aerial vehicle, which adopts the intelligent agricultural pesticide spraying unmanned aerial vehicle of any one of claims 1-5. S1, obtaining the planar model of plants in a set range: through cruising scanning in the range by a visual device, the visual device classifies and locates different vegetation types based on vegetation color and texture, and customizes the spraying amount and spraying mode of pesticides for different vegetation types; S2, performing pesticide spraying after preparing pesticides: controlling the unmanned aerial vehicle to fly above the vegetation to spray pesticides on the vegetation through the nozzle (5), wherein the spraying amount is controlled by the flight speed and the residence time of the unmanned aerial vehicle, and the spraying mode is divided into: S2-1, point-shaped vegetation spraying: through the servo telescopic rod (9) driving the adjusting nut (7) and the adjusting turntable (6) to rotate, the pitch of the paddle (22) is reduced, the spraying range of the nozzle (5) is synchronously reduced, the flexibility of the unmanned aerial vehicle is improved, the unmanned aerial vehicle is convenient to pass through between plants, and the plants are sprayed at fixed points; S2-2, sheet-shaped vegetation spraying: through the servo telescopic rod (9) driving the adjusting nut (7) and the adjusting turntable (6) to rotate, the pitch of the paddle (22) is increased, the spraying range of the nozzle (5) is synchronously increased, the stability of the unmanned aerial vehicle is improved, the height of the unmanned aerial vehicle is increased, and the unmanned aerial vehicle cruises in the vegetation range while the nozzle (5) continuously sprays pesticides.

Images