A spraying system based on double unmanned aerial vehicle cooperation

Abstract

The application discloses a spraying system based on cooperation of double unmanned aerial vehicles, a first liquid storage tank and a cleaning device connected with the first liquid storage tank and a liquid inlet head are installed on the first unmanned aerial vehicle, the liquid inlet head is arranged above the first unmanned aerial vehicle, a second liquid storage tank is installed on the second unmanned aerial vehicle, and a liquid outlet head is connected with the second liquid storage tank through a hose, the liquid outlet head and the liquid inlet head are detachably connected and matched, the double unmanned aerial vehicle design is adopted, the first unmanned aerial vehicle is used for cleaning and spraying of an insulator string, the second unmanned aerial vehicle is used for conveying cleaning liquid and spraying liquid, the first unmanned aerial vehicle is supplemented with the cleaning liquid and the spraying liquid, the first unmanned aerial vehicle can always aim at the insulator string to be cleaned, the time for the first unmanned aerial vehicle to reposition the insulator string to be cleaned is saved, and therefore the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning operations, and in particular to a spraying system based on the collaboration of two unmanned aerial vehicles (UAVs). Background Art

[0002] Insulators are specialized insulating components that play a vital role in overhead transmission lines. Long-term operation in electric fields will attract a certain amount of contaminants on their surfaces. When this contaminant accumulates to a certain level, flashover discharge (flashover) can occur on the insulating support. The severity of flashover varies with the accumulation of contaminants on the insulator surface. Severe flashover can cause widespread power outages. Therefore, cleaning the insulator surface is essential.

[0003] Drones have already gained practical experience in fields such as agriculture and construction surveys. The development and application of drone equipment capable of spraying high-altitude insulators is essential. Flashover prevention measures primarily include power outage cleaning, manual live cleaning, helicopter live water washing, spraying RTV coatings, and reduced-voltage operation. Power outage cleaning and RTV coating spraying require a power outage, while manual live cleaning requires operators to operate at equipotential or ground potential using an insulated operating rod. These operations generally carry significant risks.

[0004] For example, the prior art CN113426747A is a live insulator cleaning device based on a drone, comprising a body, wherein the body is fixedly connected to a water tank, wherein the water tank is fixedly connected to a motor, wherein the output shaft of the motor is meshedly connected to a hollow bracket via a transmission assembly, wherein the hollow bracket and the body are rotatably connected to achieve angle adjustment of the device cleaning, wherein the end of the hollow bracket away from the body is movably connected to a splint via a cylinder, wherein the splint is connected to the water tank via the hollow bracket to achieve water supply during the device cleaning process, wherein the splint is detachably provided with a slip ring, wherein one end of the slip ring is slidably connected to the splint. The present invention effectively improves the flexibility of the insulator cleaning work by providing a live insulator cleaning device based on a drone, and cooperates with the slip ring driven by water flow, so that the high-pressure pump drives the cleaning brush to rotate and clean the insulator surface during the process of spraying water on the insulator surface, thereby improving the cleaning efficiency of the insulator;

[0005] However, overhead transmission lines are usually composed of multiple insulator strings, and the number of insulators is large. However, drones are small in size and have limited load capacity, so they need to fly to the ground frequently to add cleaning fluid. Moreover, it takes a lot of time to control the drone to realign with the insulators to be cleaned, which reduces work efficiency. Summary of the Invention

[0006] The object of the present invention is to provide a spraying system based on dual UAV collaboration to solve the problem in the above background technology that the UAV has limited load and needs to be repositioned multiple times to align the insulator.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A spraying system based on dual UAV collaboration, comprising:

[0009] A first unmanned aerial vehicle (UAV) is equipped with a first liquid storage tank, a cleaning device connected to the first liquid storage tank, and a liquid inlet head, wherein the liquid inlet head is arranged above the first UAV;

[0010] a second UAV, the second UAV being equipped with a second liquid storage tank, the second liquid storage tank being connected to a liquid outlet via a hose;

[0011] The liquid outlet head and the liquid inlet head are detachably connected and matched.

[0012] Preferably, the liquid inlet head is installed on the top of the first UAV through a lifting device, and the liquid inlet head is connected to the first liquid storage tank through a liquid inlet hose.

[0013] Preferably, the liquid inlet head includes a power device, a base, and umbrella ribs in a circular array hinged on the base, and an umbrella surface is provided on the inner side of several of the umbrella ribs in the circular array. The power device is used to drive several of the umbrella ribs to expand or fold, and one end of the liquid inlet hose is connected to the center of the umbrella surface.

[0014] Preferably, the power device includes an elastic member, a second telescopic device, and a slip ring arranged at the output end of the second telescopic device. The second telescopic device drives the slip ring to retract the several ribs in the annular array, and the elastic force of the elastic member drives the several ribs in the annular array to unfold.

[0015] Preferably, it also includes a storage seat fixedly connected to the base, the upper surface of the storage seat is adapted to the shape of the umbrella when the umbrella surface is unfolded by driving the several umbrella ribs in the annular array; the upper surface of the storage seat is provided with a receiving groove for accommodating the elastic member and the second telescopic device.

[0016] Preferably, the liquid discharge head has a built-in first magnetic component, and the base has a built-in second magnetic component, and the first magnetic component and the second magnetic component are magnetically attracted to each other.

[0017] Preferably, a water channel and a paint channel for conveying cleaning liquid and spray liquid respectively are provided in the liquid outlet head, the liquid inlet hose includes a water pipe and a paint pipe, the liquid outlet head has a spherical structure, and a ball groove adapted to the liquid outlet head is provided on the upper surface of the base, the N pole and S pole of the first magnetic part are respectively located on opposite sides, and the N pole and S pole of the second magnetic part are respectively located on opposite sides, and the first magnetic part and the second magnetic part are magnetically attracted to each other to drive the water channel outlet to align with the water pipe and the paint channel outlet to align with the paint pipe.

[0018] Preferably, the first UAV is provided with a linkage mechanism and two sets of detachably mounted movable clamping devices, the movable clamping devices are used to be movably connected to the insulator ends of the insulator string, and the two sets of movable clamping devices are connected via a linkage mechanism.

[0019] Preferably, the movable clamping device includes a support rod, a first telescopic device, a slider, a connecting rod, a clamping rod and a guide wheel. The two groups of clamping rods are symmetrically hinged at the lower end of the support rod. The slider is arranged at the output end of the first telescopic device. The slider and the two groups of clamping rods are connected by corresponding connecting rods. There are more than two groups of guide wheels movably connected to the clamping rod.

[0020] Preferably, the linkage mechanism includes two groups of movable parts, a guide rope, a winding device and a sleeve block, the winding device is installed on one group of movable parts, one end of the guide rope is wound around the winding device, the other end of the guide rope passes through the sleeve block and is fixed to another group of movable parts, the two groups of movable parts are respectively fixed to the upper ends of support rods in different movable clamping devices, the sleeve block is fixed to the belly of the first drone, and the side wall of the movable part is provided with a slot for detachable plug-in cooperation with the end of the sleeve block.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] A dual-UAV design is adopted. The first UAV is used for cleaning and spraying the insulator string, and the second UAV is used to transport cleaning liquid and spraying liquid. The cleaning liquid and spraying liquid are replenished to the first UAV, which is beneficial for the first UAV to always aim at the insulator string to be cleaned, and is beneficial for saving the time of the first UAV to reposition the insulator string to be cleaned, thereby improving work efficiency.

[0023] The liquid inlet head is designed as an umbrella-shaped structure, and the opening and closing of the umbrella-shaped structure is conducive to the connection with the liquid outlet head, thereby facilitating the connection and separation of the liquid inlet head and the liquid outlet head. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the movable clamping device and the linkage mechanism of the present invention;

[0027] Figure 3This is a schematic structural diagram of the movable clamping device of the present invention;

[0028] Figure 4 Schematic diagram of the linkage mechanism structure of the present invention;

[0029] Figure 5 This is a schematic structural diagram of the liquid inlet head of the present invention;

[0030] Figure 6 It is a schematic diagram of the matching structure of the liquid discharge head and the base of the present invention.

[0031] 100. First UAV; 11. First liquid storage tank; 12. Liquid inlet hose; 121. Water pipe; 122. Paint pipe; 200. Second UAV; 21. Second liquid storage tank; 22. Hose; 23. Liquid outlet head; 231. Water channel; 232. Paint channel; 300. Insulator string; 301. Insulator end; 30. Cleaning device; 40. Movable clamping device; 41. Support rod; 42. First telescopic device; 43. Slider; 44. Connecting rod; 45. Clamping rod; 46. Guide wheel; 50. Linkage mechanism; 51. Movable part; 52. Guide rope; 53. Winding device; 54. Bushing; 55. Clamping device; 60. Lifting device; 70. Liquid inlet head; 71. Base; 711. Ball groove; 72. Slip ring; 73. Umbrella rib; 74. Second telescopic device; 75. Storage seat; 76. Elastic member; 77. Umbrella canopy. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] The first drone 100 and the second drone 200 are multi-rotor drones and are independently controlled from each other. Both the first drone 100 and the second drone 200 are equipped with cameras.

[0034] like Figure 1 As shown, a first liquid storage tank 11 and a cleaning device 30 are installed at the bottom of the first drone 100. The input end of the first liquid storage tank 11 is connected to a liquid inlet head 70 through a liquid inlet hose 12. The liquid inlet head 70 is relatively located above the first drone 100. The liquid inlet head 70 is installed on the top wall of the first drone 100 through a lifting device 60.

[0035] The lifting device 60 may adopt an X-shaped telescopic structure driven by electricity, which is a prior art and will not be described in detail.

[0036] The cleaning device 30 is a prior art device, such as "CN115446035A A UAV-based Insulator Laser Cleaning and Decontamination System and Method" and "CN105127133A A UAV-based Live Insulator Cleaning Device." For example, the cleaning device 30 includes a six-axis linkage robot, the front end of which is mounted on the bottom wall of the first UAV 100, and the rear end of which is mounted with a water nozzle and / or a paint nozzle.

[0037] like Figure 1 As shown, a second liquid storage tank 21 is installed at the bottom of the second drone 200. The output end at the bottom of the second liquid storage tank 21 is connected to the upper end of the hose 22 through a water solenoid valve. The lower end of the hose 22 is connected to the liquid outlet head 23 (which has a certain weight and is in a drooping state). The water solenoid valve is used to control the liquid discharge or closure of the second liquid storage tank 21.

[0038] like Figure 1-3 As described, there are two groups of movable clamping devices 40, which include a support rod 41, a first telescopic device 42, a slider 43, two groups of connecting rods 44, two groups of clamping rods 45 and a number of guide wheels 46. The first telescopic device 42 can be relatively fixedly installed on the side wall of the support rod 41 using an electric push rod, and the slider 43 and the support rod 41 slide linearly together. The output end of the first telescopic device 42 is connected to the slider 43, and the two groups of clamping rods 45 are symmetrically arranged, and the upper ends of the clamping rods 45 are hinged to the lower end of the support rod 41. The upper ends of the two groups of connecting rods 44 are hinged to the slider 43, and the lower ends of the connecting rods 44 are hinged to the middle parts of the corresponding clamping rods 45. The clamping rods 45 are "V"-shaped or arc-shaped structures, and each group of clamping rods 45 are movably connected with two groups of guide wheels 46.

[0039] like Figure 2 、 4 As shown, the linkage mechanism 50 includes a sleeve 54, two groups of movable parts 51, a guide rope 52 and a winding device 53. The top of the sleeve 54 is relatively fixed to the bottom wall of the first drone 100 / the first liquid storage tank 11, and the sleeve 54 is relatively located between the two groups of movable parts 51; the winding device 53 is installed on a group of movable parts 51 on the right side, and is driven by a motor to wind or release the guide rope 52; one end of the guide rope 52 passes through the sleeve 54 and is fixed to the left movable part 51, and the sleeve 54 is sleeved on the outer wall of the guide rope 52; the movable parts 51 are fixed to the upper ends of the corresponding support rods 41; the two groups of movable parts 51 are close to each other on one side and a conical structure slot is opened, and the left and right ends of the sleeve 54 are conical structures; the left / right ends of the conical structure of the sleeve 54 are convenient for inserting or removing the conical structure movable part 51 slot.

[0040] like Figure 5As shown, the liquid inlet head 70 includes a base 71, a slip ring 72, an umbrella rib 73, a second telescopic device 74, a storage seat 75, a plurality of elastic members 76 and an umbrella cover 77; the base 71 is fixed to the middle of the top wall of the storage seat 75, the slip ring 72 slides along the vertical straight line on the outer wall of the base 71, the second telescopic device 74 adopts an electric push rod, the output end of which is connected to the slip ring 72, the lower ends of the umbrella ribs 73 of the annular array are hinged to the upper edge of the base 71, and the umbrella cover 77 is fixed to the inner side of the umbrella ribs 73 of the annular array, the elastic members 76 and the umbrella ribs 73 correspond one to one, and the elastic members 76 adopt tension springs, the two ends of which are respectively connected to the umbrella ribs 73 and the storage seat 75; the upper surface of the storage seat 75 is a concave structure, and the upper surface of the storage seat 75 is provided with a plurality of receiving grooves, and the elastic members 76 and the second telescopic device 74 are placed in the corresponding receiving grooves;

[0041] like Figure 6 As shown, the liquid outlet head 23 is provided with a water channel 231 and a paint channel 232 which are independent of each other. The water channel 231 and the paint channel 232 are connected to the second liquid storage tank 21 through a one-to-one corresponding hose 22. The first liquid storage tank 21 is connected to the ball groove 711 of the base 71 through the water pipe 121 and the paint pipe 122. The inner cavities of the first liquid storage tank 21 and the second liquid storage tank 21 are divided into independent water tanks and paint tanks; a ball groove 711 is provided on the top wall of the base 71, and the S pole and N pole of the second magnetic component are respectively inlaid on the left and right sides of the inner wall of the ball groove 711, and the N pole and S pole of the first magnetic component are respectively inlaid on the left and right sides of the liquid outlet head 23.

[0042] Working principle:

[0043] The staff controls the first UAV 100 to fly above the insulator string 300 to be cleaned by the remote control. Figure 3 In the normal state shown, the two sets of clamping rods 45 are in an expanded state with their openings facing downward. The first drone 100 descends, so that the insulator end 301 is relatively inserted between the two sets of clamping rods 45. The first telescopic device 42 of the left movable clamping device 40 is then controlled to extend, and the slider 43 cooperates with the two sets of connecting rods 44 to drive the two sets of clamping rods 45 to rotate synchronously and move closer to each other to clamp the insulator end 301. Furthermore, two sets of guide wheels 46 are rotatably connected to the clamping rods 45. The clamping rods 45 contact the insulator end 301 through the guide wheels 46, and the rotation axis of the guide wheels 46 is parallel to the axis of the insulator end 301.

[0044] At this time, the movable clamping device 40 on the left side clamps the insulator end 301 fixed on the left side, and controls the first drone 100 to move away from the movable clamping device 40 on the left side, so that the left end of the sleeve 54 is withdrawn from the corresponding slot of the movable member 51. During this process, the winding device 53 is self-locking and released, so that the guide rope 52 is freely released and adapted when the first drone 100 moves away from the movable clamping device 40 on the left side.

[0045] Similarly, the movable clamping device 40 on the right side is clamped and fixed to the insulator end 301 on the right side;

[0046] At this time, the guide rope 52 is in a relaxed state, and then the winding device 53 is controlled to wind the guide rope 52, so that the relaxed guide rope 52 is tightened, and then the winding device 53 is self-locked; at this time, the first drone 100 slides linearly (moves between the two sets of movable parts 51) under the guidance of the tightened guide rope 52 through the sleeve block 54, thereby restricting the first drone 100 and preventing the first drone 100 from shaking due to strong external wind force; at this time, the length direction of the guide rope 52 is consistent with the length direction of the insulator string 300, so that the first drone 100 can move relatively along the length direction of the insulator string 300, so that different parts of the insulator string 300 can be cleaned.

[0047] Insert the left / right end of the sleeve 54 into the slot of the corresponding movable part 51 to fix the sleeve 54 and the movable part 51 into one body. At this time, the winding device 53 winds up the guide rope 52. Furthermore, a third magnetic part is provided on the inner side wall of the slot, and a fourth magnetic part is provided on the left / right end of the sleeve 54. The third magnetic part and the fourth magnetic part are magnetically attracted to each other (the magnetic force is relatively small), and the moving force of the first drone 100 is greater than the magnetic force of the third magnetic part and the fourth magnetic part.

[0048] Furthermore, since the clamping rod 45 contacts the insulator end 301 through the guide wheel 46, and the axis of the guide wheel 46 is parallel to the axis of the insulator end 301, the two sets of movable clamping devices 40 are clamped and fixed on the left and right ends of the insulator string 300, the guide rope 52 is in a tensioned state, and the sleeve block 54 is rotatable relative to the guide rope 52. Therefore, the first drone 100 can drive the tensioned guide rope 52 to rotate around the axis of the insulator string 300 through the sleeve block 54, so that the first drone 100 can be rotated to the top, left, and right sides of the insulator string 300, which is conducive to the cleaning device 30 to clean the insulator string 300 at different angles and positions. At this time, the guide wheel 46 rolls relatively on the insulator end 301, so that the first drone 100 is still in a horizontal state.

[0049] The clamping force between the guide wheel 46 and the insulator end 301 can be controlled by controlling the extension of the first telescopic device 42 , so that the guide wheel 46 can be adjusted to be fixed or rotatable relative to the insulator end 301 .

[0050] Since the cleaning area of ​​the insulator string 300 is large, the load of the first drone 100 is limited, and the volume of the first liquid storage tank 11 is limited; the second drone 200 is controlled to move to directly above the first drone 100, and the lifting device 60 is controlled to drive the liquid inlet head 70 to rise, so that there is a certain safety height difference between the liquid inlet head 70 and the rotor of the first drone 100, to avoid the liquid inlet head 70 being too close to the rotor of the first drone 100, causing the freely hanging hose 22 and the liquid outlet head 23 to contact the rotor.

[0051] like Figure 5 As shown, the second telescopic device 74 is controlled to extend, driving the sliding sleeve 72 to rise vertically (in the direction of gravity). The sliding sleeve 72 abuts against the outer walls of the plurality of ribs 73 in the annular array. As a result, the rising sliding sleeve 72 pushes the plurality of ribs 73 inward to collapse, causing the expanded umbrella cover 77 to collapse accordingly and stretching the elastic member 76 to generate a reverse elastic force. During the collapse of the umbrella cover 77, the upper liquid discharge head 23 is conveniently wrapped therein, thereby facilitating the liquid discharge head 23 to align with the base 71.

[0052] like Figure 6 As shown, the top wall of the base 71 is provided with a ball groove 711 adapted to the liquid outlet head 23, and the ball groove 711 is connected to the liquid inlet hose 12. The magnetic attraction force (relatively small) of the third magnetic part and the fourth magnetic part facilitates the liquid outlet head 23 to enter the ball groove 711. Then, the water solenoid valve is opened to allow the cleaning liquid / spraying liquid in the second liquid storage tank 21 to pass through the hose 22, the liquid outlet head 23, the ball groove 711, and the liquid inlet hose 12 in sequence and enter the first liquid storage tank 11.

[0053] like Figure 6 As shown, further, the liquid outlet head 23 is divided into a water channel 231 and a paint channel 232 which are independent of each other, and the liquid inlet hose 12 is also divided into a water pipe 121 and a paint pipe 122 which are independent of each other. Since the liquid outlet head 23 is a spherical structure, when the liquid outlet head 23 enters the ball groove 711, with the cooperation of the first magnetic part and the second magnetic part, the liquid outlet head 23 rotates in the ball groove 711, so that the water channel 231 is aligned with the water pipe 121, and the paint channel 232 is aligned with the paint pipe 122, thereby realizing that the cleaning liquid in the second liquid storage tank 21 enters the water tank in the first liquid outlet tank 11 through the water channel 231 and the water pipe 121, and the spray liquid (or other liquid) in the second liquid storage tank 21 enters the paint tank in the first liquid outlet tank 11 through the paint channel 232 and the paint pipe 122.

[0054] After the second drone 200 has finished feeding the first drone 100, the second telescopic device 74 is first controlled to shorten and retract into the corresponding receiving groove. Under the reverse elastic force of the elastic member 76, the elastic member 76 shortens and retracts into the corresponding receiving groove, and the annular array of ribs 73 expands outward, causing the umbrella cover 77 to expand accordingly. The expanded shape of the umbrella cover 77 matches the upper surface of the storage seat 75, and the expanded umbrella cover 77 is relatively flat against the upper surface of the storage seat 75. The second drone 200 then rises away from the first drone 100. The relatively weak magnetic attraction between the liquid discharge head 2 and the ball groove 711 does not hinder separation.

[0055] After the insulator string 300 is cleaned, the first drone 100 first drives the right end of the sleeve 54 to be inserted into the slot of the right movable part 51 to form an integral connection. Then, the first telescopic device 42 on the right side shortens and drives the slider 43 to rise. The two sets of connecting rods 44 drive the two sets of clamping rods 45 to rotate outward to achieve separation, thereby loosening the clamping rods 45 and / or guide wheels 46 from the insulator end 301. After that, the first drone 100 can drive the right side of the integral movable clamping device 40 to rise and detach from the insulator end 301.

[0056] Then, the first drone 100 approaches the movable part 51 on the left. During this process, the winding device 53 follows the winding guide rope 52, so that the left end of the sleeve 54 is inserted into the slot of the movable part 51 on the left. Similarly, the movable clamping device 40 on the left is driven to rise and separate from the insulator end 301. Alternatively, the winding device 53 pushes the left end of the sleeve 54 into the slot of the movable part 51 on the left while winding the guide rope 52.

[0057] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0058] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A spraying system based on dual UAV collaboration, characterized by: include: A first unmanned aerial vehicle (100), the first unmanned aerial vehicle (100) being equipped with a first liquid storage tank (11), a cleaning device (30) connected to the first liquid storage tank (11), and a liquid inlet head (70), the liquid inlet head (70) being arranged above the first unmanned aerial vehicle (100); A second unmanned aerial vehicle (200), wherein a second liquid storage tank (21) is installed on the second unmanned aerial vehicle (200), and the second liquid storage tank (21) is connected to a liquid outlet (23) via a hose (22); The liquid outlet head (23) and the liquid inlet head (70) are detachably connected and matched; The first drone (100) is provided with a linkage mechanism (50) and two sets of detachably mounted movable clamping devices (40), the movable clamping devices (40) being used to be movably connected to the insulator ends (301) of the insulator string (300), and the two sets of movable clamping devices (40) are connected via the linkage mechanism (50); The movable clamping device (40) includes a support rod (41), a first telescopic device (42), a slider (43), a connecting rod (44), a clamping rod (45) and a guide wheel (46), two groups of the clamping rods (45) are symmetrically hinged at the lower end of the support rod (41), the slider (43) is arranged at the output end of the first telescopic device (42), the slider (43) and the two groups of clamping rods (45) are connected by corresponding connecting rods (44), and the clamping rod (45) is movably connected with two or more groups of guide wheels (46); The linkage mechanism (50) comprises two groups of movable parts (51), a guide rope (52), a winding device (53) and a sleeve block (54). The winding device (53) is installed on one group of movable parts (51). One end of the guide rope (52) is wound around the winding device (53). The other end of the guide rope (52) passes through the sleeve block (54) and is fixed to the other group of movable parts (51). The two groups of movable parts (51) are respectively fixed to the upper ends of the support rods (41) in different movable clamping devices (40). The sleeve block (54) is fixed to the abdomen of the first drone (100). The side wall of the movable part (51) is provided with a slot for the end of the sleeve block (54) to be detachably plugged in.

2. The spraying system based on dual UAV collaboration according to claim 1 is characterized in that: The liquid inlet head (70) is installed on the top of the first UAV (100) via a lifting device (60), and the liquid inlet head (70) is connected to the first liquid storage tank (11) via a liquid inlet hose (12).

3. The spraying system based on dual UAV collaboration according to claim 2, characterized in that: The liquid inlet head (70) comprises a power device, a base (71), and umbrella ribs (73) in an annular array hinged to the base (71). An umbrella surface (77) is provided on the inner side of a plurality of the umbrella ribs (73) in the annular array. The power device is used to drive the plurality of umbrella ribs (73) to expand or fold. One end of the liquid inlet hose (12) is connected to the center of the umbrella surface (77).

4. The spraying system based on dual UAV collaboration according to claim 3 is characterized in that: The power device includes an elastic member (76), a second telescopic device (74), and a slip ring (72) arranged at the output end of the second telescopic device (74); the second telescopic device (74) drives the slip ring (72) to fold the plurality of umbrella ribs (73) in the annular array; and the elastic force of the elastic member (76) drives the plurality of umbrella ribs (73) in the annular array to unfold.

5. The spraying system based on dual UAV collaboration according to claim 4 is characterized in that: The umbrella also includes a storage seat (75) fixedly connected to the base (71), the upper surface of the storage seat (75) being adapted to the shape of the umbrella surface (77) when the umbrella ribs (73) in the annular array are driven to unfold; and the upper surface of the storage seat (75) is provided with a receiving groove for accommodating the elastic member (76) and the second telescopic device (74).

6. The spraying system based on dual UAV collaboration according to claim 4 is characterized in that: The liquid discharge head (23) has a first magnetic component built in, and the base (71) has a second magnetic component built in, and the first magnetic component and the second magnetic component are magnetically attracted to each other.

7. The spraying system based on dual UAV collaboration according to claim 6, characterized in that: The liquid outlet head (23) is provided with a water channel (231) and a paint channel (232) for conveying cleaning liquid and spraying liquid respectively. The liquid inlet hose (12) includes a water pipe (121) and a paint pipe (122). The liquid outlet head (23) is spherical in shape. The upper surface of the base (71) is provided with a ball groove (711) adapted to the liquid outlet head (23). The N pole and the S pole of the first magnetic member are located on opposite sides respectively. The N pole and the S pole of the second magnetic member are located on opposite sides respectively. The first magnetic member and the second magnetic member are magnetically attracted to each other to drive the outlet of the water channel (231) to align with the water pipe (121) and the outlet of the paint channel (232) to align with the paint pipe (122).

Images