Plant protection unmanned aerial vehicle, plant protection unmanned aerial vehicle operation method and spraying assembly

Abstract

The application discloses a plant protection unmanned aerial vehicle, a working method of the plant protection unmanned aerial vehicle and a spraying assembly. The plant protection unmanned aerial vehicle (1) comprises a rack (10) and a spraying assembly (20). The spraying assembly (20) is connected to the rack (10). The spraying assembly (20) comprises an extending piece (21) and a first type nozzle (211b). The extending piece (21) extends from the rack (10). The first type nozzle (211b) is arranged on the extending piece (21). The first type nozzle (211b) is opened in a direction which is at a first angle with the extending direction of the extending piece (21). The spraying direction of a spraying medium is at a second angle which is not zero with the height direction of the rack (10).

Description

Technical Field

[0001] This invention relates to the field of agricultural drone technology, and in particular to an agricultural drone, an operation method for agricultural drones, and spraying components. Background Technology

[0002] Agricultural drones are a type of drone with specific uses that has been developed in recent years. With the development of technology, agricultural drones, represented by agricultural drones, are constantly expanding their application fields.

[0003] One important function of agricultural drones is to spray crops with liquid or solid particulate matter such as water, pesticides, and dry powder from the air for pest control, wildfire suppression, and crop irrigation. Target crops can include traditional field crops such as rice, wheat, and cotton, as well as fruit trees such as citrus, lychee, and grapes.

[0004] Different crops have different growth characteristics. For example, fruit trees differ from field crops in that they have denser canopies and thicker foliage along their height. Current agricultural drones generally spray from top to bottom, using the drone's airflow to press the droplets downwards. However, these droplets can only adhere to the surface of the densely leafed fruit trees and cannot penetrate their interior, resulting in limited spraying and control effectiveness. This is especially true for row-planted fruit trees like grapevines, where existing agricultural drones are largely incapable of effectively spraying.

[0005] Therefore, the traditional downward spraying method can no longer meet the needs of different plants. Summary of the Invention

[0006] In view of this, in order to address the inability of existing agricultural drones to complete spraying in multiple scenarios, this application proposes an agricultural drone, an operation method for the agricultural drone, and spraying components.

[0007] This application provides an agricultural drone, comprising: rack; and A spraying assembly, connected to the frame, includes: An extension extends downward from the frame; and A first type of nozzle is disposed on the extension member, and the opening direction of the first type of nozzle forms a first angle with the extension direction of the extension member; The spraying direction of the spraying medium forms a non-zero second angle with the height direction of the frame.

[0008] This application provides an embodiment of a method for operating a plant protection drone, including: The agricultural drone is controlled to move to the side of the target to be sprayed, causing the extension of the agricultural drone to face the side of the target; wherein the extension extends downward from the frame of the agricultural drone, and the extension is provided with a first type of nozzle; and Control the first type of nozzle to spray towards the side of the target to be sprayed.

[0009] This application provides a spraying assembly for agricultural drones, comprising: Extension components are used to mount the agricultural drone under its frame; and A first type of nozzle is disposed on the extension member for spraying, wherein the direction in which the first type of nozzle is opened forms a first angle with the extension direction of the extension member.

[0010] The agricultural drones, their operation methods, and spraying components proposed in this application for lateral and oblique spraying can achieve at least the following beneficial effects: 1. The agricultural drone proposed in this application is equipped with a spraying assembly, and nozzles are arranged on the sides or below the spraying assembly. These nozzles can spray to the sides or upwards, combining with the downward spraying direction of existing drones to form an omnidirectional spraying scheme that sprays downwards, to the sides, and upwards, i.e., a fully enclosed contour spraying scheme that covers the crop. The agricultural drone can achieve omnidirectional spraying, penetrating the sides and interior of crops such as fruit trees, resulting in better spraying effects.

[0011] 2. A preferred embodiment of this application proposes a method to improve the penetration of lateral and upward spraying: using a nozzle type with better penetration, or using an additional airflow to increase the penetration of droplets to the sides and upward.

[0012] 3. The agricultural drone in this embodiment of the application ensures the spraying effect on the sides and inside, thus making the spraying more efficient and saving pesticide solution.

[0013] 4. In the optional embodiments proposed in this application, the spraying component of the agricultural drone can be deformed. Before takeoff or landing, the spraying component can be folded or extended, so that the entire spraying component is located above the bottom surface of the landing gear, thereby not affecting the takeoff and landing of the aircraft. The spraying component carried by the agricultural drone can be folded, which does not affect the takeoff, landing and normal flight of the aircraft.

[0014] 5. The spraying assembly proposed in this application embodiment has anti-collision and anti-pull safety protection devices. When the spraying assembly encounters an obstacle, it can bend to avoid the obstacle. In addition, the connection mechanism between the spraying assembly and the aircraft is detachable. When the spraying assembly is pulled by an external object, it can automatically detach and unlock. The mounted spraying assembly has a safety protection function and can automatically avoid or detach from obstacles when it encounters them.

[0015] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 The diagram shown is of an agricultural drone.

[0018] Figure 2 The image shows a simplified diagram of an agricultural drone spraying pesticides.

[0019] Figure 3 The diagram shows an agricultural drone with a rigid extension.

[0020] Figure 4 The image shown is a cross-sectional view of a spraying assembly according to an embodiment of this application.

[0021] Figure 5 and Figure 6 The diagram shows the rigid extension in the extended position (working position) and the retracted position (folded position).

[0022] Figure 7 The image shown is a front view of the foldable extension of this application. Figure 8 As shown Figure 7 A sectional view; Figure 9 As shown Figure 8 A magnified schematic diagram of region A in the middle.

[0023] Figure 10 The diagram shown is a spraying schematic of another embodiment of this application.

[0024] Figure 11The diagram shown is a spraying schematic diagram of another embodiment of this application.

[0025] Figure 12 The figure shown is a cross-sectional schematic diagram of the flexible extension in another embodiment of this application.

[0026] Figures 13a to 13e For corresponding Figure 1 The diagram shows the agricultural drone from various angles.

[0027] Figures 14a to 14e For corresponding Figure 3 The diagram shows the agricultural drone from various angles.

[0028] Figures 15a to 15e For corresponding Figure 5 A schematic diagram of the rigid extension at various angles.

[0029] Figures 16a to 16f for Figure 1 The diagram shows the agricultural drone at various angles after the rigid extension of the drone is in the retracted position.

[0030] Figures 17a to 17e For corresponding Figure 6 The diagram shows the various angles of the rigid extension rod in the retracted position.

[0031] Key component designations: Agricultural drones: 1 Frame: 10; Spraying assembly: 20; Container: 30; Rotor: 40; Spraying target: 50; Spray boom: 21; Media pipeline: 22; Connector: 23; Gear motor: 24; Air hose: 25 Composition of extension 21: Inner cylinder: 211; Outer cylinder: 212; Spraying medium delivery channel: 2111; Pressure delivery channel: 2121 Rigid extension: 211a; Type I nozzle: 211b; Nozzle: 201b; Air outlet: 212a; 212b fixed-force release connector; Telescopic spray boom: 213 Fixed member: 213a; Telescopic member: 213b; Spring: 213c; Sealing ring: 213d Deformable spray boom: 214 Member: 214a; Joint: 214b Flexible extension component: 215 Flexible extension body: 215a; Flexible extension joint: 215b Spraying direction: Side spraying direction: A1; Diagonal spraying direction: A2; Downward spraying direction: A3; Detailed Implementation To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The core concept of this invention lies in proposing a spraying component that is integrated or combined with an agricultural drone. After studying the targets of spraying, the inventors discovered that for a considerable number of crops, such as grapes and other leafy crops, the leaves and fruits are mostly growing on the sides, which are the surfaces that truly need spraying. This invention proposes an agricultural drone and a spraying component. The spraying direction of this component differs from traditional vertical downward spraying; instead, it includes directions parallel to the ground and upwards at specific acute or obtuse angles relative to the crop's growth direction. This solves the problem of not being able to effectively spray crops according to their characteristics.

[0033] The spraying direction is defined here as the direction in which the spraying medium is driven out of the first type of nozzle. When a first type of nozzle sprays a spraying medium in multiple directions, the center of these directions, i.e., the direction in which the centerline of the first type of nozzle is located, is defined as the spraying direction.

[0034] To address the problems existing in the prior art, this invention provides a plant protection drone 1 and a spraying component 20 for the plant protection drone. The spraying component 20 is applied to the plant protection drone 1 to spray a medium onto the target 50. This medium can be, for example, powder, particulate matter, liquid, or gas. Commonly used media include powdered or liquid pesticides, dry powder for fire extinguishing, and water, but these are not the only options.

[0035] Figure 1 The image shows a schematic diagram of an agricultural drone. Figure 13a , Figure 13b , Figure 13c , Figure 13d , Figure 13e For corresponding Figure 1 The diagram shows the various angles of the agricultural drone in the extended position. Figure 16a , Figure 16b , Figure 16c , Figure 16d , Figure 16e For corresponding Figure 1 The diagram shows the agricultural drone at various angles from its retraction position. (See diagram for reference.) Figure 1 As shown in the schematic diagrams from various angles, the agricultural drone 1 includes a frame 10, a spraying assembly 20, a container 30, and a rotor 40.

[0036] The frame 10 includes a fuselage and a landing gear 11 mechanically coupled to the fuselage, which provides support during the landing of the agricultural drone. A container 30 is mounted on the frame 10 and connected to a media conduit 22 for supplying spraying media to the spraying assembly 20. In some embodiments, the container 30 may be, for example, a water tank, the spraying media may be, for example, water, and the media conduit 22 may be a media conduit.

[0037] The spraying assembly 20 is used to spray crops. The spraying assembly 20 is connected to the frame 10. The spraying assembly includes an extension 21 and a first type of nozzle 211b. The extension 21 extends from the frame 10, for example, extending downward from the frame 10. The first type of nozzle 211b is disposed on the extension 21. The direction in which the first type of nozzle 211b is disposed forms a first angle with the extension direction of the extension 21. The spraying direction of the spraying medium forms a non-zero second angle with the height direction of the frame 10.

[0038] Unlike existing technologies, the spraying direction of the spraying medium includes at least a direction that is not perpendicular to the ground. In other words, assuming the height direction of the frame 10 is vertical, the conventional spraying direction is to spray vertically downwards along the vertical direction. However, in this embodiment, the spraying direction includes not only the vertically downward direction, but also a direction that forms an angle close to 90 degrees with the vertical direction, or a direction that forms other non-zero angles such as obtuse or acute angles with the vertical direction.

[0039] The opening direction of the first type of nozzle 211b forms a first angle with the extension direction of the extension member 21, and the spraying direction of the spraying medium forms a second angle with the height direction of the frame. When the height direction of the frame is perpendicular to the ground, the direction of the spraying medium by the UAV is not perpendicular to the ground, but is basically perpendicular to the upward growth direction of the plant. The aforementioned non-perpendicular direction is, for example, parallel to the ground, forming a certain angle (acute angle, obtuse angle) with the ground, and forming a certain angle (acute angle, obtuse angle) with the growth direction of the plant.

[0040] The first type of nozzle 211b can be a cylindrical hole, a conical hole, an irregular hole, etc. When the first type of nozzle 211b is a cylindrical hole or a conical hole, the axial direction of the first type of nozzle 211b can be parallel or nearly parallel to the ground, or it can be set to have a specific angle, such as an acute angle or an obtuse angle.

[0041] The angle between the axis of the first type of nozzle 211b and the ground can be in different ranges, such as less than 90°, greater than 90° and less than 180°.

[0042] In some embodiments, the spraying assembly 20 includes an extension 21. Generally, the extension 21 can be a component with a hollow portion. The first type of nozzle communicates with the hollow portion of the extension, which is filled with a spraying medium. In other words, the hollow rod of the extension 21 is used to store the spraying medium, such as liquid or powder, to be sprayed. The hollow portion is connected to a container 30 on the frame 10 via a medium conduit 22. The spraying medium contained in the container 30 can then be transported through the medium conduit 22 to the hollow portion of the extension 21 and sprayed out from the first type of nozzle 211b.

[0043] In some embodiments, the spraying assembly further includes a second type of nozzle that opens downwards. The spraying direction of the second type of nozzle is the same as that of the conventional downward-spraying first type of nozzle, which sprays downwards along the height direction of the frame (e.g., the vertical direction).

[0044] Figure 2 The diagram shown is a spraying schematic of an embodiment of this application. Figure 2 A simplified diagram illustrating agricultural drone spraying operations is provided. Figure 2 As shown, unlike existing technologies that spray directly downwards, the method proposed in this embodiment can spray to the side or upwards from the side. The extension member 21 is, for example, a hollow rod, generally cylindrical in shape, and its extension direction is substantially parallel to the altitude direction of the UAV. Considering that the horizontal direction of the UAV fuselage is substantially parallel to the ground direction during flight, the extension direction of the extension member 21 can also be considered to be nearly perpendicular to the ground. The nozzle 201b is, for example, a cylindrical or conical nozzle, and its opening direction can be, for example, perpendicular to the length direction of the extension member 21, or at a non-zero angle to the ground.

[0045] Figure 2 In the diagram, direction A1 represents the direction of lateral spraying, which is substantially perpendicular to the extension direction of the extension member 21; direction A2 represents the direction of oblique spraying, which forms an acute or obtuse angle with the extension direction of the extension member 21; and direction A3 represents the conventional downward spraying direction. The agricultural drone proposed in this application embodiment may have one or more of the above-mentioned spraying directions.

[0046] The shape of the extension member 21 can be arbitrary and is not limited to a rod. When the extension member 21 is a regular rod, its length axis direction is the first direction. The nozzle 201b is disposed on the extension member 21, and its opening direction is the second direction. The second direction is different from the first direction, forming a non-zero first angle with the first direction, and the spraying direction of the spraying medium forms a non-zero second angle with the height direction of the frame.

[0047] In some embodiments, as previously described, the frame 10 includes a fuselage and a landing gear 11 mechanically coupled to the fuselage, with the extension 21 at least partially located below the landing gear 11. There are multiple first-type nozzles 211b, with at least one first-type nozzle 211b located below the landing gear 11.

[0048] In some embodiments, the first type of nozzle 211b includes a first subtype nozzle and a second subtype nozzle. The first subtype nozzle is located in the middle of the extension member, and the second subtype nozzle is located at the end of the extension member 21 away from the frame 10. The spray direction of the first subtype nozzle and the spray direction of the second subtype nozzle may be different.

[0049] In some embodiments, the spray direction of the first sub-type nozzle is substantially perpendicular to the length direction of the extension; or The spray direction of the first sub-type nozzle is inclined downward relative to the length direction of the extension 21; or The spray direction of the first sub-type nozzle is inclined upward relative to the length direction of the extension 21.

[0050] In some embodiments, when the agricultural drone is in operation, at least a portion of the extension 21 is located below the landing support surface of the landing gear 11; when the agricultural drone is in landing preparation mode, the entire extension 21 is located above the landing support surface of the landing gear 11. The landing support surface is, for example, a plane formed by several fulcrums at the bottom of the landing gear.

[0051] In some embodiments, the length of the extension 21 may be greater than twice the height of the frame.

[0052] In some embodiments, the state of the extension 21 includes a normal state and a protective state. When the extension 21 is subjected to an abnormal external force, the extension 21 changes from the normal state to the protective state to prevent the extension 21 from being broken.

[0053] In some embodiments, when the extension 21 is subjected to abnormal external force, the extension 21 changes from a normal state to a protective state by moving relative to the frame or / and deforming itself.

[0054] In some implementations, the height of the free end of the extension 21 in the normal state is greater than its height in the protected state.

[0055] In some embodiments, the length of the extension 21 in the normal state is greater than its length in the protected state.

[0056] In some embodiments, the straightness of the extension 21 in the normal state is greater than that in the protected state.

[0057] In some embodiments, the extension 21 also includes a standby state, in which the extension 21 is in a standby state when the agricultural drone is in a landing preparation state or a takeoff preparation state.

[0058] In some embodiments, when the extension 21 is in the standby state, the entire extension is located above the landing support surface of the landing gear 11.

[0059] In some implementations, the extension 21 is in a normal or protected state when the agricultural drone is in operation.

[0060] In some embodiments, when the extension 21 is in a normal or protected state, at least a portion of the extension 21 is located below the landing support surface of the landing gear 11.

[0061] The following examples illustrate agricultural drones with different spray boom shapes.

[0062] First Embodiment Figure 3 The diagram shown is a schematic of an agricultural drone with an extension 21 according to the first embodiment of this application. Figure 14a , Figure 14b , Figure 14c , Figure 14d , Figure 14e For corresponding Figure 3 The diagram shows the agricultural drone from various angles. (As shown) Figure 3 As shown in the schematic diagrams at various angles, the spraying assembly 20 includes an extension 21. The extension 21 can be a rigid extension that extends from below the frame 10. If the height direction of the frame 10 is vertically upward, the direction in which the extension 21 extends is preferably vertically downward, parallel to the axis of the height direction of the frame 10. However, in some cases, it may also be at a specific angle to the axis of the frame 10.

[0063] The rigid extension member 21 has two ends. The end furthest from the frame 10 can be provided with a plurality of first-type nozzles 211b at intervals, or with a single elongated nozzle 201b extending along the direction of the extension member 21. The first-type nozzles 211b can be cylindrical, fan-shaped, conical, elongated, square, irregularly shaped, etc. When the cross-section of the first-type nozzle 211b is a regular shape such as circular or square, its axial direction is not parallel to the extension direction of the rigid extension member 21, forming a first angle.

[0064] By using side spraying, oblique spraying, and other spraying directions, the spraying medium can be sprayed onto the target from the side or at an angle, forming a multi-directional and multi-angle spray on the crop. In order to increase the spraying pressure, the first type of nozzle 211b can be set into a cylindrical, small-angle fan-shaped, or small-angle conical shape, which can increase the pressure of the first type of nozzle 211b.

[0065] In some embodiments, the spraying assembly 20 further includes a connector 23, which can be a mounting base. The connector 23 is disposed below the frame 10 and is used to fix the spraying assembly 20. In other embodiments, the frame 10 itself has a connector 23 for fixing the spraying assembly 20.

[0066] The aforementioned extension 21 can remain in its original state after the spraying task is completed, or it can be released and discarded by control commands and corresponding mechanisms, or it can be stored away; there are no limitations on this.

[0067] Second Embodiment In order to enable spraying at least when performing spraying tasks, and not to hinder the drone's flight when not performing spraying tasks, or when the terrain or environmental conditions for spraying are unfavorable, the extension 21 may have two positions: extended and retracted.

[0068] Figure 4 The diagram shows a cross-sectional view of the spray assembly 20, illustrating its extension and retraction principles. Figure 4 As shown, the spraying assembly 20 includes a drive unit for driving the extension member 21 to move between an extended position and a retracted position. The drive unit is, for example, a geared motor 24, which is mounted on the connector 23 for driving the extension member 21 to rotate.

[0069] Furthermore, the extension 21 has an extended state and a folded state, so that the extension 21 can be folded up when not in use. For example... Figure 4 As shown, the spraying assembly 20 also includes a geared motor 24, which can be mounted on the connector and is used to drive the extension 21 to extend and retract. Figure 5 and Figure 6 The diagram shows the extension member 21 in the extended position (working position) and the retracted position (folded position). Figure 15a , Figure 15b , Figure 15c , Figure 15d , Figure 15e For corresponding Figure 5 A schematic diagram from various angles. Figure 17a , Figure 17b , Figure 17c , Figure 17d , Figure 17e For corresponding Figure 6 A schematic diagram from various angles. For example... Figure 5 As shown in the schematic diagrams at various angles, when in the extended position, the extension member 21 is perpendicular to the horizontal plane of the frame 10 and parallel to the height direction of the frame 10; as shown in the schematic diagrams at various angles. Figure 6 As shown, when in the retracted position, the extension 21 retracts from a position perpendicular to the ground to a position parallel to the ground, that is, from a position perpendicular to the fuselage plane to a position parallel to the fuselage plane, and the extension direction of the extension is perpendicular to the height direction of the frame.

[0070] To accommodate the pivoting of the extension 21, in some embodiments, the medium conduit 22 may have a corresponding pivot joint.

[0071] In some embodiments, an obstacle avoidance sensor (not shown) may be provided on the extension 21 or the frame 10. The retraction and extension of the extension 21 may be in response to user actions on the ground or to the obstacle avoidance sensor, or the drone's control unit may determine an obstacle ahead using a built-in map or a real-time received map, and then retract the extension 21. There are various triggering reasons in the art that can cause the extension 21 to retract and extend, which will not be elaborated here.

[0072] Third Embodiment In order to pressurize the sprayed water mist or pesticide particles during the spraying process, the extension 21 of the spraying assembly 20 includes an inner cylinder 211 and an outer cylinder 212. The interior of the inner cylinder 211 forms a delivery channel 2111 for the spraying medium, and a pressure delivery channel 2121 is formed between the inner cylinder 211 and the outer cylinder 212 to apply pressure to the sprayed medium.

[0073] The spray medium delivery channel 2111 and the pressure delivery channel 2121 can be concentrically arranged. The outer pressure delivery channel 2121 is connected to the air compressor 26 on the connector 23 to provide air pressure and increase the pressure for side spraying. The spray medium delivery channel 2111 is connected to the container 30 on the frame 10. The container 30 can deliver the spray medium, either liquid or particles, to the nozzle 201b through the medium pipeline 22, so that the liquid or particles are sprayed out of the container.

[0074] The first type of nozzle 211b may be equipped with a nozzle 201b, which extends outward from the medium delivery channel 2111 to the outside of the pressure delivery channel 2121, that is, the nozzle 201b penetrates both the medium delivery channel 2111 and the pressure delivery channel 2121. The nozzle 201b is fastened between the inner and outer cylinders by a nozzle clamping nut 201c.

[0075] The pressure delivery channel 2121 includes multiple openings. When the pressure is air pressure, the pressure delivery channel includes multiple air outlets 212a. The direction of the air outlets 212a can be set to be consistent with the setting direction of the first type of nozzle 211b, so as to spray gas in approximately the same direction to apply pressure to the liquid or particles sprayed by the first type of nozzle 211b, so as to play a boosting role, so that the liquid or particles are sprayed laterally onto the sprayed object, and the spray penetration is better.

[0076] When the first type of nozzle 211b is a narrow slit, the air outlet 212a can be staggered or overlapped with the first type of nozzle 211b in the direction of extension of the rigid extension member 21, or the air outlet 212a can be located on the same cross section as the first type of nozzle 211b in the radial direction of the rigid extension member 21, and can be staggered or overlapped.

[0077] Fourth embodiment like Figure 4 As shown, in this embodiment, to prevent the extension 21 from being pulled, scratched, or even hooked onto obstacles such as trees, other crops, utility poles, or mountains in the environment during spraying, thus affecting the unmanned aerial vehicle (UAV) and spraying operations, the outer wall of the outer cylinder can be set as a smooth outer wall, and its surface roughness can be less than a specific value. This ensures that when the extension 21 comes into contact with other flying obstacles during spraying, the extension 21 is sufficiently smooth to prevent scratching and hooking, thus preventing interference with flight. The surface roughness of the smooth outer wall can be less than a value that meets industry-recognized smoothness standards, and is not limited here.

[0078] Fifth Embodiment Continue to combine Figure 4 As shown, furthermore, to avoid pulling, scratching, and snagging, a fixed-force release connector 212b is provided at the end where the extension 21 connects to the connector 23. The fixed-force release connector 212b allows the extension 21 to detach when subjected to an external force greater than a specified value, thus avoiding interference with flight. In addition, the spraying assembly 20 may also include an air compressor 26, which generates air pressure to be delivered to the pressure delivery channel 2121. The air compressor 26 is connected to the pressure delivery channel 2121 via an air pipe 25. The air pipe 25 also has an air pipe fixed-force release connector 2027 for detachment under external force. The fixed-force release connectors 212b and 2027 are, for example, two tightly fitted sleeves. When the external force exceeds the frictional force between the two sleeves, the two sleeves disconnect from each other, completing the detachment.

[0079] When the extension 21 has an inner cylinder 211 and an outer cylinder 212, the outer cylinder 212 is connected to an air pipe. Both the air pipe 25 and the medium pipeline 22 can have corresponding pivot joints, or the medium pipeline 22 can have corresponding pivot joints. The air pipe 25 can be set to be flexible so that it can twist when folded and cut off the airflow at the same time.

[0080] In one specific embodiment, the spraying assembly 20 further includes a set of nozzle devices. The nozzle devices include a nozzle body, the aforementioned nozzle 201b, a sealing gasket, a nozzle clamping nut, a water pipe nut, and the aforementioned media pipeline 22. The nozzle body is a four-way structure; the upper and lower pipe joints can connect to the media pipeline 22, and the left and right first-type nozzles can be fitted with the sealing gasket and nozzle 201b. The nozzle 201b is fixed on both sides of the nozzle body and can spray liquid to both sides. Several nozzle body assemblies are connected in series via the media pipeline 22, one end of which is connected to the aircraft's pump outlet, and the other end is plugged. An outer cylinder 212 covers the outside of this nozzle body assembly. The outer cylinder 212 has several small holes evenly spaced, which are used to install the nozzle 201b or to allow airflow. An air inlet is provided above the air duct, and the air inlet is connected to an air compressor 26 via an air pipe 25. The air compressor 26 can be arranged on a crossbeam support on the legs of the frame 10. All nozzle bodies and outer cylinder 212 together form extension 21. Above extension 21 is a media pipeline connector, which connects to an elbow fixed to the motor shaft. The media pipeline connector and elbow are sealed by a side seal, and locked by a snap ring mechanism. This snap ring mechanism automatically releases under a certain tension, allowing the entire extension 21 to safely detach from the frame 10. The elbow can rotate under the drive of a geared motor, thereby rotating the entire extension 21. One end of the elbow connects to the media pipeline connector of extension 21, and the other end connects to the media pipeline outlet of the UAV's water pump.

[0081] The aforementioned geared motor 24 is also fixed on the crossbeam bracket on the foot of the frame 10. The counter torque of the motor shaft of the geared motor 24 is adjustable. When the motor shaft is not rotating, the counter torque of the motor shaft can keep the extension piece in a fixed position. However, when the extension piece 21 encounters an obstacle, the torque of the extension piece 21 on the motor shaft will increase. When it exceeds the set counter torque of the motor shaft, the motor shaft can drive the extension piece 21 to rotate, thereby avoiding the obstacle.

[0082] Therefore, the above-mentioned spraying assembly can have two sets of safety devices: one is the constant force rotation mechanism of the motor, and the other is the loosening mechanism of the extension 21. The rotation protection mechanism is activated first, and the loosening mechanism is triggered only when the aircraft is still affected after rotation.

[0083] Sixth Embodiment Figures 7 to 9The diagram shown is a schematic representation of the extension 21 according to another embodiment of this application. Figure 7 The image shown is a front view of the foldable extension 213 of this application. Figure 8 As shown Figure 7 A sectional view; Figure 9 As shown Figure 8 A magnified schematic diagram of region A in the middle.

[0084] like Figures 7 to 9 As shown, in this embodiment, the extension member 21 is a foldable and retractable extension member 213. The retractable extension member 213 includes at least one fixed rod 213a and at least one retractable rod 213b. The diameters of the fixed rod 213a and the plurality of retractable rods 213b gradually decrease, so that two adjacent retractable rods 213b can be sleeved together. A retaining mechanism can be provided between the fixed rod 213a and the sleeved retractable rod 213b, and between two sleeved retractable rods 213b. The retaining mechanism is, for example, a spring 213c, used to maintain the two rods in a fixed relative position after the retractable rods 213b are extended.

[0085] At least one of the fixed rod 213a and the telescopic rod 213b is provided with a first type of nozzle 211b for lateral or oblique spraying. In some embodiments, the first type of nozzle 211b is provided only on the telescopic rod 213b furthest from the frame 10.

[0086] During drone operation, when the retractable extension 213 is retracted by an external force, the spring 213c is compressed and stores elastic potential energy; when the external force disappears, the retractable rod 213b located below the retractable extension 213 extends again under the elastic force of the spring 213c, restoring the spraying position for performing the operation.

[0087] Furthermore, to prevent the liquid to be sprayed from leaking between two adjacent rods, a sealing ring 213d is provided between two adjacent rods that are nested together.

[0088] Although the retaining mechanism of the retractable extension 213 in this application is a spring, that is, it uses an elastic mechanism to extend and fold, other solutions may also use a snap-fit ​​mechanism, a pivot mechanism, a sliding mechanism, etc. to achieve the extension and retraction of the retractable extension 213, which is not particularly limited here.

[0089] Seventh Embodiment Figure 10 The diagram shown is a spraying schematic of another embodiment of this application. Figure 10 As shown, in addition to the aforementioned rigid extension, the extension member 21 can also be... Figure 10 The deformable extension 214 shown. Figure 10The deformable extension 214 shown has multiple rods 214a, at least one rod 214a is provided with a first type of nozzle 211b, and there are joints 214b between the rods 214a. In this embodiment, the joints 214b can be resistance joints or elastic joints. Under the action of external force, the joints 214b can move, and two adjacent rods 214a can rotate relative to each other around the joints 214b. In this way, during the spraying process, the spray bar will deform adaptively when it encounters external force, so as to avoid affecting the flight of the aircraft.

[0090] In some embodiments, the joint of the deformable extension 214 can be a resistance joint or an elastic joint. A resistance joint requires a certain external force to deform the two rods connecting the joint around the joint 214b, and after being deformed by the external force, it cannot return to its original shape after the external force is removed; an elastic joint can be a spring, which causes the rods to deform when subjected to external force, and after the external force is removed, the two rods connected to it can return to their original position through elastic return.

[0091] Eighth embodiment Figure 11 The diagram shown is a spraying schematic of another embodiment of this application. Figure 11 As shown, the spray bar can be... Figure 10 In addition to the deformable extension 214 shown, a flexible extension 215 can also be used. The flexible extension 215 can unfold under the action of elasticity, gravity, air pressure, hydraulic pressure, etc. The flexible extension 215 includes an extension body 215a and first-type nozzles 221b disposed at different positions on the extension body 215a. The first-type nozzles 221b can be disposed on the flexible extension 215 in the form of nozzle joints 215b. Except for the positions where the nozzles are located, the rest of the extension 215 is flexible.

[0092] The aforementioned flexible extension 215 can be retracted or discarded when not performing a spraying task, and unfolded under the action of air pressure, hydraulic pressure, elasticity, gravity, etc., when performing a spraying task. The flexible extension 215 can be, for example, an extension made of materials such as plastic or rubber. A method of spraying using both air pressure and hydraulic pressure to unfold the spray boom is provided below: When the flexible extension 215 is opened by air pressure, such as Figure 12 As shown, it is a schematic diagram of the cross-section of the flexible extension. Figure 12As shown, the flexible extension 215 may include a pressure delivery channel 2121 and a spray medium delivery channel 2111. The pressure delivery channel 2121 can transmit gas to open the spray medium delivery channel 2111. The pressure delivery channel 2121 may be arranged around the spray medium delivery channel 2111, for example, or arranged at fixed intervals around the spray medium delivery channel 2111. A first-type nozzle 211b is disposed on the flexible extension joint 215b, which may be rigid and is connected to the delivery channel 2111 for spraying. Except for the flexible extension joint 215b, all other parts of the flexible extension 215 may be flexible.

[0093] When the flexible extension 215 is opened hydraulically, it may only have a delivery channel 2111 for the spraying medium. When the spraying medium is filled into this channel, the flexible extension 215 expands, and the spraying medium is sprayed out from the first type of nozzle 211b.

[0094] The flexible extension 215 is also equipped with a pressure relief valve 215c. When the pressure relief valve 215c is opened, the air and hydraulic pressure supporting the opening of the flexible extension can be released, so that the flexible extension 215 can be depressurized as soon as possible for folding or disposal.

[0095] Ninth Embodiment Based on the aforementioned embodiments, this embodiment proposes a spraying assembly in which the extension member 21 can rotate relative to the frame 10 and perform spraying. The direction of rotation can be arbitrary. For example, based on the second embodiment, the extension member 21 can stay at any position between the extended and retracted states, and has the ability to spray when staying at any position. In the second embodiment, the reduction motor 24 can drive the extension member 21 to be set at any angle relative to the ground or relative to the plane of the drone's flight and perform spraying.

[0096] The above embodiments can be combined in pairs, in triplicate, or in multiple combinations. For example, the rigid extension member of the first embodiment can be combined with one or more of the following: the foldable rigid extension member of the second embodiment; the method of pressurizing the sprayed medium using air pressure in the third embodiment; the outer sleeve with a smooth outer wall in the fourth embodiment; the force-releasing member of the fifth embodiment; the foldable spray bar of the sixth embodiment; and the rotatable extension member of the ninth embodiment. Similarly, the foldable rigid extension member of the second embodiment can be combined with one or more of the following: the method of pressurizing the sprayed medium using air pressure in the third embodiment; the outer sleeve with a smooth outer wall in the fourth embodiment; the force-releasing member of the fifth embodiment; the foldable spray bar of the sixth embodiment; the resistance spray bar or elastic spray bar of the seventh embodiment; and the rotatable extension member of the ninth embodiment. The fourth embodiment's external sleeve with a smooth outer wall can be combined with one or more of the following: the force-releasing component of the fifth embodiment, the foldable spray bar of the sixth embodiment, the resistance spray bar or elastic spray bar of the seventh embodiment, the flexible extension of the eighth embodiment, and the rotatable extension of the ninth embodiment. The force-releasing component of the fifth embodiment can be combined with one or more of the following: the foldable spray bar of the sixth embodiment, the resistance spray bar or elastic spray bar of the seventh embodiment, the flexible extension of the eighth embodiment, and the rotatable extension of the ninth embodiment. The foldable spray bar of the sixth embodiment can be combined with one or more of the following: the resistance spray bar or elastic spray bar of the seventh embodiment, the flexible extension of the eighth embodiment, and the rotatable extension of the ninth embodiment. These are not exhaustive lists. Those skilled in the art will understand that any simple changes made based on the content disclosed in this application are included within the scope of this application.

[0097] Tenth Embodiment This application also proposes a method for operating a plant protection drone, including the following steps: S101, control the agricultural drone to move to the side of the target to be sprayed, so that the extension of the agricultural drone is opposite to the side of the target to be sprayed; wherein, the extension extends downward from the frame of the agricultural drone, and the extension is provided with a first type of nozzle; and S102, control the first type of nozzle to spray towards the side of the target to be sprayed.

[0098] In an optional implementation, the method further includes: S103, control the second type of nozzle of the agricultural drone to spray towards the top of the target to be sprayed; wherein, the second type of nozzle is provided on the frame, and the spraying direction of the second type of nozzle is towards the bottom of the frame.

[0099] In an optional implementation, the method further includes: S104, when controlling the agricultural drone to move to the side of the target to be sprayed, the frame of the agricultural drone is located above the height of the target to be sprayed.

[0100] In an optional implementation, the method further includes: S105, when the agricultural drone is in operation, control the extension to be at least partially located below the landing support surface of the landing gear; and S106, when the agricultural drone is in the landing preparation state, control the entire extension to be located above the landing support surface of the landing gear.

[0101] The agricultural drone and spraying components for lateral and oblique spraying proposed in this application can achieve at least the following beneficial effects: 1. The agricultural drone proposed in this application is equipped with a spraying assembly, and nozzles are arranged on the sides or below the spraying assembly. These nozzles can spray to the sides or upwards, combining with the downward spraying direction of existing drones to form an omnidirectional spraying scheme that sprays downwards, to the sides, and upwards, i.e., a fully enclosed contour spraying scheme that covers the crop. The agricultural drone can achieve omnidirectional spraying, penetrating the sides and interior of crops such as fruit trees, resulting in better spraying effects.

[0102] 2. A preferred embodiment of this application proposes a method to improve the penetration of lateral and upward spraying: using a nozzle type with better penetration, or using an additional airflow to increase the penetration of droplets to the sides and upward.

[0103] 3. The agricultural drone in this embodiment of the application ensures the spraying effect on the sides and inside, thus making the spraying more efficient and saving pesticide solution.

[0104] 4. In the optional embodiments proposed in this application, the spraying component of the agricultural drone can be deformed. Before takeoff or landing, the spraying component can be folded or extended, so that the entire spraying component is located above the bottom surface of the landing gear, thereby not affecting the takeoff and landing of the aircraft. The spraying component carried by the agricultural drone can be folded, which does not affect the takeoff, landing and normal flight of the aircraft.

[0105] 5. The spraying assembly proposed in this application embodiment has anti-collision and anti-pull safety protection devices. When the spraying assembly encounters an obstacle, it can bend to avoid the obstacle. In addition, the connection mechanism between the spraying assembly and the aircraft is detachable. When the spraying assembly is pulled by an external object, it can automatically detach and unlock. The mounted spraying assembly has a safety protection function and can automatically avoid or detach from obstacles when it encounters them.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0107] The terms "an embodiment," "embodiment," or "one or more embodiments" as used herein mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the invention. Furthermore, please note that the examples of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0108] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0109] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising a plurality of different elements and by means of a suitably programmed computer. In a unit claim enumerating a plurality of means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle (UAV), comprising: frame; as well as A spraying assembly, connected to the frame, includes: An extension extends downward from the frame; and A first type of nozzle is disposed on the extension member, and the angle between the spraying direction of the spraying medium in the first type of nozzle and the height direction of the frame is not zero. The extension includes a flexible extension, which includes a pressure delivery channel and a delivery channel for the spraying medium. The extension includes an inner cylinder and an outer cylinder. The interior of the inner cylinder forms a delivery channel for the sprayed medium, and the inner cylinder and the outer cylinder form a pressure delivery channel to apply pressure to the sprayed medium. The extension member can rotate and switch between an extended position and a retracted position. Based on the signal from the obstacle avoidance sensor, the extension member moves from the extended position to the retracted position under the drive of the drive device. The spraying assembly is attached to the frame in a manner that allows for automatic detachment.

2. The UAV according to claim 1, characterized in that, The extension is disposed below the frame, and the first type of nozzle is disposed on at least one side of the extension.

3. The UAV according to claim 2, characterized in that, The spraying direction is substantially perpendicular to the height direction of the frame, or substantially perpendicular to the extension direction of the extension member.

4. The UAV according to claim 2, characterized in that, There are multiple first-type nozzles, and the multiple first-type nozzles are opened in different directions.

5. The UAV according to claim 1, characterized in that, The first type of nozzle is a cylindrical hole, a fan-shaped hole, a conical hole, or a slit. The direction in which the first type of nozzle is opened is the normal direction of the cylindrical hole or the conical hole, or the centerline direction of the fan-shaped hole.

6. The UAV according to claim 1, characterized in that, The spraying assembly also includes a second type of nozzle that opens downwards and sprays downwards toward the drone.

7. The UAV according to claim 1, characterized in that, The extension has a hollow portion, and the first type of nozzle is connected to the hollow portion of the extension, the hollow portion being used to fill the spraying medium.

8. The UAV according to claim 7, characterized in that, The hollow section is connected to a container on the frame via a medium pipeline, and the container is used to hold the spraying medium.

9. The UAV according to claim 1, characterized in that, The extension is a hollow rod.

10. The UAV according to claim 1, characterized in that, The spraying assembly also includes a media pipeline for connecting the first type of nozzle and a container on the frame, the container containing the spraying media.

11. The UAV according to claim 1, characterized in that, The spraying assembly also includes a connector for detachably connecting the frame and the extension.

12. The UAV according to claim 1, characterized in that, The frame includes a fuselage and a landing gear mechanically coupled to the fuselage, and the extension is at least partially located below the landing gear.

13. The UAV according to claim 12, characterized in that, There are multiple nozzles of the first type, at least one of which is located below the landing gear.

14. The UAV according to claim 13, characterized in that, The first type of nozzle includes a first sub-type nozzle and a second sub-type nozzle. The first sub-type nozzle is located in the middle of the extension, and the second sub-type nozzle is located at the end of the extension away from the frame. The spray direction of the first sub-type nozzle is different from that of the second sub-type nozzle.

15. The UAV according to claim 14, characterized in that, The spray direction of the first type of nozzle is substantially perpendicular to the length direction of the extension.

16. The UAV according to claim 14, characterized in that, The spray direction of the first sub-type nozzle is inclined downward relative to the length direction of the extension.

17. The UAV according to claim 14, characterized in that, The spray direction of the first sub-type nozzle is inclined upward relative to the length direction of the extension.

18. The UAV according to claim 12, characterized in that, When the UAV is in operation, at least a portion of the extension is located below the landing support surface of the landing gear; when the UAV is in landing preparation mode, the entire extension is located above the landing support surface of the landing gear.

19. The UAV according to claim 1, characterized in that, The length of the extension is greater than twice the height of the frame.

20. The UAV according to claim 1, characterized in that, The extension member has two states: a normal state and a protective state. When the extension member is subjected to an abnormal external force, the extension member changes from the normal state to the protective state to prevent the extension member from being broken.

21. The UAV according to claim 20, characterized in that, When the extension is subjected to an abnormal external force, the extension changes from the normal state to the protective state through movement relative to the frame and / or deformation of itself.

22. The UAV according to claim 20, characterized in that, The height of the free end of the extension in the normal state is greater than its height in the protected state.

23. The UAV according to claim 20, characterized in that, The length of the extension in the normal state is greater than the length in the protected state.

24. The UAV according to claim 20, characterized in that, The straightness of the extension in the normal state is greater than that in the protected state.

25. The UAV according to claim 20, characterized in that, The extension also includes a standby state, which is the state when the UAV is in a landing preparation state or a takeoff preparation state.

26. The UAV according to claim 25, characterized in that, When the extension is in the standby state, the entire extension is located above the landing support surface of the landing gear.

27. The UAV according to claim 20, characterized in that, When the drone is in operation, the extension is in either the normal state or the protected state.

28. The UAV according to claim 27, characterized in that, When the extension is in the normal state or the protected state, at least a portion of the extension is located below the landing support surface of the landing gear.

29. The UAV according to claim 1, characterized in that, The spraying assembly also includes a drive unit for driving the extension to switch between an extended position and a retracted position.

30. The UAV according to claim 29, characterized in that, When the extension is in the extended position, the extension direction of the extension is substantially parallel to the height direction of the frame; when the extension is in the retracted position, the extension direction of the extension is substantially perpendicular to the height direction of the frame.

31. The UAV according to claim 29, characterized in that, The spraying assembly also includes a media conduit for connecting the first type of nozzle and a container on the frame, the media conduit including a pivot joint capable of pivoting with the extension.

32. The UAV according to claim 29, characterized in that, The drive unit is capable of driving the extension from the extended position to the retracted position in response to user operations on the ground or to a judgment made by the drone's built-in map or a map received in real time.

33. The UAV according to claim 29, characterized in that, The drive device responds to a control signal to drive the extension to the retracted position.

34. The UAV according to claim 33, characterized in that, The control signal is a control signal generated based on obstacle detection information, or the control signal is a control signal generated based on user control commands.

35. The UAV according to claim 1, characterized in that, The delivery channel for the sprayed medium is connected to a container on the frame via a pressure pipeline.

36. The UAV according to claim 35, characterized in that, The inner cylinder is provided with at least one of the first type of nozzles, which are connected to the delivery channel of the spraying medium and pass through the pressure delivery channel, and extend beyond the outer cylinder.

37. The UAV according to claim 36, characterized in that, The pressure delivery channel includes at least one air outlet, the direction of which is consistent with the spraying direction of the first type of nozzle.

38. The UAV according to claim 36, characterized in that, The pressure delivery channel includes multiple air outlets, which are staggered with the first type of nozzle in the extension direction along the extension portion.

39. The UAV according to claim 35, characterized in that, The outer cylinder has a smooth outer wall.

40. The UAV according to claim 35, characterized in that, The spraying assembly also includes an air compressor for generating air pressure to be delivered to the pressure delivery channel via an air pipe.

41. The UAV according to claim 40, characterized in that, It also includes a trachea retaining release connector located on the trachea.

42. The UAV according to claim 1, characterized in that, The extension has a fixed-force release joint at one end near the frame, which allows the extension to detach from the frame when subjected to an external force greater than a specified value.

43. The UAV according to claim 42, characterized in that, The fixed-force release joint includes two tightly fitted sleeves, one sleeve for mechanical coupling with the frame and the other sleeve for mechanical coupling with the extension.

44. The UAV according to claim 1, characterized in that, The extension includes a telescopic extension, which includes at least one fixed rod, at least one telescopic rod, and a retaining mechanism that is mechanically coupled to both the fixed rod and the telescopic rod. The fixed rod and the telescopic rod are sleeved together and held in a mutually extended position by the retaining mechanism.

45. The UAV according to claim 44, characterized in that, The retaining mechanism includes at least one of the following: an elastic mechanism, a snap-fit ​​mechanism, a pivoting mechanism, and a sliding mechanism.

46. ​​The UAV according to claim 1, characterized in that, The extension includes a deformable extension, which includes a plurality of rods and a joint disposed between two adjacent rods, and at least one of the rods is provided with a nozzle of the first type.

47. The UAV according to claim 46, characterized in that, The joint is a resistance joint or an elastic joint.

48. The UAV according to claim 1, characterized in that, The flexible extension includes an extension body and a nozzle joint disposed on the extension body.

49. The UAV according to claim 48, characterized in that, The flexible extension can be deployed under the action of at least one of elastic force, gravity, air pressure, or hydraulic pressure.

50. The UAV according to claim 48, characterized in that, The first type of nozzle is disposed on the flexible extension member via the nozzle joint.

51. The UAV according to claim 50, characterized in that, The flexible extension is opened by air pressure, and the pressure delivery channel can transmit gas to open the delivery channel of the sprayed medium.

52. The UAV according to claim 51, characterized in that, The pressure delivery channel is arranged around the delivery channel of the sprayed medium.

53. The UAV according to claim 50, characterized in that, The flexible extension includes a delivery channel for the spraying medium. When the spraying medium is filled into the delivery channel, the spraying medium can be sprayed out from a first type of nozzle connected to the delivery channel.

54. The UAV according to claim 48, characterized in that, The flexible extension includes a pressure relief valve, which is opened to allow the flexible extension to fold.

55. The UAV according to claim 48, characterized in that, The flexible extension is folded in the following ways: rolled up or bent multiple times.

56. The UAV according to claim 1, characterized in that, The extension is rotatable between an extended position and a retracted position, and can stop at either position between the extended position and the retracted position to spray the spraying medium.

57. A method for operating a drone, characterized in that, include: The drone is controlled to move to the side of the target to be sprayed, causing the extension of the drone to face the side of the target; wherein the extension extends downward from the frame of the drone and is provided with a first type of nozzle; and Control the first type of nozzle to spray towards the side of the target to be sprayed; The extension includes a flexible extension, which includes a pressure delivery channel and a delivery channel for the spraying medium. The extension includes an inner cylinder and an outer cylinder. The interior of the inner cylinder forms a delivery channel for the sprayed medium, and the inner cylinder and the outer cylinder form a pressure delivery channel to apply pressure to the sprayed medium. The extension member can rotate and switch between an extended position and a retracted position. Based on the signal from the obstacle avoidance sensor, the extension member moves from the extended position to the retracted position under the drive of the drive device. The spraying assembly is attached to the frame in a manner that allows for automatic detachment.

58. The method for operating a drone according to claim 57, characterized in that, The method further includes: The second type of nozzle of the UAV is controlled to spray towards the top of the target to be sprayed; wherein the second type of nozzle is provided on the frame and the spraying direction of the second type of nozzle is towards the bottom of the frame.

59. The method for operating a drone according to claim 57, characterized in that, The method further includes: When controlling the drone to move to the side of the target to be sprayed, the drone's frame is positioned above the height of the target to be sprayed.

60. The method for operating a drone according to claim 57, characterized in that, The method further includes: When the UAV is in operation, the extension is controlled to be at least partially located below the landing support surface of the landing gear; and When the UAV is in the landing preparation state, the entire extension is positioned above the landing support surface of the landing gear; the end of the extension near the frame has a fixed-force release joint, which allows the extension to detach from the frame when subjected to an external force greater than a specified value.

61. A spraying assembly for an unmanned aerial vehicle, comprising: Extension for mounting under the drone's frame; as well as The first type of nozzle is disposed on the extension member and is used for spraying; The extension includes a flexible extension, which includes a pressure delivery channel and a delivery channel for the spraying medium. The extension includes an inner cylinder and an outer cylinder. The interior of the inner cylinder forms a delivery channel for the sprayed medium, and the inner cylinder and the outer cylinder form a pressure delivery channel to apply pressure to the sprayed medium. The extension member can rotate and switch between an extended position and a retracted position. Based on the signal from the obstacle avoidance sensor, the extension member moves from the extended position to the retracted position under the drive of the drive device. The spraying assembly is attached to the frame in a manner that allows for automatic detachment.

62. The spraying assembly according to claim 61, characterized in that, The first type of nozzle is disposed on at least one side of the extension.

63. The spraying assembly according to claim 62, characterized in that, The spraying direction of the first type of nozzle is substantially perpendicular to the extension direction of the extension member.

64. The spraying assembly according to claim 61, characterized in that, The first type of nozzle is a cylindrical hole, a fan-shaped hole, or a conical hole. The direction in which the first type of nozzle is opened is the normal direction of the cylindrical hole or the conical hole, or the centerline direction of the fan-shaped hole.

65. The spraying assembly according to claim 61, characterized in that, The first type of nozzle is a slit formed on the extension.

66. The spraying assembly according to claim 61, characterized in that, The extension has a hollow portion, and the first type of nozzle is connected to the hollow portion of the extension, the hollow portion being used to fill the spraying medium.

67. The spraying assembly according to claim 66, characterized in that, The spraying assembly also includes a container, the hollow portion of which is connected to the container via a medium pipeline, and the container contains the spraying medium.

68. The spraying assembly according to claim 61, characterized in that, The extension is a hollow rod.

69. The spraying assembly according to claim 61, characterized in that, The spraying assembly also includes a media pipeline and a container, the media pipeline being used to connect the first type of nozzle and the container, the container containing the spraying media.

70. The spraying assembly according to claim 61, characterized in that, The spraying assembly also includes a connector for detachably connecting the drone's frame and the extension.

71. The spraying assembly according to claim 61, characterized in that, There are multiple nozzles of the first type, including a first sub-type nozzle and a second sub-type nozzle. The first sub-type nozzle is located in the middle of the extension member, and the second sub-type nozzle is located at one end of the extension member. The spray direction of the first sub-type nozzle is different from that of the second sub-type nozzle.

72. The spraying assembly according to claim 71, characterized in that, The spray direction of the first type of nozzle is substantially perpendicular to the length direction of the extension.

73. The spraying assembly according to claim 71, characterized in that, The spray direction of the first sub-type nozzle is inclined downward relative to the length direction of the extension.

74. The spraying assembly according to claim 71, characterized in that, The spray direction of the first sub-type nozzle is inclined upward relative to the length direction of the extension.

75. The spraying assembly according to claim 61, characterized in that, The spraying assembly also includes a drive unit for driving the extension to switch between an extended position and a retracted position.

76. The spraying assembly according to claim 75, characterized in that, The drive unit is capable of driving the extension from the extended position to the retracted position in response to user operations on the ground or to a judgment made by the drone's built-in map or a map received in real time.

77. The spraying assembly according to claim 75, characterized in that, The drive device responds to a control signal to drive the extension to the retracted position.

78. The spraying assembly according to claim 77, characterized in that, The control signal is a control signal generated based on obstacle information in a real-time map, or the control signal is a control signal generated based on user control commands.

79. The spraying assembly according to claim 61, characterized in that, The spraying assembly also includes a container, and the delivery channel for the spraying medium is connected to the container via a pressure pipeline.

80. The spraying assembly according to claim 79, characterized in that, The inner cylinder is provided with at least one type of nozzle, which is connected to the delivery channel of the spraying medium and passes through the pressure delivery channel, and extends out of the outer cylinder.

81. The spraying assembly according to claim 80, characterized in that, The pressure delivery channel includes at least one air outlet, the direction of which is consistent with the direction of the first type of nozzle.

82. The spraying assembly according to claim 80, characterized in that, The pressure delivery channel includes multiple air outlets, which are staggered with the first type of nozzle in the extension direction along the extension portion.

83. The spraying assembly according to claim 80, characterized in that, The outer cylinder has a smooth outer wall.

84. The spraying assembly according to claim 80, characterized in that, The spraying assembly also includes an air compressor and an air pipe, the air compressor being used to generate air pressure to be delivered to the pressure delivery channel through the air pipe.

85. The spraying assembly according to claim 84, characterized in that, The extension has a fixed-force release connector at one end near the frame, which allows the extension to detach from the frame when subjected to an external force greater than a specified value; the air tube has an air tube fixed-force release connector.

86. The spraying assembly according to claim 85, characterized in that, The fixed-force release joint includes two tightly fitted sleeves.

87. The spraying assembly according to claim 61, characterized in that, The extension is a telescopic extension, which includes at least one fixed rod and at least one telescopic rod. The fixed rod and the telescopic rod are sleeved together and held in a mutually extended position by a retaining mechanism.

88. The spraying assembly according to claim 87, characterized in that, The retaining mechanism is one of the following: an elastic mechanism, a snap-fit ​​mechanism, a pivoting mechanism, or a sliding mechanism.

89. The spraying assembly according to claim 61, characterized in that, The extension is a deformable extension having multiple rods, with a joint between two adjacent rods, and at least one rod having a first type of nozzle.

90. The spraying assembly according to claim 89, characterized in that, The joint is a resistance joint or an elastic joint.

91. The spraying assembly according to claim 61, characterized in that, The flexible extension includes an extension body and a first type of nozzle disposed on the extension body.

92. The spraying assembly according to claim 91, characterized in that, The flexible extension can be deployed under the action of one of the following: elastic force, gravity, air pressure, or hydraulic pressure.

93. The spraying assembly according to claim 91, characterized in that, The first type of nozzle is mounted on the flexible extension via a nozzle joint.

94. The spraying assembly according to claim 92, characterized in that, The flexible extension is opened by air pressure, and the pressure delivery channel can transmit gas to open the delivery channel of the sprayed medium.

95. The spraying assembly according to claim 94, characterized in that, The pressure delivery channel is arranged around the delivery channel of the sprayed medium.

96. The spraying assembly according to claim 93, characterized in that, The flexible extension includes a delivery channel for the spraying medium. When the spraying medium is filled into the delivery channel, the spraying medium can be sprayed out from a first type of nozzle connected to the delivery channel.

97. The spraying assembly according to claim 91, characterized in that, The flexible extension includes a pressure relief valve, which is opened to allow the flexible extension to fold.

98. The spraying assembly according to claim 91, characterized in that, The flexible extension is folded in the following ways: rolled up or bent multiple times.

99. The spraying assembly according to claim 61, characterized in that, The extension can rotate between an extended position and a retracted position, and can stop at either position and spray the spraying medium.

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