A plant protection unmanned aircraft and control method

Abstract

The present invention relates to the technical field of plant protection unmanned aircraft, and provides a plant protection unmanned aircraft and a control method. The above-mentioned plant protection unmanned aircraft includes: an unmanned aircraft body, a pesticide application device, a wind force regulating device and a controller; the pesticide application device is arranged on the unmanned aircraft body, and the pesticide application device is used to spray pesticides; the wind force regulating device includes a bracket and a fan; the fan is mounted on the bracket, and the bracket is rotatably arranged on the unmanned aircraft body; the controller controls the steering of the bracket and the wind speed of the fan based on the wind speed and wind direction information of the natural wind, so as to prevent the droplets sprayed by the pesticide application device from drifting under the natural wind field. The present invention is based on the regulation of the wind speed and wind direction of the fan, which weakens the wind field of the natural wind, thereby weakening the influence of the natural wind on the drift of the droplets, which not only saves pesticides but also ensures the accuracy of pesticide spraying, and reduces the potential harm of pesticides to the environment.

Description

Technical Field

[0001] The invention relates to the technical field of plant protection unmanned aircraft, and in particular to a plant protection unmanned aircraft and a control method. Background Art

[0002] With the continuous development of modern precision agriculture technology, aerial plant protection operations have been widely used in the field of agricultural plant protection, mainly including aerial pesticide application and aerial sowing. In aerial pesticide application, the quality of pesticide spraying is the key to judging the mechanical properties of agricultural aerial plant protection equipment and the effect of pesticide application; plant protection drones have the characteristics of super high efficiency, strong assault capability, wide adaptability, time-saving and labor-saving, and are widely used in aerial pesticide application.

[0003] At present, in the process of aerial pesticide application, when traditional unmanned aircraft are spraying, the pesticide liquid is easily affected by the environment (natural wind speed, natural wind direction, etc.), resulting in a large amount of droplet drift, and traditional unmanned aircraft cannot accurately control the wind speed and direction of the unmanned aircraft according to natural wind information (natural wind speed, natural wind direction, etc.). Therefore, during the spraying operation, the risk of droplet drift is increased, bringing serious water and soil resource pollution, non-target crop pesticide damage and threats to human and animal health. Summary of the invention

[0004] The invention provides a plant protection unmanned aircraft and a control method, which are used to solve the problem that the plant protection unmanned aircraft in the prior art has poor drift prevention and reduction effect during spraying operation.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0006] In a first aspect, the present invention provides a plant protection unmanned aircraft, comprising: an unmanned aircraft body, a pesticide application device, a wind force adjustment device and a controller;

[0007] The pesticide application device is arranged on the body of the unmanned aircraft, and is used for spraying pesticides;

[0008] The wind force regulating device comprises a bracket and a fan;

[0009] The fan is mounted on the bracket, and the bracket is rotatably arranged on the body of the unmanned aircraft;

[0010] The controller controls the direction of the bracket and the wind speed of the fan based on the wind speed and wind direction information of the natural wind, so as to prevent the droplets sprayed by the spraying device from drifting under the natural wind field.

[0011] According to the crop protection unmanned aircraft provided by the present invention, the pesticide application device comprises: a support rod, a spray head and a medicine box;

[0012] The support rod and the medicine box are arranged on the unmanned aircraft body, the spray head is arranged on the support rod, and the spray head is communicated with the medicine box.

[0013] According to the plant protection unmanned aircraft provided by the present invention, the nozzles are provided in plurality, and the plurality of nozzles are arranged around the body of the unmanned aircraft;

[0014] There are multiple wind force regulating devices, and the multiple nozzles are arranged one-to-one correspondingly below the multiple wind force regulating devices.

[0015] According to a plant protection unmanned aircraft provided by the present invention, the bracket includes a first bracket and a second bracket;

[0016] The first bracket is rotatably disposed on the unmanned aircraft body, the second bracket is rotatably disposed on the first bracket, and the fan is installed on the second bracket;

[0017] The rotation axis of the first bracket, the rotation axis of the second bracket and the rotation axis of the fan are perpendicular to each other;

[0018] The controller controls rotation of the first bracket and the second bracket.

[0019] According to the plant protection unmanned aircraft provided by the present invention, the wind force regulating device further includes a first rotating driving member and a first rotating wheel;

[0020] The first rotating driving member is fixed to the unmanned aircraft body, the first rotating driving member is transmission-connected to the first end of the first bracket, and the second end of the first bracket is rotatably connected to the unmanned aircraft body via the first rotating wheel;

[0021] And / or, the wind force regulating device further comprises a second rotating driving member and a second rotating wheel;

[0022] The second rotating driving member is fixed to the first bracket, the second rotating driving member is drivingly connected to the first end of the second bracket, and the second end of the second bracket is rotatably connected to the first bracket via the second rotating wheel.

[0023] According to the plant protection unmanned aircraft provided by the present invention, a first clamping plate and a second clamping plate are fixedly mounted on the first bracket, the first rotating driving member is transmission-connected to the first clamping plate, and the second clamping plate is connected to the first rotating wheel;

[0024] And / or, a third clamping plate and a fourth clamping plate are fixedly mounted on the second bracket, the second rotary drive member is transmission-connected to the third clamping plate, and the fourth clamping plate is connected to the second rotating wheel.

[0025] According to a plant protection unmanned aircraft provided by the present invention, the first bracket and the second bracket are both circular brackets, the fan is arranged at the center of the second bracket, the first bracket can rotate 360° relative to the unmanned aircraft body, and the second bracket can rotate 360° relative to the first bracket.

[0026] According to the plant protection unmanned aircraft provided by the present invention, it also includes a wind collector, and the controller is communicatively connected with the wind collector;

[0027] And / or, it also includes: a laser radar, which is arranged on the unmanned aircraft body and is communicatively connected with the controller.

[0028] In a second aspect, the present invention provides a control method based on the above-mentioned plant protection unmanned aircraft, comprising: obtaining the wind speed and wind direction of the natural wind in the spraying area;

[0029] Inputting the wind speed and the wind direction into a wind force control model to obtain a target rotation speed of the fan and a target inclination angle of the bracket;

[0030] The fan is controlled to rotate according to the target rotation speed, and the bracket is controlled to deflect to the target inclination angle.

[0031] According to a control method provided by the present invention, when there are multiple wind power regulating devices, the target parameters of each wind power regulating device are output from the wind power control model, and each wind power regulating device is controlled to be adjusted to the target parameters.

[0032] The present invention provides a crop protection unmanned aircraft and control method. By arranging a pesticide application device and a wind force regulating device on the unmanned aircraft body, and arranging a bracket and a fan on the wind force regulating device, and making the bracket rotatably arranged on the unmanned aircraft body, when the unmanned aircraft sprays pesticides during stable flight, the rotation angle of the bracket relative to the unmanned aircraft body can be adjusted based on the wind speed and wind direction of the acquired natural wind, thereby realizing wind direction regulation of the fan at different inclination angles relative to the unmanned aircraft body, and the wind speed of the fan can also be adjusted, thereby realizing wind speed regulation of the fan. Based on the regulation of the wind speed and wind direction of the fan, the wind field of the natural wind is weakened, thereby weakening the influence of the natural wind on the drift of droplets, which not only saves pesticides but also ensures the accuracy of pesticide spraying, and reduces the potential harm of pesticides to the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of the plant protection unmanned aircraft provided by the present invention;

[0035] Figure 2 It is a schematic diagram of the three-dimensional structure of the wind force regulating device provided by the present invention;

[0036] Figure 3 This is one of the angle adjustment schematic diagrams of the wind force adjustment device provided by the present invention installed on the body of an unmanned aircraft;

[0037] Figure 4 This is the second schematic diagram of the angle adjustment of the wind force adjustment device provided by the present invention installed on the body of the unmanned aircraft;

[0038] Figure 5 It is a schematic diagram of the top view of the plant protection unmanned aircraft provided by the present invention;

[0039] Figure 6 This is a control structure block diagram of the plant protection unmanned aircraft provided by the present invention;

[0040] Figure 7 It is a schematic diagram of the control interface of the human-computer interaction module provided by the present invention;

[0041] Figure 8 It is a flow chart of the control method based on the plant protection unmanned aircraft provided by the present invention.

[0042] Reference numerals:

[0043] 1. Unmanned aircraft body; 11. Frame; 12. Rotor; 13. Tripod; 14. Autonomous navigation module;

[0044] 2. pesticide application device; 21. support rod; 22. spray head; 23. medicine box;

[0045] 3. Wind force regulating device; 31. Bracket; 32. Fan; 33. First rotating driving member; 34. First rotating wheel; 35. Second rotating driving member; 36. Second rotating wheel; 311. First bracket; 312. Second bracket; 313. First clamping plate; 314. Second clamping plate; 315. Third clamping plate; 316. Fourth clamping plate;

[0046] 4. Controller; 5. Wind collector; 6. LiDAR; 7. First angle sensor; 8. Second angle sensor; 9. Human-computer interaction module;

[0047] 100. Industrial computer. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0049] Combine the following Figures 1 to 8 , the plant protection unmanned aircraft and control method provided by the embodiment of the present invention are described in detail through specific embodiments and their application scenarios.

[0050] First, as Figure 1 , Figure 2 and Figure 6 As shown, this embodiment provides a plant protection unmanned aircraft, including: an unmanned aircraft body 1, a pesticide application device 2, a wind force adjustment device 3 and a controller 4.

[0051] The pesticide application device 2 is disposed on the unmanned aircraft body 1 and is used for spraying pesticides.

[0052] The wind force regulating device 3 includes a bracket 31 and a fan 32 .

[0053] The fan 32 is mounted on a bracket 31 , and the bracket 31 is rotatably disposed on the unmanned aircraft body 1 .

[0054] The controller 4 controls the direction of the bracket 31 and the wind speed of the fan 32 based on the wind speed and wind direction information of the natural wind, so as to prevent the droplets sprayed by the spraying device 2 from drifting under the natural wind field.

[0055] It can be understood that the unmanned aircraft body 1 includes a frame 11, a rotor 12 and a tripod 13. The rotor 12 is rotatably arranged at the center of the frame 11, and the tripod 13 is arranged on the side of the frame 11 away from the rotor 12. The unmanned aircraft body is also provided with an autonomous navigation module 14, and the unmanned aircraft can autonomously complete the navigation operation of the spraying flight.

[0056] The pesticide application device 2 can spray pesticides on crops in the form of droplets. As the unmanned aircraft flies, the pesticide application device 2 can perform continuous spraying operations on the pesticide application area within the flight track of the unmanned aircraft.

[0057] During the flight of the unmanned aircraft, natural wind will cause the sprayed pesticide to produce droplets drift, thereby affecting the spraying effect of the pesticide. The fan 32 in the wind force adjustment device 3 rotates to generate a wind field, which can partially offset the wind field of the natural wind and reduce the droplet drift caused by the natural wind. In addition, the bracket 31 can rotate at multiple angles relative to the unmanned aircraft body 1, and the bracket 31 can drive the fan 32 to rotate at multiple angles, thereby adjusting the wind direction generated by the fan 32, so that the wind direction of the fan 32 can be adjusted at different inclination angles, thereby matching the natural wind of different wind speeds and wind directions, so as to better reduce the impact of the natural wind field on the droplets.

[0058] The bracket 31 may be connected to the unmanned aircraft body 1 via a rotating joint, or may be connected to the unmanned aircraft body 1 via a universal joint.

[0059] The controller 4 can obtain the parameters of the wind speed and direction of the natural wind, and control the direction of the bracket 31 and the wind speed of the fan 32, thereby adjusting the wind direction and wind speed of the wind field generated by the wind force regulating device 3 to reduce the wind field of the natural wind.

[0060] Specifically, the wind speed and wind direction of natural wind can be directly obtained from the weather forecast information on the Internet, or can be obtained through a ground weather station. The controller 4 can be any one of a PLC controller and a single-chip microcomputer.

[0061] The present invention provides a crop protection unmanned aircraft and control method. A pesticide application device 2 and a wind force regulating device 3 are arranged on an unmanned aircraft body 1, and a bracket 31 and a fan 32 are arranged on the wind force regulating device 3, and the bracket 31 is rotatably arranged on the unmanned aircraft body 1. When the unmanned aircraft sprays pesticides during stable flight, the rotation angle of the bracket 31 relative to the unmanned aircraft body 1 can be adjusted based on the wind speed and wind direction of the acquired natural wind, thereby realizing wind direction control of the fan 32 at different inclination angles relative to the unmanned aircraft body 1, and the wind speed of the fan 32 can also be adjusted, thereby realizing wind speed control of the fan 32. Based on the control of the wind speed and wind direction of the fan 32, the wind field of the natural wind is weakened, thereby weakening the influence of the natural wind on the drift of droplets, which not only saves pesticides but also ensures the accuracy of pesticide spraying, and reduces the potential harm of pesticides to the environment.

[0062] In some embodiments, Figure 1 As shown, the pesticide application device 2 of this embodiment includes: a support rod 21, a spray head 22 and a medicine box 23.

[0063] The support rod 21 and the medicine box 23 are arranged on the unmanned aircraft body 1 , the nozzle 22 is arranged on the support rod 21 , and the nozzle 22 and the medicine box 23 are communicated.

[0064] It can be understood that the medicine box 23 is used to contain the pesticide to be sprayed. The medicine box 23 is arranged between the frame 11 and the tripod 13. The support rod 21 is arranged on the frame 11. The support rod 21 is a hollow tube structure. One end of the support rod 21 is connected to the medicine box 23, and the other end is connected to the nozzle 22. The central axis of the nozzle 22 is perpendicular to the frame 11.

[0065] The pesticide is transported from the medicine box 23 to the nozzle 22 through the inner cavity of the support rod 21. The support rod 21 provides a mounting support for the nozzle 22 and plays a role in pipeline transportation.

[0066] The nozzle 22 of this embodiment is suspended at the end of the support rod 21 . The nozzle 22 is also equipped with a switch, which is arranged on the side wall of the nozzle 22 to switch the spraying action and the stop action of the nozzle 22 .

[0067] In this embodiment, a support rod 21, a nozzle 22 and a medicine box 23 are arranged in the pesticide application device 2, so that pesticides can be transported from the support rod 21 to the nozzle 22. The compact size meets the requirements for setting the pesticide application device 2 on the unmanned aircraft body 1.

[0068] In some embodiments, Figure 1 As shown, in this embodiment, a plurality of nozzles 22 are provided, and the plurality of nozzles 22 are arranged around the unmanned aircraft body 1 .

[0069] There are multiple wind force regulating devices 3 , and the multiple nozzles 22 are arranged under the multiple wind force regulating devices 3 in a one-to-one correspondence.

[0070] It is understandable that multiple nozzles 22 spray pesticides synchronously during the flight of the plant protection drone, which can improve the efficiency of the plant protection drone in spraying pesticides. Each nozzle 22 is equipped with a corresponding wind regulating device 3. Within the spraying range of each nozzle 22, there is a wind regulating device 3 to regulate the wind speed and wind direction in the range, thereby ensuring that the droplets sprayed by the nozzle 22 can be prevented from drifting, reducing the drift of the droplets sprayed by each nozzle 22, thereby accurately realizing the drift prevention and control of the droplets.

[0071] In some examples, the plant protection UAV is provided with four nozzles 22, and the four nozzles 22 are evenly arranged around the rotor 12 of the plant protection UAV. There are also four wind regulating devices 3, and each nozzle 22 is correspondingly arranged below the wind regulating device 3 to prevent the droplets of the nozzle 22 from drifting.

[0072] In some embodiments, Figure 1 , Figure 2 and Figure 6 As shown, the bracket 31 of this embodiment includes a first bracket 311 and a second bracket 312 .

[0073] The first bracket 311 is rotatably disposed on the unmanned aircraft body 1 , the second bracket 312 is rotatably disposed on the first bracket 311 , and the fan 32 is installed on the second bracket 312 .

[0074] The rotation axis of the first bracket 311 , the rotation axis of the second bracket 312 , and the rotation axis of the fan 32 are perpendicular to each other.

[0075] The controller 4 controls the rotation of the first bracket 311 and the second bracket 312 .

[0076] It can be understood that, in this embodiment, the rotation axis of the second bracket 312 and the rotation axis of the fan 32 are perpendicular to each other. When the second bracket 312 rotates around the first bracket 311, the fan 32 also rotates around the first bracket 311 driven by the second bracket 312, thereby adjusting the wind direction generated by the fan 32. At the same time, the rotation axis of the first bracket 311 and the rotation axis of the second bracket 312 in this embodiment are perpendicular to each other. When the first bracket 311 rotates around the unmanned aircraft body 1, the second bracket 312 also rotates around the unmanned aircraft body 1 driven by the first bracket 311, thereby driving the fan 32 to rotate around the unmanned aircraft body 1.

[0077] Furthermore, the first bracket 311 and the second bracket 312 rotate along rotation axes that are perpendicular to each other, so that the first bracket 311 and the second bracket 312 can rotate at different angles along different directions, thereby enabling the fan 32 to adjust its rotation angle along different directions, which is beneficial for precise adjustment of the wind direction of the fan 32.

[0078] The controller 4 can control the first bracket 311 and the second bracket 312 to work together. The first bracket 311 and the second bracket 312 adjust the wind direction of the fan 32 from different directions, so that the wind direction of the fan 32 is finally adjusted to a degree that can offset the wind direction of the natural wind to the greatest extent, thereby ensuring the accuracy of the wind direction adjustment of the fan 32.

[0079] In some embodiments, Figure 1 and Figure 2 As shown, the wind force regulating device 3 of this embodiment further includes a first rotating driving member 33 and a first rotating wheel 34 .

[0080] The first rotary drive member 33 is fixed to the UAV body 1 , and is drivingly connected to a first end of the first bracket 311 , and a second end of the first bracket 311 is rotatably connected to the UAV body 1 via a first rotating wheel 34 .

[0081] It is understandable that the first rotating drive member 33 and the first bracket 311 can be directly connected or indirectly connected through a gear assembly. The first rotating drive member 33 drives the first bracket 311 to rotate around the unmanned aircraft body 1 to adjust the angle of the first bracket 311 relative to the unmanned aircraft body 1.

[0082] One end of the rotating shaft of the first bracket 311 of this embodiment is connected to the first rotating drive member 33 , and the other end extends into the first rotating wheel 34 . The first bracket 311 rotates around the UAV body 1 under the driving action of the first rotating drive member 33 .

[0083] The first rotating driving member 33 may be a DC reduction motor, and the first rotating wheel 34 may be a bearing or a common wheel body.

[0084] In this embodiment, by setting the first rotating driving member 33 and the first rotating wheel 34 in the wind regulating device 3, the first bracket 311 can cooperate with the first rotating wheel 34 under the drive of the first rotating driving member 33, so as to rotate around the unmanned aircraft body 1, thereby ensuring the control of the rotation of the first bracket 311, and the structure is compact and space-saving.

[0085] In some embodiments, Figure 1 and Figure 2 As shown, the wind force regulating device 3 of this embodiment further includes a second rotating driving member 35 and a second rotating wheel 36 .

[0086] The second rotating driving member 35 is fixed to the first bracket 311 , and the second rotating driving member 35 is drivingly connected to a first end of the second bracket 312 , and a second end of the second bracket 312 is rotatably connected to the first bracket 311 via a second rotating wheel 36 .

[0087] It is understandable that the second rotating drive member 35 and the second bracket 312 can be directly connected or indirectly connected through a gear assembly. The second rotating drive member 35 drives the second bracket 312 to rotate around the first bracket 311 to adjust the angle of the second bracket 312 relative to the first bracket 311.

[0088] In this embodiment, one end of the rotating shaft of the second bracket 312 is connected to the second rotating drive member 35 , and the other end extends into the second rotating wheel 36 . The second bracket 312 rotates around the first bracket 311 under the driving action of the second rotating drive member 35 .

[0089] The second rotating driving member 35 may be a DC reduction motor, and the second rotating wheel 36 may be a bearing or a common wheel body.

[0090] In this embodiment, a second rotating drive member 35 and a second rotating wheel 36 are provided in the wind regulating device 3, so that under the drive of the second rotating drive member 35, the second bracket 312 can cooperate with the second rotating wheel 36 to rotate around the first bracket 311, thereby ensuring the control of the rotation of the second bracket 312, and the structure is compact and space-saving.

[0091] In some embodiments, Figure 2 As shown, a first clamping plate 313 and a second clamping plate 314 are fixedly mounted on the first bracket 311 of this embodiment, the first rotary driving member 33 is in transmission connection with the first clamping plate 313 , and the second clamping plate 314 is connected with the first rotating wheel 34 .

[0092] It can be understood that the first clamping plate 313 and the second clamping plate 314 each include two clamping plates arranged opposite to each other, one side of the two clamping plates is spaced apart to form a clamping gap, and the clamping gap clamps the first bracket 311 between the two clamping plates, and the other sides of the two clamping plates are connected. The first rotating driving member 33 drives the first clamping plate 313 to rotate, thereby driving the first bracket 311 to rotate, and one end of the second clamping plate 314 extends into the first rotating wheel 34. When the first rotating wheel 34 rotates relative to the unmanned aircraft body 1, the rotation of the second clamping plate 314 is realized.

[0093] This embodiment provides a first clamping plate 313 and a second clamping plate 314, so that the first bracket 311 can be clamped in the clamping gap between the first clamping plate 313 and the second clamping plate 314, and the two clamping plates are locked using a locking member. When the first clamping plate 313 and the second clamping plate 314 need to be removed, it is convenient to achieve rapid installation and removal, thereby facilitating the convenient installation and removal of the first bracket 311 from the unmanned aircraft body 1.

[0094] In some embodiments, Figure 2 As shown, a third clamping plate 315 and a fourth clamping plate 316 are fixedly mounted on the second bracket 312 , the second rotary drive member 35 is transmission-connected to the third clamping plate 315 , and the fourth clamping plate 316 is connected to the second rotating wheel 36 .

[0095] It can be understood that the third clamping plate 315 and the fourth clamping plate 316 each include two clamping plates arranged opposite to each other, one side of the two clamping plates is spaced apart to form a clamping gap, and the clamping gap clamps the second bracket 312 between the two clamping plates, and the other sides of the two clamping plates are connected, and the second rotating drive member 35 drives the third clamping plate 315 to rotate, thereby driving the second bracket 312 to rotate, and one end of the fourth clamping plate 316 extends into the second rotating wheel 36, and when the second rotating wheel 36 rotates relative to the first bracket 311, the rotation of the fourth clamping plate 316 is realized.

[0096] This embodiment provides a third clamping plate 315 and a fourth clamping plate 316, so that the second bracket 312 can be clamped in the clamping gap between the third clamping plate 315 and the fourth clamping plate 316, and the two clamping plates are locked using a locking member. When the third clamping plate 315 and the fourth clamping plate 316 need to be disassembled, it is convenient to achieve rapid installation and disassembly, thereby facilitating convenient installation and disassembly of the second bracket 312 from the first bracket 311.

[0097] In some embodiments, Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the first bracket 311 and the second bracket 312 of this embodiment are both circular brackets, the fan 32 is arranged at the center of the second bracket 312, the first bracket 311 can rotate 360° relative to the unmanned aircraft body 1, and the second bracket 312 can rotate 360° relative to the first bracket 311.

[0098] It is understandable that the frame 11 of the present embodiment is configured as a cross-shaped structure, and two adjacent protruding structures form a semi-enclosed accommodation position for accommodating the first bracket 311 and the second bracket 312 .

[0099] The first bracket 311 of the present embodiment is a circular bracket. When the first bracket 311 rotates around the frame 11 in the accommodation position, the circular structure has a smooth transition at the edge compared to the regular polygonal structure, without protruding edges and corners, and will not collide with the frame 11, thereby achieving 360° free rotation. At the same time, the second bracket 312 is also a circular bracket. The second bracket 312 rotates in the first bracket 311 and will not collide with the first bracket 311, thereby achieving 360° free rotation. In addition, the fan 32 is arranged at the center of the second bracket 312. The first bracket 311 and the second bracket 312 can adjust the angle of the fan 32 from two different rotation directions, and the rotation angles of the two rotation directions can both reach 360°, thereby achieving multi-angle precise adjustment of the wind direction of the fan 32 and improving the effect of weakening the wind direction of the natural wind.

[0100] The fan 32 of this embodiment includes a fan blade, a fan motor and a mounting frame, wherein the mounting frame is mounted on the second bracket 312, the fan motor is arranged at the center of the mounting frame, and the output end of the fan motor is connected to the fan blade. The fan motor can drive the rotation of the fan blade, and the fan motor can also adjust the rotation speed of the fan blade, thereby adjusting the wind speed of the fan 32.

[0101] In some embodiments, Figure 6 As shown, the plant protection unmanned aircraft of this embodiment further includes a wind collector 5 , and the controller 4 is in communication connection with the wind collector 5 .

[0102] It is understandable that the plant protection unmanned aircraft of this embodiment further includes an industrial computer 100 and a human-computer interaction module 9 arranged on the ground, and the industrial computer 100 is communicatively connected with the controller 4 and the human-computer interaction module 9 .

[0103] Specifically, Figure 7 As shown, the human-computer interaction module 9 of this embodiment includes ten buttons, namely, a navigation flight start button, a navigation flight stop button, a manual flight start button, a manual flight stop button, a spray start button, a spray stop button, a parameter calibration button, a radar connection button, a communication setting button and a local area network button, and also includes the display of real-time detection data, namely: unmanned aircraft flight speed, natural wind speed, natural wind direction, completion status, device one / two / three / four fan wind speed, first bracket angle, second bracket angle and spraying amount.

[0104] The wind collector 5 of this embodiment is arranged on the frame 11, and the wind collector 5 is used to receive the wind speed and wind direction of natural wind collected by the ground meteorological station.

[0105] The plant protection unmanned aircraft of this embodiment further includes a laser radar 6, which is arranged on the tripod 13 and is in communication with the controller 4. The laser radar 6 obtains the drift amount and drift motion trajectory of the droplets during the pesticide spraying process through real-time scanning, and feeds back to the industrial computer 100. The industrial computer 100 performs a potential risk assessment of the droplet drift according to the drift amount information and the motion trajectory information, and corrects the adjustment amount of the fan 32, the first rotating drive member 33 and the second rotating drive member 35 according to the risk assessment result, forming a closed-loop feedback, and completing the precise control of the real-time wind speed and wind direction of the first bracket 311 and the second bracket 312.

[0106] The plant protection unmanned aircraft of this embodiment further includes a first angle sensor 7 and a second angle sensor 8. The first angle sensor 7 is mounted on the first bracket 311, and the second angle sensor 8 is mounted on the second bracket 312. The first angle sensor 7 is used to detect the rotation angle of the first bracket 311, and the second angle sensor 8 is used to detect the rotation angle of the second bracket 312. The first angle sensor 7 and the second angle sensor 8 are connected to the controller 4 for communication. The controller 4 establishes a closed-loop control of the wind force regulating device 3 according to the rotation angle of the first bracket 311 fed back by the first angle sensor 7 and the rotation angle of the second bracket 312 fed back by the second angle sensor 8, so as to realize the precise control of the real-time wind speed and wind direction of the first bracket 311 and the second bracket 312.

[0107] In actual application, the autonomous navigation module 14 is first started to ensure the stable flight of the plant protection UAV. The wind direction and wind speed of the natural wind collected by the ground meteorological station are transmitted to the wind collector 5 and the industrial computer 100. The industrial computer 100 calculates the rotation speed of the fan 32, the rotation angle of the first bracket 311 and the rotation angle of the second bracket 312 in real time based on the wind speed and wind direction data of the natural wind to ensure the stable flight of the plant protection UAV, and transmits the information to the controller 4. After receiving the information, the controller 4 controls the fan 32, the first rotating drive member 33 and the second rotating drive member 35 to rotate to achieve the target rotation speed of the fan 32 and the target inclination angle of the bracket 31 required for spraying pesticides. At the same time, the first angle sensor 7 collects the inclination angle of the first bracket 311 in real time, and the second angle sensor 8 collects the inclination angle of the second bracket 312 in real time, and feeds back to the controller 4. The controller 4 adjusts the inclination angles of the first bracket 311 and the second bracket 312 in real time according to the inclination information of the first bracket 311 and the second bracket 312. The laser radar 6 feeds back the drift amount and trajectory information of the real-time scanned droplets to the industrial computer 100. The industrial computer 100 corrects the rotation speed of the fan 32 and the inclination angle of the bracket 31 and sends them back to the controller 4. The controller 4 controls the fan 32, the first rotating drive member 33 and the second rotating drive member 35 for real-time adjustment.

[0108] In a second aspect, in some embodiments, as Figure 8 As shown, this embodiment provides a control method based on a plant protection unmanned aircraft, comprising the following steps:

[0109] Step 811, obtaining the wind speed and direction of the natural wind in the spraying area.

[0110] Step 812, input the wind speed and wind direction into the wind force control model to obtain the target speed of the fan and the target inclination angle of the bracket.

[0111] Step 813, controlling the fan to rotate at a target speed, and controlling the bracket to deflect to a target inclination angle.

[0112] It can be understood that the wind speed and direction of the natural wind in the spraying area are obtained according to the ground meteorological station, and a wind control model is constructed based on the changes in the wind speed and direction of the natural wind. The wind speed and direction of the natural wind are used as input parameters in the wind control model, and the target speed of the fan and the target inclination angle of the bracket output by the wind control model are obtained. The controller controls the fan to rotate at the target speed, and controls the first bracket and the second bracket to deflect to their respective calculated target inclination angles.

[0113] This embodiment establishes a wind control model, which takes the speed and direction of the natural wind as input conditions, and establishes the corresponding relationship between the speed and direction of the natural wind and the rotation speed of the fan and the inclination angle of the bracket. Therefore, based on the wind control model, active anti-drift control of droplets can be performed during the spraying process of the plant protection drone. When the spraying control of the plant protection drone is actually performed, the parameters of the speed and direction of the natural wind are input into the model, and the output parameters of the fan speed and the inclination angle of the bracket can be output, thereby realizing active anti-drift control during the spraying process of the plant protection drone in a quantitative manner, and ensuring the reliability and accuracy of the control results.

[0114] In some embodiments, in the present embodiment, when there are multiple wind power regulating devices, the target parameters of each wind power regulating device are output from the wind power control model, and each wind power regulating device is controlled to be adjusted to the target parameters.

[0115] It is understandable that when there are multiple wind regulating devices, the wind speed and wind direction in each wind regulating device can be adjusted separately, and the wind speed and wind direction parameters of each wind regulating device, that is, the target speed of each fan and the target inclination of each bracket are output from the wind control model, and each fan is controlled to rotate at the target speed, and each bracket is controlled to deflect to the target inclination.

[0116] Specifically, the wind power control model of this embodiment is:

[0117] (Fan Speed ​​Volume, First Axis Corner Demand, Second Axis Corner Demand)=F i (Ground Wind Speed, Ground Wind Direction), i=1, 2…n(1)

[0118] In formula (1), Ground Wind Speed ​​represents the wind speed of natural wind, in m / s; i represents the i-th wind force regulating device; Ground Wind Direction represents the wind direction of natural wind, in degrees; Fan Speed ​​Volume represents the target speed of the fan, in m / s; First Axis Corner Demand represents the rotation angle adjustment amount of the first bracket, in degrees; Second Axis Corner Demand represents the rotation angle adjustment amount of the second bracket, in degrees; F i It represents the functional relationship between the natural wind speed, natural wind direction and fan speed, the first bracket rotation angle adjustment amount and the second bracket rotation angle adjustment amount of the i-th wind force regulating device.

[0119] This embodiment controls each wind force regulating device, and can prevent and control the real-time deviation of droplets through the wind force regulation model, and control the rotation speed of different fans and the deflection angle of different brackets according to the correction value of the industrial computer, so as to control each wind force regulating device more flexibly, thereby realizing precise control of the plant protection drone for preventing droplets from drifting.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A plant protection unmanned aircraft, characterized in that: include: Unmanned aircraft body, pesticide application device, wind control device and controller; The pesticide application device is arranged on the body of the unmanned aircraft, and is used for spraying pesticides; The wind force regulating device comprises a bracket and a fan; The fan is mounted on the bracket, and the bracket is rotatably mounted on the body of the unmanned aircraft; The controller controls the direction of the bracket and the wind speed of the fan based on the wind speed and wind direction information of the natural wind, so as to prevent the droplets sprayed by the spraying device from drifting under the natural wind field; The fan in the wind force regulating device rotates to generate a wind field, which can partially offset the wind field of natural wind and reduce the drift of fog droplets caused by natural wind. The bracket can rotate at multiple angles relative to the unmanned aircraft body, and the bracket can drive the fan to rotate at multiple angles, thereby adjusting the wind direction of the wind generated by the fan, so that the wind direction of the fan can be adjusted at different inclination angles, thereby matching the natural wind of different wind speeds and directions, so as to better reduce the impact of the wind field of natural wind on fog droplets; The pesticide application device is provided with a spray head, and the spray heads are provided in plurality, and the plurality of spray heads are arranged around the body of the unmanned aircraft; There are multiple wind force regulating devices, and the multiple nozzles are arranged one by one under the multiple wind force regulating devices; The bracket comprises a first bracket and a second bracket; The first bracket is rotatably disposed on the unmanned aircraft body, the second bracket is rotatably disposed on the first bracket, and the fan is installed on the second bracket; The rotation axis of the first bracket, the rotation axis of the second bracket and the rotation axis of the fan are perpendicular to each other; The controller controls the rotation of the first bracket and the second bracket; The first bracket and the second bracket are both circular brackets, the fan is arranged at the center of the second bracket, the first bracket can rotate 360° relative to the unmanned aircraft body, and the second bracket can rotate 360° relative to the first bracket.

2. The plant protection unmanned aircraft according to claim 1, characterized in that: The pesticide application device comprises: a support rod, the spray head and a medicine box; The support rod and the medicine box are arranged on the unmanned aircraft body, the spray head is arranged on the support rod, and the spray head is communicated with the medicine box.

3. The plant protection unmanned aircraft according to claim 1, characterized in that: The wind force regulating device also includes a first rotating driving member and a first rotating wheel; The first rotating driving member is fixed to the unmanned aircraft body, the first rotating driving member is transmission-connected to the first end of the first bracket, and the second end of the first bracket is rotatably connected to the unmanned aircraft body via the first rotating wheel; And / or, the wind force regulating device further comprises a second rotating driving member and a second rotating wheel; The second rotating driving member is fixed to the first bracket, the second rotating driving member is drivingly connected to the first end of the second bracket, and the second end of the second bracket is rotatably connected to the first bracket via the second rotating wheel.

4. The plant protection unmanned aircraft according to claim 3, characterized in that: A first clamping plate and a second clamping plate are fixedly mounted on the first bracket, the first rotating driving member is in transmission connection with the first clamping plate, and the second clamping plate is connected with the first rotating wheel; And / or, a third clamping plate and a fourth clamping plate are fixedly mounted on the second bracket, the second rotary drive member is transmission-connected to the third clamping plate, and the fourth clamping plate is connected to the second rotating wheel.

5. The plant protection unmanned aircraft according to claim 1, characterized in that: It also includes a wind collector, and the controller is communicatively connected with the wind collector; And / or, it also includes: a laser radar, which is arranged on the unmanned aircraft body and is communicatively connected with the controller.

6. A control method for a plant protection unmanned aircraft according to any one of claims 1 to 5, characterized in that: include: Obtain the natural wind speed and direction in the spraying area; Inputting the wind speed and the wind direction into a wind force control model to obtain a target rotation speed of the fan and a target inclination angle of the bracket; The fan is controlled to rotate according to the target rotation speed, and the bracket is controlled to deflect to the target inclination angle.

7. The control method according to claim 6, characterized in that: In the case where there are multiple wind power regulating devices, the target parameters of each wind power regulating device are output from the wind power control model, and each wind power regulating device is controlled to be adjusted to the target parameters.

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