A UAV adaptive fertilization device

Abstract

The present application provides an unmanned aerial vehicle adaptive fertilization device, which relates to the technical field of agricultural unmanned aerial vehicles. An unmanned aerial vehicle adaptive fertilization device comprises an agricultural unmanned aerial vehicle, a storage tank, a movable cover and a fertilization control mechanism, wherein a gravity center stabilization device is connected to the bottom side of the agricultural unmanned aerial vehicle, the bottom end of the gravity center stabilization device is coaxially connected to a rotating structure, and the peripheral side of the rotating end of the rotating structure is fixedly connected to a connecting leg; the storage tank is detachably connected to the connecting leg, and the bottom end of the side wall of the storage tank is evenly provided with a plurality of discharge ports in the circumferential direction; the movable cover is sealingly slidably sleeved on the bottom end of the storage tank, and the lifting and lowering of the movable cover can adjust the size of the discharge port, the gravity center stabilization device keeps the objects carried on the bottom side of the agricultural unmanned aerial vehicle in a vertical state, and avoids the normal fertilization range being affected by the change of the angle of the unmanned aerial vehicle during flight, and the range of fertilizer spreading can be controlled by the rotation speed, and the centrifugal force avoids the accumulation of fertilizer at the bottom of the storage tank.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural drones, and in particular to a drone adaptive fertilization device. Background Art

[0002] Applying drones to agriculture can improve production efficiency, especially in areas with complex terrain and many mountains and hills. The planting area is large and the terrain is very different. It is inconvenient to walk for manual fertilization and large equipment cannot enter the field. However, using drones is different. You can control the drone to easily carry out fertilization with just a few clicks, and it can also avoid direct contact between fertilizer workers and fertilizers, which improves safety to a certain extent.

[0003] However, most of the existing UAV fertilization devices are fixed under the UAV, and their spreading angle and range are easily affected by the horizontal deviation angle of the UAV during flight. For example, if the nose of the UAV is high and the tail is low, or vice versa, the fertilization device will be tilted following the tilt of the UAV, and the range of its fertilizer spreading will change with the angle of the fertilization device; and the fertilizer in the existing fertilization device will accumulate on the side of the fertilization device with a low position under the action of gravity, which may easily lead to residual fertilizer in the fertilization device that cannot be spread out. At the same time, due to the accumulation on one side of the fertilization device, the center of gravity of the UAV will be shifted, which will interfere with the normal flight of the UAV and increase the difficulty of UAV control. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an adaptive fertilization device for drones, which aims to improve the problem that the existing drone fertilization device changes with the angle change during the flight of the drone, resulting in the range of fertilization being affected by the flight angle of the drone; and once the existing drone fertilization device tilts with the drone, the fertilizer inside it will follow the deviation, resulting in the center of gravity of the entire drone fertilization device changing, affecting the normal flight of the drone.

[0005] The present application proposes an unmanned aerial vehicle adaptive fertilization device, comprising: an agricultural unmanned aerial vehicle, a storage tank, a movable cover and a fertilization control mechanism, wherein a center of gravity stabilization device is connected to the bottom side of the agricultural unmanned aerial vehicle, a rotating structure is coaxially connected to the bottom end of the center of gravity stabilization device, and at least three connecting legs are fixedly connected to the circumferential side of the rotating end of the rotating structure; the center of gravity stabilization device is composed of a plurality of groups of connecting members with telescopic and multi-angle changes that are evenly arranged in the circumference, and the plurality of groups of connecting members keep the parts connected on the bottom side always vertically downward by changing their own angles and lengths; the rotating structure is driven to rotate by its own power The connecting leg on the end circumferential side rotates around the axis of the rotating structure; the storage tank is detachably connected to the connecting leg and is used to store fertilizer, and a plurality of discharge ports are evenly arranged circumferentially at the bottom end of the side wall of the storage tank; the movable cover is sealingly and slidably sleeved on the bottom end of the storage tank, and is used to open and close the plurality of discharge ports; the fertilizer control mechanism includes a telescopic part and a fertilizer rod, the telescopic part is fixedly connected to the fixed end of the rotating structure, one end of the fertilizer rod is fixedly connected to the telescopic end of the telescopic part, and the other end of the fertilizer rod is sealingly slidable through the storage tank and then connected to the movable cover.

[0006] In addition, the UAV adaptive fertilization device according to the above technical solution provided by this application also has the following additional technical features:

[0007] In the above technical solution, a bottom plate is fixedly connected to the bottom side of the agricultural drone, and the bottom plate is fixedly connected to the top of the center of gravity stabilizing device; a top plate is fixedly connected to the top of the connecting leg, and the top plate is fixedly connected to the bottom end of the center of gravity stabilizing device.

[0008] In the above technical solution, a sealing cover is coaxially arranged on the top of the storage tank, a retaining ring is provided on the top fixing sleeve of the side wall of the storage tank, at least three overhead legs are evenly fixedly connected to the side wall of the storage tank in a circumferential direction, the overhead legs make the storage tank suspended in the air, and the bottom end of the storage tank is fixedly connected to the tank bottom; a plurality of discharge ports are arranged on the side wall of the tank bottom, an annular and downwardly concave storage trough is arranged on the circumferential side of the tank bottom, the outer wall of the storage trough is arranged with a plurality of baffles, and partitions are evenly arranged circumferentially on the inner bottom of the storage trough; a plurality of the baffles are arranged at intervals, and the plurality of the baffles are surrounded by a straight cylinder, and the distance between two adjacent baffles is the discharge port.

[0009] In the above technical solution, the bottom end of the movable cover is coaxially threadedly connected with a movable plug, and both ends of the movable plug are open; the top of the movable cover is provided with an enclosure that is sealingly and slidingly matched with the outer wall of the tank bottom, and the part of the movable cover located at the bottom side of the enclosure is hollowed out; the inner wall of the enclosure is evenly and circumferentially provided with discharge limiting blocks, and the discharge limiting blocks are sealingly and slidingly matched with the discharge port.

[0010] In the above technical solution, the center of gravity stabilizing device is a centering component, including: a plurality of telescopic tubes, a support plate and a fixed seat, the plurality of telescopic tubes are evenly arranged around the circumference and form a cone; the support plate is symmetrically rotationally connected to the two ends of the telescopic tube; the fixed seat is rotationally connected to the support plate, the fixed seat at the top end is fixedly connected to the bottom plate, and the fixed seat at the bottom end is fixedly connected to the fixed end of the rotating structure, and the rotation direction between the telescopic tube and the support plate and between the support plate and the fixed seat is a two-axis rotation.

[0011] In the above technical solution, the rotating structure is a range control mechanism, including: a passive component and an active component, the passive component includes a rotating cover coaxially arranged on the top plate, a fixed cover coaxially fixed to the top plate, the fixed cover is sleeved on the rotating cover, a plurality of balls are evenly arranged circumferentially between the rotating cover and the fixed cover, and the rotating cover is rotatably connected to the fixed cover through the balls; the active component includes a motor fixed to the rotating cover, the output shaft of the motor is keyed to a driving gear, a through hole is provided at the axis center of the top plate, a passive gear ring is fixed to the inner wall of the through hole, and teeth meshing with the driving gear are provided on the inner wall of the passive gear ring.

[0012] In the above technical solution, the telescopic member is fixedly connected to the mounting plate, a plurality of connecting rods are evenly fixedly connected to the upper end surface of the mounting plate in the circumferential direction, the other end of the connecting rod is fixedly connected to the positioning ring, and the positioning ring is fixedly connected to the top plate.

[0013] In the above technical solution, the plurality of connecting rods form a cone shape.

[0014] In the above technical solution, the fertilizing rod seal slides through the sealing cover and the tank bottom and is inserted into the movable plug. The end of the fertilizing rod away from the telescopic part is fixedly connected with a movable rod, and the movable rod is slidably inserted into the movable plug. One end of the movable rod is threadedly connected with a bottom limit plate, and the bottom limit plate and the inner wall of the movable plug are limited and slidably matched.

[0015] In the above technical solution, a protective component is arranged on the movable rod, and the protective component includes: an outer spring, an inner spring and a slip ring, the outer spring is sleeved on the movable rod, and the outer spring is located on the outside of the movable plug; the inner spring is sleeved on the movable rod, and the inner spring is located on the inside of the movable plug and located on the top of the bottom limit plate; the slip ring is slidably sleeved on the movable rod and located on the top of the outer spring.

[0016] Compared with the prior art, this application has the following beneficial effects:

[0017] 1. Use an agricultural drone to lift the storage tank containing fertilizer, and use the telescopic parts to control the movable cover to rise and fall at the bottom of the storage tank to open the discharge port for fertilization. The lifting of the movable cover can adjust the size of the discharge port and play a certain control role in the amount of discharge.

[0018] 2. Secondly, the center of gravity stabilization device can keep the objects carried on the bottom side of the agricultural drone in a vertical state at all times, so as to avoid the storage tank changing its angle due to the change of the drone's own angle during flight, thus affecting the normal fertilization range;

[0019] 3. When the rotating structure drives the storage tank to rotate, the rotation speed can be used to control the range of fertilizer spreading. The centrifugal force generated by the fertilizer during the rotation will cause the fertilizer in the storage tank to be thrown out from the discharge port, thus avoiding the accumulation of fertilizer at the bottom of the storage tank;

[0020] 4. When the storage tank rotates, the fertilizer inside it will rotate with the storage tank, further avoiding the accumulation of fertilizer on one side of the storage tank, which will cause the overall center of gravity of the drone fertilization device to shift and affect the normal flight of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a schematic diagram of the overall structure of an adaptive fertilization device for a drone according to an embodiment of the present application;

[0023] Figure 2 According to the embodiment of the present application Figure 1 A is an enlarged schematic diagram;

[0024] Figure 3 is a schematic diagram of the internal structure of a UAV adaptive fertilization device according to an embodiment of the present application;

[0025] Figure 4 The local structure explosion of a UAV adaptive fertilization device according to an embodiment of the present application Figure 1 ;

[0026] Figure 5 is a partial structural schematic diagram of a centering component and a range control mechanism according to an embodiment of the present application;

[0027] Figure 6 According to an embodiment of the present application, a local structure explosion of a UAV adaptive fertilization device Figure 2 ;

[0028] Figure 7 According to the embodiment of the present application Figure 6 A magnified schematic diagram of B;

[0029] Figure 8 According to the embodiment of the present application Figure 6 A magnified schematic diagram of middle C;

[0030] Fig. 9 According to the embodiment of the present application Figure 6 A magnified schematic diagram of D in the middle;

[0031] Fig.10 is a structural exploded diagram of a tank bottom and a movable cover according to an embodiment of the present application;

[0032] Fig.11 is a structural exploded diagram of a movable cover according to an embodiment of the present application;

[0033] Fig.12 According to the embodiment of the present application Fig.10 Middle E is an enlarged schematic diagram;

[0034] Fig.13 It is a schematic diagram of the structure and position of the protection component according to an embodiment of the present application.

[0035] Icons: 1. Agricultural drone; 11. Bottom plate; 12. Connecting legs; 121. Top plate; 2. Storage tank; 21. Sealing cover; 211. Sealing ring; 22. Snap ring; 23. Overhead legs; 24. Tank bottom; 241. Storage trough; 242. Baffle; 243. Partition; 3. Movable cover; 31. Movable plug; 32. Enclosure; 321. Discharge limit block; 4. Centering assembly; 41. Telescopic tube; 42. Support plate; 43. Fixed seat; 5. Range control machine Structure; 51, passive component; 511, rotating cover; 512, fixed cover; 513, ball; 52, active component; 521, motor; 522, active gear; 523, passive gear ring; 6, fertilization control mechanism; 61, telescopic part; 611, mounting plate; 612, connecting rod; 613, positioning ring; 62, fertilization rod; 621, movable rod; 622, bottom end limit plate; 7, protection component; 71, outer spring; 72, inner spring; 73, slip ring. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in conjunction with the drawings in the implementation methods of this application. Obviously, the described implementation methods are part of the implementation methods of this application, not all of the implementation methods. Based on the implementation methods in this application, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] like Figure 1-Figure 13 As shown, a UAV adaptive fertilization device according to an embodiment of the present application includes: an agricultural UAV 1, a storage tank 2, a movable cover 3 and a fertilization control mechanism 6.

[0038] It should be noted that in the specific embodiment of the present application, the agricultural drone 1 is equipped with an advanced navigation and self-driving system, a high-definition camera, and a signal receiving and transmitting device. The flight route can be designed and fertilization can be controlled through a ground base station or a laptop computer, so that the agricultural drone 1 can autonomously spread fertilizers. Big data analysis can be used and transmitted through the Internet. The agricultural drone 1 can be remotely controlled and the health status of crops can be monitored at any time.

[0039] It should be further explained that in the embodiment of the present application, the agricultural drone 1 is preferably a multi-rotor drone. When spreading fertilizer (especially liquid waste), the strong downward rotating airflow of the multi-rotor drone can be used to turn over and shake the crops, and a turbulent zone can be formed at the crops below. The fertilizer can be spread very evenly and most of the fertilizer can be spread on the land.

[0040] Specifically, in the specific embodiments of the present application, Figure 1-Figure 5 As shown, the bottom side of the agricultural drone 1 is connected with a center of gravity stabilizing device, which is composed of a plurality of groups of connectors with telescopic and multi-angle changes evenly arranged circumferentially. The plurality of groups of connectors change their own angles and lengths so that the components connected on the bottom side always remain vertically downward.

[0041] In the specific embodiments of the present application, Figure 1-Figure 5 As shown, the bottom end of the center of gravity stabilizing device is coaxially connected with a rotating structure, and at least three connecting legs 12 are fixedly connected to the peripheral side of the rotating end of the rotating structure. The rotating structure drives the connecting legs 12 on the peripheral side of the rotating end through its own power to rotate around the axis of the rotating structure. It should be noted that in the embodiment of the present application, at least three connecting legs 12 are arranged to ensure the stability of the drone itself when it is placed, and at the same time ensure that objects can be stably suspended under the drone.

[0042] Among them, the storage tank 2 can be detachably connected to the connecting leg 12 and is used to store fertilizer. A plurality of discharge ports are evenly arranged circumferentially at the bottom end of the side wall of the storage tank 2 to facilitate the fertilizer to be spilled out from the bottom end of the side wall of the storage tank 2. The plurality of discharge ports evenly arranged circumferentially can make the spilled fertilizer evenly distributed.

[0043] Furthermore, the movable cover 3 is sealingly and slidably sleeved on the bottom end of the storage tank 2 and is used to open and close the multiple discharge ports to control the fertilization or stop fertilization state of the storage tank 2.

[0044] Furthermore, the fertilization control mechanism 6 includes a telescopic member 61 and a fertilization rod 62. The telescopic member 61 is fixedly connected to the fixed end of the rotating structure, one end of the fertilization rod 62 is fixedly connected to the telescopic end of the telescopic member 61, and the other end of the fertilization rod 62 is sealed and slid through the storage tank 2 and then connected to the movable cover 3. It can be understood that through the telescopic change of the telescopic end of the telescopic member 61 (i.e., the piston end), the fertilization rod 62 can be driven to perform axial reciprocating displacement on the storage tank 2, so as to drive the movable cover 3 to perform synchronous lifting and lowering actions on the storage tank 2, and then realize the opening and closing actions of the discharge port.

[0045] In addition, a drone adaptive fertilization device according to an embodiment of the present application also has the following additional technical features:

[0046] Among them, Figure 1-Figure 5 As shown, a bottom plate 11 is fixedly connected to the bottom side of the agricultural UAV 1, the bottom plate 11 is fixedly connected to the top of the center of gravity stabilizing device, a top plate 121 is fixedly connected to the top of the connecting leg 12, and the top plate 121 is fixedly connected to the bottom end of the center of gravity stabilizing device.

[0047] like Figure 1 , Figure 3 ,Figure,6, Figure 7 , Fig.10 and Fig.12 As shown, a sealing cover 21 is coaxially arranged on the top of the storage tank 2, and a sealing ring 211 is fixedly connected to the axis of the sealing cover 21; a clamping ring 22 is fixedly sleeved on the top of the side wall of the storage tank 2, as shown in FIG. Figure 1 and Figure 3As shown, the connecting leg 12 is inserted into the clamp ring 22. Specifically, a screw rod or a shaft rod or other related structures can be added to the part of the connecting leg 12 extending from the bottom side of the clamp ring 22, so that the connecting leg 12 is upper-limited at the clamp ring 22, so that the connecting leg 12 can lift the storage tank 2 through the clamp ring 22. At least three overhead legs 23 are evenly fixed on the side wall of the storage tank 2 in the circumferential direction. The overhead legs 23 suspend the storage tank 2, so that the UAV adaptive fertilizing device in the embodiment of the present application can maintain a stable standing state after landing, and prevent the storage tank 2 from directly touching the ground. Causing bumps; the bottom end of the storage tank 2 is fixedly connected to the tank bottom 24, and multiple discharge ports are arranged on the side wall of the tank bottom 24. The surrounding side of the tank bottom 24 is provided with an annular and downwardly concave storage groove 241, and the outer wall of the storage groove 241 is provided with multiple baffles 242. The inner bottom of the storage groove 241 is evenly provided with partitions 243 in the circumference, and the fertilizer entering the storage groove 241 is divided as evenly as possible by the partitions 243; multiple baffles 242 are arranged at intervals, and the multiple baffles 242 are surrounded by a straight cylinder, and the distance between two adjacent baffles 242 is the discharge port.

[0048] It should be noted, however, that the sealing cover 21 and the storage tank 2 are threadedly sealed to facilitate installation and disassembly, and the storage tank 2 is opened or closed through the sealing cover 21 .

[0049] It can be understood that the middle of the bottom of the storage tank 2 is convex upward and the surrounding sides are concave downward. In this way, when the storage tank 2 is driven by the rotating structure to rotate, the fertilizer in the storage tank 2 will rotate along with the rotation of the storage tank 2, forming a certain centrifugal force. Especially when there is less fertilizer remaining in the storage tank 2, the fertilizer at the center of the bottom of the storage tank 2 can be thrown to the storage groove 241 under the action of centrifugal force, and then sprinkled out from multiple discharge ports to avoid fertilizer accumulation at the bottom of the storage tank 2.

[0050] like Figure 1 , Figure 3 , Figure 6 , Figure 10-12 As shown, the bottom end of the movable cover 3 is coaxially threadedly connected with a movable plug 31, and both ends of the movable plug 31 are open. It can be understood that the threaded connection allows the movable plug 31 to be removed from the movable cover 3; the top of the movable cover 3 is provided with an enclosure 32 that is sealingly and slidingly matched with the outer wall of the tank bottom 24, and the part of the movable cover 3 located at the bottom side of the enclosure 32 is hollowed out. It can be understood that the hollow design reduces the weight of the movable cover 3 itself, thereby reducing the load of the agricultural drone 1 in the embodiment of the present application; the inner wall of the enclosure 32 is evenly and circumferentially provided with discharge limiting blocks 321, and the discharge limiting blocks 321 are sealingly and slidingly matched with the discharge port.

[0051] Specifically, the discharge limiting block 321 is arranged in an inverted L shape and seals and slides between two adjacent baffles 242 to realize the opening and closing of the discharge port. At the same time, the inverted L-shaped discharge limiting block 321 also uses the protrusion on its own structure and the tank bottom 24 to form a limiting relationship to prevent the movable cover 3 from falling off from the bottom of the storage tank 2.

[0052] like Figure 2-Figure 5 As shown, the center of gravity stabilizing device is a centering component 4, which includes: a plurality of telescopic tubes 41, a support plate 42 and a fixed seat 43, the plurality of telescopic tubes 41 are evenly arranged around the circumference and form a cone; the support plate 42 is symmetrically rotationally connected to the two ends of the telescopic tubes 41; the fixed seat 43 is rotationally connected to the support plate 42, the fixed seat 43 at the top end is fixedly connected to the bottom plate 11, and the fixed seat 43 at the bottom end is fixedly connected to the fixed end of the rotating structure; the rotation direction between the telescopic tube 41 and the support plate 42 and between the support plate 42 and the fixed seat 43 is a two-axis rotation.

[0053] It can be understood that the multiple telescopic tubes 41 arranged in a conical shape allow the centering component 4 to better change its angle below the base plate 11, and the telescopic tubes 41, the support plates 42 and the fixed seats 43 have dual-axis rotation capabilities, and the length of the telescopic tubes 41 can be changed, so the multiple telescopic tubes 41 evenly distributed circumferentially can change at multiple angles between the base plate 11 and the top plate 121.

[0054] like Figure 1-Figure 5 As shown, the rotating structure is a range control mechanism 5, including: a passive component 51 and an active component 52, the passive component 51 includes a rotating cover 511 coaxially arranged on the top plate 121, a fixed cover 512 coaxially fixed to the top plate 121, the fixed cover 512 is sleeved on the rotating cover 511, a plurality of balls 513 are evenly arranged circumferentially between the rotating cover 511 and the fixed cover 512, and the rotating cover 511 is rotatably connected to the fixed cover 512 through the balls 513; the active component 52 includes a motor 521 fixed to the rotating cover 511, the output shaft of the motor 521 is keyed to a driving gear 522, a through hole is provided at the axis of the top plate 121, a passive gear ring 523 is fixed to the inner wall of the through hole, and teeth meshing with the driving gear 522 are provided on the inner wall of the passive gear ring 523.

[0055] It can be understood that when the driving gear 522 is driven to rotate by the motor 521, the top plate 121 fixed to the rotating cover 511 and the object fixed on the top plate 121 will be driven to rotate synchronously through the passive gear ring 523, that is, in the embodiment of the present application, the agricultural drone 1, the centering assembly 4 and the rotating cover 511 form the fixed end of the rotating structure, and the top plate 121, the connecting legs 12, the storage tank 2 and the movable cover 3 form the rotating end of the rotating structure.

[0056] It should be noted that, in the embodiment of the present application, the motor 521 is preferably a DC motor so as to form an electrical connection with the battery of the agricultural UAV 1; the telescopic part 61 is preferably an electric push rod so as to be powered by the battery carried by the agricultural UAV 1 itself; the specific wires of the motor 521 and the telescopic part 61 can pass through the axis of the top plate 121 and the rotating cover 511 (through holes are provided at the axis of both) and be respectively connected to themselves and the battery of the agricultural UAV 1. The DC motor, the electric push rod and the battery are all mature existing technologies and will not be elaborated here.

[0057] like Figure 6 , Figure 8 and Fig. 9 As shown, the telescopic member 61 is fixedly connected to the mounting plate 611, and a plurality of connecting rods 612 are evenly fixedly connected to the upper end surface of the mounting plate 611 in the circumferential direction. The other end of the connecting rod 612 is fixedly connected to the positioning ring 613, and the positioning ring 613 is fixedly connected to the top plate 121; the plurality of connecting rods 612 form a cone.

[0058] The fertilization rod 62 seals and slides through the sealing cover 21 and the tank bottom 24 and is inserted into the movable plug 31. The end of the fertilization rod 62 away from the telescopic member 61 is fixedly connected with a movable rod 621, and the movable rod 621 is slidably inserted into the movable plug 31. One end of the movable rod 621 is threadedly connected with a bottom limit plate 622, and the bottom limit plate 622 and the inner wall of the movable plug 31 are limited and slidably matched.

[0059] It can be understood that the existence of the bottom limit plate 622 can make it possible for the movable cover 3 to rise and gradually block the discharge port when the fertilizing rod 62 rises under the drive of the telescopic member 61, through the limiting effect between the bottom limit plate 622 and the inner top of the movable plug 31, and vice versa, it can be understood that when the fertilizing rod 62 moves downward under the drive of the telescopic member 61, the restriction on the descent of the movable cover 3 is released, and the movable cover 3 can move downward along the discharge port under the action of gravity to open the discharge port.

[0060] It should be noted that, in a specific embodiment of the present application, the movable rod 621 can be connected to the fertilizing rod 62 by means of a thread, so as to facilitate installation and disassembly.

[0061] It should be further explained that the fertilizing rod 62 is sealingly slidably inserted into the sealing ring 211 so that no leakage occurs between the fertilizing rod 62 and the sealing cover 21 .

[0062] like Fig.13As shown, a protective component 7 is provided on the movable rod 621, and the protective component 7 includes: an outer spring 71, an inner spring 72 and a slip ring 73. The outer spring 71 is sleeved on the movable rod 621, and the outer spring 71 is located on the outside of the movable plug 31; the inner spring 72 is sleeved on the movable rod 621, and the inner spring 72 is located on the inner side of the movable plug 31 and on the top of the bottom limit plate 622; the slip ring 73 is slidably sleeved on the movable rod 621 and is located on the top of the outer spring 71.

[0063] It should be noted that, in the embodiment of the present application, the diameter of the movable rod 621 is smaller than the diameter of the fertilizing rod 62 , that is, the fertilizing rod 62 can limit the axial upward displacement of the slip ring 73 .

[0064] It should be noted that in the specific embodiment of the present application, the ends of the outer spring 71 and the inner spring 72 do not need to be fixed.

[0065] When the fertilizing rod 62 is lowered, the slip ring 73 abuts against the connection between the fertilizing rod 62 and the movable rod 621 under the elastic force of the outer spring 71, and stops the axial upward displacement along the movable rod 621. As the fertilizing rod 62 continues to descend, the outer spring 71 will be squeezed by the slip ring 73, and the squeezing force will be transmitted to the movable plug 31, making it easier for the movable cover 3 to move downward along the discharge port. On the contrary, when the fertilizing rod 62 is raised, the slip ring 73 loses the squeezing force on the outer spring 71, and the bottom limit plate 622 will generate a squeezing force on the inner spring 72, and transmit the squeezing force to the movable plug 31 through the inner spring 72, so that the movable cover 3 moves upward. Due to the setting of the inner and outer springs, when the fertilizing rod 62 rises or falls, even if the stroke exceeds the original displacement stroke of the movable cover 3, there is still a compression stroke of the inner and outer springs within a certain stroke range, which can avoid damage to the fertilizing rod 62 after the displacement stroke exceeds the displacement stroke of the movable cover 3.

[0066] Embodiment 1: When the agricultural UAV 1 in the embodiment of the present application applies fertilizer to crops, the fertilizing rod 62 is driven to move downward by the telescopic member 61, and then the movable cover 3 is driven to move downward along the discharge port, the discharge port is opened, and the fertilizer is sprinkled onto the crops from the exposed discharge port by its own gravity. After the fertilization is completed, the telescopic member 61 is controlled to move in the opposite direction, and then the movable cover 3 is raised to close the discharge port. During this process, when the horizontal inclination angle of the agricultural UAV 1 changes within a certain range, the entire connecting leg 12 and the storage tank 2 suspended thereon are always kept in a vertical state through the circumferentially arranged and tapered telescopic tube 41 that is retractable and can change at multiple angles, so that the fertilizer inside will not accumulate on one side of the storage tank 2, causing the center of gravity of the storage tank 2 to be unbalanced, affecting the normal flight of the agricultural UAV 1.

[0067] In the second embodiment, during the fertilization process, since the bottom of the storage tank 2 is provided with an annular storage tank 241, and the discharge port is located on the outer wall of the storage tank 241, some fertilizer will remain at the bottom of the storage tank 2 and cannot be automatically discharged from the discharge port. Moreover, if it is necessary to expand the fertilization range, the fertilization range is not well controlled when the fertilizer is discharged from the discharge port by its own gravity. At this time, the motor 521 is used to drive the mutually meshing active gear 522 and the passive gear ring 523 to rotate the cover 511, the top plate 121, and the storage tank 2. By rotating, the centrifugal force generated during the rotation and the displacement stroke of the movable cover 3 (i.e., the opening range of the discharge port) can be used to control the range of fertilizer spreading, and at the same time, the fertilizer at the bottom of the storage tank 2 can be displaced toward the storage trough 241, and finally sprinkled out from the discharge port under the action of centrifugal force, thereby avoiding the formation of fertilizer accumulation at the bottom of the storage tank 2 and reducing the fertilization efficiency. At the same time, the existence of the partition 243 can evenly divide the fertilizer in the storage trough 241 to a certain extent, thereby avoiding uneven fertilizer thrown out from the rotating storage tank 2.

[0068] It should be noted that the specific models and specifications of the agricultural drone 1, ball 513, motor 521, driving gear 522, passive gear ring 523, outer spring 71 and inner spring 72 need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0069] The above are only preferred implementations of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle adaptive fertilization device, characterized in that: include: An agricultural drone (1), wherein a center of gravity stabilizing device is connected to the bottom side of the agricultural drone (1), a rotating structure is coaxially connected to the bottom end of the center of gravity stabilizing device, and at least three connecting legs (12) are fixedly connected to the peripheral side of the rotating end of the rotating structure; The center of gravity stabilizing device is composed of multiple groups of connecting members that are evenly arranged in the circumference and have the functions of telescoping and multi-angle changes. The multiple groups of connecting members change their own angles and lengths so that the parts connected at the bottom side always remain vertically downward; The rotating structure drives the connecting legs (12) on the peripheral side of the rotating end through its own power to rotate around the axis of the rotating structure; A storage tank (2), the storage tank (2) being detachably connected to the connecting leg (12) and used for storing fertilizer, and a plurality of discharge ports being evenly arranged in a circumferential direction at the bottom end of the side wall of the storage tank (2); A movable cover (3), the movable cover (3) is sealingly and slidably sleeved on the bottom end of the storage tank (2) and is used to open and close the plurality of discharge ports; A fertilization control mechanism (6), the fertilization control mechanism (6) comprising a telescopic member (61) and a fertilization rod (62), the telescopic member (61) being fixedly connected to the fixed end of the rotating structure, one end of the fertilization rod (62) being fixedly connected to the telescopic end of the telescopic member (61), and the other end of the fertilization rod (62) sealingly slidingly passing through the storage tank (2) and then connected to the movable cover (3).

2. The UAV adaptive fertilization device according to claim 1, characterized in that: A bottom plate (11) is fixedly connected to the bottom side of the agricultural drone (1), and the bottom plate (11) is fixedly connected to the top end of the center of gravity stabilizing device; A top plate (121) is fixedly connected to the top end of the connecting leg (12), and the top plate (121) is fixedly connected to the bottom end of the center of gravity stabilizing device.

3. The UAV adaptive fertilization device according to claim 1, characterized in that: A sealing cover (21) is coaxially arranged on the top of the storage tank (2); a clamping ring (22) is fixedly mounted on the top of the side wall of the storage tank (2); at least three overhead legs (23) are evenly fixedly connected to the side wall of the storage tank (2) in a circumferential direction; the overhead legs (23) allow the storage tank (2) to be suspended in the air; and a tank bottom (24) is fixedly connected to the bottom end of the storage tank (2); The plurality of discharge ports are arranged on the side wall of the tank bottom (24); a circular and downwardly recessed material storage groove (241) is arranged on the circumference of the tank bottom (24); the outer wall of the material storage groove (241) is arranged with a plurality of baffles (242); and partitions (243) are evenly arranged on the circumference of the inner bottom of the material storage groove (241); The plurality of baffles (242) are arranged at intervals, the plurality of baffles (242) form a straight cylinder, and the distance between two adjacent baffles (242) is the discharge port.

4. The UAV adaptive fertilization device according to claim 3, characterized in that: The bottom end of the movable cover (3) is coaxially threadedly connected with a movable plug (31), and both ends of the movable plug (31) are open; The top end of the movable cover (3) is provided with a baffle (32) which is sealingly and slidingly matched with the outer wall of the tank bottom (24), and the part of the movable cover (3) located at the bottom side of the baffle (32) is hollowed out; Discharge limiting blocks (321) are evenly arranged on the inner wall of the enclosure (32) in a circumferential direction, and the discharge limiting blocks (321) and the discharge port are in sealing and sliding cooperation.

5. The UAV adaptive fertilization device according to claim 2, characterized in that: The center of gravity stabilizing device is a centering component (4), comprising: A plurality of telescopic tubes (41), wherein the plurality of telescopic tubes (41) are evenly arranged around a circumference and form a cone; A support plate (42), the support plate (42) being symmetrically rotatably connected to two ends of the telescopic tube (41); A fixed seat (43), the fixed seat (43) is rotatably connected to the support plate (42), the fixed seat (43) at the top end is fixedly connected to the bottom plate (11), and the fixed seat (43) at the bottom end is fixedly connected to the fixed end of the rotating structure; The rotation direction between the telescopic tube (41) and the support plate (42) and between the support plate (42) and the fixing seat (43) is biaxial rotation.

6. The UAV adaptive fertilization device according to claim 2, characterized in that: The rotating structure is a range control mechanism (5), comprising: A passive component (51), the passive component (51) comprising a rotating cover (511) coaxially arranged on the top plate (121), a fixed cover (512) coaxially fixed to the top plate (121), the fixed cover (512) being sleeved on the rotating cover (511), a plurality of balls (513) being evenly arranged circumferentially between the rotating cover (511) and the fixed cover (512), and the rotating cover (511) being rotatably connected to the fixed cover (512) via the balls (513); The active component (52) comprises a motor (521) fixedly connected to the rotating cover (511), the output shaft of the motor (521) is keyed to a driving gear (522), a through hole is provided at the axis of the top plate (121), a passive gear ring (523) is fixedly connected to the inner wall of the through hole, and teeth meshing with the driving gear (522) are provided on the inner wall of the passive gear ring (523).

7. The UAV adaptive fertilization device according to claim 2, characterized in that: The telescopic member (61) is fixedly connected to a mounting plate (611), a plurality of connecting rods (612) are evenly fixedly connected to the upper end surface of the mounting plate (611) in a circumferential direction, the other end of the connecting rod (612) is fixedly connected to a positioning ring (613), and the positioning ring (613) is fixedly connected to the top plate (121).

8. The UAV adaptive fertilization device according to claim 7, characterized in that: The plurality of connecting rods (612) form a cone shape.

9. The UAV adaptive fertilization device according to claim 4, characterized in that: The fertilizing rod (62) seals and slides through the sealing cover (21) and the tank bottom (24) and is plugged into the movable plug (31). One end of the fertilizing rod (62) away from the telescopic member (61) is fixedly connected with a movable rod (621). The movable rod (621) is slidably plugged into the movable plug (31). One end of the movable rod (621) is threadedly connected with a bottom limit plate (622). The bottom limit plate (622) and the inner wall of the movable plug (31) are limited and slidably matched.

10. The UAV adaptive fertilization device according to claim 9, characterized in that: The movable rod (621) is provided with a protection component (7), and the protection component (7) comprises: An outer spring (71), the outer spring (71) being sleeved on the movable rod (621), and the outer spring (71) being located outside the movable plug (31); An inner spring (72), the inner spring (72) being sleeved on the movable rod (621), and the inner spring (72) being located on the inner side of the movable plug (31) and on the top of the bottom limit plate (622); A sliding ring (73), wherein the sliding ring (73) is slidably sleeved on the movable rod (621) and is located on the top of the outer spring (71).

Images