Plant leaf surface spraying system and method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle spraying, and particularly relates to a plant leaf surface spraying system and method.The plant leaf surface spraying system comprises a spraying assembly arranged on an unmanned aerial vehicle, and the spraying assembly comprises a spraying head, a connecting rod, an angle adjusting unit and a control unit. The upper end of the connecting rod is fixedly connected with the UAV; the angle adjusting unit comprises a driving part and a rotating part, the driving part is connected with the lower end of the connecting rod, the rotating part is connected with the driving part, the spray head is fixed to the rotating part, and the driving part is used for driving the rotating part to drive the spray head to be adjusted at different angles in the horizontal direction; the control unit comprises a collecting module and a processing module which are electrically connected, the collecting module is arranged on the angle adjusting unit and used for collecting light at the bottom of the leaf surface of the plant, and the processing module is electrically connected with the driving part and used for controlling the driving part to adjust the angle of the spray head through collected light information. The device can comprehensively and uniformly spray pesticide liquid to the bottoms of plant leaf surfaces, and the prevention and treatment effect on diseases and insect pests is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle spraying, and in particular relates to a plant leaf spraying system and method. Background Art

[0002] Use surface vessels to carry spraying equipment and spray crops directly on the water surface. Although this method can be operated close to the water surface, the use of large equipment has poor maneuverability in small water bodies or densely planted areas, and it is easy to damage aquatic plants. Therefore, with the development of science and technology, in order to overcome the above defects and spray pesticides on crops, drone technology has been widely used in agriculture. Drones have the advantage of spraying pesticides on large areas of crops efficiently and evenly without contacting the crops, which is especially beneficial for wetland crops.

[0003] Although drone spraying technology has improved the efficiency and range of pesticide application, its spraying method mainly uses drones to carry medicine storage boxes, fix horizontal or inclined pipes on the lower side of the drone, and connect the pipes to the medicine storage boxes through water pumps. Then, multiple atomizing nozzles are set on the pipes. In this way, the drone can carry the medicine to spray on the top of the plant. The medicine is sprayed from top to bottom, and most of the liquid medicine is sprayed on the upper side of the plant leaves, that is, the light-facing side of the leaves.

[0004] Through research on plants, it was found that the back of the plant is where pests and diseases are more likely to gather. At present, most of the nozzles in agricultural spraying technology are fixed at a single angle. When in use, the drone needs to lower the flight altitude and use the nozzle to penetrate between the plants to spray above or below the leaves of the plants. Due to the different growth stages of crops, or three-dimensional planting and multi-level crop layout, the branches and leaves of the crops are unevenly distributed, and the gaps between the branches and leaves are large or small. In order to fully spray the crops during spraying, the drugs are often sprayed continuously at the same position indiscriminately, which not only causes a waste of some drugs, but also leads to excessive drugs on some crops and insufficient drugs on other crops. It has certain limitations, and the spraying on the bottom of the plant leaves is uneven and incomplete, affecting the prevention and control of pests and diseases. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a plant foliar spraying system and method, which can achieve precise spraying of medicine on the bottom of plant leaves, spraying the medicine solution more comprehensively and evenly, and improving the prevention and control effect of pests and diseases.

[0006] The technical solution of the present invention is:

[0007] A plant leaf spraying system and method, comprising a spraying assembly arranged on an unmanned aerial vehicle, the spraying assembly comprising a spraying part, an angle adjustment unit and a control unit. The angle adjustment unit comprises a driving part and a rotating part; the control unit comprises a collection module and a processing module and the two are electrically connected; the driving part is connected to the unmanned aerial vehicle through a connecting rod, the rotating part is connected to the output end of the driving part, the spraying part is fixed on the rotating part, and the driving part is used to drive the rotating part to carry the spraying part to adjust different angles in the horizontal direction; the collection module is arranged on the driving part, and is used to collect light from the bottom of the plant leaf surface; the processing module is electrically connected to the driving part, and is used to control the driving part to adjust the angle of the spraying part and the temperature of the memory metal ring through the collected light information. Through the cooperation of the unmanned aerial vehicle and the connecting rod, the spraying part can be extended below the plant leaf surface, and the processing module controls the driving part to adjust the angle of the spraying part by processing the light information collected by the collection module, so that the nozzle in the spraying part can be directed to the bottom of the plant leaf surface, and realize multi-angle and all-round spraying, which can ensure accurate spraying of the plant leaf surface.

[0008] Preferably, the spraying part includes a spray head, a nozzle, a memory metal ring and a heating ring. The spray head is connected to a rotating part. The liquid outlet of the spray head is provided with a nozzle. A screw sleeve is fixedly connected to one end of the nozzle. The screw sleeve is screwed to the spray head. A memory metal ring surrounds the inner wall of the nozzle. A heating ring is mounted on the outer wall of the nozzle. The heating ring is electrically connected to the processing module. The memory metal ring can be deformed with temperature changes. After receiving information feedback, the heating ring generates heat through the thermal effect of the current, causing the memory metal ring to deform, thereby changing the shape of the nozzle, causing the spray pressure and atomization degree to change, making the spraying on the leaf surface more uniform and comprehensive, and achieving a better spraying effect.

[0009] Preferably, the driving unit includes a base, a supporting plate, a magnetic block and a plurality of electromagnets, the base is detachably connected to the lower end of the connecting rod, the supporting plate is arranged on the upper side of the base, a plurality of the electromagnets are distributed in a circular array between the base and the supporting plate, and two adjacent electromagnets are fixedly connected via an insulating sheet, the lower end of the electromagnet is fixedly connected to the base, the upper end is fixedly connected to the supporting plate, and an annular groove is provided on the lower side wall of the supporting plate facing the electromagnet, the magnetic block slides in the annular groove, the rotating member is fixedly connected to the magnetic block, the nozzle is fixed on the rotating member, and the acquisition module is arranged on the upper side of the supporting plate. Applying the principle of electromagnetic induction, the magnitude of the current is changed by high and low level signals, and when the magnetic induction intensity and the length of the magnet remain unchanged, the change in the magnitude of the current can change the magnitude of the magnetic force, thereby attracting the magnetic block to change to different positions in the annular groove, that is, to achieve the adjustment of the nozzle angle.

[0010] Preferably, the acquisition module includes a plurality of photosensitive sensors distributed in a circumferential array, corresponding to the plurality of electromagnets one by one, the photosensitive sensors are fixedly connected to the upper side of the support plate, and the photosensitive sensors are electrically connected to the processing module. Under normal circumstances, the output of the photosensitive sensor maintains a high level. When the light intensity becomes low, the output signal of the photosensitive sensor changes, and the information is fed back to the processing module. The processing module controls the electromagnet at the position where the light intensity is low to be energized, so as to realize the angle adjustment of the nozzle, which is convenient and fast, and has higher application accuracy.

[0011] Preferably, a lifting assembly is provided between the connecting rod and the base, and the lifting assembly includes a sleeve, the upper end of the sleeve is fixedly connected to the connecting rod, and a memory metal column is inserted at the lower end and the two are slidably connected, the upper end of the memory metal column is fixedly connected to the side of the sleeve close to the connecting rod by an elastic member, the lower end of the memory metal column passes through the sleeve and is fixedly connected to the base, and a heating sleeve is provided on the outer wall of the sleeve, and the heating sleeve is electrically connected to the processing module. The heating sleeve generates heat through the thermal effect of the current, causing the memory metal column to begin to deform, and due to the limitation of the sleeve, the memory metal column inside the sleeve will extend downward under the action of the elastic member, thereby increasing the overall length of the connecting rod, and can spray the bottom of the leaf surface at different height layers, the spraying is more uniform and comprehensive, and the spraying effect is better.

[0012] Preferably, a spherical cabin is fixedly connected to the upper side of the supporting plate, a plurality of the light sensors are fixed on the top of the spherical cabin, an electric cabin door is provided on one side of the spherical cabin, the electric cabin door is electrically connected to the processor, and the spherical cabin is used to store seedlings of beneficial organisms. The electric cabin door is opened at the crops that need biological control to release the seedlings of beneficial organisms, thereby improving the prevention effect of crop diseases and insect pests through biological control.

[0013] Preferably, a movable rod is provided between the spray head and the rotating member, one end of the movable rod is hinged to the rotating member, and the other end is fixedly connected to the spray head, and an electric telescopic rod is provided between the movable rod and the rotating member, and the electric telescopic rod is used to adjust the angle of the spray head in the vertical direction. The angle of the spray head can be changed by adjusting the electric telescopic rod, so as to change the spraying direction and spraying range of the spray head, and to cooperate to realize comprehensive spraying on the crop leaves.

[0014] Preferably, a probe is fixed on the outer wall of the nozzle, the interior of the probe is a cavity, the front end of the probe has a plurality of exploration holes, the probe is connected to the detector through the first pump body, and the probe is connected to the element storage box through the second pump body, the element storage box is installed on the drone, the detector, the first pump body and the second pump body are all electrically connected to the processing module, the detector is used to analyze the element content of the plant body fluid collected by the probe and transmit the analysis results to the processing module, the processing module is used to control the second pump body to extract the elements lacking in the plant from the plant element box by comparing with the set value and input them into the probe and inject them into the plant. The probe uses the first pump body to transport the collected plant body fluid to the detector, analyze the plant element content and transmit the analysis results to the processing module, the processing module compares with the set value to determine whether it is necessary to supplement the elements, and when it is necessary to supplement the elements, the second pump body is controlled to extract the elements lacking in the plant from the plant element box and input them into the probe and inject them into the plant.

[0015] Preferably, the spraying assembly further includes a water pump, a liquid level sensor, a water suction pipe, a drain pipe and a solenoid valve, the water pump is fixedly connected to the water tank, the water pump is connected to the water tank through the water suction pipe, the water pump is connected to the nozzle through the drain pipe, the solenoid valve is arranged on the drain pipe, the liquid level sensor is arranged in the water tank, and the water pump, the liquid level sensor and the solenoid valve are all electrically connected to the processing module. When the device is in use, after receiving the input signal, the water suction pipe can be directly placed below the water surface on the lower side of the aquatic crop to utilize the water source in the aquatic crop area, so as to reduce the load of the drone, achieve a better spraying effect, and have better adaptability.

[0016] Preferably, the method for spraying plant leaves according to the above-mentioned plant leaf spraying system comprises the following steps:

[0017] Input the corresponding route of the drone spraying pesticides into the memory, load the required pesticide particles into the pesticide box, and check whether each component is working properly;

[0018] Control the drone to drive into the working area, and use the drone's flight altitude and the connecting rod to place the nozzle below the plant's leaf surface. The nozzle is in the default initial position, ready to spray pesticides on the back of the crop's leaf surface;

[0019] In the spraying mode, the collection module is used to collect the light information at the bottom of the crop, and the collected light information is transmitted to the processing module. The processing module processes the light information to control the driving part to drive the rotating part to rotate, so that the nozzle is turned to the position with low light intensity, that is, below the crop leaf surface. At the same time, the processing module is used to control the heating ring to be energized, and the heating ring is used to heat the memory metal ring to deform the memory metal ring, thereby changing the density of the nozzle spraying the medicine, and spraying the medicine on the back of the crop leaf surface.

[0020] Compared with the prior art, the plant foliar spraying system and method of the present invention has the following beneficial effects:

[0021] 1. When the device is working in the operating environment, the nozzle can be extended below the leaf surface of the plant through the cooperation of the drone and the connecting rod. The processing module uses the processing of the light information collected by the acquisition module to control the driving unit to adjust the angle of the nozzle, so that the nozzle can be directed to below the leaf surface of the plant and realize multi-angle and all-round spraying, which can ensure accurate spraying below the leaf surface of the plant, and comprehensively and evenly spray the liquid at the bottom of the leaf surface of the plant, thereby improving the prevention and control effect of diseases and pests.

[0022] 2. This device utilizes the thermal effect of the electric current passing through the heating ring to generate heat, causing the memory metal ring to deform, thereby changing the shape of the nozzle, causing the spraying pressure and atomization degree to change, making the spraying on the leaf surface more uniform and comprehensive, and achieving a better spraying effect.

[0023] 3. This device also adds biological control function, storing some beneficial insects in the spherical cabin, and releasing them when the number of pests is significantly greater than the normal value; according to the health status of crops, the probe and the first pump body are used to pump crop juice to the detector to monitor the growth status of crops, and the second pump body can accurately deliver the actual growth hormone of crops to crops through the probe, so as to achieve the effect of improving crop growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the embodiment of the present invention.

[0025] Figure 2 1 is a top view of the structure of the supporting plate in an embodiment of the present invention.

[0026] Figure 3 Schematic diagram of the structure of the nozzle in the embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1. Nozzle; 2. Connecting rod; 3. Rotating part; 4. Base; 5. Support plate; 6. Magnetic block; 7. Electromagnet; 8. Photosensitive sensor; 9. Sleeve; 10. Memory metal column; 11. Elastic part; 12. Heating sleeve; 13. Spherical cabin; 14. Cabin door; 15. Nozzle; 16. Memory metal ring; 17. Heating ring; 18. Probe; 19. Movable rod; 20. Electric telescopic rod. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0031] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] See also Figure 1 and Figure 2 As shown, in order to achieve comprehensive and uniform spraying of liquid medicine on the bottom of the plant leaves and improve the control effect of pests and diseases, this embodiment provides a plant leaf spraying system and method, including a spraying assembly arranged on a drone, the spraying assembly including a spraying part, an angle adjustment unit and a control unit. The angle adjustment unit includes a driving part, a connecting rod 2 and a rotating part 3. The connecting rod 2 is arranged vertically, its upper end is fixed to the drone, and its lower end is detachably connected to the driving part. The rotating part 3 is connected to the driving part, the spraying part is fixed on the rotating part 3, and the driving part is used to drive the rotating part 3 to carry the nozzle 1 to adjust different angles in the horizontal direction; the control unit includes a collection module and a processing module and the two are electrically connected. The collection module is arranged on the angle adjustment unit, which is used to collect light from the bottom of the plant leaves, and the processing module is electrically connected to the driving part, which is used to control the driving part to adjust the angle of the nozzle 1 through the collected light information.

[0033] Specifically, the nozzle 1 can be extended below the leaf surface of the plant through the cooperation of the drone and the connecting rod 2. The processing module controls the driving unit to adjust the angle of the nozzle 1 by processing the light information collected by the collection module, so that the nozzle 1 can be directed to below the leaf surface of the plant and realize multi-angle and all-round spraying, which can ensure accurate spraying below the leaf surface of the plant, and comprehensively and evenly spray the liquid medicine at the bottom of the leaf surface of the plant, thereby improving the prevention and control effect of diseases and insect pests.

[0034] See also Figure 1 and Figure 3As shown, further, the spraying part includes a spray head 1, a nozzle 15, a memory metal ring 16 and a heating ring 17. The spray head 1 is connected to the rotating part 3, and the nozzle of the spray head 1 faces upward. The liquid outlet of the spray head 1 is provided with a nozzle 15, one end of the nozzle 15 is fixedly connected with a screw sleeve, the screw sleeve is screwed to the spray head 1, the inner wall of the nozzle 15 is surrounded by a memory metal ring 16, the outer wall of the nozzle 15 is provided with a heating ring 17, and the heating ring 17 is electrically connected to the processing module. The memory metal is a special metal material that can recover its original macroscopic shape in another temperature range after undergoing plastic deformation in a certain temperature range. Therefore, the memory metal ring 16 can be deformed with temperature changes. From Q=I^2RT (I is the current, R is the resistance value, and T is the power-on time), it can be seen that part of the electrical energy will be converted into thermal energy during the current transmission process, thereby causing the memory metal ring 16 to deform. After receiving information feedback, the heating ring 17 generates heat through the thermal effect of the current, causing the memory metal ring 16 to deform, thereby changing the shape of the nozzle, causing the spraying pressure and atomization degree to change, making the spraying on the leaf surface more uniform and comprehensive, and achieving a better spraying effect.

[0035] See also Figure 1 As shown, further, the driving part includes a base 4, a supporting plate 5, a magnetic block 6 and a plurality of electromagnets 7. The base 4 is detachably connected to the lower end of the connecting rod 2, the supporting plate 5 is arranged on the upper side of the base 4, and a plurality of electromagnets 7 are distributed in a circular array between the base 4 and the supporting plate 5, and two adjacent electromagnets 7 are fixedly connected by an insulating sheet, the lower end of the electromagnet 7 is fixedly connected to the base 4, and the upper end is fixedly connected to the supporting plate 5, and an annular groove is provided on the lower side wall of the supporting plate 5 facing the electromagnet 7, the magnetic block 6 slides in the annular groove, the rotating member 3 is fixedly connected to the magnetic block 6, the nozzle 1 is fixed on the rotating member 3, and the collection module is arranged on the upper side of the supporting plate 5. Applying the principle of electromagnetic induction, the current size is changed through high and low level signals. According to F=BI L (F is Ampere force, B is magnetic induction intensity), I is the current size), L is the length of the electromagnet), when the magnetic induction intensity and the length of the magnet remain unchanged, the change in the current size can change the magnetic force size, thereby attracting the magnetic suction block 6 to change different positions in the annular groove, that is, to adjust the angle of the nozzle 1. When spraying below the crop leaf surface, the light intensity collected by the collection module is the weakest position, that is, here is the lower side of the leaf surface. At this time, the corresponding electromagnet 7 at this location is energized to generate magnetic force, attracting the rotating part 3 to drive the nozzle 1 to this position.

[0036] See also Figure 1 and Figure 2As shown, further, the acquisition module includes a plurality of photosensitive sensors 8 distributed in a circular array, corresponding to a plurality of electromagnets 7 one by one, the photosensitive sensors 8 are fixedly connected to the upper side of the supporting plate 5, and the photosensitive sensors 8 are electrically connected to the processing module. Under normal circumstances, the output of the photosensitive sensor 8 maintains a high level. When the light intensity becomes low, the output signal of the photosensitive sensor 8 changes, and the information is fed back to the processing module. The processing module controls the electromagnet 7 at the position where the light is low to be energized, so as to realize the angle adjustment of the nozzle 1, which is convenient and fast, and has higher application accuracy. Further, when all the photosensitive sensors 8 are blocked, it means that there are crops that need to be sprayed in all directions above the nozzle 1. At this time, the start-up order of the electromagnets is sorted according to the light intensity sensed by the photosensitive sensor 8. The weaker the light intensity sensed by the photosensitive sensor 8, the denser the crops here are, which blocks more sunlight; the stronger the light intensity sensed by the photosensitive sensor 8, the sparser the crops here are, and more sunlight passes through the crops. According to the light intensity, the electromagnet 7 corresponding to the photosensor 8 with the weakest light sensitivity is activated first, so that the nozzle sprays the area, and then the electromagnet 7 corresponding to the photosensor 8 with slightly stronger light sensitivity is activated, and so on, and finally the electromagnet 7 corresponding to the photosensor 8 with the strongest light sensitivity is activated. The photosensors 8 with the same light sensitivity are activated according to the principle of proximity, that is, the electromagnet 7 that is closer to the last activated electromagnet 7 is activated first. According to this principle, the work can be completed when all photosensitive chips are blocked.

[0037] See also Figure 1 As shown, further, a lifting assembly is provided between the connecting rod 2 and the base 4, and the lifting assembly includes a sleeve 9, the upper end of the sleeve 9 is fixedly connected to the connecting rod 2, and a memory metal column 10 is inserted at the lower end and the two are slidably connected, the upper end of the memory metal column 10 is fixedly connected to the side of the sleeve 9 close to the connecting rod 2 with an elastic member 11, the lower end of the memory metal column 10 passes through the sleeve 9 and is fixedly connected to the base 4, and a heating sleeve 12 is mounted on the outer wall of the sleeve 9, and the heating sleeve 12 is electrically connected to the processing module. After receiving the information feedback, the heating sleeve generates heat through the thermal effect of the current, so that the memory metal column 10 begins to deform, and due to the limitation of the sleeve 9, the memory metal column 10 inside the sleeve will extend downward under the action of the elastic member, thereby increasing the overall length of the connecting rod 2, and the bottom of the leaf surface at different height layers can be sprayed, and the spraying is more uniform and comprehensive, and the spraying effect is better.

[0038] See also Figure 1As shown, a spherical cabin 13 is fixedly connected to the upper side of the supporting plate 5, a plurality of light sensors 8 are fixed on the top of the spherical cabin 13, an electric door 14 is provided on one side of the spherical cabin 13, the electric door 14 is electrically connected to the processor, and the spherical cabin 13 is used to store seedlings of beneficial organisms. When in use, firstly, the light sensor 8 is placed on the top of the spherical cabin 13, so that light information can be well collected, and secondly, the electric door 14 can be opened at the crops that need biological control to release the seedlings of beneficial organisms, so as to improve the prevention effect of crop diseases and insect pests through biological control.

[0039] See also Figure 1 As shown, a movable rod 19 is provided between the nozzle 1 and the rotating member 3, one end of the movable rod 19 is hinged to the rotating member 3, and the other end is fixedly connected to the nozzle 1, and an electric telescopic rod 20 is provided between the movable rod 19 and the rotating member 3, and the electric telescopic rod 20 is used to adjust the angle of the nozzle 1 in the vertical direction. The electric telescopic rod 20 can be used to adjust the angle of the nozzle 1 in the vertical direction, so as to increase the spraying range of the nozzle 1 and adapt to different leaf sizes of crops.

[0040] See also Figure 1 As shown, a probe 18 is fixed on the outer wall of the nozzle 15, the interior of the probe 18 is a cavity, and the front end of the probe 18 has a plurality of exploration holes. The probe 18 is connected to the detector through the first pump body, and the probe 18 is connected to the element storage box through the second pump body. The element storage box is installed on the drone. The detector, the first pump body and the second pump body are all electrically connected to the processing module. The detector is used to analyze the element content of the plant body fluid collected by the probe 18 and transmit the analysis results to the processing module. The processing module is used to control the second pump body to extract the elements lacking in the plant from the plant element box by comparing with the set value and input them into the probe 18 and inject them into the plant. When in use, the probe 18 uses the first pump body to transport the collected plant body fluid to the detector, analyze the plant element content and transmit the analysis results to the processing module. The processing module compares with the set value to determine whether it is necessary to supplement the elements. When it is necessary to supplement the elements, the second pump body is controlled to extract the elements lacking in the plant from the plant element box and input them into the probe 18 and inject them into the plant.

[0041] See also Figure 1As shown, further, for spraying aquatic crops, in order to reduce the load of the drone and to facilitate the spraying efficiency. The spraying assembly also includes a water pump, a liquid level sensor, a water pump, a drain pipe and a solenoid valve. The water pump is fixedly connected to the water tank, the water pump is connected to the water tank through the water pump, the water pump is connected to the nozzle 1 through the drain pipe, the solenoid valve is arranged on the drain pipe, the liquid level sensor is arranged in the water tank, and the water pump, the liquid level sensor and the solenoid valve are all electrically connected to the processing module. In addition, a drug solution tank is also arranged on the water tank, which is connected to the water tank and is provided with a valve. When the device is in use, after receiving the input signal, the water pump can be directly placed below the water surface on the lower side of the aquatic crop, the water pump is turned on to start working, and the water source is pumped into the water tank. At the same time, the liquid level sensor identifies the water level. After reaching the predetermined height, the water pump stops working. At the same time, during the process of pumping water, the drug solution pre-configured on the water tank is transported to the water tank to realize the configuration of the drug solution. After the spraying signal is identified, the water pump pumps water into the nozzle 1 through the drainage pipe to spray the pesticide out.

[0042] According to the above-mentioned plant liquid surface spraying system, the method for using the spraying drug comprises the following steps:

[0043] Spraying mode 1: Input the corresponding route of the drone for spraying pesticides into the memory, load the corresponding required pesticide particles into the pesticide box, and check whether each component is working properly. At the beginning of the spraying mode, the nozzle 1 is in the default initial position, and the drone enters the working area to prepare for spraying pesticides on the back of the crop. After entering the working area, the crop blocks the photosensitive sensor 8 around the nozzle 15, activates the electromagnet 7 at the corresponding position, and the magnetic attraction block 6 causes the rotating part 3 to drive the nozzle 15 to rotate to a position with low light intensity, that is, at this time, the nozzle 1 rotates to the lower side of the crop leaf surface to spray pesticides at the corresponding position; at the same time, the processing module is used to control the heating ring 17 to be energized, and the heating ring 17 is used to heat the memory metal ring 16, so that the memory metal ring 16 is deformed, and the density of the nozzle 15 spraying the medicine is changed, so as to spray the back side of the crop leaf surface; at the same time, the processing module is used to control the telescopic movement of the electric telescopic rod 20, so that the angle of the nozzle 1 in the vertical direction changes, which can effectively spray the bottom of the leaf surface evenly.

[0044] Spraying mode 2: When all the photosensitive sensors 8 are blocked, it means that there are crops that need to be sprayed in all directions above the nozzle 1. At this time, the activation order of the electromagnets is sorted according to the light intensity sensed by the photosensitive sensors 8. The weaker the light intensity sensed by the photosensitive sensors 8, the denser the crops here are, which blocks more sunlight; the stronger the light intensity sensed by the photosensitive sensors 8, the sparser the crops here are, and more sunlight penetrates the crops. According to the light intensity, the electromagnet 7 corresponding to the photosensitive sensor 8 with the weakest light sensitivity is activated first, so that the nozzle sprays the area, and then the electromagnet 7 corresponding to the photosensitive sensor 8 with slightly stronger light sensitivity is activated, and so on, and finally the electromagnet 7 corresponding to the photosensitive sensor 8 with the strongest light sensitivity is activated. The photosensitive sensors 8 with the same light sensitivity are activated according to the principle of proximity, that is, the electromagnet 7 that is closer to the last activated electromagnet 7 is activated first. According to this principle, the work can be completed when all photosensitive chips are blocked.

[0045] Spraying mode 3: The drone leaves the working area, and the light sensor 8 cannot detect changes in light intensity, so it is ready to spray pesticides on the front of the crop. The heated memory metal column 10 is set according to the maximum height of the crop in the area, so that the nozzle 1 and the base 4 are lifted to a suitable height and returned to the working area. The nozzle 15 is adjusted to a horizontal position using the electric telescopic rod 20, and a circle of electromagnets 7 is activated to attract the nozzle 1 to rotate. The nozzle 1 works horizontally at 360° to spray pesticides on the crop surface. Spraying is completed, the spraying mode is closed, and each component returns to the initial state.

[0046] Detection mode: Input the route of the area to be detected into the memory of the control unit, and the drone will return to the working area again to detect the crops in the area input into the memory. The drone randomly selects crops and inserts the probe 18 to collect body fluids for detection. The element content of the crop body fluids is analyzed by the detector. The analysis results are input into the processing module and compared with the preset values. Then the second pump body is used to input the missing trace elements into the probe 18, and the probe 18 is used to inject into the trunk of the plant (if there is a risk of disease, the corresponding trace elements are injected for prevention). At the same time, if more than 30% of the plants selected for detection by the probe 18 in the spraying area are seriously infested and have a high pesticide content, a signal is sent to the processor, and the processor controls the electric door 14 of the spherical cabin 13 to open and release the biological seedlings used for pest control for biological control. The cycle is carried out until the entire working area is detected. The work is completed after both the spraying mode and the detection mode are completed.

[0047] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A plant foliar spraying system, comprising a spraying assembly arranged on a drone, It is characterized in that The spray assembly comprises: A spraying part, comprising a spray head (1), a nozzle (15), a memory metal ring (16) and a heating ring (17), wherein the nozzle (15) is connected to a liquid outlet of the spray head (1), the memory metal ring (16) surrounds the inner wall of the nozzle (15), and the heating ring (17) is sleeved on the outer wall of the nozzle (15); The angle adjustment unit comprises a driving part, a connecting rod (2) and a rotating part (3), wherein the driving part is connected to the lower end of the connecting rod (2), the upper end of the connecting rod (2) is connected to the drone, the rotating part (3) is connected to the output end of the driving part, the nozzle (1) is connected to the rotating part (3), and the driving part is used to drive the rotating part (3) to carry out angle adjustment with the nozzle (1) in the horizontal direction; The control unit comprises a collection module and a processing module, and the two are electrically connected. The collection module is arranged on the driving unit and is used to collect light from the bottom of the plant leaf surface. The processing module is electrically connected to the driving unit and the heating ring (17) respectively, and is used to control the driving unit to adjust the angle of the nozzle (1) and the temperature of the heating ring through the collected light information.

2. A plant foliar spraying system according to claim 1, It is characterized in that The driving unit comprises: The supporting plate (5) is in the shape of a round cake, an annular groove is provided on the supporting plate (5), and the collection module is arranged on the supporting plate (5); A magnetic attraction block (6) is slidably connected in the annular groove, and the rotating member (3) is fixedly connected to the magnetic attraction block (6); A plurality of electromagnets (7) are distributed in a circular array around the rotation axis of the magnetic attraction block (6) at the bottom of the support plate (5); the plurality of electromagnets (7) are connected to the lower end of the connecting rod (2) via a base (4), and two adjacent electromagnets (7) are fixedly connected via an insulating sheet.

3. A plant foliar spraying system according to claim 2, It is characterized in that The acquisition module comprises a plurality of photosensitive sensors (8) distributed in a circumferential array, corresponding one to one with the plurality of electromagnets (7); the photosensitive sensors (8) are fixedly connected to the upper side of the supporting plate (5); and the photosensitive sensors (8) are electrically connected to the processing module.

4. A plant foliar spraying system according to claim 2, It is characterized in that A lifting assembly is provided between the connecting rod (2) and the base (4), and the lifting assembly comprises: A sleeve (9), the upper end of which is fixedly connected to the connecting rod (2) and the lower end of which is open; A memory metal column (10) is inserted into the sleeve (9) and the two are slidably connected, and the lower end of the memory metal column (10) passes through the sleeve (9) and is fixedly connected to the base (4); An elastic member (11) is arranged between the upper end of the memory metal column (10) and the side wall of the sleeve (9) close to the connecting rod (2), and the expansion and contraction direction of the elastic member (11) is parallel to the sliding direction of the memory metal column (10); A heating sleeve (12) is sleeved on the outer wall of the sleeve (9), and the heating sleeve (12) is electrically connected to the processing module.

5. The plant foliar spraying system according to claim 1, It is characterized in that A movable rod (19) is provided between the spray head and the rotating member (3); one end of the movable rod (19) is hinged to the rotating member (3), and the other end is fixedly connected to the spray head (1); an electric telescopic rod (20) is provided between the movable rod (19) and the rotating member (3); the electric telescopic rod (20) is used to achieve angle adjustment of the spray head (1) in the vertical direction.

6. A plant foliar spraying system according to claim 3, It is characterized in that A spherical cabin (13) is fixedly connected to the upper side of the supporting plate (5), a plurality of light-sensitive sensors (8) are fixed on the top of the spherical cabin (13), an electric cabin door (14) is arranged on one side of the spherical cabin (13), the electric cabin door (14) is electrically connected to the processor, and the spherical cabin (13) is used for storing seedlings of beneficial organisms.

7. The plant foliar spraying system according to claim 1, It is characterized in that A probe (18) is fixed on the outer wall of the nozzle (15), the end of the probe (18) has a probe hole, the probe (18) is connected to a detector via a first pump body, the probe (18) is connected to an element storage box via a second pump body, the element storage box is installed on the drone, the detector, the first pump body and the second pump body are all electrically connected to a processing module, the detector is used to analyze the element content of the plant fluid collected by the probe (18) and transmit the analysis result to the processing module, and the processing module is used to control the second pump body to extract the element that is lacking in the plant from the plant element box by comparing with the set value, input it into the probe (18) and inject it into the plant.

8. A method for using a plant foliar spraying system according to any one of claims 1 to 7, It is characterized in that The following steps are involved: Input the corresponding route of the drone spraying pesticides into the processing module, load the required pesticide particles into the pesticide box, and check whether each component is working properly; The drone is controlled to enter the working area according to the driving route, and the spray head (1) is placed below the leaf surface of the plant by using the flight altitude of the drone in conjunction with the connecting rod (2). The spray head (1) is in a default initial position, ready to spray pesticides on the back side of the crop leaf surface; In the spraying mode, the collection module is used to collect the illumination information of the bottom of the crop, and the collected illumination information is transmitted to the processing module. The processing module processes the illumination information to control the driving part to drive the rotating member (3) to rotate, so that the nozzle (1) is turned to a position with low illumination intensity, that is, below the crop leaf surface. At the same time, the processing module is used to control the heating ring (17) to be energized, and the heating ring (17) is used to heat the memory metal ring (16), so that the memory metal ring (16) is deformed, thereby changing the density of the spraying of the medicine by the nozzle (15), and spraying the medicine on the back side of the crop leaf surface.

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