Tilting rotor pesticide spraying unmanned aerial vehicle and control method thereof

Abstract

The invention provides a tilt rotor pesticide spraying unmanned aerial vehicle and a control method thereof, and relates to the technical field of unmanned aerial vehicles, the tilt rotor pesticide spraying unmanned aerial vehicle comprises a fuselage, a main wing and a rotor mechanism; the main wings are rotatably mounted on the fuselage, and the axes, rotating relative to the fuselage, of the main wings are parallel to the width direction of the fuselage; the rotor mechanism comprises a tilting frame and a propeller, the tilting frame is rotatably mounted on the fuselage, the axis, rotating relative to the fuselage, of the tilting frame is parallel to the width direction of the fuselage, the propeller is mounted on the tilting frame, and the axis of the propeller is perpendicular to the axis, rotating relative to the fuselage, of the tilting frame. According to the tilt rotor pesticide spraying unmanned aerial vehicle, the flight efficiency and the pesticide spraying uniformity can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a tilt-rotor pesticide spraying unmanned aerial vehicle and a control method thereof. Background Art

[0002] Agricultural drones are unmanned aircraft used for agricultural and forestry plant protection operations. They can automatically spray pesticides, seeds, powders, etc. on crops during flight, replacing traditional manual spraying, thereby greatly improving agricultural production efficiency.

[0003] Current agricultural drones usually have propellers and main wings, but when the propellers are working to drive the drone to take off and land vertically, the larger surface area of ​​the main wings will produce greater air resistance, which will hinder the normal take-off and landing of the drone and affect flight efficiency; and when the lift needs to be adjusted during pesticide spraying operations, the drone will also change the lift by changing the inclination angle of the fuselage, but the change in the inclination angle of the fuselage will reduce the flight stability of the drone, thereby affecting the uniformity of pesticide spraying. Summary of the invention

[0004] The problem solved by the invention is: how to improve the flight efficiency and the uniformity of pesticide spraying.

[0005] In order to solve the above problems, the present invention provides a tilt-rotor pesticide spraying UAV and a control method thereof.

[0006] In a first aspect, the present invention provides a tilt-rotor pesticide spraying UAV, comprising a fuselage, a main wing and a rotor mechanism; the main wing is rotatably mounted on the fuselage, and the axis of rotation of the main wing relative to the fuselage is parallel to the width direction of the fuselage; the rotor mechanism comprises a tilt frame and a propeller, the tilt frame is rotatably mounted on the fuselage, the axis of rotation of the tilt frame relative to the fuselage is parallel to the width direction of the fuselage, and the propeller is mounted on the tilt frame, and its axis is perpendicular to the axis of rotation of the tilt frame relative to the fuselage.

[0007] The beneficial effects of the tilt-rotor pesticide spraying UAV of the present invention are as follows: by rotatably mounting the main wing on the fuselage, and the axis of rotation of the main wing relative to the fuselage is parallel to the width direction of the fuselage, so that during vertical take-off and landing or cruise spraying operations, the main wing can change the inclination angle of its own chord line and the horizontal plane by rotation; and by arranging the rotor mechanism as a tilt-rotating frame and a propeller, and the tilt-rotating frame is rotatably mounted on the fuselage, the axis of rotation of the tilt-rotating frame relative to the fuselage is parallel to the width direction of the fuselage, and the propeller is mounted on the tilt-rotating frame, and its axis is perpendicular to the axis of rotation of the tilt-rotating frame relative to the fuselage, so that during vertical take-off and landing or cruise spraying operations, the propeller can adjust the inclination angle of its own axis and the horizontal plane by rotating the tilt-rotating frame. In this way, during vertical take-off and landing, the main wing and the tilt-rotor frame can be driven to rotate so that the chord line of the main wing is perpendicular to the horizontal plane, and the axis of the propeller is perpendicular to the horizontal plane. The take-off and landing pulling force provided by the propeller is used to drive the UAV to take off and land. Since the main wing perpendicular to the horizontal plane has relatively small air resistance, the smooth take-off and landing of the UAV can be guaranteed, thereby improving flight efficiency; when the lift needs to be adjusted during pesticide spraying operations, the main wing and the tilt-rotor frame can be driven to rotate so that the chord line of the main wing is inclined to the horizontal plane, and the axis of the propeller is inclined to the horizontal plane. The inclined main wing and propeller are used to increase the lift of the UAV. There is no need to change the lift by changing the inclination angle of the fuselage with the horizontal plane, which can ensure the flight stability of the UAV and thereby improve the uniformity of pesticide spraying.

[0008] Optionally, a connecting rod and a main wing driving mechanism are provided inside the fuselage, wherein the connecting rod is parallel to the width direction of the fuselage, and an end portion thereof passes through the side wall of the fuselage and is connected to the main wing, and the main wing driving mechanism is connected to the connecting rod for driving the main wing to rotate relative to the fuselage through the connecting rod.

[0009] Optionally, the main wing drive mechanism includes a driving motor, a driving pulley, a driven pulley and a belt, the motor is arranged inside the fuselage, and its axial direction is parallel to the connecting rod, the driving pulley is installed at the output end of the motor, the driven pulley is installed on the connecting rod, and the belt is respectively wound around the driving pulley and the driven pulley.

[0010] Optionally, the fuselage is provided with a mounting rod parallel to its width direction, and the mounting rod passes through the fuselage; the tilt frame is rotatably mounted on the end of the mounting rod passing through the fuselage.

[0011] Optionally, a tilt motor is provided at the end of the mounting rod passing through the fuselage; the tilt frame is mounted on the output shaft of the tilt motor, and is used to rotate relative to the mounting rod under the drive of the tilt motor.

[0012] Optionally, two mounting rods are provided, and the two mounting rods are respectively located on both sides of the main wing, and the rotor mechanisms are respectively provided at both ends of the two mounting rods.

[0013] Optionally, it also includes a spraying system, which includes a medicine box arranged inside the fuselage, a suspension rod arranged at the lower end of the fuselage and a nozzle arranged at the lower end of the suspension rod, and a medicine liquid channel is formed in the suspension rod and respectively connects the medicine box and the nozzle, and the medicine liquid channel is used to transport the medicine liquid in the medicine box to the nozzle for atomization spraying by the nozzle.

[0014] Optionally, the boom includes a connecting pipe connected to the fuselage and a liquid outlet pipe arranged at the lower end of the connecting pipe, the liquid outlet pipe is located below the main wing and extends along the width direction of the fuselage, and a plurality of nozzles are provided, and the plurality of nozzles are evenly distributed at the lower end of the liquid outlet pipe along the extension direction of the liquid outlet pipe.

[0015] Optionally, three tail wings are provided at the rear end of the fuselage, and the three tail wings are arranged along the circumference of the fuselage, and the tail wings are trapezoidal; and / or, the tilt-rotor pesticide spraying UAV also includes three landing gears arranged at the lower end of the fuselage, one of the landing gears is arranged close to the front end of the fuselage, and the remaining two landing gears are located behind the center of gravity of the fuselage and are arranged at intervals along the width direction of the fuselage.

[0016] In a second aspect, the present invention provides a control method for the tilt-rotor pesticide spraying drone as described above, comprising:

[0017] When the UAV is in a vertical take-off and landing mode, the main wing is driven to rotate so that the chord line of the main wing is perpendicular to the horizontal plane, and the tilt frame is driven to rotate so that the axis of the propeller is perpendicular to the horizontal plane;

[0018] When the UAV is in a transition mode or a low-speed cruise mode, the main wing is driven to rotate so that the chord line of the main wing is inclined with respect to the horizontal plane, and the tilting frame is driven to rotate so that the axis of the propeller is inclined with respect to the horizontal plane;

[0019] When the UAV is in high-speed cruising mode, the main wing is driven to rotate so that the chord line of the main wing is parallel to the horizontal plane, and the tilt frame is driven to rotate so that the axis of the propeller is parallel to the horizontal plane.

[0020] The beneficial effect of the control method of the tilt-rotor pesticide spraying UAV of the present invention is: according to the different flight modes of the UAV, the main wing and the propeller are driven to tilt respectively to ensure that the main wing has less air resistance in the vertical take-off and landing mode, thereby improving the flight efficiency. At the same time, when lift adjustment is required, the lift is changed by inclining the main wing and the propeller, without changing the inclination angle of the fuselage, thereby improving the uniformity of pesticide spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a tilt-rotor pesticide spraying drone according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic structural diagram of the main wing drive mechanism of the tilt-rotor pesticide spraying drone according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the rotor mechanism of the tilt-rotor pesticide spraying drone according to an embodiment of the present invention;

[0024] Figure 4 A top view of a tilt-rotor pesticide spraying drone according to an embodiment of the present invention;

[0025] Figure 5 This is a bottom schematic diagram of a tilt-rotor pesticide spraying drone according to an embodiment of the present invention.

[0026] Description of reference numerals:

[0027] 1. Fuselage; 11. Connecting rod; 12. Driving motor; 13. Driving pulley; 14. Driven pulley; 15. Belt; 16. Mounting rod; 161. Tilt motor; 2. Main wing; 3. Rotor mechanism; 31. Tilt frame; 32. Propeller; 33. Rotating motor; 4. Spraying system; 41. Boom; 411. Connecting pipe; 412. Liquid outlet pipe; 42. Nozzle; 5. Tail; 6. Landing gear. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0029] The Z axis in the drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis represents the top, and the reverse direction of the Z axis represents the bottom; the X axis in the drawings represents the horizontal direction, and is designated as the front and back position, and the positive direction of the X axis represents the front side, and the reverse direction of the X axis represents the back side; the Y axis in the drawings represents the left and right position, and the positive direction of the Y axis represents the left side, and the reverse direction of the Y axis represents the right side. It should also be noted that the aforementioned Z axis, Y axis, and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0031] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0032] The present invention provides a tilt-rotor pesticide spraying UAV and a control method thereof, so as to improve the flight efficiency and the uniformity of pesticide spraying. Detailed description will be given below in conjunction with specific embodiments.

[0033] like Figure 1 As shown, a tilt-rotor pesticide spraying UAV provided by an embodiment of the present invention includes a fuselage 1, a main wing 2 and a rotor mechanism 3; the main wing 2 is rotatably mounted on the fuselage 1, and the axis of rotation of the main wing 2 relative to the fuselage 1 is parallel to the width direction of the fuselage 1; the rotor mechanism 3 includes a tilt frame 31 and a propeller 32, the tilt frame 31 is rotatably mounted on the fuselage 1, and the axis of rotation of the tilt frame 31 relative to the fuselage 1 is parallel to the width direction of the fuselage 1, and the propeller 32 is mounted on the tilt frame 31, and its axis is perpendicular to the axis of rotation of the tilt frame 31 relative to the fuselage 1.

[0034] It should be noted that there can be two main wings 2, which are respectively installed on the two side walls of the fuselage 1; four rotor mechanisms 3 can be provided, and a rotor mechanism 3 is respectively provided on both sides of each main wing 2. It should be noted that the width direction of the fuselage 1 is the dimension direction of the fuselage 1. Specifically in this embodiment, reference can be made to Figure 1 , the width direction of the fuselage 1 is Figure 1 It should be noted that the propeller 32 is installed on the tilt frame 31, and the propeller 32 can be installed on the tilt frame 31 through the rotating motor 33. Specifically, the rotating motor 33 is arranged on the tilt frame 31, and its axial direction is perpendicular to the axis of rotation of the tilt frame 31 relative to the fuselage 1, and the propeller 32 is installed on the output shaft of the rotating motor 33, so as to ensure that the axis of the propeller 32 is perpendicular to the axis of rotation of the tilt frame 31 relative to the fuselage 1, and then driven by the rotating motor 33, the propeller 32 can rotate around its own axis.

[0035] In this embodiment, the main wing 2 is rotatably mounted on the fuselage 1, and the axis of rotation of the main wing 2 relative to the fuselage 1 is parallel to the width direction of the fuselage 1, so that during vertical take-off and landing or cruise spraying operations, the main wing 2 can change the inclination angle of its own chord line and the horizontal plane by rotation; and the rotor mechanism 3 is set as a tilt frame 31 and a propeller 32, and the tilt frame 31 is rotatably mounted on the fuselage 1, the axis of rotation of the tilt frame 31 relative to the fuselage 1 is parallel to the width direction of the fuselage 1, and the propeller 32 is mounted on the tilt frame 31, and its axis is perpendicular to the axis of rotation of the tilt frame 31 relative to the fuselage 1, so that during vertical take-off and landing or cruise spraying operations, the propeller 32 can adjust the inclination angle of its own axis and the horizontal plane by rotating the tilt frame 31. In this way, during vertical take-off and landing, the main wing 2 and the tilt frame 31 can be driven to rotate so that the chord line of the main wing 2 is perpendicular to the horizontal plane, and the axis of the propeller 32 is perpendicular to the horizontal plane. The take-off and landing pulling force provided by the propeller 32 is used to drive the UAV to take off and land. Since the main wing 2 perpendicular to the horizontal plane has a relatively small air resistance, the UAV can be guaranteed to take off and land smoothly, thereby improving the flight efficiency; when the lift needs to be adjusted during the pesticide spraying operation, the main wing 2 and the tilt frame 31 can be driven to rotate so that the chord line of the main wing 2 is inclined to the horizontal plane, and the axis of the propeller 32 is inclined to the horizontal plane. The inclined main wing 2 and propeller 32 are used to increase the lift of the UAV. There is no need to change the lift by changing the inclination angle of the fuselage 1 with the horizontal plane, which can ensure the flight stability of the UAV and thereby improve the uniformity of pesticide spraying.

[0036] Alternatively, if Figure 2As shown, a connecting rod 11 and a main wing driving mechanism are provided inside the fuselage 1. The connecting rod 11 is parallel to the width direction of the fuselage 1, and its end passes through the side wall of the fuselage 1 and is connected to the main wing 2. The main wing driving mechanism is connected to the connecting rod 11 and is used to drive the main wing 2 to rotate relative to the fuselage 1 through the connecting rod 11.

[0037] In this optional embodiment, one end of the connecting rod 11 is connected to the main wing 2, and the main wing drive mechanism is connected to the connecting rod 11. In this way, the main wing drive mechanism can drive the connecting rod 11 to rotate, thereby driving the main wing 2 to rotate relative to the fuselage 1, so that the inclination angle of the main wing 2 and the horizontal plane changes, so as to adjust the inclination angle of the main wing 2 in time when the UAV is flying, reduce air resistance and ensure uniform spraying of pesticides.

[0038] Alternatively, if Figure 2 As shown, the main wing driving mechanism includes a driving motor 12, a driving pulley 13, a driven pulley 14 and a belt 15. The motor is arranged inside the fuselage 1, and its axial direction is parallel to the connecting rod 11. The driving pulley 13 is installed at the output end of the motor, the driven pulley 14 is installed on the connecting rod 11, and the belt 15 is respectively wound around the driving pulley 13 and the driven pulley 14.

[0039] In this optional embodiment, by setting the main wing drive mechanism to a drive motor 12, a driving pulley 13, a driven pulley 14 and a belt 15, when the drive motor 12 outputs torque, the torque will be transmitted to the connecting rod 11 via the driving pulley 13, the belt 15 and the driven pulley 14, thereby driving the connecting rod 11 to rotate, and finally driving the main wing 2 to rotate relative to the fuselage 1. The structure of the main wing drive mechanism is relatively simple and the installation is relatively convenient.

[0040] Alternatively, if Figure 3 and Figure 4 As shown, the fuselage 1 is provided with a mounting rod 16 parallel to its width direction, and the mounting rod 16 passes through the fuselage 1 ; the tilt frame 31 is rotatably mounted on the end of the mounting rod 16 passing through the fuselage 1 .

[0041] In this optional embodiment, by rotatably mounting the tilt frame 31 on the end of the mounting rod 16 that passes through the fuselage 1 , the propeller 32 can be moved away from the fuselage 1 , thereby ensuring the movable space for the propeller 32 and facilitating the propeller 32 to tilt along with the tilt frame 31 .

[0042] Alternatively, if Figure 3 and Figure 4As shown, a tilt motor 161 is provided at the end of the mounting rod 16 passing through the fuselage 1 ; the tilt frame 31 is mounted on the output shaft of the tilt motor 161 , and is used to rotate relative to the mounting rod 16 under the drive of the tilt motor 161 .

[0043] In this optional embodiment, a tilt motor 161 is provided on the mounting rod 16, and the tilt frame 31 is installed on the output shaft of the tilt motor 161. In this way, the tilt motor 161 can drive the tilt frame 31 to rotate, thereby driving the inclination angle of the propeller 32 axis and the horizontal plane to change, so as to adjust the inclination angle of the propeller 32 in time when the UAV is flying, provide the required tension and lift, and improve the stability of the UAV flight.

[0044] Alternatively, if Figure 3 and Figure 4 As shown, two mounting rods 16 are provided, and the two mounting rods 16 are respectively located on both sides of the main wing 2 , and the rotor mechanisms 3 are respectively provided at both ends of the two mounting rods 16 .

[0045] In this optional embodiment, by respectively arranging rotor mechanisms 3 at both ends of the two mounting rods 16, four rotor mechanisms 3 are symmetrically distributed on both sides of the fuselage 1, forming a four-rotor UAV, which has a fast flying speed and a long endurance time.

[0046] Alternatively, if Figure 5 As shown, the tilt-rotor pesticide spraying UAV also includes a spraying system 4, which includes a medicine box arranged inside the fuselage 1, a suspension rod 41 arranged at the lower end of the fuselage 1 and a nozzle 42 arranged at the lower end of the suspension rod 41, and a liquid medicine channel is formed in the suspension rod 41, which is connected to the medicine box and the nozzle 42 respectively, and the liquid medicine channel is used to transport the liquid medicine in the medicine box to the nozzle 42 for atomization spraying by the nozzle 42.

[0047] Specifically, the medicine box and the medicine liquid channel may be connected via a pipeline, and a water pump may be provided on the pipeline. The water pump may be used to pump the medicine liquid in the medicine box to the medicine liquid channel and spray it out through the nozzle 42 .

[0048] In this optional embodiment, the liquid medicine channel of the boom 41 can transport the liquid medicine in the medicine box to the nozzle 42 for atomization spraying by the nozzle 42. In this way, the spraying system 4 can be turned on during the flight of the drone to realize automatic spraying of the liquid medicine, replacing manual spraying and improving the spraying efficiency.

[0049] Alternatively, if Figure 5As shown, the boom 41 includes a connecting pipe 411 connected to the fuselage 1 and a liquid outlet pipe 412 arranged at the lower end of the connecting pipe 411, the liquid outlet pipe 412 is located below the main wing 2 and extends along the width direction of the fuselage 1, and a plurality of nozzles 42 are arranged, and the plurality of nozzles 42 are evenly spaced and distributed at the lower end of the liquid outlet pipe 412 along the extension direction of the liquid outlet pipe 412.

[0050] Specifically, the inner cavity of the connecting tube 411 and the inner cavity of the liquid outlet tube 412 can together constitute the liquid medicine channel.

[0051] In this optional embodiment, multiple nozzles 42 are evenly distributed at the lower end of the liquid outlet pipe 412 along the extension direction of the liquid outlet pipe 412. In this way, the liquid medicine can be evenly sprayed out through the multiple nozzles 42, which is beneficial to increase the coverage and uniformity of the liquid medicine spraying and achieve a better spraying effect.

[0052] Alternatively, if Figure 5 As shown, three tail wings 5 ​​are provided at the rear end of the fuselage 1, and the three tail wings 5 ​​are arranged along the circumference of the fuselage 1, and the tail wings 5 ​​are trapezoidal; and / or, the tilt-rotor pesticide spraying UAV also includes three landing gears 6 arranged at the lower end of the fuselage 1, one of the landing gears 6 is arranged close to the front end of the fuselage 1, and the remaining two landing gears 6 are located behind the center of gravity of the fuselage 1 and are arranged at intervals along the width direction of the fuselage 1.

[0053] In this optional embodiment, the arrangement of three tail wings 5 ​​can help maintain the stability of the fuselage 1 during flight, thereby improving the uniformity of pesticide spraying. By arranging the landing gear 6, combined with the pulling force provided by the rotor mechanism 3, the UAV can have the function of short-distance taxiing takeoff, which can save the consumed fuel, so that the UAV can fly a longer distance under the same fuel conditions and increase the operating radius; by making one of the three landing gears 6 close to the front end of the fuselage 1, and the other two are located behind the center of gravity of the fuselage 1 and arranged at intervals along the width direction of the fuselage 1, the three landing gears 6 will constitute a front three-point landing gear, which is conducive to reducing the taxiing distance and improving the ground movement stability.

[0054] An embodiment of the present invention provides a control method for a tilt-rotor pesticide spraying drone as described above, comprising:

[0055] When the UAV is in the vertical take-off and landing mode, the main wing 2 is driven to rotate so that the chord line of the main wing 2 is perpendicular to the horizontal plane, and the tilt frame 31 is driven to rotate so that the axis of the propeller 32 is perpendicular to the horizontal plane;

[0056] When the UAV is in the transition mode or the low-speed cruising mode, the main wing 2 is driven to rotate so that the chord line of the main wing 2 is inclined with respect to the horizontal plane, and the tilting frame 31 is driven to rotate so that the axis of the propeller 32 is inclined with respect to the horizontal plane;

[0057] When the UAV is in high-speed cruising mode, the main wing 2 is driven to rotate so that the chord line of the main wing 2 is parallel to the horizontal plane, and the tilt frame 31 is driven to rotate so that the axis of the propeller 32 is parallel to the horizontal plane.

[0058] It should be noted that the UAV can adjust the lift in the low-speed cruise mode. It should be noted that in the transition mode and the low-speed cruise mode, the main wing 2 in different modes can have different inclination angles, and the propellers 32 in different modes can also have different inclination angles. It should also be noted that when the UAV is in the fixed-wing mode, the four propellers 32 can be driven for vector propulsion to change the flight direction of the UAV.

[0059] In this embodiment, according to the different flight modes of the UAV, the main wing 2 and the propeller 32 are driven to tilt respectively to ensure that the main wing 2 has less air resistance in the vertical take-off and landing mode, thereby improving the flight efficiency. At the same time, when lift adjustment is required, the lift is changed by inclining the main wing 2 and the propeller 32, without changing the inclination angle of the fuselage 1, thereby improving the uniformity of pesticide spraying.

[0060] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A tilt-rotor pesticide spraying drone, characterized in that: The invention comprises a fuselage (1), a main wing (2) and a rotor mechanism (3); the main wing (2) is rotatably mounted on the fuselage (1), and the axis of rotation of the main wing (2) relative to the fuselage (1) is parallel to the width direction of the fuselage (1); the rotor mechanism (3) comprises a tilt frame (31) and a propeller (32); the tilt frame (31) is rotatably mounted on the fuselage (1), and the axis of rotation of the tilt frame (31) relative to the fuselage (1) is parallel to the width direction of the fuselage (1); the propeller (32) is mounted on the tilt frame (31), and the axis of the propeller is perpendicular to the axis of rotation of the tilt frame (31) relative to the fuselage (1).

2. The tilt-rotor pesticide spraying drone according to claim 1, characterized in that: A connecting rod (11) and a main wing driving mechanism are provided inside the fuselage (1); the connecting rod (11) is parallel to the width direction of the fuselage (1); an end of the connecting rod passes through the side wall of the fuselage (1) and is connected to the main wing (2); the main wing driving mechanism is connected to the connecting rod (11) and is used to drive the main wing (2) to rotate relative to the fuselage (1) through the connecting rod (11).

3. The tilt-rotor pesticide spraying drone according to claim 2, characterized in that: The main wing driving mechanism comprises a driving motor (12), a driving pulley (13), a driven pulley (14) and a belt (15); the motor is arranged inside the fuselage (1) and its axial direction is parallel to the connecting rod (11); the driving pulley (13) is installed at the output end of the motor; the driven pulley (14) is installed at the connecting rod (11); and the belt (15) is respectively wound around the driving pulley (13) and the driven pulley (14).

4. The tilt-rotor pesticide spraying UAV according to claim 1, characterized in that: The fuselage (1) is provided with a mounting rod (16) parallel to its width direction, and the mounting rod (16) passes through the fuselage (1); the tilt frame (31) is rotatably mounted on the end of the mounting rod (16) passing through the fuselage (1).

5. The tilt-rotor pesticide spraying UAV according to claim 4, characterized in that: The end of the mounting rod (16) passing through the fuselage (1) is provided with a tilt motor (161); the tilt frame (31) is mounted on the output shaft of the tilt motor (161) and is used to rotate relative to the mounting rod (16) under the drive of the tilt motor (161).

6. The tilt-rotor pesticide spraying UAV according to claim 4, characterized in that: Two mounting rods (16) are provided, and the two mounting rods (16) are respectively located on both sides of the main wing (2), and the rotor mechanisms (3) are respectively provided at both ends of the two mounting rods (16).

7. The tilt-rotor pesticide spraying UAV according to claim 1, characterized in that: The invention also comprises a spraying system (4), wherein the spraying system (4) comprises a medicine box arranged inside the fuselage (1), a suspension rod (41) arranged at the lower end of the fuselage (1), and a nozzle (42) arranged at the lower end of the suspension rod (41); a medicine liquid channel is formed in the suspension rod (41) and is connected to the medicine box and the nozzle (42) respectively; the medicine liquid channel is used to transport the medicine liquid in the medicine box to the nozzle (42) so that the nozzle (42) can spray the medicine in an atomized manner.

8. The tilt-rotor pesticide spraying UAV according to claim 7, characterized in that: The boom (41) comprises a connecting pipe (411) connected to the fuselage (1) and a liquid outlet pipe (412) arranged at the lower end of the connecting pipe (411); the liquid outlet pipe (412) is located below the main wing (2) and extends along the width direction of the fuselage (1); a plurality of nozzles (42) are provided, and the plurality of nozzles (42) are evenly spaced and distributed at the lower end of the liquid outlet pipe (412) along the extension direction of the liquid outlet pipe (412).

9. The tilt-rotor pesticide spraying drone according to claim 1, characterized in that: The rear end of the fuselage (1) is provided with three tail wings (5), and the three tail wings (5) are arranged along the circumference of the fuselage (1), and the tail wings (5) are trapezoidal; and / or the tilt-rotor pesticide spraying UAV also includes three landing gears (6) arranged at the lower end of the fuselage (1), one of the landing gears (6) is arranged close to the front end of the fuselage (1), and the other two landing gears (6) are located behind the center of gravity of the fuselage (1) and are arranged at intervals along the width direction of the fuselage (1).

10. A control method for a tilt-rotor pesticide spraying UAV according to any one of claims 1 to 9, characterized in that: include: When the UAV is in a vertical take-off and landing mode, the main wing (2) is driven to rotate so that the chord line of the main wing (2) is perpendicular to the horizontal plane, and the tilting frame (31) is driven to rotate so that the axis of the propeller (32) is perpendicular to the horizontal plane; When the UAV is in a transition mode or a low-speed cruise mode, the main wing (2) is driven to rotate so that the chord line of the main wing (2) is inclined with respect to a horizontal plane, and the tilting frame (31) is driven to rotate so that the axis of the propeller (32) is inclined with respect to a horizontal plane; When the UAV is in high-speed cruising mode, the main wing (2) is driven to rotate so that the chord line of the main wing (2) is parallel to the horizontal plane, and the tilting frame (31) is driven to rotate so that the axis of the propeller (32) is parallel to the horizontal plane.

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