Air-land amphibious pesticide spraying unmanned aerial vehicle

Abstract

The air-land amphibious pesticide spraying unmanned aerial vehicle comprises a vehicle body, the vehicle body comprises a vehicle head, a vehicle body and a vehicle tail from one end to the other end, and a pesticide box and an energy bag are detachably connected to the vehicle body; the fuselage connecting rods are rotationally connected to the two sides, close to the fuselage head and the fuselage tail, of the fuselage correspondingly. The multiple walking wheel mechanisms are installed at the ends, away from the machine body, of the machine body connecting rods in a one-to-one correspondence mode. The propeller assembly comprises a brushless motor and propeller blades, the brushless motor is fixed to the center of the walking wheel, and the propeller blades are fixedly connected with the output end of the brushless motor. The pesticide spraying tables are arranged on the two sides of the machine body and rotationally connected with spraying heads, and the spraying heads are connected with a pesticide box pipeline. The control system is in electric signal connection with the energy pack, the connecting rod motor, the servo motor, the brushless motor and the water pump, a flight control module for controlling the unmanned aerial vehicle to fly and an operation control module for executing pesticide spraying operation are arranged in the control system, and the unmanned aerial vehicle is efficient in operation, diversified in function and capable of adapting to operation in the environments such as hills and mountains.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural plant protection, and in particular relates to an air-land amphibious spraying drone. Background Art

[0002] Modern agricultural adaptive navigation large-scale sprayers are difficult to use in hilly and mountainous areas. Although ordinary unmanned sprayers can operate at high altitudes, they cannot operate on land and have a single usage mode. It is difficult to spray pesticides and weeds accurately between ridges in hilly and mountainous areas, and it is difficult to drive a sprayer in hilly and mountainous areas. The vehicle speed and spraying torque control requirements are high, and it is easy to cause problems such as driver fatigue and rollover.

[0003] Traditional sprayers are complex to operate, with high learning costs, complicated operations, and high work intensity for operators. In addition, traditional sprayers are not suitable for the complex and changeable environment of mountainous and hilly areas. The working modes of traditional land sprayers or unmanned sprayers are relatively simple, which cannot adapt to the work in hilly and mountainous areas, and indirectly increase the investment costs of farmers.

[0004] Therefore, how to provide an air-to-land amphibious spraying drone is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides an air-to-land amphibious spraying drone, which is flexible and convenient to use, can adapt to complex terrain operating conditions, and has high operation efficiency.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an air-land amphibious spraying drone, comprising:

[0007] The fuselage, the fuselage from one end to the other respectively corresponds to the nose, the fuselage and the tail, and the fuselage has slots for disassembling and connecting the medicine box and the energy pack;

[0008] A fuselage connecting rod, wherein the fuselage connecting rod has multiple groups and is rotatably connected to two sides of the fuselage near the nose and the tail, and the fuselage is provided with multiple connecting rod motors for driving the fuselage connecting rods to rotate and deform;

[0009] A running wheel mechanism, wherein the running wheel mechanism has a plurality of running wheel mechanisms and is mounted one by one on the end of the fuselage connecting rod away from the fuselage, and the running wheel mechanism has a servo motor for driving the running wheel to rotate, and the servo motor is fixed on the far end of the fuselage connecting rod;

[0010] A propeller assembly, the propeller assembly comprising a brushless motor and a propeller blade, the brushless motor is fixed at the center of the running wheel, and the propeller blade is fixedly connected to the output end of the brushless motor;

[0011] A medicine spraying platform, which is arranged on both sides of the fuselage, and a spray head is rotatably connected to the medicine spraying platform, and the spray head is connected to a medicine box pipeline and a water pump is provided on the connecting pipeline;

[0012] A control system, wherein the control system is respectively connected to the energy pack, the connecting rod motor, the servo motor, the brushless motor and the water pump electrical signals. The control system is provided with a flight control module for controlling the flight of the UAV and an operation control module for performing the spraying operation. Based on the use of the flight control module, there are an autonomous flight control mode and an external remote control mode.

[0013] The beneficial effects of the present invention are as follows: there are slots on the fuselage for disassembling and installing energy packs and medicine boxes, which are convenient for replacement and improve efficiency; the fuselage connecting rod is rotatably connected to the fuselage and can be deformed for use; when the fuselage connecting rod is parallel to the fuselage, it is in the UAV use mode. In this mode, the propeller assembly can be controlled to realize the spraying operation of the UAV; when the fuselage connecting rod is rotated to a vertical state, the walking wheel mechanism realizes all-terrain spraying operation. In specific implementation, the size of the fuselage connecting rod can be appropriately lengthened to make it have a higher spraying height. The control system matched with the present invention can realize autonomous flight to complete the spraying operation, and can also be remotely controlled by an external remote control terminal. The operation is convenient and the operation efficiency is high.

[0014] Preferably, one end of the fuselage connecting rod is fixedly connected to the output shaft of the connecting rod motor, the other end of the fuselage connecting rod is provided with a servo motor seat, the servo motor is fixed on the servo motor seat, and the bottom of the fuselage is provided with a long groove for stabilizing the rotation of the fuselage connecting rod.

[0015] The resulting technical effect is: the deformation control of the fuselage connecting rod is achieved by the connecting rod motor, the servo motor seat provides a stable installation foundation for the servo motor, so that the walking wheels can be stably supported and moved, and the long groove can improve the stability of the fuselage connecting rod, whether in a horizontal state, a vertical state, or in a rotation process, the relationship between the fuselage and the fuselage connecting rod can be stabilized.

[0016] Preferably, a brushless motor seat is fixed to the middle of the traveling wheel, the brushless motor is fixed on the brushless motor seat, and the propeller blades rotate independently of the traveling wheel.

[0017] The resulting technical effect is: the brushless motor mount provides a base for installing the brushless motor. It can be understood that when the walking wheel rotates, it will not affect the installation of the propeller assembly. In specific implementation, in the drone mode, the walking wheel needs to be locked in position to ensure high-speed rotation of the propeller to provide lift.

[0018] Preferably, a spray head angle adjustment servo is fixed on the spraying platform, the spray head angle adjustment servo is electrically connected to the operation control module in the control system, and the output shaft of the spray head angle adjustment servo is fixedly connected to the spray head and adjusts the spraying angle of the spray head.

[0019] The resulting technical effect is that the spray head angle adjustment servo can control the spraying angle of the spray head, thereby improving the applicability of the spraying operation.

[0020] Preferably, the fuselage is a rectangular frame structure, and a limiting buckle structure is provided on the inner side of the fuselage corresponding to the installation slot. The medicine box, energy pack and water pump are respectively disassembled and connected to the corresponding limiting buckle structure, and the energy pack is a mobile battery pack.

[0021] The resulting technical effect is: the frame structure is actually the load-bearing core, and the limit buckle structure actually provides the installation position for the medicine box and energy pack on the fuselage. The medicine box and energy pack can be disassembled by pulling, which is convenient for later replacement and maintenance.

[0022] Preferably, fuselage brackets are provided on both sides of the bottom of the fuselage, and the rotation of the fuselage connecting rod relative to the fuselage has a horizontal state and a vertical state. In the horizontal state, the fuselage bracket is supported on the ground and the fuselage connecting rod has a ground clearance, and in the vertical state, the fuselage bracket has a ground clearance.

[0023] The resulting technical effect is that the fuselage bracket actually protects the fuselage and its components, avoiding impact damage to the fuselage components during takeoff or landing. In walking mode, it is necessary to ensure that the fuselage bracket has a certain ground clearance, otherwise walking cannot be achieved.

[0024] Preferably, a sensor assembly is arranged on the nose, and the sensor assembly includes a visual sensor, an altitude sensor and a position sensor. A satellite positioning and navigation system is installed on the nose. The sensor assembly and the satellite positioning and navigation system are respectively connected to the flight control module of the control system by electrical signals.

[0025] The resulting technical effect is: the sensor component provides the necessary altitude and position information, and can also detect the information of the front obstacles. It is an important support for the autonomous flight operation of the UAV. The satellite positioning and navigation system can effectively complete the operation process of the predetermined route.

[0026] Preferably, a front-view camera and a top-view camera are installed on the nose, and a searchlight is installed on the bottom side of the nose. The front-view camera, the top-view camera and the searchlight are respectively connected to the operation control module by electrical signals. The flight control module is linked to the propeller assembly, the sensor assembly and the satellite positioning navigation system to realize autonomous flight of the UAV. In the external remote control mode, the flight control module is connected to the mobile terminal by electrical signals, and the mobile terminal has a display screen for displaying the camera image and an operating joystick.

[0027] The resulting technical effect is: in addition to the autonomous operation mode, the operation can also be remotely controlled, and the operation information is controlled by the mobile terminal to achieve purposeful spraying operations.

[0028] Preferably, the fuselage, fuselage connecting rods, running wheels and propeller blades are all made of high-strength and lightweight materials.

[0029] The resulting technical effect is: while ensuring structural strength, the overall weight is reduced, which is conducive to improving load-bearing flight capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a drone form of an air-land amphibious spraying drone of the present invention;

[0031] Figure 2 This is a land walking form of an air-land amphibious spraying drone of the present invention;

[0032] Figure 3 The schematic diagram of the sensor assembly layout of an air-land amphibious spraying drone of the present invention is shown;

[0033] Figure 4 This is a bottom perspective view of an air-land amphibious spraying drone of the present invention;

[0034] Figure 5 The figure is a schematic diagram of the structure of the running wheel mechanism and propeller assembly of an air-land amphibious spraying UAV of the present invention.

[0035] 1 body, 11 nose, 12 fuselage, 13 tail, 14 slot, 15 long slot, 16 limit buckle structure, 17 fuselage bracket, 2 medicine box, 3 energy pack, 4 water pump, 5 fuselage connecting rod, 6 connecting rod motor, 7 walking wheel mechanism, 71 servo motor seat, 72 servo motor, 73 walking wheel, 8 propeller assembly, 81 brushless motor seat, 82 brushless motor, 83 propeller blade, 9 spraying platform, 91 spraying head, 92 spraying head angle adjustment servo, 101 visual sensor, 102 height sensor, 103 position sensor, 105 satellite positioning navigation system, 106 front view camera, 107 top view camera, 108 searchlight. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See the attached Figures 1 to 5According to an embodiment of the present invention, an air-land amphibious spraying drone comprises:

[0038] The body 1 includes a nose 11, a body 12 and a tail 13 from one end to the other. The body 12 has a slot 14 for disassembling and connecting the medicine box 2 and the energy pack 3. It can be understood that the medicine box and the energy pack are squatted on the body, and the medicine box and the energy pack can be disassembled and replaced by pulling them up;

[0039] The fuselage connecting rod 5 has four groups and is rotatably connected to the two sides of the fuselage 12 near the nose and the tail. The fuselage 12 is provided with four connecting rod motors 6 for driving the fuselage connecting rods to rotate and deform. The connecting rod motor is a high-torque high-end motor to meet the operational requirements.

[0040] The walking wheel mechanism 7 has four walking wheel mechanisms 7 and is mounted one by one on the end of the fuselage connecting rod 5 away from the fuselage 12. The walking wheel mechanism 7 has a servo motor 72 for driving the walking wheel 73 to rotate. The servo motor 72 is fixed to the far end of the fuselage connecting rod 5, that is, the end away from the fuselage;

[0041] The propeller assembly 8 includes a brushless motor 82 and a propeller blade 83. The brushless motor 82 is fixed at the center of the running wheel 73, and the propeller blade 83 is fixedly connected to the output end of the brushless motor 82;

[0042] A medicine spraying platform 9 is arranged on both sides of the machine body 12, and a spray head 91 is rotatably connected to the medicine spraying platform 9, and the spray head 91 is connected to the medicine box 2 through a pipeline, and a water pump 4 is provided on the connecting pipeline;

[0043] The control system is connected with the energy pack 3, the connecting rod motor 6, the servo motor 72, the brushless motor 82 and the water pump 4 by electrical signals respectively. The control system is provided with a flight control module for controlling the flight of the UAV and an operation control module for performing the spraying operation. Based on the use of the flight control module, there are an autonomous flight control mode and an external remote control mode, which can operate autonomously or by external remote control.

[0044] In other embodiments, one end of the fuselage connecting rod 5 is fixedly connected to the output shaft of the connecting rod motor 6, and the other end of the fuselage connecting rod 5 is provided with a servo motor seat 71, the servo motor 72 is fixed on the servo motor seat 71, and the bottom of the fuselage 12 is provided with a long groove 15 for stabilizing the rotation of the fuselage connecting rod 5.

[0045] In some other embodiments, a brushless motor base 81 is fixed to the middle of the traveling wheel 73 , the brushless motor 82 is fixed on the brushless motor base 81 , and the propeller blades 83 rotate independently of the traveling wheel 73 .

[0046] In other embodiments, a spray head angle adjustment servo 92 is fixed on the spray station 9, which can be adjusted 90° forward and reverse. The spray head angle adjustment servo 92 is electrically connected to the operation control module in the control system. The output shaft of the spray head angle adjustment servo 92 is fixedly connected to the spray head 91 and adjusts the spraying angle of the spray head 91, which has stronger adaptability.

[0047] In other specific embodiments, the fuselage 12 is a rectangular frame structure, and a limit buckle structure 16 is provided at the corresponding installation slot on the inner side of the fuselage 12. The medicine box 2, energy pack 3 and water pump 4 are respectively disassembled and connected to the corresponding limit buckle structure 16. The energy pack 3 is a mobile battery pack to ensure long-flight operation requirements.

[0048] In some other embodiments, fuselage brackets 17 are provided on both sides of the bottom of the fuselage 12, and the rotation of the fuselage connecting rod 5 relative to the fuselage has a horizontal state and a vertical state. In the horizontal state, the fuselage bracket 17 is supported on the ground and the fuselage connecting rod 5 has a ground clearance. In the vertical state, the fuselage bracket 17 has a ground clearance, thereby ensuring the realization of the land spraying operation mode.

[0049] In some other embodiments, a sensor assembly is arranged on the nose 11, and the sensor assembly includes a visual sensor 101, an altitude sensor 102 and a position sensor 103. A satellite positioning navigation system 105 is installed on the nose 11. The sensor assembly and the satellite positioning navigation system 105 are respectively connected to the flight control module of the control system through electrical signals.

[0050] In some other specific embodiments, a forward-looking camera 106 is installed directly in front of the nose 11, and a downward-looking camera 107 is installed at the bottom of the front side of the nose. A searchlight 108 is installed on the bottom side of the nose 11. The forward-looking camera 106, the downward-looking camera 107, and the searchlight 108 are respectively connected to the operation control module by electrical signals. The flight control module is linked to the propeller assembly 8, the sensor assembly, and the satellite positioning and navigation system 105 to realize autonomous flight of the UAV; in the external remote control mode, the flight control module is connected to the mobile terminal by electrical signals, and the mobile terminal has a display screen for displaying the camera image and an operating joystick.

[0051] Specifically, the fuselage 1, the fuselage connecting rod 5, the running wheels 73, and the propeller blades 83 are all made of high-strength and lightweight materials, such as carbon fiber composite materials.

[0052] When the device is in use, commands can be issued to the connecting rod motor by using the buttons of the electric control joystick, a remote control or a satellite positioning navigation system, so that the connecting rod of the fuselage can be deformed accordingly to a land working form or an aerial working form. The operator can adjust the working form according to the working terrain, crop type and work needs, and manually replace the medicine box according to work needs. The device has various functions, which greatly reduces the intensity of agricultural work, effectively increases agricultural income, and can effectively promote the rapid development of modern agriculture.

[0053] The usage process is as follows:

[0054] When the machine is working, the operator can choose remote control operation or unmanned work through the satellite positioning navigation system. The operator should choose the appropriate medicine box according to the needs during operation. To ensure the safety of the operator, the operator should keep a safe distance of 1.5 to 2 meters away from the drone. The operator can start the drone remotely and select the field to be operated according to the satellite image transmission. The system will automatically generate a variety of work routes for the operator to choose. After the route is selected, press the start operation button and the drone can automatically complete the operation. When the drone medicine box has no medicine or fertilizer (there is a liquid level detector), it can automatically return and wait for additions before flying back to the operation site to continue working. The operator can also operate remotely throughout the process. It can meet a variety of operational needs. When land work is required, the air-to-road conversion button is activated, and the four high-torque connecting rod motors rotate 90 degrees at the same time, so that the fuselage connecting rod is deformed to a vertical state, and the deformation of the vehicle body is completed with the walking wheels. The land drone form is suitable for field ridge work. The operator can operate it throughout the whole process, or use the satellite image transmission automatic working mode to complete the field work. When the land form needs to be switched back to the drone flight form, press the conversion button again, and the 1 high-torque connecting rod motor reverses 90 degrees, so that the fuselage connecting rod is deformed to a horizontal state, and the drone resumes the flight mode. The drone is equipped with high-definition 5G image transmission, which makes mountain orchard spraying safer and more efficient.

[0055] As for the device and the method of use disclosed in the embodiment, since they correspond to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0056] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An amphibious spraying drone, characterized in that: include: A machine body (1), wherein the machine body (1) is respectively divided into a head (11), a fuselage (12) and a tail (13) from one end to the other end, and a slot (14) for disassembling and connecting a medicine box (2) and an energy pack (3) is provided on the fuselage (12); A fuselage connecting rod (5), the fuselage connecting rod (5) comprising a plurality of groups and respectively rotatably connected to two sides of the fuselage (12) close to the nose and the tail, and the fuselage (12) is provided with a plurality of connecting rod motors (6) for driving the fuselage connecting rods to rotate and deform; A running wheel mechanism (7), wherein the running wheel mechanism (7) has a plurality of running wheel mechanisms (7) and is mounted one by one on an end of the fuselage connecting rod (5) away from the fuselage (12), and the running wheel mechanism (7) has a servo motor (72) for driving the running wheel (73) to rotate, and the servo motor (72) is fixed to the distal end of the fuselage connecting rod (5); A propeller assembly (8), the propeller assembly (8) comprising a brushless motor (82) and a propeller blade (83), the brushless motor (82) being fixed at the center of the running wheel (73), and the propeller blade (83) being fixedly connected to an output end of the brushless motor (82); A medicine spraying platform (9), the medicine spraying platform (9) being arranged on both sides of the machine body (12), the medicine spraying platform (9) being rotatably connected to a spray head (91), the spray head (91) being connected to a medicine box (2) through a pipeline, and a water pump (4) being provided on the connecting pipeline; A control system, wherein the control system is respectively connected to the energy pack (3), the connecting rod motor (6), the servo motor (72), the brushless motor (82) and the water pump (4) by electrical signals, wherein a flight control module for controlling the flight of the UAV and an operation control module for performing spraying operations are provided in the control system, and based on the use of the flight control module, there are an autonomous flight control mode and an external remote control mode.

2. The air-land amphibious spraying drone according to claim 1, characterized in that: One end of the fuselage connecting rod (5) is fixedly connected to the output shaft of the connecting rod motor (6), the other end of the fuselage connecting rod (5) is provided with a servo motor seat (71), the servo motor (72) is fixed on the servo motor seat (71), and the bottom of the fuselage (12) is provided with a long groove (15) for stabilizing the rotation of the fuselage connecting rod (5).

3. The air-land amphibious spraying drone according to claim 1, characterized in that: A brushless motor seat (81) is fixed in the middle of the running wheel (73), the brushless motor (82) is fixed on the brushless motor seat (81), and the propeller blade (83) and the running wheel (73) rotate independently.

4. The air-land amphibious spraying drone according to claim 1, characterized in that: A spray head angle adjustment servo (92) is fixed on the spraying platform (9), and the spray head angle adjustment servo (92) is electrically connected to an operation control module in the control system, and an output shaft of the spray head angle adjustment servo (92) is fixedly connected to the spray head (91) and adjusts the spraying angle of the spray head (91).

5. The amphibious spraying drone according to claim 1, characterized in that: The body (12) is a rectangular frame structure, and a limit buckle structure (16) is provided on the inner side of the body (12) corresponding to the installation slot. The medicine box (2), energy pack (3) and water pump (4) are respectively detachably connected to the corresponding limit buckle structure (16), and the energy pack (3) is a mobile battery pack.

6. The amphibious spraying drone according to claim 1, characterized in that: Fuselage brackets (17) are provided on both sides of the bottom of the fuselage (12); the rotation of the fuselage connecting rod (5) relative to the fuselage has a horizontal state and a vertical state; in the horizontal state, the fuselage bracket (17) is supported on the ground and the fuselage connecting rod (5) has a ground clearance; in the vertical state, the fuselage bracket (17) has a ground clearance.

7. The amphibious spraying drone according to claim 1, characterized in that: A sensor assembly is arranged on the nose (11), the sensor assembly comprising a visual sensor (101), an altitude sensor (102) and a position sensor (103); a satellite positioning navigation system (105) is installed on the nose (11); the sensor assembly and the satellite positioning navigation system (105) are respectively connected to a flight control module of the control system via electrical signals.

8. The air-land amphibious spraying drone according to claim 7, characterized in that: A front-view camera (106) and a top-view camera (107) are installed on the nose (11), and a searchlight (108) is installed on the bottom side of the nose (11). The front-view camera (106), the top-view camera (107), and the searchlight (108) are respectively connected to the operation control module by electrical signals. The flight control module is linked to the propeller assembly (8), the sensor assembly, and the satellite positioning navigation system (105) to realize autonomous flight of the unmanned aerial vehicle; in the external remote control mode, the flight control module is connected to the mobile terminal by electrical signals, and the mobile terminal has a display screen for displaying the camera image and an operating joystick.

9. The air-land amphibious spraying drone according to claim 1, characterized in that: The body (1), the body connecting rod (5), the running wheels (73), and the propeller blades (83) are all made of high-strength and lightweight materials.

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