Agricultural unmanned aerial vehicle

Abstract

The invention relates to an agricultural unmanned aerial vehicle, and relates to the technical field of unmanned equipment. The agricultural unmanned aerial vehicle comprises a vehicle body, a plurality of vehicle arms, a power device and a sensing module, one ends of the multiple vehicle arms are connected with the vehicle body; the power device is arranged at the other end of the arm and away from the body; the sensing module is arranged at the top of the body; the sensing module comprises a visual assembly and a radar assembly, and the visual assembly, the radar assembly and the main control part are sequentially arranged from top to bottom in the height direction. The sensing module is arranged at the topmost part of the machine body, so that the problem that the sensing module is blocked by liquid medicine pollution can be relieved to a great extent; according to the agricultural unmanned aerial vehicle, the visual assembly is arranged at the topmost part of the sensing module, the visual assembly is not blocked by the vehicle body, and the visual assembly can obtain the optimal visual field, so that the agricultural unmanned aerial vehicle can sense the surrounding environment to the maximum extent in the flying process.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to an agricultural unmanned aerial vehicle. Background Art

[0002] During the operation of current unmanned equipment, the perception module is combined with the control system to realize functions such as perception of the surrounding environment, autonomous navigation and obstacle avoidance.

[0003] Existing agricultural drones are generally equipped with a perception module, which includes a visual component. The visual component is generally designed in front of the agricultural drone's body, with the field of view facing directly in front of or diagonally below the agricultural drone, so as to use the acquired image data to realize obstacle recognition, obstacle avoidance and other functions. However, since the visual component is in front of the body, even if a wide-angle lens is used, the agricultural drone still lacks the rear and side fields of view due to the obstruction of the body. In addition, when the agricultural drone is spraying pesticides, the atomized droplets produced by the nozzle are easily rolled up and flew under the propeller wind field, and the visual component in front of the body is easily contaminated and blocked by the liquid medicine, resulting in unclear vision. Summary of the invention

[0004] The purpose of the present invention includes providing an agricultural drone, whose visual component will not be blocked by any obstruction of the body and the contamination of the liquid medicine, and the visual component can obtain the best field of view.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] The present invention provides an agricultural drone, comprising:

[0007] Body;

[0008] A plurality of machine arms, one end of each of the plurality of machine arms being connected to the machine body;

[0009] A power device, the power device is arranged at the other end of the machine arm and away from the machine body;

[0010] A sensing module, wherein the sensing module is arranged on the top of the body;

[0011] The perception module includes a visual component and a radar component, and the visual component and the radar component are arranged in sequence from top to bottom in the height direction.

[0012] Optionally, the agricultural drone includes a main control component, the radar in the radar assembly is a rotating radar, the radar assembly is provided with a hollow channel, and the electrical connection line of the visual assembly is connected to the main control component through the hollow channel.

[0013] Optionally, the radar assembly includes a radar fixing frame and a driving member, and the radar fixing frame and the driving member are arranged sequentially from top to bottom in the height direction;

[0014] The radar fixing frame is provided with a first hollow channel, and the driving member is provided with a second hollow channel, and the first hollow channel and the second hollow channel form the hollow channel.

[0015] Optionally, the radar fixing frame rotates around the first axis direction;

[0016] The radar fixing frame includes a frame body and a shaft body connected to each other. The shaft body is arranged along the first axis direction. The first hollow channel is arranged on the shaft body along the first axis direction.

[0017] Optionally, the radar fixing bracket further includes a fixing portion, which is arranged at the bottom of the bracket body and coaxially arranged with the shaft body, and the first hollow channel runs through the shaft body and the fixing portion;

[0018] The driving member is fixed to the fixing portion.

[0019] Optionally, the driving member is used to drive the radar fixing frame to rotate along the first axis direction;

[0020] The driving member comprises a rotating shaft, the rotating shaft is coaxially arranged with the first axis direction, and the rotating shaft is provided with the second hollow channel along the first axis direction.

[0021] Optionally, the driving member further comprises an upper base and a lower base, the upper base is fixed to the radar fixing frame, the lower base is used to fix the driving member, one end of the rotating shaft is sleeved with the upper base, and the other end of the rotating shaft is rotatably arranged with the lower base;

[0022] The rotating shaft and the upper base rotate relative to the lower base along the first axis direction to drive the radar fixing frame to rotate along the first axis direction.

[0023] Optionally, the sensing module further comprises a housing, and the radar assembly is rotatably disposed in the housing along the first axis direction;

[0024] The top and bottom of the shell are respectively provided with a first connecting port and a second connecting port along the first axis direction, one end of the hollow channel is connected to the first connecting port, and the other end is connected to the second connecting port, and the electrical connection line of the visual component is connected to the main control component through the first connecting port, the hollow channel and the second connecting port.

[0025] Optionally, the housing comprises a first cylindrical housing and an end plate which are sealed and connected, the first cylindrical housing is provided with the first communication port, and the end plate is provided with the second communication port;

[0026] The rotating end of the radar component is rotatably arranged with the first connecting port, the fixed end of the radar component is arranged at the top of the end plate, and the main control component is arranged at the bottom of the end plate.

[0027] Optionally, the main control component is arranged at the bottom of the housing;

[0028] The radar assembly comprises a driving component control component, wherein the driving component control component is arranged close to the bottom of the shell, a connector is arranged at the bottom of the shell, and the driving component control component is electrically connected to the main control component through the connector.

[0029] Optionally, a protective cover is provided in the hollow channel, and at least a portion of the electrical connection line located in the hollow channel is wrapped by the protective cover.

[0030] Optionally, the visual component includes a second cylindrical shell and a plurality of cameras, and the plurality of cameras are arranged at intervals along the circumference of the second cylindrical shell.

[0031] Optionally, the agricultural drone includes a main control component, and the visual component also includes a circuit board, which is arranged in the middle of the second cylindrical shell, and the multiple cameras are electrically connected to the circuit board, and the circuit board is connected to the main control component through an electrical connection line.

[0032] Optionally, the agricultural drone further includes a spraying system, which includes a spray head, and the spray head is arranged below the power device to utilize the wind field generated by the power device for spraying.

[0033] Optionally, the sensing module is arranged on the top of the nose of the machine body.

[0034] Optionally, the agricultural drone includes a main control component, which is arranged below the radar assembly.

[0035] The beneficial effects of the agricultural drone provided by the embodiment of the present invention include:

[0036] By setting the perception module at the top of the body, the problem of liquid contamination blocking the perception module can be alleviated to a great extent; by setting the visual component at the top of the perception module, the visual component will not be blocked by any body, and the visual component can obtain the best field of view, so that the agricultural drone can perceive the surrounding environment to the maximum extent during the flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of the structure of the perception module provided in this embodiment;

[0039] Figure 2 A cross-sectional view of the sensing module provided in this embodiment;

[0040] Figure 3 An exploded view of the visual components provided for this embodiment;

[0041] Figure 4 An exploded view of the radar assembly, the first housing and the end plate provided for this embodiment;

[0042] Figure 5 A cross-sectional view of a radar fixing frame provided in this embodiment;

[0043] Figure 6 A schematic diagram of the structure of the driving member provided in this embodiment;

[0044] Figure 7 A cross-sectional view of a driving member provided for this embodiment;

[0045] Figure 8 An exploded view of the end plate provided for this embodiment;

[0046] Fig. 9 A cross-sectional view of a first housing provided in this embodiment;

[0047] Fig.10 This is a schematic diagram of the structure of the agricultural drone provided in this embodiment.

[0048] Icons: 01-agricultural drone; 010-sensing module; 020-body; 030-arm; 040-power unit; 100-radar assembly; 110-radar fixing frame; 111-frame; 112-shaft body; 1121-first hollow channel; 113-fixing part; 1132-first fixing hole; 120-radar board; 121-matching part; 122-slot; 130-driving member; 131-rotating shaft; 1311-second hollow channel; 132-upper base; 1321-upper fixing part; 1322-second fixing hole; 133-lower base; 1331-sleeved bearing; 1332-third fixing hole; 134-driving housing; 135-upper rotor; 136-lower rotor; 137-stator; 140-driving member control member; 1 41-first body; 142-second body; 150-encoding disk; 200-first cylindrical shell; 210-connecting protrusion; 220-first connecting port; 230-connecting bearing; 240-fixing protrusion; 300-end plate; 301-opening; 302-connecting hole; 310-connector; 320-second connecting port; 330-fixing protrusion; 340-base fixing part; 341-fourth fixing hole; 342-positioning part; 350-sealing groove; 360-floating structure; 361-shock absorber; 362-fixing part; 400-main control part; 500-second cylindrical shell; 510-installing part; 600-visual component; 610-camera; 620-circuit board; 630-flexible row; 640-cable holder; 650-connecting base. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They 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.

[0053] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0054] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0055] The overall structure, working principle and technical effects of the perception module 010 and unmanned equipment provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings.

[0056] The inventors have found that existing agricultural drones are generally equipped with a perception module, which includes a visual component. The visual component is generally designed in front of the body of the agricultural drone, with the field of view facing directly in front of or diagonally below the agricultural drone, so as to use the acquired image data to realize obstacle recognition, obstacle avoidance and other functions. However, since the visual component is in front of the body, even if a wide-angle lens is used, the agricultural drone still lacks the rear and side fields of view due to the obstruction of the body. In addition, when the agricultural drone is spraying pesticides, the atomized droplets produced by the nozzle are easily rolled up and flew under the propeller wind field, and the visual component in front of the body is easily contaminated and blocked by the liquid medicine, resulting in unclear vision.

[0057] Therefore, the agricultural drone 01 proposed by the present invention sets the perception module 010 at the top of the body 020, which can greatly alleviate the problem of liquid medicine contamination blocking the perception module 010; and the visual component 600 is located at the top of the perception module 010, and the visual component 600 will not be blocked by the body 020, and the visual component 600 can obtain the best field of view.

[0058] See also Fig.10 This embodiment proposes an agricultural drone 01, including: a body 020, multiple arms 030, a power unit 040 and a perception module 010; one end of the multiple arms 030 is connected to the body 020; the power unit 040 is arranged at the other end of the arm 030 and away from the body 020; the perception module 010 is arranged on the top of the body 020; the perception module 010 includes a visual component 600 and a radar component 100, and the visual component 600 and the radar component 100 are arranged in sequence from top to bottom in the height direction.

[0059] It can be understood that by setting the perception module 010 at the top of the body 020, the problem of liquid contamination blocking the perception module 010 can be alleviated to a great extent; by setting the visual component 600 at the top of the perception module 010, the visual component 600 will not be blocked by the body 020, and the visual component 600 can obtain the best field of view, so that the agricultural drone 01 can perceive the surrounding environment to the maximum extent during the flight.

[0060] In one embodiment, the sensing module 010 is disposed on the top of the nose of the body 020. It is understandable that by disposing the sensing module 010 on the top of the nose of the body 020, the field of view of the agricultural drone 01 in the front and below can be more comprehensively acquired, because the field of view of the front and below of the visual component 600 is basically not blocked by the body.

[0061] Optionally, the power device 040 may be a multi-rotor power device, so that the power device 040 can generate a wind field while providing power.

[0062] In one embodiment, the agricultural drone 01 further includes a spraying system. The spraying system may include a spray head, which may be arranged below the power device 040 to utilize the wind field generated by the power device 040 for spraying.

[0063] In one embodiment, the agricultural drone 01 includes a perception module 010 .

[0064] Among them, the perception module 010 is combined with the control system to detect the external environment of the agricultural drone 01, and then perceive the surrounding environment during operation and realize functions such as autonomous navigation and obstacle avoidance.

[0065] In one embodiment, the sensing module 010 is disposed on the top of the body 020. Figure 1 and Figure 2 The perception module 010 includes a visual component 600, a radar component 100 and a main control component 400, and the visual component 600, the radar component 100 and the main control component 400 are arranged in sequence from top to bottom in the height direction.

[0066] In one embodiment, the main control component 400 is arranged below the radar assembly 100, so that the visual assembly 600, the radar assembly 100 and the main control component 400 are arranged sequentially from top to bottom in the height direction. Of course, in other embodiments, the visual assembly 600 and the radar assembly 100 are arranged sequentially from top to bottom in the height direction, and the main control component 400 can be arranged at any other position of the agricultural drone 01, for example, it can be the flight control system of the agricultural drone 01.

[0067] In one embodiment, see Figure 2The radar in the radar assembly 100 is a rotating radar. The radar assembly 100 is provided with a hollow channel, and the electrical connection line of the visual assembly 600 is connected to the main control component 400 through the hollow channel.

[0068] The radar assembly 100 rotates around the first axis of the sensing module 010 to detect whether there are obstacles in the forward direction and around the agricultural drone 01.

[0069] It is understandable that, since the amount of data that the visual component 600 needs to transmit to the main control component 400 is very large, the visual component 600 and the main control component 400 choose to transmit data by wiring. The wiring method is to connect the visual component 600 and the main control component 400 through an electrical connection line.

[0070] It is understandable that, compared with wireless transmission, wiring can be more reliable and stable for data transmission, and can also transmit a larger amount of data.

[0071] Among them, the visual component 600, the radar component 100 and the main control component 400 are arranged in sequence from top to bottom in the height direction. The radar in the radar component 100 arranged below the visual component 600 is a rotating radar, and the rotating radar component 100 will interfere with the electrical connection line. Therefore, a hollow channel is set on the radar component 100, so that the visual component 600 and the main control component 400 are electrically connected through the electrical connection line, while ensuring the overall structural assembly of the perception module 010, and not affecting the working stability of the radar component 100.

[0072] In one embodiment, see Figure 2 and Figure 4 The radar assembly 100 includes a radar fixing frame 110 and a driving member 130, which are arranged sequentially from top to bottom in the height direction; the radar fixing frame 110 is provided with a first hollow channel 1121, and the second radar fixing frame 110 is provided with a second hollow channel 1311, and the first hollow channel 1121 and the second hollow channel 1311 form a hollow channel.

[0073] For further information, please refer to Figure 2 and Figure 4The radar assembly 100 further includes a radar board 120, a drive control member 140 and a code disk 150. The radar board 120 is arranged on the radar fixing frame 110; the code disk 150 is arranged on the end plate 300, and the radar board 120 and the code disk 150 are arranged in cooperation; the top of the radar fixing frame 110 is rotatably connected with the first cylindrical shell 200, the bottom of the radar fixing frame 110 is connected with the rotating end of the drive member 130 and both are arranged along the first axis direction, the bottom fixed end of the drive member 130 is fixedly connected with the end plate 300, and the radar fixing frame 110 is provided with a first hollow channel 1121, and the drive member 130 is provided with a second hollow channel 1311, and the first hollow channel 1121 and the second hollow channel 1311 form a hollow channel through which the electrical connection line passes; the drive control member 140 is arranged at the bottom of the drive member 130 and is connected with the main control member 400. This arrangement allows the driving component control component 140 of the radar component 100 to be connected to the main control component 400 and allows the electrical connection line of the visual component 600 to pass through the first hollow channel 1121 and the second hollow channel 1311 to be electrically connected to the main control component 400.

[0074] Please refer to Figure 2 and Figure 4 The radar board 120, the radar fixing frame 110, the driving member 130, the driving member control member 140 and the encoding disk 150 are arranged in the housing and form an independent module.

[0075] In one embodiment, please refer to Figure 4 and Figure 5 The radar assembly 100 includes a radar fixing frame 110. The radar fixing frame 110 is used to fix the radar board 120 and the driving member 130, and the radar fixing frame 110 can rotate around a first axis direction.

[0076] In one embodiment, please refer to Figure 5 The radar fixing frame 110 includes a frame body 111 and an axis body 112 connected to each other.

[0077] In one embodiment, the frame 111 is a plate-like structure, and a plurality of fifth fixing holes for fixing the radar board 120 are provided on the frame 111; a rectangular recess for accommodating the driving member 130 is formed at the bottom of the frame 111, and the fixing portion 113 is correspondingly disposed in the rectangular recess.

[0078] In one embodiment, the shaft body 112 is a hollow columnar structure. The shaft body 112 is disposed along a first axis direction. A first hollow channel 1121 is disposed on the shaft body 112 along the first axis direction.

[0079] Please refer to Figure 4 The shaft 112 extends out of the top of the frame 111 and is rotatably connected to the first cylindrical shell 200 .

[0080] In one embodiment, please refer to Figure 5 The radar fixing bracket 110 further includes a fixing portion 113 .

[0081] Please refer to Figure 4 and Figure 5 The fixing part 113 is used to fix the driving member 130; wherein, the fixing part 113 is arranged at the bottom rectangular depression of the frame 111, the fixing part 113 is a cylindrical structure, the top of the fixing part 113 is connected to the bottom of the frame 111, and the bottom of the fixing part 113 forms a circular receiving cavity for installing the driving member 130. The fixing part 113 is arranged at the bottom of the frame 111 and is coaxially arranged with the shaft body 112, and the first hollow channel 1121 runs through the shaft body 112 and the fixing part 113.

[0082] For further information, please refer to Figure 4 The fixing portion 113 has a plurality of first fixing holes 1132 arranged at equal angles around the first hollow channel 1121 , and the driving member 130 is fixed to the fixing portion 113 through the first fixing holes 1132 .

[0083] It is worth mentioning that the frame body 111 , the shaft body 112 and the fixing portion 113 are integrally formed into the radar fixing frame 110 .

[0084] In one embodiment, please refer to Figures 4 to 6 The radar assembly 100 includes a driving member 130. The driving member 130 is used to drive the radar fixing frame 110 to rotate along the first axis direction.

[0085] The driving member 130 includes a rotating shaft 131 which is coaxially arranged with the first axis direction. The rotating shaft 131 is provided with a second hollow channel 1311 along the first axis direction so that the first hollow channel 1121 and the second hollow channel 1311 are connected to form a hollow channel.

[0086] In one embodiment, please refer to Figure 6 The driving member 130 also includes an upper base 132 and a lower base 133. The upper base 132 is fixed to the radar fixing frame 110, and the lower base 133 is used to fix the driving member 130. One end of the rotating shaft 131 is sleeved with the upper base 132, and the other end of the rotating shaft 131 is rotatably arranged with the lower base 133; the rotating shaft 131 and the upper base 132 rotate relative to the lower base 133 along the first axis direction to drive the radar fixing frame 110 to rotate along the first axis direction.

[0087] It can be understood that the driving member 130 and the radar fixing bracket 110 are arranged in this way to form a rotatable radar assembly 100 .

[0088] In one embodiment, the driving member 130 includes a rotating shaft 131. Figure 6 and Figure 7 The rotating shaft 131 is a hollow cylindrical structure. The rotating shaft 131 is coaxially arranged along the first axis direction. The rotating shaft 131 is provided with a second hollow channel 1311 along the first axis direction.

[0089] Please refer to Figure 2 One end of the second hollow channel 1311 is connected to the first hollow channel 1121 , and the other end is connected to the second communication port 320 .

[0090] In one embodiment, the driving member 130 includes an upper base 132. Figure 6 and Figure 7 The upper base 132 includes an upper disc with an upper groove, an upper hollow column extends from the inner edge of the upper disc, and a circular ring structure extends from the outer edge of the upper disc. The upper hollow column of the upper base 132 is sleeved on the top of the rotating shaft 131, and the upper disc of the upper base 132 is provided with a plurality of upper fixing parts 1321 relative to the first fixing hole 1132, and the upper fixing part 1321 is provided with a second fixing hole 1322; wherein the upper fixing part 1321 extends into the first fixing hole 1132, and the second fixing hole 1322 and the first fixing hole 1132 are threaded holes, and the second fixing hole 1322 and the first fixing hole 1132 cooperate with the connecting piece to fix the driving member 130 and the radar fixing bracket 110.

[0091] The upper base 132 is sleeved with an upper rotor 135 , and the upper rotor 135 is provided with an upper power transmission coil.

[0092] In one embodiment, please refer to Figure 6 and Figure 7 The driving member 130 includes a driving housing 134. The driving housing 134 is a cylindrical structure, and the driving housing 134 is sleeved on the outer edge of the upper disk of the upper base 132; the inner wall of the driving housing 134 is provided with a plurality of permanent magnets (not shown), and the permanent magnets are arranged relative to the stator 137.

[0093] In one embodiment, the driving member 130 includes a lower base 133, see Figure 6 and Figure 7 The lower base 133 includes a lower disc with a lower groove, and a lower hollow column extends from the inner edge of the lower disc. The lower hollow column of the lower base 133 is sleeved at the bottom of the rotating shaft 131, and the lower hollow column of the lower base 133 is provided with a sleeve cavity, and the rotating shaft 131 is arranged in the sleeve cavity. The rotating shaft 131 is rotatably connected to the inner wall of the sleeve cavity through at least one sleeve bearing 1331. A plurality of third fixing holes 1332 are provided on the lower disc of the lower base 133, and the lower base 133 is fixed to the end plate 300 through the third fixing holes 1332. Among them, the third fixing holes 1332 are threaded holes.

[0094] The rotating shaft 131 is rotatably connected to the inner wall of the sleeve cavity through two sleeve bearings 1331. Currently, in other embodiments, one or three sleeve bearings 1331 may also be provided.

[0095] The lower base 133 is provided with a lower rotor 136 and a stator 137 on its outer sleeve. The stator 137 is wound with a coil winding. The lower rotor 136 is located above the stator 137 , and a lower power transmission coil is provided inside the lower rotor 136 .

[0096] It can be understood that after a stable current is passed through the stator 137, a magnetic field force is generated to drive the permanent magnet to rotate, and the permanent magnet drives the drive housing 134 and the upper base 132 to rotate. At the same time, the upper base 132 drives the radar fixing frame 110 to rotate, so that the radar fixing frame 110 drives the radar board 120 to rotate around the first axis direction.

[0097] It is worth mentioning that please refer to Figure 2 By means of the radar fixing frame 110 and the driving member 130 arranged in this way, the first hollow channel 1121 and the second hollow channel 1311 form a connected hollow channel, so that the electrical connection line of the visual component 600 can be electrically connected to the main control component 400 through the first hollow channel 1121 and the second hollow channel 1311, thereby ensuring that the visual component 600 and the main control component 400 can transmit data through the electrical connection line, while not affecting the working stability of the radar component 100, thereby ensuring the overall structural assembly of the perception module 010.

[0098] In one embodiment, please refer to Figure 8 The radar assembly 100 further includes a driver control component 140 , wherein the driver control component 140 is used to control the driver 130 .

[0099] Optionally, one end of the driving member control member 140 is sleeved on the lower base 133, and the other end is connected to the main control member 400. Figure 8 The driving member control member 140 includes a first body 141 and a second body 142 connected to each other; wherein the first body 141 is arranged in cooperation with the connector 310, and the first body 141 is connected to the connector 310; wherein the second body 142 is an annular plate structure, and the second body 142 is sleeved on the lower hollow column of the lower base 133, and the second body 142 is provided with a Hall sensor, an infrared sensor, and a soft row 630 line. The driving member control member 140 is electrically connected to the encoder disk 150 and the driving member 130 respectively, so as to realize the control of the rotation of the radar fixing frame 110 and the radar board 120.

[0100] In one embodiment, please refer to Figure 2The radar assembly 100 further includes a code disk 150. The code disk 150 is a disc structure, and a matching portion 121 is provided at the bottom of the radar board 120. The matching portion 121 is provided with a card slot 122. The card slot 122 is arranged relative to the code disk 150 and is located on the inner side of the code disk 150. The code disk 150 can monitor the rotation angle of the radar board 120.

[0101] A plurality of fixing protrusions 240 are disposed at the bottom of the end plate 300 , and the encoding disc 150 is fixed on the plurality of fixing protrusions 240 .

[0102] In one embodiment, please refer to Figure 2 , the sensing module 010 includes a shell.

[0103] The housing is used to accommodate and protect the radar assembly 100 .

[0104] In one embodiment, please refer to Figure 2 The radar component 100 is rotatably arranged in the shell along the first axis direction; the top and bottom of the shell are respectively provided with a first connecting port 220 and a second connecting port 320 along the first axis direction, one end of the hollow channel is connected to the first connecting port 220, and the other end is connected to the second connecting port 320, and the electrical connection line of the visual component 600 is connected to the main control component 400 through the first connecting port 220, the hollow channel and the second connecting port 320.

[0105] It can be understood that the top of the shell is matched with the hollow channel to open the first connecting port 220, and the bottom of the shell is matched with the hollow channel to open the second connecting port 320, so that the radar component 100 is protected in the shell while the electrical connection line of the visual component 600 is connected to the main control component 400 through the first connecting port 220, the hollow channel and the second connecting port 320.

[0106] Optionally, see Figure 4 The shell includes a second cylindrical shell 500 and an end plate 300 which are sealed and connected. The second cylindrical shell 500 is provided with a first connecting port 220, and the end plate 300 is provided with a second connecting port 320. The rotating end of the radar component 100 is rotatably arranged with the first connecting port 220, the fixed end of the radar component 100 is arranged at the top of the end plate 300, and the main control component 400 is arranged at the bottom of the end plate 300.

[0107] Please refer to Figure 4The bottom of the first cylindrical shell 200 is fixedly provided with an end plate 300, which is a plate body that matches the first cylindrical shell 200. The first cylindrical shell 200 and the end plate 300 are sealed and connected and are used to accommodate the radar assembly 100. Among them, the first cylindrical shell 200 is provided with a first communication port 220, and the end plate 300 is provided with a first communication port 220. The first communication port 220 and the second communication port 320 are arranged around the first axis direction, so that the electrical connection line of the visual assembly 600 is connected to the main control component 400 through the first communication port 220, the hollow channel and the second communication port 320.

[0108] Optionally, see Figure 8 and Fig. 9 A plurality of fixing protrusions 330 with threaded holes therein are provided at the bottom of the first cylindrical shell 200, and a plurality of connecting holes 302 are provided on the end plate 300. The plurality of fixing protrusions 330 and the plurality of connecting holes 302 are arranged opposite to each other, and the connecting parts pass through the connecting holes 302 and the threaded holes of the fixing protrusions 330 to realize the fixed connection between the first cylindrical shell 200 and the end plate 300.

[0109] Optionally, see Figure 2 The top inner bottom wall of the first cylindrical shell 200 is provided with a connecting protrusion 210 along the first axial direction, a first communication port 220 is provided in the connecting protrusion 210, a connecting bearing 230 is provided in the first communication port 220, and the shaft 112 extending from the top of the frame body 111 on the radar fixing frame 110 is rotatably connected to the first cylindrical shell 200 through the connecting bearing 230. It can be understood that such a setting can ensure that the radar fixing frame 110 can be rotatably arranged relative to the first cylindrical shell 200, and does not affect the passage of the electrical connection line.

[0110] Optionally, see Figure 4 A plurality of fixing protrusions 240 are provided at the bottom of the end plate 300 , and the encoding disk 150 is fixed on the plurality of fixing protrusions 240 .

[0111] Optionally, see Figure 8 The top of the end plate 300 is provided with a base fixing portion 340, and the end plate 300 is provided with a plurality of fourth fixing holes 341, and the driving member 130 of the radar assembly 100 is fixed to the end plate 300 through the fourth fixing holes 341. A positioning portion 342 is provided in the base fixing portion 340, and the positioning portion 342 is used to locate the position of the driving member 130.

[0112] Optionally, a matching ring is provided on the outer edge of the end plate 300 , and a sealing groove 350 is provided on the matching ring. The sealing groove 350 of the end plate 300 is sealed and connected to the first cylindrical shell 200 via a sealing ring.

[0113] Optionally, see Figure 8An opening 301 and a connector 310 are provided on the end plate 300. The end of the connector 310 faces the bottom of the end plate 300 and passes through the opening 301. The end of the connector 310 is plugged into the main control component 400. The other end of the connector 310 is fixed to the first body 141 of the drive component control component 140.

[0114] It is worth mentioning that since the end of the connector 310 is plugged into the main control component 400; due to the vibration generated by the drive component 130 itself and the vibration generated during the operation of the unmanned equipment itself, the vibration will affect the connection stability between the connector 310 and the main control component 400, and at the same time, it will cause structural damage to the position where the end of the connector 310 is plugged into the main control component 400.

[0115] Optionally, see Figure 8 The connector 310 is floatingly connected to the opening 301 of the end plate 300 through the floating structure 360, and the first body 141 of the driving member control member 140 is clamped between the floating structure 360 ​​and the connector 310. One end of the connector 310 passes through the opening 301 and is connected to the main control member 400, and the other end is connected to the driving member control member 140.

[0116] It is understandable that the connector 310 is floated on the end plate 300 through the floating structure 360, so that the connector 310 has a certain floating range. In this way, under the vibration of the unmanned equipment and the vibration of the radar assembly 100, the floating connector 310 can ensure the connection stability, and can also avoid the structural damage caused by the abutment between the connector 310 and the main control component 400, thereby improving the robustness of the overall structural assembly of the perception module 010.

[0117] Optionally, see Figure 8 The floating structure 360 ​​includes a damping member 361 and a fixing member 362 which are connected in a limiting manner. The driving member control member 140 is connected in a limiting manner to the damping member 361 . The connecting member passes through the fixing member 362 and the damping member 361 to fix the driving member control member 140 to the end plate 300 .

[0118] It is worth mentioning that a protective cover is provided in the hollow channel, and at least the portion of the electrical connection line located in the hollow channel is wrapped by the protective cover. Optionally, a protective cover is provided in the first hollow channel 1121 and the second hollow channel 1311.

[0119] It is understandable that the protective cover can protect the electrical connection wires, reduce the friction between the electrical connection wires and the inner wall of the hollow channel, and avoid wear of the electrical connection wires due to friction.

[0120] In one embodiment, please refer to Figure 2 , the perception module 010 also includes a main control component 400.

[0121] The main control component 400 may be a PCA control circuit board 620 structure.

[0122] In one embodiment, the main control component 400 is disposed below the radar assembly 100, and the electrical connection line of the visual assembly 600 passes through the hollow channel and is electrically connected to the main control component 400 disposed below the radar assembly 100. The main control component 400 is fixedly disposed at the bottom of the end plate 300, and the main control component 400 is plugged into the end of the connector 310, thereby realizing the electrical connection between the main control component 400 and the drive component control component 140.

[0123] Of course, in some embodiments, the main control component 400 can also be set at other positions of the agricultural drone 01. After the electrical connection lines of the visual component 600 pass through the hollow channel and come out, the electrical connection lines are connected to the main control component 400 set at other positions.

[0124] In other embodiments, after the electrical connection wires of the visual component 600 pass through the hollow channel and are routed out, the electrical connection wires can also be electrically connected to other processing modules provided in the agricultural drone 01. Optionally, the processing module can be a flight control module of the agricultural drone 01.

[0125] In this embodiment, please refer to Figure 1 , the perception module 010 includes a visual component 600 .

[0126] In one embodiment, please refer to Figure 3 The visual component 600 includes a second cylindrical shell 500 and a plurality of cameras 610 , and the plurality of cameras 610 are arranged at intervals along the circumference of the second cylindrical shell 500 .

[0127] It is understandable that the plurality of cameras 610 are arranged at intervals along the circumference of the second cylindrical shell 500 to form a panoramic view effect, and can observe the surrounding environment in the largest range. For example, the user can automatically or manually switch to the viewing angle of any camera 610 for viewing according to needs.

[0128] In one embodiment, please refer to Figure 3 , the visual component 600 includes a second cylindrical shell 500. Figure 3 The second cylindrical shell 500 is used to accommodate the visual component 600 to form an independent module.

[0129] In one embodiment, see Fig. 9 The second cylindrical shell 500 is arranged on the top of the first cylindrical shell 200 and is connected to the top outer wall of the first cylindrical shell 200 to form a sealed cavity; wherein the first cylindrical shell 200 is provided with a mounting portion 510 in conjunction with the camera 610 and / or the light group.

[0130] In one embodiment, the perception module 010 includes a vision component 600 .

[0131] Optionally, vision assembly 600 includes a plurality of other sensing structures in addition to radar assembly 100 .

[0132] In one embodiment, the visual component 600 includes an FPV module, which can provide image data feedback from a forward perspective, so that the user can understand the environment in front of the unmanned device. The FPV module includes at least one set of cameras 610 and / or fill lights (not shown in the figure); wherein the camera 610 can provide image data feedback, so that the user can understand the environment around the unmanned device. Among them, the provision of the fill light 220 can improve the image acquisition quality of the front camera 610.

[0133] In one embodiment, please refer to Figure 3 There are three groups of cameras 610, and the three groups of cameras 610 are arranged at 90° intervals along the circumference of the second cylindrical shell 500, so the second cylindrical shell 500 is provided with three groups of mounting parts 510 relative to the cameras 610.

[0134] In one embodiment, please refer to Figure 2 and Figure 3 The visual component 600 further includes a circuit board 620, which is disposed in the middle of the second cylindrical shell 500, and the plurality of cameras 610 are electrically connected to the circuit board 620, which is connected to the main control component 400 via an electrical connection line.

[0135] Optionally, see Figure 2 and Figure 3 The visual component 600 also includes a plurality of flexible strips 630, a cable holder 640 and a connecting base 650, one end of the plurality of flexible strips 630 is respectively connected to the camera 610 and / or the light group, the other end of the plurality of flexible strips 630 is respectively connected to the plurality of cable holders 640, and the other end of the flexible strips 630 is clamped between the cable holder 640 and the connecting base 650; the plurality of cable holders 640 are connected to the circuit board 620, and the circuit board 620 is electrically connected to the main control component 400 through an electrical connection line passing through the hollow channel.

[0136] It can be understood that the camera 610 and / or the light group of the visual component 600 are electrically connected to the circuit board 620 through the flexible bus 630 and the cable holder 640, and the circuit board 620 is electrically connected to the drive control component 140 through the electrical connection line passing through the first connecting port 220, the first hollow channel 1121, the second hollow channel 1311 and the second connecting port 320.

[0137] Optionally, both the first shell and the second cylindrical shell 500 may be made of materials with low dielectric loss to reduce the impact on the radar beam.

[0138] It is understandable that the visual component 600 and the radar component 100 configured in this way can be electrically connected to the main control component 400 respectively, and the visual component 600 and the radar component 100 are independently modularized, so that when the perception module 010 fails, the visual component 600, the radar component 100 and the main control component 400 can be individually disassembled for easy maintenance. At the same time, a hollow channel is set in the rotatable radar component 100 in the above manner, so that the electrical connection line of the visual component 600 can be connected to the main control component 400 through the hollow channel, and at the same time, the overall structural assembly of the perception module 010 can be guaranteed, and the stability of the radar component 100 and the sealing inside the radar component 100 are not affected.

[0139] In summary, the agricultural UAV 01 proposed in the present invention can alleviate the problem of liquid medicine contamination blocking the perception module 010 to a great extent by setting the perception module 010 at the top of the body 020; by setting the visual component 600 at the top of the perception module 010, the visual component 600 will not be blocked by the body 020, and the visual component 600 can obtain the best field of view, so that the agricultural UAV 01 can perceive the surrounding environment to the maximum extent during the flight.

[0140] Furthermore, the radar in the radar assembly 100 arranged below the visual assembly 600 is a rotating radar. The rotating radar assembly 100 may interfere with the electrical connection lines. Therefore, a hollow channel is provided on the radar assembly 100. This arrangement enables the visual assembly 600 to be electrically connected to the main control component 400 through the electrical connection lines, while ensuring the overall structural assembly of the perception module 010 without affecting the working stability of the radar assembly 100.

[0141] Furthermore, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An agricultural drone, characterized in that: include: Body (020); A plurality of machine arms (030), one end of each of the plurality of machine arms (030) being connected to the machine body (020); A power device (040), the power device (040) being arranged at the other end of the machine arm (030) and away from the machine body (020); A sensing module (010), the sensing module (010) being arranged on the top of the body (020); The perception module (010) comprises a visual component (600) and a radar component (100), wherein the visual component (600) and the radar component (100) are arranged in sequence from top to bottom in a height direction.

2. The agricultural drone according to claim 1, characterized in that: The agricultural drone (01) comprises a main control component (400), the radar in the radar assembly (100) is a rotating radar, the radar assembly (100) is provided with a hollow channel, and the electrical connection line of the visual assembly (600) is connected to the main control component (400) through the hollow channel.

3. The agricultural drone according to claim 2, characterized in that: The radar assembly (100) comprises a radar fixing frame (110) and a driving member (130), wherein the radar fixing frame (110) and the driving member (130) are arranged in sequence from top to bottom in a height direction; The radar fixing frame (110) is provided with a first hollow channel (1121), and the driving member (130) is provided with a second hollow channel (1311), and the first hollow channel (1121) and the second hollow channel (1311) form the hollow channel.

4. The agricultural drone according to claim 3, characterized in that: The radar fixing frame (110) rotates around a first axis direction; The radar fixing frame (110) comprises a frame body (111) and an axis body (112) connected to each other, the axis body (112) being arranged along the first axis direction, and the first hollow channel (1121) being arranged on the axis body (112) along the first axis direction.

5. The agricultural drone according to claim 4, characterized in that: The radar fixing frame (110) further comprises a fixing portion (113), wherein the fixing portion (113) is arranged at the bottom of the frame body (111) and is coaxially arranged with the shaft body (112), and the first hollow channel (1121) passes through the shaft body (112) and the fixing portion (113); The driving member (130) is fixed to the fixing portion (113).

6. The agricultural drone according to claim 3, characterized in that: The driving member (130) is used to drive the radar fixing frame (110) to rotate along a first axis direction; The driving member (130) comprises a rotating shaft (131), the rotating shaft (131) is coaxially arranged with the first axis direction, and the rotating shaft (131) is provided with the second hollow channel (1311) along the first axis direction.

7. The agricultural drone according to claim 6, characterized in that: The driving member (130) further comprises an upper base (132) and a lower base (133), wherein the upper base (132) is fixed to the radar fixing frame (110), and the lower base (133) is used to fix the driving member (130), one end of the rotating shaft (131) is sleeved with the upper base (132), and the other end of the rotating shaft (131) is rotatably arranged with the lower base (133); The rotating shaft (131) and the upper base (132) rotate relative to the lower base (133) along a first axis direction, so as to drive the radar fixing frame (110) to rotate along the first axis direction.

8. The agricultural drone according to claim 2, characterized in that: The sensing module (010) further comprises a housing, and the radar assembly (100) is rotatably disposed in the housing along a first axis direction; The top and bottom of the shell are respectively provided with a first connecting port (220) and a second connecting port (320) along the first axial direction; one end of the hollow channel is connected to the first connecting port (220), and the other end is connected to the second connecting port (320); the electrical connection line of the visual component (600) is connected to the main control component (400) via the first connecting port (220), the hollow channel and the second connecting port (320).

9. The agricultural drone according to claim 8, characterized in that: The housing comprises a first cylindrical housing (200) and an end plate (300) which are sealed and connected, the first cylindrical housing (200) is provided with the first communication port (220), and the end plate (300) is provided with the second communication port (320); The rotating end of the radar component (100) is rotatably arranged with the first connecting port (220), the fixed end of the radar component (100) is arranged at the top of the end plate (300), and the main control component (400) is arranged at the bottom of the end plate (300).

10. The agricultural drone according to claim 8, characterized in that: The main control component (400) is arranged at the bottom of the housing; The radar assembly (100) comprises a drive control component (140), wherein the drive control component (140) is arranged close to the bottom of the shell, a connector (310) is arranged at the bottom of the shell, and the drive control component (140) is electrically connected to the main control component (400) via the connector (310).

11. The agricultural drone according to claim 2, characterized in that: A protective cover is arranged in the hollow channel, and at least the portion of the electrical connection line located in the hollow channel is wrapped by the protective cover.

12. The agricultural drone according to claim 1, characterized in that The visual component (600) includes a second cylindrical shell (500) and a plurality of cameras (610), wherein the plurality of cameras (610) are arranged at intervals along the circumference of the second cylindrical shell (500).

13. The agricultural drone according to claim 12, characterized in that: The agricultural drone (01) includes a main control component (400), and the visual component (600) further includes a circuit board (620), wherein the circuit board (620) is arranged in the middle of the second cylindrical shell (500), and the plurality of cameras (610) are electrically connected to the circuit board (620), and the circuit board (620) is connected to the main control component (400) via an electrical connection line.

14. The agricultural drone according to claim 1, characterized in that: The agricultural drone (01) further comprises a spraying system, wherein the spraying system comprises a spray head, and the spray head is arranged below the power device (040) so as to utilize the wind field generated by the power device (040) for spraying.

15. The agricultural drone according to claim 1, characterized in that: The sensing module (010) is arranged on the top of the nose of the machine body (020).

16. The agricultural drone according to claim 1, characterized in that: The agricultural drone (01) comprises a main control component (400), and the main control component (400) is arranged below the radar component (100).

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