An agricultural drone

Abstract

The application relates to an agricultural unmanned aerial vehicle and relates to the technical field of unmanned equipment. An agricultural unmanned aerial vehicle is provided, which comprises a machine body, multiple machine arms, a power device and a sensing module; one end of the multiple machine arms is connected with the machine body; the power device is arranged at the other end of the machine arm and away from the machine body; the sensing module is arranged at the top of the machine body; the sensing module comprises a visual component and a radar component, and the visual component and the radar component are sequentially arranged from top to bottom in the height direction of the main control part. By arranging the sensing module at the top of the machine body, the problem of liquid pollution and shielding of the sensing module can be greatly alleviated; by arranging the visual component at the top of the sensing module, the visual component will not be blocked by the machine body, and the visual component can obtain the best field of view, so that the agricultural unmanned aerial vehicle can perceive the surrounding environment in the maximum range during flight.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and more specifically, to an agricultural drone. Background Technology

[0002] In current unmanned equipment, the perception module and control system work together to perceive the surrounding environment, achieve autonomous navigation and obstacle avoidance, and other functions during operation.

[0003] Existing agricultural drones are generally equipped with a sensing module, which includes a vision component. This vision component is typically designed at the front of the drone, with its field of view facing directly in front or diagonally below, to perform obstacle recognition and avoidance functions using acquired image data. However, because the vision component is located at the front of the drone, even with a wide-angle lens, the drone still suffers from a lack of rear and lateral field of view due to the drone's obstruction. Furthermore, when agricultural drones are spraying pesticides, the atomized droplets from the nozzles are easily lifted and carried away by the propeller's airflow, and the vision component at the front of the drone is easily contaminated and obstructed by the pesticide spray, resulting in poor visibility. Summary of the Invention

[0004] The present invention aims to provide an agricultural drone whose visual components are not obstructed by the body or by pesticide contamination, and whose visual components can obtain optimal field of view.

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

[0006] This invention provides an agricultural drone, comprising:

[0007] Organism;

[0008] Multiple robotic arms, one end of which is connected to the machine body;

[0009] A power unit is located at the other end of the arm and away from the body;

[0010] The sensing module is located on the top of the machine body;

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

[0012] Optionally, the agricultural drone includes a main control unit, 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 vision assembly is connected to the main control unit through the hollow channel.

[0013] Optionally, the radar assembly includes a radar mounting bracket and a driving component, wherein the radar mounting bracket and the driving component are arranged sequentially from top to bottom in the height direction;

[0014] The radar mounting bracket is provided with a first hollow channel, and the driving component is provided with a second hollow channel, the first hollow channel and the second hollow channel forming the hollow channel.

[0015] Optionally, the radar mounting bracket can rotate about the first axis.

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

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

[0018] The driving component is fixed to the fixing part.

[0019] Optionally, the driving component is used to drive the radar mounting bracket to rotate along the first axis direction;

[0020] The driving component includes a rotating shaft, which is coaxially arranged with the first axis and has a second hollow channel arranged along the first axis.

[0021] Optionally, the driving component further includes an upper base and a lower base. The upper base is fixed to the radar mounting bracket, and the lower base is used to fix the driving component. One end of the rotating shaft is sleeved on the upper base, and the other end of the rotating shaft is rotatably connected to 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 mounting bracket to rotate along the first axis direction.

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

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

[0025] Optionally, the housing includes a first cylindrical housing and an end plate that are sealed together, the first cylindrical housing being provided with the first communication port, and the end plate being provided with the second communication port;

[0026] The rotating end of the radar assembly is rotatably connected to the first communication port, the fixed end of the radar assembly is located at the top of the end plate, and the main control component is located at the bottom of the end plate.

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

[0028] The radar assembly includes a drive component control component, which is disposed near the bottom of the housing. A connector is disposed at the bottom of the housing, and the drive component control component is electrically connected to the main control component through the connector.

[0029] Optionally, a protective sleeve is provided inside the hollow channel, and at least the portion of the electrical connection wire located inside the hollow channel is wrapped by the protective sleeve.

[0030] Optionally, the vision component includes a second cylindrical housing and a plurality of cameras, the plurality of cameras being arranged circumferentially spaced along the second cylindrical housing.

[0031] Optionally, the agricultural drone includes a main control unit, and the vision component further includes a circuit board. The circuit board is disposed in the middle of the second cylindrical housing, and the plurality of cameras are electrically connected to the circuit board. The circuit board is connected to the main control unit via electrical connection wires.

[0032] Optionally, the agricultural drone further includes a spraying system, which includes nozzles disposed below the power unit to utilize the wind generated by the power unit for spraying.

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

[0034] Optionally, the agricultural drone includes a main control unit disposed below the radar assembly.

[0035] The beneficial effects of the agricultural drone provided in this embodiment of the invention include:

[0036] By placing the sensing module at the very top of the drone, the problem of pesticide contamination obscuring the sensing module can be greatly alleviated. By placing the vision component at the very top of the sensing module, the vision component will not be obstructed by the drone and can obtain the best field of view, enabling the agricultural drone to perceive the surrounding environment to the maximum extent during flight. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the sensing module provided in this embodiment;

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

[0040] Figure 3 An exploded view of the visual component provided in this embodiment;

[0041] Figure 4 This is an exploded view of the radar assembly, the first housing, and the end plate provided in this embodiment;

[0042] Figure 5 This is a cross-sectional view of the radar mounting bracket provided in this embodiment;

[0043] Figure 6 This is a schematic diagram of the structure of the driving component provided in this embodiment;

[0044] Figure 7 This is a cross-sectional view of the drive component provided in this embodiment;

[0045] Figure 8 This is an exploded view of the end plate provided in this embodiment;

[0046] Figure 9 A cross-sectional view of the first housing provided in this embodiment;

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

[0048] Icons: 01-Agricultural UAV; 010-Sensing Module; 020-Airframe; 030-Arm; 040-Power Unit; 100-Radar Component; 110-Radar Mount; 111-Frame; 112-Shaft; 1121-First Hollow Channel; 113-Fixing Part; 1132-First Fixing Hole; 120-Radar Plate; 121-Mating Part; 122-Slot; 130-Drive Component; 131-Rotating Shaft; 1311-Second Hollow Channel; 132-Upper Base; 1321-Upper Fixing Part; 1322-Second Fixing Hole; 133-Lower Base; 1331-Bearing Sleeve; 1332-Third Fixing Hole; 134-Drive Housing; 135-Upper Rotor; 136-Lower Rotor; 137-Stator; 140-Drive Component Control Component; 1 41-First body; 142-Second body; 150-Encoder disk; 200-First cylindrical shell; 210-Connecting protrusion; 220-First communication port; 230-Connecting bearing; 240-Fixing protrusion; 300-End plate; 301-Opening; 302-Connecting hole; 310-Connector; 320-Second communication 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 component; 500-Second cylindrical shell; 510-Mounting part; 600-Vision component; 610-Camera; 620-Circuit board; 630-Flexible cable; 640-Cable connector; 650-Connecting base. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0051] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0052] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0053] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0054] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0055] The following detailed description of the overall structure, working principle, and technical effects of the sensing module 010 and unmanned equipment provided by the present invention, with reference to the accompanying drawings and embodiments, is a practical example.

[0056] The inventors discovered that existing agricultural drones are generally equipped with a sensing module, which includes a vision component. This vision component is typically designed at the front of the drone, with its field of view facing directly in front or diagonally below, to perform obstacle recognition and avoidance functions using acquired image data. However, because the vision component is located at the front, even with a wide-angle lens, the drone still suffers from a lack of rear and lateral field of view due to the drone's obstruction. Furthermore, when agricultural drones are spraying pesticides, the atomized droplets from the nozzles are easily lifted and carried away by the propeller's airflow, making the vision component at the front of the drone susceptible to contamination and obstruction by the pesticide spray, resulting in poor visibility.

[0057] Therefore, the agricultural drone 01 proposed in this invention has a sensing module 010 set at the top of the body 020, which can greatly alleviate the problem of pesticide contamination obscuring the sensing module 010; and the vision component 600 is located at the top of the sensing module 010, so the vision component 600 is not obstructed by the body 020 and can obtain the best field of vision.

[0058] Please see Figure 10 This embodiment proposes an agricultural drone 01, including: a body 020, multiple arms 030, a power unit 040, and a sensing module 010; one end of the multiple arms 030 is connected to the body 020; the power unit 040 is located at the other end of the arms 030 and away from the body 020; the sensing module 010 is located on the top of the body 020; the sensing module 010 includes a vision component 600 and a radar component 100, which are arranged sequentially from top to bottom in the height direction.

[0059] Understandably, by placing the sensing module 010 at the very top of the body 020, the problem of pesticide contamination obscuring the sensing module 010 can be greatly alleviated; by placing the vision component 600 at the very top of the sensing module 010, the vision component 600 will not be obstructed by the body 020, and the vision component 600 can obtain the best field of view, enabling the agricultural drone 01 to perceive the surrounding environment to the maximum extent during flight.

[0060] In one embodiment, the sensing module 010 is disposed on the top of the nose of the body 020. It can be understood that placing the sensing module 010 on the top of the nose of the body 020 allows for a more comprehensive acquisition of the field of view in front and below the agricultural drone 01, since the field of view in front and below the vision component 600 is not significantly obstructed by the body.

[0061] Optionally, the power unit 040 can be a multi-rotor power unit, which enables the power unit 040 to generate a wind field while providing power.

[0062] In one embodiment, the agricultural drone 01 also includes a spraying system. The spraying system may include nozzles positioned below the power unit 040 to utilize the wind generated by the power unit 040 for spraying.

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

[0064] The sensing module 010, combined with the control system, is used to detect the external environment of the agricultural drone 01, thereby enabling it to perceive the surrounding environment and achieve functions such as autonomous navigation and obstacle avoidance during operation.

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

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

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

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

[0069] Understandably, because the amount of data that the vision component 600 needs to transmit to the main control unit 400 is very large, the vision component 600 and the main control unit 400 choose to transmit data via wiring. Specifically, the wiring method involves connecting the vision component 600 and the main control unit 400 via electrical connection cables.

[0070] Understandably, compared to wireless transmission, wired transmission is more reliable and stable, and can transmit a larger amount of data.

[0071] The vision component 600, radar component 100, and main control unit 400 are arranged sequentially from top to bottom in the vertical direction. The radar component 100, located below the vision component 600, contains a rotating radar. The rotating radar component 100 could interfere with the electrical connection lines. Therefore, a hollow channel is provided in the radar component 100. This arrangement allows the vision component 600 and the main control unit 400 to be electrically connected via electrical connection lines, while ensuring the overall structural assembly of the perception module 010 and not affecting the stability of the radar component 100's operation.

[0072] In one embodiment, please refer to Figure 2 and Figure 4 The radar assembly 100 includes a radar mounting bracket 110 and a drive component 130, which are arranged sequentially from top to bottom in the height direction. The radar mounting bracket 110 is provided with a first hollow channel 1121, and the second radar mounting bracket 110 is provided with a second hollow channel 1311. The first hollow channel 1121 and the second hollow channel 1311 form a hollow channel.

[0073] Further, please refer to Figure 2 and Figure 4The radar assembly 100 also includes a radar plate 120, a drive control component 140, and an encoder disk 150. The radar plate 120 is mounted on the radar mounting bracket 110; the encoder disk 150 is mounted on the end plate 300, and the radar plate 120 and encoder disk 150 are configured in cooperation; the top of the radar mounting bracket 110 is rotatably connected to the first cylindrical housing 200, and the bottom of the radar mounting bracket 110 is connected to the rotating end of the drive component 130, both being arranged along a first axis; the bottom fixed end of the drive component 130 is fixedly connected to the end plate 300; the radar mounting bracket 110 has a first hollow channel 1121, and the drive component 130 has a second hollow channel 1311, the first hollow channel 1121 and the second hollow channel 1311 forming a hollow channel through which an electrical connection line passes; the drive control component 140 is located at the bottom of the drive component 130 and is connected to the main control component 400. This configuration connects the drive control unit 140 of the radar assembly 100 to the main control unit 400 and allows the electrical connection lines of the vision assembly 600 to pass through the first hollow channel 1121 and the second hollow channel 1311 and be electrically connected to the main control unit 400.

[0074] Please refer to Figure 2 and Figure 4 The radar plate 120, radar mounting bracket 110, drive component 130, drive component control component 140 and encoder disk 150 are disposed inside 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 mounting bracket 110. The radar mounting bracket 110 is used to fix the radar plate 120 and to the drive component 130, and the radar mounting bracket 110 is rotatable about a first axis.

[0076] In one embodiment, please refer to Figure 5 The radar mounting bracket 110 includes a frame 111 and a shaft 112 connected to each other.

[0077] In one embodiment, the frame 111 is a plate-shaped structure, and the frame 111 is provided with a plurality of fifth fixing holes for fixing the radar plate 120; the bottom of the frame 111 forms a rectangular recess for accommodating the driving member 130, and the fixing part 113 is correspondingly provided in the rectangular recess.

[0078] In one embodiment, the shaft 112 is a hollow columnar structure, the shaft 112 is arranged along the first axis direction, and a first hollow channel 1121 is arranged on the shaft 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 mounting bracket 110 also includes a fixing part 113.

[0081] Please refer to Figure 4 and Figure 5 The fixing part 113 is used to fix the driving component 130; wherein, the fixing part 113 is disposed in the rectangular recess at the bottom 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 mounting the driving component 130. The fixing part 113 is disposed at the bottom of the frame 111 and is coaxially arranged with the shaft 112, and the first hollow channel 1121 passes through the shaft 112 and the fixing part 113.

[0082] Further, please refer to Figure 4 The fixing part 113 has multiple first fixing holes 1132 arranged at equal angles around the first hollow channel 1121, and the driving member 130 is fixed to the fixing part 113 through the first fixing holes 1132.

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

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

[0085] The drive component 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 component 130 also includes an upper base 132 and a lower base 133. The upper base 132 is fixed to the radar mounting bracket 110, and the lower base 133 is used to fix the driving component 130. One end of the rotating shaft 131 is sleeved on the upper base 132, and the other end of the rotating shaft 131 is rotatably connected to 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 mounting bracket 110 to rotate along the first axis direction.

[0087] Understandably, the drive unit 130 and the radar mount 110 are arranged in this way to form a rotatable radar assembly 100.

[0088] In one embodiment, the drive element 130 includes a rotating shaft 131, please refer to... 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, and 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 connecting port 320.

[0090] In one embodiment, the drive member 130 includes an upper base 132, please refer to Figure 6 and Figure 7 The upper base 132 includes an upper disk with an upper slot, an upper hollow column extending from the inner edge of the upper disk, and an outer ring structure extending from the outer edge of the upper disk. The upper hollow column of the upper base 132 is sleeved on the top of the rotating shaft 131. The upper disk of the upper base 132 is provided with a plurality of upper fixing parts 1321 opposite to the first fixing hole 1132. The upper fixing parts 1321 are provided with second fixing holes 1322. The upper fixing parts 1321 extend into the first fixing hole 1132, and the second fixing hole 1322 and the first fixing hole 1132 are threaded holes. The second fixing hole 1322 and the first fixing hole 1132 are connected by a connector for fixing the drive component 130 and the radar mounting bracket 110.

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

[0092] In one embodiment, please refer to Figure 6 and Figure 7 The drive unit 130 includes a drive housing 134. The drive housing 134 is a cylindrical structure, and the drive housing 134 is fitted onto the outer edge of the upper disk of the upper base 132. The inner wall of the drive housing 134 is provided with a plurality of permanent magnets (not shown in the figure), and the permanent magnets are positioned relative to the stator 137.

[0093] In one embodiment, the drive member 130 includes a lower base 133, please refer to Figure 6 and Figure 7 The lower base 133 includes a lower disc with a lower slot, and a lower hollow column extends from the inner edge of the lower disc. The lower hollow column of the lower base 133 is fitted onto the bottom of a rotating shaft 131. The lower hollow column of the lower base 133 has a fitting cavity, and the rotating shaft 131 is disposed within the fitting cavity. The rotating shaft 131 is rotatably connected to the inner wall of the fitting cavity via at least one fitting bearing 1331. The lower disc of the lower base 133 has multiple third fixing holes 1332, through which the lower base 133 is fixed to the end plate 300. The third fixing holes 1332 are threaded holes.

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

[0095] The lower base 133 is fitted with a lower rotor 136 and a stator 137. The stator 137 is wound with coil windings. The lower rotor 136 is located above the stator 137 and has a lower transmission coil inside.

[0096] It is understandable that when a stable current is supplied to the stator 137, a magnetic field force is generated, which drives the permanent magnet to rotate. 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 mounting bracket 110 to rotate, so that the radar mounting bracket 110 drives the radar plate 120 to rotate around the first axis.

[0097] It is worth mentioning that, please refer to Figure 2 With the radar mounting bracket 110 and drive component 130 configured in this way, the first hollow channel 1121 and the second hollow channel 1311 form a connected hollow channel, allowing the electrical connection line of the vision component 600 to be electrically connected to the main control component 400 through the first hollow channel 1121 and the second hollow channel 1311. This ensures that the vision component 600 and the main control component 400 can transmit data through the electrical connection line, while not affecting the stability of the radar component 100's operation, and ensuring the overall structural assembly of the perception module 010.

[0098] In one embodiment, please refer to Figure 8 The radar assembly 100 also includes a drive control unit 140. The drive control unit 140 is used to control the drive unit 130.

[0099] Optionally, one end of the drive control component 140 is fitted onto the lower base 133, and the other end is connected to the main control component 400. Please refer to... Figure 8 The drive unit control unit 140 includes a first body 141 and a second body 142 connected together. The first body 141 is fitted with and connected to a connector 310. The second body 142 has an annular plate structure and is sleeved on the lower hollow column of the lower base 133. The second body 142 is equipped with a Hall sensor, an infrared sensor, and a flexible busbar 630, etc. The drive unit control unit 140 is electrically connected to the encoder disk 150 and the drive unit 130 to control the rotation of the radar mounting bracket 110 and the radar plate 120.

[0100] In one embodiment, please refer to Figure 2The radar assembly 100 also includes an encoder disk 150. The encoder disk 150 has a disc-like structure, and the bottom of the radar plate 120 has a mating part 121 with a slot 122. The slot 122 is positioned relative to the encoder disk 150 and located inside the encoder disk 150, so that the encoder disk 150 can monitor the rotation angle of the radar plate 120.

[0101] The end plate 300 has multiple fixed protrusions 240 at its bottom, and the encoder disk 150 is fixed on the multiple fixed protrusions 240.

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

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

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

[0105] It is understandable that the top of the housing has a first connecting port 220 in conjunction with the hollow channel, and the bottom of the housing has a second connecting port 320 in conjunction with the hollow channel, so that the radar component 100 is protected inside the housing, while the electrical connection line of the vision 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] Alternatively, please refer to Figure 4 The housing includes a second cylindrical housing 500 and an end plate 300 that are sealed together. The second cylindrical housing 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 assembly 100 is rotatably connected to the first connecting port 220. The fixed end of the radar assembly 100 is located at the top of the end plate 300, and the main control component 400 is located at the bottom of the end plate 300.

[0107] Please refer to Figure 4An end plate 300 is fixedly disposed at the bottom of the first cylindrical housing 200. The end plate 300 is a plate that fits with the first cylindrical housing 200. The first cylindrical housing 200 and the end plate 300 are sealed together and used to house the radar assembly 100. The first cylindrical housing 200 and the end plate 300 are provided with a first connecting port 220. The first connecting port 220 and the second connecting port 320 are arranged around a first axis so that the electrical connection line of the vision assembly 600 is connected to the main control component 400 through the first connecting port 220, the hollow channel and the second connecting port 320.

[0108] Alternatively, please refer to Figure 8 and Figure 9 The bottom of the first cylindrical housing 200 is provided with multiple fixing protrusions 330 with internal threaded holes, and the end plate 300 is provided with multiple connecting holes 302. The multiple fixing protrusions 330 and the multiple connecting holes 302 are arranged opposite to each other. The connector passes through the connecting holes 302 and the threaded holes of the fixing protrusions 330 to achieve a fixed connection between the first cylindrical housing 200 and the end plate 300.

[0109] Alternatively, please refer to Figure 2 The top inner bottom wall of the first cylindrical housing 200 is provided with a connecting protrusion 210 along the first axis direction. A first connecting port 220 is provided inside the connecting protrusion 210, and a connecting bearing 230 is provided inside the first connecting port 220. The shaft 112 extending from the top of the frame 111 on the radar mounting bracket 110 is rotatably connected to the first cylindrical housing 200 through the connecting bearing 230. It can be understood that this arrangement can ensure that the radar mounting bracket 110 can be rotated relative to the first cylindrical housing 200 without affecting the passage of electrical connection wires.

[0110] Alternatively, please refer to Figure 4 The bottom of the end plate 300 is provided with multiple fixed protrusions 240, and the encoder disk 150 is fixed on the multiple fixed protrusions 240.

[0111] Alternatively, please refer to Figure 8 The top of the end plate 300 is provided with a base fixing part 340, and the end plate 300 is provided with a plurality of fourth fixing holes 341. The driving component 130 of the radar assembly 100 is fixed to the end plate 300 through the fourth fixing holes 341. The base fixing part 340 is provided with a positioning part 342, which is used to position the driving component 130.

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

[0113] Alternatively, please refer to Figure 8The end plate 300 is provided with an opening 301 and a connector 310. 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 inserted into the main control unit 400. The other end of the connector 310 is fixed to the first body 141 of the drive control unit 140.

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

[0115] Alternatively, please refer to Figure 8 The connector 310 is floatingly connected to the opening 301 of the end plate 300 via the floating structure 360. The first body 141 of the drive control component 140 is sandwiched 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 component 400, and the other end is connected to the drive control component 140.

[0116] Understandably, the floating structure 360 ​​allows the connector 310 to float on the end plate 300, giving it a certain range of movement. This ensures connection stability under vibrations from the unmanned equipment and the radar component 100, and also prevents structural damage caused by the connector 310 contacting the main control component 400, thus improving the robustness of the overall assembly of the sensing module 010.

[0117] Alternatively, please refer to Figure 8 The floating structure 360 ​​includes a shock absorber 361 and a fixing member 362 that are connected in a limiting manner. The drive control member 140 is connected in a limiting manner to the shock absorber 361. The connecting member passes through the fixing member 362 and the shock absorber 361 to fix the drive control member 140 to the end plate 300.

[0118] It is worth mentioning that a protective sleeve is provided inside the hollow channel, and the portion of the electrical connection wire located inside the hollow channel is wrapped by the protective sleeve. Optionally, protective sleeves are provided inside the first hollow channel 1121 and the second hollow channel 1311.

[0119] Understandably, the protective sleeve protects the electrical connection wires, reduces friction between the wires and the inner wall of the hollow channel, and prevents wear and tear on the wires due to friction.

[0120] In one embodiment, please refer to Figure 2 The sensing module 010 also includes the main control unit 400.

[0121] Among them, the main control component 400 can be a PCA control circuit board 620 structure.

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

[0123] Of course, in some embodiments, the main control unit 400 can also be set in other locations of the agricultural drone 01. After the electrical connection line of the vision component 600 runs out through the hollow channel, it connects to the main control unit 400 set in other locations.

[0124] In other embodiments, after the electrical connection wires of the vision component 600 exit through the hollow channel, they can also be electrically connected to other processing modules disposed on the agricultural drone 01. Optionally, the processing module can be the flight control module of the agricultural drone 01.

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

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

[0127] Understandably, the multiple cameras 610 arranged circumferentially along the second cylindrical housing 500 can create a surround-view effect, enabling observation of the surrounding environment over the maximum range. For example, users can automatically or manually switch to the perspective of any camera 610 as needed.

[0128] In one embodiment, please refer to Figure 3 The vision component 600 includes a second cylindrical housing 500. (See reference...) Figure 3 The second cylindrical housing 500 is used to house the vision component 600, making it an independent module.

[0129] In one embodiment, please refer to Figure 9 The second cylindrical housing 500 is disposed on the top of the first cylindrical housing 200 and is connected to the top outer wall of the first cylindrical housing 200 to form a sealed cavity; wherein, the first cylindrical housing 200 is provided with a mounting part 510 in conjunction with the camera 610 and / or the light assembly.

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

[0131] Optionally, the vision component 600 includes several other sensing structures in addition to the radar component 100.

[0132] In one embodiment, the vision component 600 includes an FPV module that provides forward-facing image data feedback, facilitating user understanding of the environment in front of the unmanned device. The FPV module includes at least one set of cameras 610 and / or supplementary lights (not shown in the figure); wherein, the cameras 610 provide image data feedback, facilitating user understanding of the environment surrounding the unmanned device. The supplementary lights 220 can improve the image acquisition quality of the front camera 610.

[0133] In one embodiment, please refer to Figure 3 The camera 610 is provided in three sets, and the three sets of cameras 610 are arranged at 90° intervals along the circumference of the second cylindrical housing 500. Thus, the second cylindrical housing 500 is provided with three sets of mounting parts 510 relative to the camera 610.

[0134] In one embodiment, please refer to Figure 2 and Figure 3 The vision component 600 also includes a circuit board 620, which is located in the middle of the second cylindrical housing 500. Multiple cameras 610 are electrically connected to the circuit board 620, which is connected to the main control unit 400 via electrical connection wires.

[0135] Alternatively, please refer to Figure 2 and Figure 3 The vision component 600 also includes multiple flexible strips 630, ribbon cable sockets 640, and connecting bases 650. One end of each flexible strip 630 is connected to the camera 610 and / or the light assembly, and the other end of each flexible strip 630 is connected to the multiple ribbon cable sockets 640. The other end of each flexible strip 630 is sandwiched between the ribbon cable sockets 640 and the connecting bases 650. The multiple ribbon cable sockets 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 wire passing through the hollow channel.

[0136] Understandably, the camera 610 and / or light group of the vision component 600 are electrically connected to the circuit board 620 via the flexible strip 630 and the ribbon cable connector 640. The circuit board 620 is electrically connected to the drive component control component 140 via electrical connection wires passing through the first connection port 220, the first hollow channel 1121, the second hollow channel 1311, and the second connection port 320.

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

[0138] Understandably, this configuration allows both the vision component 600 and the radar component 100 to be electrically connected to the main control unit 400. The independent modular design of the vision component 600 and the radar component 100 enables the individual disassembly of the vision component 600, radar component 100, and main control unit 400 in the event of a malfunction in the perception module 010, facilitating maintenance. Furthermore, the hollow channel within the rotatable radar component 100 allows the electrical connection wires of the vision component 600 to be connected to the main control unit 400 through the hollow channel. This ensures the overall structural assembly of the perception module 010 without affecting the stability of the radar component 100's operation or its internal sealing.

[0139] In summary, the agricultural drone 01 proposed in this invention can greatly alleviate the problem of pesticide contamination obscuring the sensing module 010 by placing the sensing module 010 at the top of the body 020; by placing the vision component 600 at the top of the sensing module 010, the vision component 600 will not be obstructed by the body 020, and the vision component 600 can obtain the best field of view, enabling the agricultural drone 01 to perceive the surrounding environment to the maximum extent during flight.

[0140] Furthermore, the radar in the radar assembly 100 located below the vision assembly 600 is a rotating radar. The rotating radar assembly 100 will interfere with the electrical connection lines. Therefore, a hollow channel is provided on the radar assembly 100. This arrangement allows the vision assembly 600 to be electrically connected to the main control unit 400 through the electrical connection lines, while ensuring the overall structural assembly of the perception module 010 and not affecting the stability of the radar assembly 100.

[0141] Furthermore, the above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An agricultural drone, characterized in that, include: Body (020); Multiple robotic arms (030), one end of each robotic arm (030) being connected to the body (020); A power unit (040) is located at the other end of the arm (030) and away from the body (020). A sensing module (010) is disposed on the top of the body (020); The perception module (010) includes a vision component (600), a radar component (100), and a main control component (400), which are arranged sequentially from top to bottom in the height direction; The sensing module (010) includes a first cylindrical shell (200) and a second cylindrical shell (500), with the second cylindrical shell (500) disposed on top of the first cylindrical shell (200); The radar assembly (100) is a rotating radar. The radar assembly (100) is rotatably disposed in the first cylindrical housing (200) along the first axis direction. The vision assembly (600) is housed in the second cylindrical housing (500). The vision assembly (600) and the radar assembly (100) are independent modules. The vision component (600) includes a circuit board (620) which is connected to the main control unit (400) via an electrical connection wire.

2. The agricultural drone according to claim 1, characterized in that, The agricultural drone (01) includes a main control unit (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 circuit board of the vision assembly (600) is connected to the main control unit (400) through the hollow channel.

3. The agricultural drone according to claim 2, characterized in that, The radar assembly (100) includes a radar mounting bracket (110) and a drive unit (130), which are arranged sequentially from top to bottom in the height direction; The radar mounting bracket (110) is provided with a first hollow channel (1121), and the driving component (130) is provided with a second hollow channel (1311). 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 mounting bracket (110) rotates about the first axis. The radar mounting bracket (110) includes a frame (111) and a shaft (112) connected to each other. The shaft (112) is arranged along the first axis direction, and the first hollow channel (1121) is arranged on the shaft (112) along the first axis direction.

5. The agricultural drone according to claim 4, characterized in that, The radar mounting bracket (110) also includes a fixing part (113), which is located at the bottom of the bracket (111) and coaxially arranged with the shaft (112). The first hollow channel (1121) passes through the shaft (112) and the fixing part (113). The driving component (130) is fixed to the fixing part (113).

6. The agricultural drone according to claim 3, characterized in that, The driving component (130) is used to drive the radar mounting bracket (110) to rotate along the first axis direction; The drive unit (130) includes a rotating shaft (131), which is coaxial with the first axis direction, and the rotating shaft (131) is provided with a second hollow channel (1311) along the first axis direction.

7. The agricultural drone according to claim 6, characterized in that, The driving component (130) further includes an upper base (132) and a lower base (133). The upper base (132) is fixed to the radar mounting bracket (110), and the lower base (133) is used to fix the driving component (130). One end of the rotating shaft (131) is sleeved on the upper base (132), and the other end of the rotating shaft (131) is rotatably connected to 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 mounting bracket (110) to rotate along the first axis direction.

8. The agricultural drone according to claim 2, characterized in that, The sensing module (010) also includes a housing; The top and bottom of the housing are respectively provided with a first connection port (220) and a second connection port (320) along the first axis direction. One end of the hollow channel is connected to the first connection port (220) and the other end is connected to the second connection port (320). The electrical connection line of the vision component (600) is connected to the main control unit (400) through the first connection port (220), the hollow channel and the second connection port (320).

9. The agricultural drone according to claim 8, characterized in that, The housing includes a first cylindrical housing (200) and an end plate (300) that are sealed together. 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 assembly (100) is rotatably connected to the first communication port (220), the fixed end of the radar assembly (100) is located on the top of the end plate (300), and the main control component (400) is located on the bottom of the end plate (300).

10. The agricultural drone according to claim 8, characterized in that, The main control unit (400) is located at the bottom of the housing; The radar assembly (100) includes a drive unit control unit (140) disposed near the bottom of the housing, and a connector (310) disposed at the bottom of the housing. The drive unit control unit (140) is electrically connected to the main control unit (400) via the connector (310).

11. The agricultural drone according to claim 2, characterized in that, A protective sleeve is provided inside the hollow channel, and at least the portion of the electrical connection wire located inside the hollow channel is wrapped by the protective sleeve.

12. The agricultural drone according to claim 1, characterized in that... The vision component (600) includes a second cylindrical housing (500) and a plurality of cameras (610) arranged circumferentially around the second cylindrical housing (500).

13. The agricultural drone according to claim 12, characterized in that, The circuit board (620) is disposed in the middle of the second cylindrical housing (500), and the plurality of cameras (610) are electrically connected to the circuit board (620).

14. The agricultural drone according to claim 1, characterized in that, The agricultural drone (01) also includes a spraying system, which includes nozzles disposed below the power unit (040) to spray using the wind field generated by the power unit (040).

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

Images