Soybean urease sand stabilization unmanned aerial vehicle and visual sand stabilization liquid spraying method

Abstract

The invention relates to the technical field of wind and sand control, and discloses a visual sand stabilization liquid spraying method based on a soybean urease sand stabilization unmanned aerial vehicle, and the unmanned aerial vehicle comprises a vehicle body, a spraying and cleaning system and a camera system. Starting an airplane, opening a second material valve after the airplane flies to a target spraying site, pumping the soybean urease catalytic liquid and urea-calcium chloride mixed liquid into a main tank according to the proportion of 1: 10, opening a stirrer, uniformly mixing, then immediately opening a first water pump, and spraying the mixed liquid to the surface layer of the sandy soil through a pipeline; after spraying is completed, a user immediately flies away from the spraying site, a first material valve is opened, and a strong-acidity buffer solution with the PH value of 1 is pumped into a main tank and then sprayed out through a first water pipe, a second water pipe and a spraying pipe to clean the strong-acidity buffer solution. During construction, the camera can be adjusted, the spraying condition is observed, the surface of the camera is cleaned through the cleaning sleeve, and it is guaranteed that the camera in a windy and sandy area is clear.

Description

Technical Field

[0001] The invention relates to the technical field of wind and sand control, and in particular to a soybean urease sand-fixing drone and a visualized sand-fixing liquid spraying method. Background Art

[0002] For a long time, wind and sand have been a prominent global environmental problem, posing a serious threat to human living environment and economic development. Soybean urease-induced desertification solidification technology is a new technology that uses the principle of biomineralization to solidify wind and sand. This technology extracts urease from soybeans, catalyzes the decomposition of urea to generate carbonate ions, and then combines with calcium ions in the soil to form calcium carbonate precipitates. These calcium carbonate precipitates can fill the pores between soil particles and enhance the cohesion between soil particles, thereby improving the mechanical properties and stability of wind and sand. However, currently, the artificial spraying method is mainly used for the construction of soybean urease-induced desertification solidification, which has the problems of low construction efficiency, high labor intensity, and difficulty in entering the hinterland of the desert. The present invention aims to develop visual high-precision spraying equipment and technology based on drones to solve the above three problems.

[0003] A Chinese patent discloses a sand patrol drone for sand prevention and control (authorization announcement number CN218703898U). In the patented technology, when the drone encounters wind and sand blocking the acrylic plate during patrol, which affects the patrol effect of the camera, the cleaning motor drives the screw rod to rotate, and the connecting seat slides in the moving groove, thereby driving the cleaning plate to move horizontally, thereby driving the cleaning brush to clean the dust on the acrylic plate to ensure the patrol effect of the camera; however, it has certain disadvantages: the cleaning plate always cleans through one surface, which will cause a large amount of dust to accumulate on the surface, thereby reducing the cleaning effect, and when the dry cleaning plate is used for cleaning, the camera surface will be gray, and the cleaning effect is not ideal; secondly, when the cleaning plate contacts the camera surface, these impurities will scratch the camera surface as the cleaning plate moves, causing irreversible damage. Summary of the invention

[0004] The purpose of the present invention is to provide a soybean urease-induced sand-fixing UAV and a visualized solidifying liquid spraying method to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A soybean urease sand-fixing UAV comprises a UAV body, a support plate is installed at the left end of the lower surface of the UAV body, a camera is installed at the lower surface of the support plate, a spraying mechanism is arranged in the middle of the lower surface of the UAV body, two support rods are symmetrically installed on the lower surface of the support plate located on the left side of the camera, a support frame is commonly installed on the outside of the two support rods, an adjustment mechanism is arranged on the upper surface of the support frame, a lifting frame is slidably connected to the two support rods located below the support frame, a telescopic cylinder is installed inside the lifting frame, a fixed frame is installed at the telescopic end of the telescopic cylinder, a second motor is installed on the front surface of the fixed frame, a fixed column is installed at the output end of the second motor, a cleaning sleeve is installed on the outer surface of the fixed column, and the rear surface of the fixed column is embedded with a first main pipe, a plurality of branch pipes are connected to the outer surface of the first main pipe from front to back, and a second main pipe is connected to the rear surface of the first main pipe in rotation, a water supply mechanism is arranged on the left side surface of the lifting frame located behind the telescopic cylinder, and a cleaning mechanism is arranged on the left side surface of the lifting frame located in front of the telescopic cylinder.

[0007] As a further solution of the present invention: the spraying mechanism includes a support seat, a speed sensor is installed on the left surface of the support seat, and a main tank is installed on the right end of the upper surface of the support seat, an agitator is installed inside the main tank, a first water pump is installed on the upper surface of the main tank, a first water pipe is installed at the water inlet end of the first water pump, and a second water pipe is installed at the water outlet end of the first water pump, a flow valve is installed at one end of the second water pipe, and a spraying pipe is installed at one end of the flow valve; the upper surface of the main tank is located outside the first water pump and is equipped with a first material valve and a second material valve connected to the inside of the main tank, the upper end of the first material valve is equipped with a first material tank, and the upper end of the second material valve is equipped with a second material tank.

[0008] As a further solution of the present invention: the adjustment mechanism includes an adjustment seat, a first motor is installed inside the adjustment seat, an adjustment rod is installed at the output end of the first motor, and an adjustment rope is wound around the outside of the adjustment rod.

[0009] As a further solution of the present invention: the water supply mechanism includes a fixed plate, a water tank is installed on the upper surface of the fixed plate, a second water pump is installed on the upper surface of the water tank, a third water pipe is installed at the water inlet end of the second water pump, and a fourth water pipe is installed at the water outlet end of the second water pump.

[0010] As a further solution of the present invention: the cleaning mechanism includes a connecting plate, a bottom cover is installed on the upper surface of the connecting plate, a filter plate is connected through one side surface of the bottom cover, and a fan is installed at the upper end of the bottom cover, a top cover is installed at the upper end of the fan, an air duct is connected through the upper surface of the top cover, a cleaning pipe is installed on the outside of one end of the air duct, a connecting block is installed on the outside of the cleaning pipe close to one end of the air duct, and a plurality of cleaning holes are opened on the right side surface of the cleaning pipe.

[0011] As a further solution of the present invention: the branch pipe is connected to the fixing column through the rear end of the second main pipe is installed on the inner rear surface of the fixing frame.

[0012] As a further solution of the present invention: the upper left end of the support seat is installed on the lower surface of the UAV body, and one end of the first water pipe penetrates and is connected to the upper surface of the main tank.

[0013] As a further solution of the present invention: the lower end of the adjustment seat is installed on the upper surface of the support frame, the adjustment rope movably passes through the lower surface of the adjustment seat and the support frame, and one end of the adjustment rope is connected to the lifting frame.

[0014] As a further solution of the present invention: the right end of the fixing plate is installed on the left side surface of the lifting frame, one end of the third water pipe is connected to the upper surface of the water tank, and one end of the fourth water pipe is connected to the upper surface of the second main pipe.

[0015] As a further solution of the present invention: the right end of the connecting plate is installed on the left side surface of the lifting frame, the cleaning pipe is located below the fixing frame, and the left end of the connecting block is installed on the front surface of the connecting plate.

[0016] The present invention also discloses a visualized sand-fixing liquid spraying method based on a soybean urease sand-fixing drone:

[0017] A mixed solution of urea and calcium chloride is stored in the main tank, a soybean urease leaching solution is stored in the second material tank, and an acidic buffer solution with a pH value of is stored in the first material tank.

[0018] Start the aircraft, fly to the target spraying site, open the second material valve, pump soybean urease catalyst liquid: urea-calcium chloride mixed liquid into the main tank in a ratio of 1:10, turn on the agitator, mix evenly, and then immediately turn on the first water pump, and spray the mixed liquid onto the surface of the sand through the pipeline; after the spraying is completed, immediately fly away from the spraying site, open the first material valve, pump a strongly acidic buffer solution with a pH value of into the main tank, and then spray it out through the first water pipe, the second water pipe, and the spraying pipe to clean them.

[0019] During spraying, the surface of the camera is cleaned with a cleaning sleeve to ensure visualization and clarity of the construction.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention uses the first water pump in the spraying mechanism to extract the soybean urease induced solidification liquid and spray it through the spraying pipe, so as to treat the desertified area. In addition, the speed sensor and the flow valve can be used to adjust the spraying speed in real time according to the flight speed, thereby achieving a treatment effect.

[0022] 2. The telescopic cylinder in the present invention extends to drive the cleaning sleeve to move rightward, and the adjustment mechanism drives the lifting frame to descend, so that the surface of the camera is cleaned by the cleaning sleeve, avoiding dust and impurities from affecting the image display effect of the camera.

[0023] 3. The present invention drives the fixed column to rotate through the second motor, so that different surfaces of the cleaning sleeve face the camera, avoiding the reduction of cleaning effect after the same surface is used for too long; the water supply mechanism adds water to the cleaning sleeve, and the cleaning effect of the wet cleaning sleeve is further improved.

[0024] 4. The present invention is provided with a cleaning mechanism. The fan in the cleaning mechanism generates airflow, and the airflow is ejected through the cleaning hole to clean away the harder particle impurities on the surface of the camera, thereby avoiding the friction between the harder particle impurities and the camera caused by the cleaning sleeve during cleaning, thereby avoiding scratches on the surface of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a soybean urease-induced sand-fixing UAV;

[0026] Figure 2 A partial schematic diagram of a soybean urease-induced sand-fixing UAV;

[0027] Figure 3 This is a schematic diagram of the structure of the spraying mechanism in a soybean urease-induced sand-fixing UAV;

[0028] Figure 4 for Figure 2 A partial schematic diagram of

[0029] Figure 5 A cross-sectional view of the regulating mechanism in a soybean urease-induced sand-fixing UAV;

[0030] Figure 6 A cross-sectional view of a fixed column in a soybean urease-induced sand-fixing UAV;

[0031] Figure 7 This is a schematic diagram of the structure of the water supply mechanism in a soybean urease-induced sand-fixing UAV;

[0032] Figure 8 This is a schematic diagram of the structure of a cleaning mechanism in a soybean urease-induced sand-fixing UAV;

[0033] Fig. 9 This is a partial right view of the cleaning pipe in a soybean urease-induced sand-fixing drone.

[0034] In the figure: 1. UAV body; 2. Support plate; 3. Camera; 4. Spraying mechanism; 5. Support seat; 6. Speed ​​sensor; 7. Main tank; 8. First water pump; 9. First water pipe; 10. Second water pipe; 11. Flow valve; 12. Spraying pipe; 13. Support rod; 14. Support frame; 15. Adjustment mechanism; 16. Adjustment seat; 17. First motor; 18. Adjustment rod; 19. Adjustment rope; 20. Lifting frame; 21. Telescopic cylinder; 22. Fixed frame; 23. Second motor; 24. Fixed column; 25. Cleaning sleeve; 26. First main pipe; 27. Branch pipe; 28. Second main pipe; 29. ​​Water supply mechanism; 30. Fixing plate; 31. Water tank; 32. Second water pump; 33. Third water pipe; 34. Fourth water pipe; 35. Cleaning mechanism; 36. Connecting plate; 37. Bottom cover; 38. Filter plate; 39. Fan; 40. Top cover; 41. Air duct; 42. Cleaning pipe; 43. Connecting block; 44. Cleaning hole; 45. First material valve; 46. Second material valve; 47. First material tank; 48. Second material tank. DETAILED DESCRIPTION

[0035] See also Figures 1 to 6In the embodiment of the present invention, a soybean urease-induced sand-fixing UAV includes a UAV body 1, a support plate 2 is installed at the left end of the lower surface of the UAV body 1, a camera 3 is installed on the lower surface of the support plate 2, a spraying mechanism 4 is arranged in the middle of the lower surface of the UAV body 1, and the spraying mechanism 4 includes a support seat 5, the upper left end of the support seat 5 is installed on the lower surface of the UAV body 1, a speed sensor 6 is installed on the left surface of the support seat 5, and a main tank 7 is installed at the right end of the upper surface of the support seat 5, and a stirring device is installed inside the main tank 7. A first water pump 8 is installed on the upper surface of the main tank 7, a first water pipe 9 is installed at the water inlet end of the first water pump 8, one end of the first water pipe 9 penetrates and is connected to the upper surface of the main tank 7, a second water pipe 10 is installed at the water outlet end of the first water pump 8, a flow valve 11 is installed at one end of the second water pipe 10, and a spray pipe 12 is installed at one end of the flow valve 11; a first material valve 45 and a second material valve 46 connected to the inside of the main tank 7 are installed on the upper surface of the main tank 7, located outside the first water pump 8, and a first material tank 47 is installed at the upper end of the first material valve 45. A second material tank 48 is installed at the upper end of the second material valve 46. Two support rods 13 are symmetrically installed on the lower surface of the support plate 2, which is located on the left side of the camera 3. A support frame 14 is installed on the outside of the two support rods 13. An adjustment mechanism 15 is provided on the upper surface of the support frame 14. The adjustment mechanism 15 includes an adjustment seat 16. The lower end of the adjustment seat 16 is installed on the upper surface of the support frame 14. A first motor 17 is installed inside the adjustment seat 16. An adjustment rod 18 is installed at the output end of the first motor 17. The outside of the adjustment rod 18 is wrapped with An adjusting rope 19, the exterior of the two supporting rods 13 is located below the supporting frame 14 and is slidably connected with a lifting frame 20, the adjusting rope 19 movably passes through the lower surface of the adjusting seat 16 and the supporting frame 14, and one end of the adjusting rope 19 is connected to the lifting frame 20, a telescopic cylinder 21 is installed inside the lifting frame 20, a fixed frame 22 is installed at the telescopic end of the telescopic cylinder 21, a second motor 23 is installed on the front surface of the fixed frame 22, a fixed column 24 is installed at the output end of the second motor 23, and a cleaning sleeve 25 is installed on the outer surface of the fixed column 24;

[0036] The drone is used to carry 4 spraying mechanisms to treat sand in desertified areas, such as island silt and fine sand. The soybean urease-induced solidification liquid is used to infiltrate the surface soil by 2-3 cm.

[0037] Camera 3 is used for real-time display of images;

[0038] The first material valve 45 and the second material valve 46 are electric valves, and the valve degree and flow rate can be controlled; a urea-calcium chloride mixture is placed in the main tank 7, a soybean urease catalytic solution is placed in the second material tank 48, and a strong acid buffer solution with a pH value of 3 is placed in the first material tank 47; before use, the first material valve 45 is used to pump the soybean urease catalytic solution: urea-calcium chloride mixture into the main tank 7 in a ratio of 1:10, the agitator is turned on, the mixture is mixed evenly, and then the first water pump 8 is immediately turned on, and the mixture is sprayed onto the surface of the sand and soil through the pipeline; even if it is used immediately, a small amount of cementitious calcium carbonate will be produced and attached to the inner wall of the pipeline, so the second material valve 46 is immediately opened after the sandblasting is completed, and the strong acid buffer solution with a pH value of 3 is pumped into the main tank 7, and then sprayed out through the first water pipe 9, the second water pipe 10, and the spray pipe 12 to clean them, and the first water pipe 9, the second water pipe 10, and the spray pipe 12 are all made of acid-resistant materials;

[0039] Composition and preparation method of soybean urease induced solidification liquid: The preparation method of soybean urease catalytic liquid is as follows: crush soybeans to less than 100 meshes, put them in tap water at a ratio of 20g / L, place them in a low temperature environment of 0-10°C and let them stand for 24 hours, then centrifuge and take the supernatant, which is the soybean urease catalytic liquid; the concentration of urea and calcium chloride in the urea-calcium chloride mixed liquid is 1Mol / L, and it is prepared by conventional methods;

[0040] The speed sensor 6 is used to monitor the flight speed of the UAV body 1 in real time, and the flow valve 11 is used to control the flow of the sprayed liquid, and the opening can be adjusted according to the received signal, thereby changing the spraying rate of the soybean urease induced solidification liquid;

[0041] The control of the UAV body 1 is realized through an external control system. When the UAV is flying, the speed sensor 6 continuously monitors and records the flight speed. After receiving the speed information, the external control system calculates the opening of the flow valve 11 that should be adjusted at the current speed according to the set speed-flow relationship curve (in the system design stage, one or more speed-flow relationship curves are pre-set according to the performance parameters of the UAV, the characteristics of the spraying equipment and the operation requirements. These curves define the corresponding optimal spraying rates at different flight speeds). The speed sensor 6 monitors the flight speed of the UAV in real time and sends the speed data to the external control system at a certain frequency (such as once per second). The external control system converts the calculated opening value into a control signal and sends it to the flow valve 11. The flow valve 11 automatically adjusts the opening according to the received control signal, thereby controlling the spray rate. If the speed of the UAV increases, the opening of the flow valve 11 will also increase accordingly, so that the spray rate is accelerated. The external control system continuously monitors the flight speed and adjusts the spray rate in real time according to the changes to ensure that the faster the speed, the faster the spray.

[0042] The first motor 17 is connected to the forward and reverse circuit and has a self-locking function, that is, after power is cut off, the motor shaft cannot rotate;

[0043] The adjusting rope 19 can drive the lifting frame 20 to move up and down;

[0044] The telescopic cylinder 21 is preferably an electric cylinder, which can drive the cleaning sleeve 25 to slightly press the camera surface of the camera 3 after being extended, and the pressing force will not affect the normal descent of the lifting frame 20;

[0045] The cleaning sleeve 25 is used to clean the dust on the surface of the camera 3 to avoid affecting the image display effect; the material of the cleaning sleeve 25 is preferably sponge;

[0046] The second motor 23 is preferably a stepper motor, which can rotate a fixed angle each time it is started, so that the cleaning sleeve 25 can clean the camera 3 at different sides.

[0047] exist Figure 2 , Figure 4 , Figure 6 and Figure 7 Middle: The rear surface of the fixed column 24 is embedded with a first main pipe 26, and the outer surface of the first main pipe 26 is penetrated and connected with a plurality of branch pipes 27 from front to back, and the branch pipes 27 are penetrated and connected to the fixed column 24. The rear surface of the first main pipe 26 is penetrated and rotatably connected with a second main pipe 28, and the rear end of the second main pipe 28 is installed on the inner rear surface of the fixed frame 22. The left surface of the lifting frame 20 is located behind the telescopic cylinder 21 and is provided with a water supply mechanism 29. The water supply mechanism 29 includes a fixed plate 30, and the right end of the fixed plate 30 is installed on the left surface of the lifting frame 20. A water tank 31 is installed on the upper surface of the fixed plate 30, and a second water pump 32 is installed on the upper surface of the water tank 31. A third water pipe 33 is installed at the water inlet end of the second water pump 32, and one end of the third water pipe 33 is penetrated and connected to the upper surface of the water tank 31. A fourth water pipe 34 is installed at the water outlet end of the second water pump 32, and one end of the fourth water pipe 34 is penetrated and connected to the upper surface of the second main pipe 28;

[0048] The second main pipe 28 and the fixed frame 22 are non-rotatable;

[0049] The second water pump 32 can pump water out of the water tank 31 and transport it to the first main pipe 26. The water is output through the branch pipe 27 and absorbed by the cleaning sleeve 25. The cleaning efficiency of the wet cleaning sleeve 25 is improved, avoiding the effect that the camera 3 is still gray after cleaning.

[0050] exist Figure 2 , Figure 4 , Figure 8 and Fig. 9Middle: A cleaning mechanism 35 is provided on the left side surface of the lifting frame 20 in front of the telescopic cylinder 21. The cleaning mechanism 35 includes a connecting plate 36. The right end of the connecting plate 36 is installed on the left side surface of the lifting frame 20. A bottom cover 37 is installed on the upper surface of the connecting plate 36. A filter plate 38 is connected through one side surface of the bottom cover 37. A fan 39 is installed on the upper end of the bottom cover 37. A top cover 40 is installed on the upper end of the fan 39. An air duct 41 is connected through the upper surface of the top cover 40. A cleaning pipe 42 is installed on the outside of one end of the air duct 41. The cleaning pipe 42 is located below the fixing frame 22. A connecting block 43 is installed on the outside of the cleaning pipe 42 near one end of the air duct 41. The left end of the connecting block 43 is installed on the front surface of the connecting plate 36. A plurality of cleaning holes 44 are opened on the right side surface of the cleaning pipe 42.

[0051] The fan 39 draws air from the outside, and the airflow is ejected through the cleaning hole 44 to clean the hard impurities on the surface of the camera 3, thereby preventing the cleaning sleeve 25 from causing the hard impurities to rub against the camera 3 and cause scratches on the camera 3;

[0052] The filter plate 38 prevents dust in the external air from being drawn into the bottom cover 37 .

[0053] The working principle of the present invention is as follows: when in use, the staff controls the drone to take off through an external control system and fly to a desertified area; the first water pump 8 extracts the soybean urease-induced solidifying liquid in the main tank 7 and sprays it through the spray pipe 12, and the speed sensor 6 detects the flight speed of the drone body 1. The faster the speed, the larger the opening of the flow valve 11, and vice versa; when dust adheres to the display screen of the camera 3, the telescopic cylinder 21 extends to drive the fixing frame 22 to move right, and the second water pump 32 extracts water and transports it to the first main pipe 26, and the water is output through the branch pipe 27 and absorbed by the cleaning sleeve 25; the first The motor 17 drives the adjusting rod 18 to rotate, releases the adjusting rope 19, and the lifting frame 20 will descend. The fan 39 blows air into the cleaning pipe 42, and the airflow is ejected through the cleaning hole 44. During the descent of the lifting frame 20, the airflow first cleans away the harder particles and impurities on the surface of the camera 3, and the cleaning sleeve 25 cleans the camera 3. After several up and down cycles, the camera 3 is cleaned. During the next cleaning, the second motor 23 drives the fixing column 24 to rotate a certain angle, so that different surfaces of the cleaning sleeve 25 face the camera 3, avoiding the use of the same surface for too long and reducing the cleaning effect.

[0054] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0055] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A soybean urease sand-fixing drone, characterized in that: The invention comprises an unmanned aerial vehicle body (1), a support plate (2) is installed at the left end of the lower surface of the unmanned aerial vehicle body (1), a camera (3) is installed on the lower surface of the support plate (2), a spraying mechanism (4) is arranged in the middle of the lower surface of the unmanned aerial vehicle body (1), two support rods (13) are symmetrically installed on the lower surface of the support plate (2) located on the left side of the camera (3), a support frame (14) is installed on the outside of the two support rods (13), an adjustment mechanism (15) is arranged on the upper surface of the support frame (14), a lifting frame (20) is slidably connected to the outside of the two support rods (13) located below the support frame (14), a telescopic cylinder (21) is installed inside the lifting frame (20), and the telescopic end of the telescopic cylinder (21) is A fixing frame (22) is installed, a second motor (23) is installed on the front surface of the fixing frame (22), a fixing column (24) is installed on the output end of the second motor (23), and a cleaning sleeve (25) is installed on the outer surface of the fixing column (24), characterized in that a first main pipe (26) is embedded and connected to the rear surface of the fixing column (24), a plurality of branch pipes (27) are connected to the outer surface of the first main pipe (26) from front to back, and a second main pipe (28) is connected to the rear surface of the first main pipe (26) in a rotatable manner, a water supply mechanism (29) is arranged on the left side surface of the lifting frame (20) located behind the telescopic cylinder (21), and a cleaning mechanism (35) is arranged on the left side surface of the lifting frame (20) located in front of the telescopic cylinder (21).

2. A soybean urease sand-fixing UAV according to claim 1, characterized in that: The spraying mechanism (4) comprises a support seat (5), a speed sensor (6) is installed on the left surface of the support seat (5), and a main tank (7) is installed on the right end of the upper surface of the support seat (5), an agitator is installed inside the main tank (7), a first water pump (8) is installed on the upper surface of the main tank (7), a first water pipe (9) is installed at the water inlet end of the first water pump (8), and a second water pipe (10) is installed at the water outlet end of the first water pump (8), a flow valve (11) is installed at one end of the second water pipe (10), and a spraying pipe (12) is installed at one end of the flow valve (11); a first material valve (45) and a second material valve (46) connected to the inside of the main tank (7) are installed on the upper surface of the main tank (7) outside the first water pump (8), a first material tank (47) is installed at the upper end of the first material valve (45), and a second material tank (48) is installed at the upper end of the second material valve (46).

3. The soybean urease sand-fixing UAV according to claim 1, characterized in that: The adjustment mechanism (15) comprises an adjustment seat (16), a first motor (17) is installed inside the adjustment seat (16), an adjustment rod (18) is installed at the output end of the first motor (17), and an adjustment rope (19) is wound around the outside of the adjustment rod (18).

4. The soybean urease sand-fixing UAV according to claim 1, characterized in that: The water supply mechanism (29) comprises a fixing plate (30), a water tank (31) is mounted on the upper surface of the fixing plate (30), a second water pump (32) is mounted on the upper surface of the water tank (31), a third water pipe (33) is mounted on the water inlet end of the second water pump (32), and a fourth water pipe (34) is mounted on the water outlet end of the second water pump (32).

5. The soybean urease sand-fixing UAV according to claim 1, characterized in that: The cleaning mechanism (35) comprises a connecting plate (36), a bottom cover (37) is mounted on the upper surface of the connecting plate (36), a filter plate (38) is connected through one side surface of the bottom cover (37), a fan (39) is mounted on the upper end of the bottom cover (37), a top cover (40) is mounted on the upper end of the fan (39), an air duct (41) is connected through the upper surface of the top cover (40), a cleaning pipe (42) is mounted on the outside of one end of the air duct (41), a connecting block (43) is mounted on the outside of the cleaning pipe (42) close to one end of the air duct (41), and a plurality of cleaning holes (44) are provided on the right side surface of the cleaning pipe (42).

6. The soybean urease sand-fixing UAV according to claim 1, characterized in that: The branch pipe (27) penetrates and is connected to the fixing column (24), and the rear end of the second main pipe (28) is installed on the inner rear surface of the fixing frame (22).

7. The soybean urease sand-fixing UAV according to claim 2, characterized in that: The left upper end of the support seat (5) is mounted on the lower surface of the drone body (1), and one end of the first water pipe (9) is connected to the upper surface of the main tank (7).

8. The soybean urease sand-fixing UAV according to claim 3, characterized in that: The lower end of the adjustment seat (16) is mounted on the upper surface of the support frame (14), the adjustment rope (19) movably passes through the lower surface of the adjustment seat (16) and the support frame (14), and one end of the adjustment rope (19) is connected to the lifting frame (20).

9. The soybean urease sand-fixing UAV according to claim 4, characterized in that: The right end of the fixing plate (30) is mounted on the left side surface of the lifting frame (20), one end of the third water pipe (33) is connected to the upper surface of the water tank (31), and one end of the fourth water pipe (34) is connected to the upper surface of the second main pipe (28).

10. The soybean urease sand-fixing UAV according to claim 5, characterized in that: The right end of the connecting plate (36) is mounted on the left side surface of the lifting frame (20), the cleaning pipe (42) is located below the fixing frame (22), and the left end of the connecting block (43) is mounted on the front surface of the connecting plate (36).

11. The visual sand-fixing liquid spraying method based on soybean urease sand-fixing drone according to any one of claims 1 to 10 is characterized in that: The main tank (7) stores a mixed solution of urea and calcium chloride, the second material tank (48) stores a soybean urease leaching solution, and the first material tank (47) stores an acidic buffer solution with a pH value of 3.

12. The visual sand-fixing liquid spraying method of soybean urease sand-fixing drone according to any one of claims 1 to 10 is characterized in that: The aircraft is started and after arriving at the target spraying location, the second material valve (46) is opened, and the soybean urease catalytic solution: urea-calcium chloride mixed solution is pumped into the main tank (7) in a ratio of 1:10, the agitator is turned on, the mixture is evenly mixed, and then the first water pump (8) is immediately turned on, and the mixed solution is sprayed onto the surface of the sand and soil through the pipeline; after the spraying is completed, the aircraft immediately flies away from the spraying location, opens the first material valve (45), and pumps a strong acidic buffer solution with a pH value of 3 into the main tank (7), and then sprays it out through the first water pipe (9), the second water pipe (10), and the spraying pipe (12) to clean them.

13. The visual sand-fixing liquid spraying method of soybean urease sand-fixing drone according to any one of claims 1 to 10 is characterized in that: During spraying, the surface of the camera is cleaned by a cleaning sleeve (25) to ensure visualization and clarity of the construction.

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