A three-dimensional spraying unmanned aerial vehicle and a working method thereof

Abstract

The application discloses a three-dimensional spraying unmanned plane and a working method thereof, and belongs to the field of unmanned plane technology.The three-dimensional spraying unmanned plane comprises a fuselage, an arm, a landing gear, a power system component, a spraying working component, a fuselage telescopic component and a minimum control unit.The fuselage is in a hollow layout in a round-corner rectangle form, the diameter of the fuselage can be controlled through the telescopic component, the arm extends from the center of the four round corners to the outside, the power system component comprises a rotor, a motor and a motor base, the spraying working component comprises a medicine box, a water pump, a hose and a spray head, the fuselage telescopic component comprises a laser radar and an electric push rod, and the minimum control unit comprises a flight controller, a GPS, a receiver and a wireless data transmitter.The application effectively solves the problem that a traditional unmanned plane cannot spray through in a spraying process, and can uniformly spray liquid medicine to all parts of a tree crown layer, thereby effectively improving the working effect of the unmanned plane in spraying liquid medicine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural aerial plant protection technology, in particular to a three-dimensional spraying unmanned aerial vehicle and a working method thereof. BACKGROUND

[0002] In recent years, with the advancement of agricultural modernization process, the level of agricultural mechanization has been significantly improved, and the agricultural aerial plant protection technology has been greatly improved in efficiency compared with the traditional manual operation, which makes the agricultural aviation more and more widely used. However, in the process of aerial plant protection operation, for some trees with high tree body and many tree crown levels, due to the influence of leaf shielding, the traditional four-rotor or fixed-wing plant protection unmanned aerial vehicle cannot reach or effectively act on all target positions, and the mist droplets are difficult to settle at the bottom of the crown layer, and the operation effect is uneven. The current solution is usually to increase the number of rotors to improve the wind speed of the down pressure field, so as to improve the penetration of mist droplets, but too large wind speed will cause irreversible damage to the trees. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art, provide a three-dimensional spraying unmanned aerial vehicle and a working method thereof. The unmanned aerial vehicle designed in this application can fully play the advantages of the "hollow" unmanned aerial vehicle in the process of aerial plant protection spraying for high trees. According to the model of the target operation tree scanned by the laser radar carried by the unmanned aerial vehicle, the diameter of the fuselage is adjusted in real time by controlling the fuselage telescopic assembly, so that the unmanned aerial vehicle can always surround the tree for three-dimensional spraying operation, thereby forming a three-dimensional spraying unmanned aerial vehicle operation method. The problem of poor penetration of mist droplets and uneven operation effect in the process of traditional plant protection unmanned aerial vehicle operation is effectively solved, and the efficiency and effect of aerial plant protection operation are improved.

[0004] The preferred technical solution of the present application to solve the above technical problems is:

[0005] A three-dimensional spraying unmanned aerial vehicle, comprising: a fuselage, an arm, a landing gear, a power system assembly, a spraying operation assembly, a fuselage telescopic assembly, and a minimum control unit; the fuselage is in a hollow layout of a circular rectangular form, and the diameter of the fuselage can be controlled by the fuselage telescopic assembly; the fuselage telescopic assembly comprises a laser radar and an electric push rod; the arm extends outward from the center point of the four corners; the power system assembly comprises a rotor, a motor, a motor base, and a battery; the spraying operation assembly comprises a water pump, a pesticide tank, and a spray head; the minimum control unit comprises a flight controller, a GPS, a receiver, and a wireless data transmission.

[0006] In the above scheme, the fuselage is in a hollow layout of a circular rectangular form, and the fuselage is made of a circular tube.

[0007] In the above solution, the number of the arms is 4, and the 4 arms are respectively connected to the four rounded corners of the fuselage through connecting parts, extending outward from the center point of the rounded corner.

[0008] In the above solution, the motor is installed at the end of the machine arm through the motor base, and the rotor is installed on the output head of the motor; the battery is installed under the machine body.

[0009] In the above solution, the landing gear is installed below the motor base and is parallel to the aircraft arm and the fuselage.

[0010] In the above scheme, the water pump and the medicine box are installed under the arm; the quality of the liquid medicine in the four medicine boxes changes the same during the operation of the drone, thereby ensuring the stable flight of the drone; the nozzle is installed on the inner side of the landing gear and presents a certain angle with the vertical direction.

[0011] In the above scheme, the laser radar is installed under the fuselage in the forward direction of the UAV, and the electric push rod is installed on the inner side of the fuselage tube in four directions; when the UAV needs to increase the fuselage diameter, the electric push rod rotates forward to control the push rod to extend; when the UAV needs to reduce the fuselage diameter, the electric push rod rotates reverse to control the push rod to retract.

[0012] In the above solution, the minimum control unit is installed under the fuselage in the positive direction of the UAV's forward movement. The minimum control unit is used to integrate the flight controller, GPS, receiver and wireless data transmission to achieve precise control and real-time monitoring of the UAV.

[0013] A method for operating a three-dimensional spraying drone is characterized by comprising the following steps:

[0014] A1: Before takeoff, place the drone in an open area with the drone's fuselage at its smallest diameter and the electric actuator fully retracted. Load the drone's medicine tanks with the appropriate liquids, ensuring that the liquids in all four tanks are of equal quality.

[0015] A2: The drone takes off and is controlled to fly to the work area. At this time, the lidar starts working, scanning the tree information below the drone in real time and modeling it.

[0016] A3: The drone's flight controller analyzes and calculates the data scanned by the lidar to keep the drone hovering directly above the target tree and record its current position S0.

[0017] A4: The unmanned aerial vehicle begins to carry out the stereoscopic spraying operation, at this time the unmanned aerial vehicle slowly descends, the spray head continuously sprays the pesticide liquid, and the electric push rod controls the extension of the push rod according to the diameter information of the tree canopy scanned by the laser radar, so that the diameter of the unmanned aerial vehicle body matches the diameter of the tree canopy. In the process of descending of the unmanned aerial vehicle, the flight controller makes the unmanned aerial vehicle in a slow clockwise yaw motion by changing the rotating speed of the four motors, so that the spraying of the pesticide liquid can cover every direction of each canopy plane. The laser radar continuously works, constantly improves and supplements the point cloud information of each canopy of the current tree, and saves the above information and the height of the unmanned aerial vehicle in the established tree model, and at the same time completes the surveying and mapping of the target operation tree, and the collected model information provides data support and guidance for subsequent operation.

[0018] A5: After the operation is completed, the pesticide liquid stops spraying, and the operator controls the unmanned aerial vehicle to slowly ascend, and at the same time the diameter of the unmanned aerial vehicle body is slowly contracted according to the diameter information of the tree canopy scanned by the laser radar, until reaching the operation starting point above the operation tree, that is, S0.

[0019] A6: The unmanned aerial vehicle goes to the next target operation area, and repeats the steps of A2-A5.

[0020] A4 further includes:

[0021] A41: The unmanned aerial vehicle always completely covers the target operation tree during the descending process, and the flight controller controls the unmanned aerial vehicle body extension module to make the diameter of the unmanned aerial vehicle always greater than the diameter of the canopy of the tree on the current horizontal plane according to the canopy information of the tree scanned by the laser radar, so as to ensure the safety of the unmanned aerial vehicle operation;

[0022] A42: In the process of descending of the unmanned aerial vehicle, the flight controller makes the unmanned aerial vehicle in a slow clockwise yaw motion by changing the rotating speed of the four motors, so that the spraying of the pesticide liquid can cover every direction of each canopy plane.

[0023] A43: In the process of descending of the unmanned aerial vehicle, the laser radar continuously works, constantly improves and supplements the point cloud information of each canopy of the current tree, and saves the above information and the height of the unmanned aerial vehicle in the established tree model, and at the same time completes the surveying and mapping of the target operation tree, and the collected model information provides data support and guidance for subsequent operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the stereoscopic spraying unmanned aerial vehicle of the application

[0025] Figure 2 It is a partial enlarged view of the stereoscopic spraying unmanned aerial vehicle of the application

[0026] Figure 3Schematic diagram of the electric push rod of the three-dimensional spraying drone of the present invention

[0027] Figure 4 Schematic diagram of the operation of the three-dimensional spraying drone of the present invention DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments and drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] like Figure 1 Schematic diagram of the structure of the three-dimensional spraying drone of the present invention; when the electric push rod installed on the inner side of the fuselage tube is extended, the diameter of the fuselage increases, as shown in the schematic diagram Figure 3 shown.

[0030] The drone of the present invention comprises a fuselage, an arm, a landing gear, a power system component, a spraying operation component, a fuselage telescopic component, and a minimum control unit (2), wherein the fuselage is in a rounded rectangular hollow layout, the fuselage is made of a round tube, the number of the arms is 4, and the 4 arms are respectively connected to the four rounded corners of the fuselage through connectors, extending outward from the center point of the rounded corners; a motor base 8 is installed at the end of the arm, and the landing gear is installed below the motor base 8, maintaining verticality with the arm and the fuselage plane, and in a vertically downward direction; a water pump 9 and a medicine box 10 are installed below the arm, and a rotor 6 is installed on the output head of the motor 7; the battery 3 is installed below the fuselage. The laser radar 1 is installed under the fuselage in the positive direction of the UAV's advance, and the electric push rod 4 is installed on the inner side of the fuselage tube in four directions; when the UAV needs to increase the diameter of the fuselage, the electric push rod 4 rotates forward to control the push rod to extend; when the UAV needs to reduce the diameter of the fuselage, the electric push rod 4 reverses to control the push rod to retract; the minimum control unit 2 is installed under the fuselage in the positive direction of the UAV's advance. The minimum control unit 2 is used to integrate the flight controller, GPS, receiver and wireless data transmission to achieve precise control and real-time monitoring of the UAV. The minimum control unit 2 is the core control module of the UAV, responsible for the flight control, navigation, communication and data transmission functions of the UAV.

[0031] The minimum control unit uses the flight controller to adjust the drone's attitude, altitude, speed, and direction in real time, ensuring it follows the planned flight path and operational requirements. The GPS module acquires the drone's geographic location, which, combined with data from the flight controller, enables precise positioning and navigation. A receiver and wireless data transmission module enable real-time communication and data transmission between the drone and the ground control station, enabling operators to monitor the drone's status and operational progress. The minimum control unit also processes data collected by sensors such as lidar to generate a three-dimensional model of the tree canopy. Based on this model, the unit adjusts the drone's flight parameters and fuselage diameter to ensure the accuracy and effectiveness of three-dimensional spraying operations.

[0032] Before takeoff, the three-dimensional spraying drone is positioned in an open area. The drone's fuselage is at its minimum diameter, and the electric actuator is fully retracted, facilitating pre-operation inspection, spray loading, equipment commissioning, and transportation. The drone's spray tanks are loaded with spray material, ensuring that the four tanks contain equal amounts of spray, each supplying a single nozzle. This ensures consistent spray distribution throughout the drone's operation, enhancing flight stability. The drone takes off, and the operator controls its flight to the operation area. The lidar (LiDAR) begins operating, scanning the trees below the drone in real time and creating a point cloud 3D model of the trees based on this information. The drone's flight controller analyzes the model captured by the LiDAR to calculate the coordinates of the target tree's center point. The drone is then controlled to hover directly above the target tree, while recording its position at that point, designated as S0. The drone then began its three-dimensional spraying operation. Under the operator's command, the drone slowly descended, and the nozzles located inside the landing gear began to continuously spray the liquid. Simultaneously, the drone's telescopic assembly controlled the extension and retraction of electric actuators based on the tree canopy diameter scanned by the lidar, maintaining the drone's diameter in line with the tree canopy. This ensured the drone's diameter was always larger than the canopy's diameter at the current horizontal level, ensuring safe operation and enhancing the effectiveness of the spray. Throughout the operation, the drone circled the tree, keeping the canopy inside the hollow fuselage. During the descent, the flight controller varied the speed of the four motors to maintain a slow clockwise or counterclockwise yaw motion, ensuring that the spray reached every direction of the canopy. The sprayed liquid, sprayed obliquely downward, adhered to the leaves of the tree canopy due to the wind generated by the drone's rotors. The drone's up-and-down motion and yaw ensured that the liquid covered every layer and direction of the canopy evenly. After the operation is completed, spraying stops and the operator controls the drone to slowly ascend. The drone stops yaw motion and its diameter slowly contracts based on the tree canopy diameter information scanned by the lidar until it reaches the starting point (S0) above the trees being operated on. The drone then moves to the next target operation area and repeats the above steps.

[0033] In a preferred embodiment, when the target tree canopy is dense and requires multiple spraying operations, the drone can continue spraying during its ascent, maintaining a slow yaw motion. Because the drone has already established a complete tree canopy model and corresponding drone altitude information during the descent, it can directly read this information during the ascent to control the drone's electric actuators, maintaining the drone's fuselage diameter in line with the tree canopy diameter, ensuring that the drone's diameter is always larger than the tree canopy diameter at the current horizontal plane, thus ensuring safe operation.

[0034] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A three-dimensional spraying drone operation method, characterized by: The UAV comprises: a fuselage, an arm, a landing gear, a power system component, a spraying operation component, a fuselage telescopic component, and a minimum control unit (2); the fuselage is a rounded rectangular hollow layout, and can be telescoped to control the diameter of the fuselage through the fuselage telescopic component; the fuselage telescopic component comprises: a laser radar (1), an electric push rod (4); the arm extends outward from the center point of the four rounded corners; the power system component comprises: a rotor (6), a motor (7), a motor base (8), and a battery (3); the spraying operation component comprises: a water pump (9), a medicine box (10), and a spray head (11); the minimum control unit (2) comprises: a flight controller, a GPS, a receiver, and a wireless data transmission; The laser radar (1) is installed below the fuselage in the forward direction of the UAV, and the electric push rod (4) is installed on the inner side of the fuselage tube in four directions; when the UAV needs to increase the fuselage diameter, the electric push rod (4) rotates forward to control the push rod to extend; when the UAV needs to reduce the fuselage diameter, the electric push rod (4) rotates reverse to control the push rod to retract; The operation method includes: A1: Before takeoff, place the drone in an open area with the drone's fuselage at its minimum diameter and the electric push rod fully retracted. Load the drone's medicine tanks with the relevant liquids, ensuring that the liquids in all four tanks are of equal quality. A2: The drone takes off and is controlled to fly to the work area. The lidar starts working, scanning and modeling the trees below the drone in real time. A3: The drone's flight controller analyzes and calculates the data scanned by the lidar to keep the drone hovering directly above the target tree and record its current position S0. A4: The drone begins three-dimensional spraying. The drone slowly descends, and the nozzle continues to spray liquid. Simultaneously, the electric push rod controls the extension of the push rod based on the diameter of the tree canopy scanned by the lidar, keeping the drone's fuselage diameter matching the tree canopy diameter. A41: During descent, the drone completely encircles the target tree. The flight controller uses the tree canopy information scanned by the lidar to control the fuselage telescoping module to ensure that the drone's diameter is always larger than the current horizontal tree canopy diameter, ensuring safe operation. A42: During the descent, the flight controller changes the speed of the four motors to keep the drone in a slow clockwise yaw motion, ensuring that the spray can cover every direction of every canopy plane; A43: During the drone's descent, the LiDAR system continues to work, continuously improving and supplementing the point cloud information of each tree canopy layer. This information, along with the drone's altitude, is stored in the established tree model. Simultaneously, the target tree is mapped. The collected model information provides data support and guidance for subsequent operations. A5: After the operation is completed, the spraying stops and the operator controls the drone to slowly ascend. At the same time, the fuselage diameter slowly shrinks according to the tree canopy diameter information scanned by the lidar until it reaches the operation starting point above the operating tree, that is, S0; A6: The drone moves to the next target operation area and repeats steps A2-A5.

2. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The fuselage is in a rounded rectangular hollow configuration and is made of a round tube.

3. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The number of the arms is 4, and the 4 arms are connected to the four rounded corners of the fuselage through connecting pieces, and extend outward from the center point of the rounded corner.

4. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The motor (7) is mounted on the end of the machine arm via a motor base (8), and the rotor (6) is mounted on the output head of the motor (7); the battery (3) is mounted below the machine body.

5. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The landing gear is installed below the motor base (8), is kept perpendicular to the aircraft arm and the aircraft body plane, and is oriented vertically downward.

6. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The water pump (9) and the medicine box (10) are installed below the arm; the quality of the liquid medicine in the four medicine boxes changes in the same way during the operation of the UAV, thereby ensuring the stable flight of the UAV; the nozzle (11) is installed on the inner side of the landing gear and presents a certain angle with the vertical direction.

7. The three-dimensional spraying drone operation method according to claim 1, characterized in that: The minimum control unit (2) is installed below the fuselage of the UAV in the forward direction. The minimum control unit (2) is used to integrate the flight controller, GPS, receiver and wireless data transmission to achieve precise control and real-time monitoring of the UAV.

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