Residual pesticide amount detection device of pesticide spraying unmanned aerial vehicle

Abstract

The invention belongs to the technical field of liquid level detection, and particularly relates to a pesticide spraying unmanned aerial vehicle residual pesticide amount detection device which comprises a box cover installed at the top of a pesticide box, a control mainboard installed at the top of the box cover, an infrared liquid level meter arranged below the box cover and a strip-shaped plate arranged below the box cover. A strip-shaped hole is formed in the end face of the strip-shaped plate, a movable seat is slidably connected into the strip-shaped hole, a mounting assembly is mounted at the bottom of the movable seat, and the infrared liquid level meter is mounted in the mounting assembly. After the pesticide box inclines, the liquid level of the lowest point of the pesticide box can be accurately detected, the pesticide remaining amount can be accurately judged, liquid level fluctuation signal output can be reduced, the liquid level detection stability can be improved, meanwhile, pesticide liquid can be stirred before pesticide spraying, the good uniformity of the pesticide liquid is kept, and the pesticide liquid spraying effect is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of liquid level detection, and in particular relates to a device for detecting the remaining amount of medicine in a spraying drone. Background Art

[0002] In the process of agricultural modernization, drones are widely used for spraying pesticides. Accurately controlling the remaining amount of liquid medicine is the key to ensuring efficient operations and avoiding waste of resources. If the remaining liquid medicine cannot be known in real time and accurately, it is easy to cause delays in replenishment or excessive spraying, which will not only reduce operational efficiency but may also affect crop growth and the ecological environment. Therefore, reliable monitoring technology is urgently needed.

[0003] At present, the position of the liquid inside the medicine box is generally monitored by a liquid level sensor or other liquid level detection instrument, which can quickly and real-time detect the remaining amount of liquid, such as the agricultural spraying drone residual amount detection device disclosed in patent announcement number CN218411371U; However, during the actual flight operation of the UAV, its flight attitude is in dynamic change and does not always remain in a horizontal state. The medicine box is closely connected to the UAV and will tilt synchronously. Once the medicine box tilts, the lowest point of its inner wall will also change accordingly. Traditional liquid level detection instruments can usually only monitor the liquid level at a fixed point in the medicine box. When the medicine box tilts, this fixed monitoring point may not be able to cover the new lowest point of the medicine box, especially when the remaining liquid medicine gradually decreases to a small amount. It is very likely that the insufficient remaining liquid medicine cannot be monitored in time, which greatly reduces the effect of liquid level detection and seriously affects the continuity and accuracy of the UAV pesticide spraying operation. Summary of the invention

[0004] The purpose of the present invention is to provide a device for detecting the remaining amount of medicine in a spraying drone in order to solve the above-mentioned problem.

[0005] To achieve the above object, the present invention adopts the following technical scheme: a device for detecting the amount of residual medicine in a spraying drone, comprising a box cover installed on the top of a medicine box, a control mainboard installed on the top of the box cover, an infrared liquid level meter arranged below the box cover, and further comprising: A strip plate is arranged below the box cover, a strip hole is opened on the end surface of the strip plate, and a movable seat is slidably connected inside the strip hole, a mounting assembly is installed at the bottom of the movable seat, and the infrared liquid level meter is installed inside the mounting assembly; A magnetic push adjustment unit is installed inside the strip plate and is used to adjust the position of the movable seat; A rotation driving unit is installed on the end surface of the box cover, and the rotation driving unit is used to drive the strip plate to rotate; The skew detection unit is installed on the top of the box cover, and the control mainboard controls the magnetic push adjustment unit and the rotation drive unit to work according to the electrical signal fed back by the skew detection unit; The feeding pipe is fixedly plugged on the top of the box cover.

[0006] Preferably, the mounting assembly includes a fixed block fixedly mounted on the bottom of the movable seat, a ball groove is provided on the end face of the fixed block, and a steel ball is rotatably arranged inside the ball groove, a detection hole is provided at the top center of the steel ball, and the detection end of the infrared liquid level meter is fixedly arranged inside the detection hole, the infrared liquid level meter is electrically connected to the control main board, and a stabilizing mechanism is installed at the bottom of the steel ball.

[0007] Preferably, the magnetic push adjustment unit includes magnetic isolation blocks arranged on both sides of the movable seat, and the two magnetic isolation blocks are fixedly installed on the side walls of the movable seat, the two side walls of the magnetic isolation blocks are fixedly installed with permanent magnet blocks, the hole walls on two opposite sides of the bar hole are provided with sliding grooves, and the two magnetic isolation blocks are slidably arranged inside the sliding grooves, the groove walls on one side of the two sliding grooves are fixedly plugged with left electromagnetic blocks, and the groove walls on the side of the two sliding grooves away from the left electromagnetic blocks are fixedly plugged with right electromagnetic blocks, and the two left electromagnetic blocks and the two right electromagnetic blocks are electrically connected to the control main board.

[0008] Preferably, the rotational drive unit includes a driving motor fixedly mounted on the top of the box cover, the output shaft of the driving motor is rotatably connected to the end face of the box cover, a connecting plate is fixedly mounted on the top of the strip plate, a lower encoder is arranged between the connecting plate and the output shaft of the driving motor, and the housing of the lower encoder is fixedly connected to the bottom of the box cover, the output shaft of the driving motor drives the connecting plate to rotate via the shaft of the lower encoder, and the driving motor and the lower encoder are electrically connected to the control main board.

[0009] Preferably, the skew detection unit includes a fixed cover which is sleeved on the outside of the driving motor, and the fixed cover is fixedly installed on the top of the box cover, the end face of the fixed cover is rotatably connected to a rotating rod, and a connecting wheel is fixedly installed on the bottom of the rotating rod, a connecting strip is provided on one side of the connecting wheel, a tension detector is fixedly inserted into the side wall of the connecting wheel, and the movable end of the tension detector is fixedly connected to the end of the connecting strip, and a gravity counterweight ball is fixedly connected to the end of the connecting strip away from the connecting wheel, an upper encoder coaxial with the rotating rod is fixedly installed on the top of the fixed cover, and the shaft of the upper encoder is transmission-connected to the rotating rod, the control main board controls the operation of the left electromagnetic block and the right electromagnetic block according to the electrical signal fed back by the tension detector, and the control main board controls the operation of the driving motor according to the electrical signal fed back by the upper encoder.

[0010] Preferably, the stabilizing mechanism includes a fixed tube fixedly installed at the bottom of the steel ball, and a movable tube is slidably connected to the lower inner side of the fixed tube, a plurality of liquid holes are opened on the lower side of the tube wall of the movable tube, a stirring assembly is installed on the fixed tube, and a magnetic attraction assembly is installed on the fixed block.

[0011] Preferably, the stirring assembly includes a fixed ring fixedly sleeved on the upper end of the outer wall of the fixed tube, and the outer wall of the fixed ring is provided with a plurality of grooves, each of the grooves is hingedly provided with a stirring rod, and a centrifugal weight ball is fixedly installed at the bottom end of each stirring rod.

[0012] Preferably, the magnetic attraction component includes two fixed grooves opened in the wall of the ball groove, and the interiors of the two fixed grooves are slidably connected with arc-shaped electromagnetic blocks. The two arc-shaped electromagnetic blocks are both installed with elastic telescopic components, and the elastic telescopic components are installed on the side walls of the fixed blocks. The two arc-shaped electromagnetic blocks are both electrically connected to the control main board.

[0013] Compared with the existing technology, the advantages of a spraying drone residual medicine detection device are: 1. Through the cooperation of the medicine box, box cover, control main board, infrared liquid level meter, strip plate, strip hole, movable seat, mounting assembly, magnetic push adjustment unit, rotation drive unit and skew detection unit, the detection position of the infrared liquid level meter can be automatically adjusted based on the tilt direction and tilt angle of the medicine box to ensure that the infrared liquid level meter can detect the liquid level at the lowest point of the medicine box to ensure the accuracy of the liquid level detection, so as to accurately judge the remaining amount of spraying medicine.

[0014] 2. By setting up a stabilizing mechanism, the influence of liquid surface fluctuation on liquid level detection can be reduced during the spraying operation, thereby reducing the output of liquid level fluctuation signals and improving the stability of liquid level detection.

[0015] 3. By setting up the stirring component, the liquid medicine can be properly stirred before spraying, so that the liquid medicine can maintain a good uniformity, which can help improve the effect of the sprayed liquid medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a device for detecting the amount of residual medicine in a spraying drone provided by the present invention; Figure 2 It is a schematic diagram of the internal structure of a medicine box of a device for detecting the remaining medicine amount of a medicine spraying drone provided by the present invention; Figure 3 It is a schematic diagram of the connection structure of a box cover and a strip plate of a residual medicine amount detection device for a spraying drone provided by the present invention; Figure 4 The invention provides a device for detecting the amount of residual medicine in a spraying drone. Figure 3A magnified view of the structure of part A; Figure 5 It is a three-dimensional structural schematic diagram of a strip plate and a movable seat of a residual medicine amount detection device of a spraying drone provided by the present invention; Figure 6 The invention provides a device for detecting the amount of residual medicine in a spraying drone. Figure 3 A magnified view of the structure of part B; Figure 7 It is a top view schematic diagram of the connection structure of the connecting wheel and the connecting strip of a residual medicine amount detection device for a spraying drone provided by the present invention; Figure 8 It is a schematic diagram of the connection structure of a fixed pipe and a movable pipe of a residual medicine amount detection device for a spraying drone provided by the present invention; Fig. 9 The invention provides a device for detecting the amount of residual medicine in a spraying drone. Figure 8 A magnified view of the structure of part C.

[0017] In the figure: 1 medicine box, 2 box cover, 3 control main board, 4 infrared liquid level meter, 5 strip plate, 6 strip hole, 7 movable seat, 8 installation assembly, 81 fixed block, 82 ball groove, 83 steel ball, 84 detection hole, 9 magnetic push adjustment unit, 91 magnetic isolation block, 92 permanent magnet block, 93 slide slot, 94 left electromagnetic block, 95 right electromagnetic block, 10 rotation drive unit, 101 drive motor, 102 connecting plate, 103 lower encoder, 11 skew detection unit , 111 fixed cover, 112 rotating rod, 113 connecting wheel, 114 connecting strip, 115 tension detector, 116 gravity counterweight ball, 117 upper encoder, 12 feeding pipe, 13 fixed pipe, 14 movable pipe, 15 liquid hole, 16 stirring assembly, 161 fixed ring, 162 groove, 163 stirring rod, 164 centrifugal counterweight ball, 17 magnetic suction assembly, 171 fixed groove, 172 arc-shaped electromagnetic block, 173 elastic telescopic assembly. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] like Figure 1-Figure 9As shown, a device for detecting the remaining amount of medicine in a spraying drone comprises a box cover 2 installed on the top of a medicine box 1, a control mainboard 3 is installed on the top of the box cover 2, an infrared liquid level meter 4 is arranged below the box cover 2, and a feed pipe 12 is fixedly plugged into the top of the box cover 2, and also comprises: a strip plate 5, the strip plate 5 is arranged below the box cover 2, a strip hole 6 is opened on the end surface of the strip plate 5, and a movable seat 7 is slidably connected inside the strip hole 6, a mounting assembly 8 is installed at the bottom of the movable seat 7, the infrared liquid level meter 4 is installed inside the mounting assembly 8, the mounting assembly 8 comprises a fixed block 81 fixedly installed at the bottom of the movable seat 7, a ball groove 82 is opened on the end surface of the fixed block 81, and a steel ball 83 is rotatably arranged inside the ball groove 82, a detection hole 84 is opened at the top center of the steel ball 83, and the detection end of the infrared liquid level meter 4 is fixedly arranged inside the detection hole 84, the infrared liquid level meter 4 is electrically connected to the control mainboard 3, and a stabilizing mechanism is installed at the bottom of the steel ball 83.

[0020] The magnetic push adjustment unit 9 is installed inside the strip plate 5 and is used to adjust the position of the movable seat 7. The magnetic push adjustment unit 9 includes magnetic isolation blocks 91 arranged on both sides of the movable seat 7, and the two magnetic isolation blocks 91 are fixedly installed on the side walls of the movable seat 7. The two side walls of the magnetic isolation blocks 91 are fixedly installed with permanent magnet blocks 92. The hole walls on the two opposite sides of the strip hole 6 are provided with sliding grooves 93, and the two magnetic isolation blocks 91 are slidably arranged inside the sliding grooves 93. The groove walls on one side of the two sliding grooves 93 are fixedly plugged with left electromagnetic blocks 94, and the groove walls on the side of the two sliding grooves 93 away from the left electromagnetic blocks 94 are fixedly plugged with right electromagnetic blocks 95. The two left electromagnetic blocks 94 and the two right electromagnetic blocks 95 are electrically connected to the control main board 3. The medicine box 1 is made of magnetic isolation material, or corresponding magnetic isolation structures are arranged inside and outside the medicine box 1 to prevent the electromagnetic force generated by electromagnetic parts such as the left electromagnetic block 94 and the right electromagnetic block 95 from affecting the normal operation of the drone.

[0021] The rotation drive unit 10 is installed on the end surface of the box cover 2, and the rotation drive unit 10 is used to drive the strip plate 5 to rotate. The rotation drive unit 10 includes a drive motor 101 fixedly installed on the top of the box cover 2, and the output shaft of the drive motor 101 is rotatably connected to the end surface of the box cover 2. A connecting plate 102 is fixedly installed on the top of the strip plate 5, and a lower encoder 103 is arranged between the connecting plate 102 and the output shaft of the drive motor 101, and the housing of the lower encoder 103 is fixedly connected to the bottom of the box cover 2. The output shaft of the drive motor 101 drives the connecting plate 102 to rotate through the shaft of the lower encoder 103. The drive motor 101 and the lower encoder 103 are electrically connected to the control main board 3, and the lower encoder 103 can convert the rotation angle into an electrical signal and feed it back to the control main board 3.

[0022] The skew detection unit 11 is installed on the top of the box cover 2. The control main board 3 controls the magnetic push adjustment unit 9 and the rotation drive unit 10 to work according to the electrical signal fed back by the skew detection unit 11. The skew detection unit 11 includes a fixed cover 111 sleeved on the outside of the drive motor 101, and the fixed cover 111 is fixedly installed on the top of the box cover 2. The end surface of the fixed cover 111 is rotatably connected with a rotating rod 112, and a connecting wheel 113 is fixedly installed at the bottom of the rotating rod 112. A connecting strip 114 is provided on one side of the connecting wheel 113. A tension detector 115 is fixedly inserted into the side wall of the connecting wheel 113, and the movable end of the tension detector 115 is fixedly connected to the end of the connecting strip 114. The end of the connecting strip 114 away from the connecting wheel 113 is fixedly connected with a gravity counterweight ball 116, and the top of the fixed cover 111 is fixedly installed with an upper encoder 117 coaxial with the rotating rod 112, and the shaft of the upper encoder 117 is transmission-connected with the rotating rod 112. The control main board 3 controls the operation of the left electromagnetic block 94 and the right electromagnetic block 95 according to the electrical signal fed back by the tension detector 115. The control main board 3 controls the operation of the drive motor 101 according to the electrical signal fed back by the upper encoder 117. The tension detector 115 can convert the detected tension into an electrical signal and feed it back to the control main board 3. The upper encoder 117 can convert the rotation angle into an electrical signal and feed it back to the control main board 3.

[0023] The stabilizing mechanism includes a fixed tube 13 fixedly mounted on the bottom of the steel ball 83, and a movable tube 14 is slidably connected to the lower side of the fixed tube 13, a plurality of liquid holes 15 are provided on the lower side of the tube wall of the movable tube 14, a stirring assembly 16 is installed on the fixed tube 13, and a magnetic attraction assembly 17 is installed on the fixed block 81, the stirring assembly 16 includes a fixed ring 161 fixedly sleeved on the upper end of the outer wall of the fixed tube 13, and a plurality of grooves 162 are provided on the outer wall of the fixed ring 161, a stirring rod 163 is hingedly connected to the inside of each groove 162, and a centrifugal weight ball 164 is fixedly installed on the bottom end of each stirring rod 163, and under the centrifugal action, the stirring rod 163 will be thrown outward and opened.

[0024] The magnetic attraction component 17 includes two fixed grooves 171 opened on the groove wall of the ball groove 82, and the interiors of the two fixed grooves 171 are slidably connected with arc-shaped electromagnetic blocks 172. The two arc-shaped electromagnetic blocks 172 are both installed with elastic telescopic components 173, and the elastic telescopic components 173 are installed on the side walls of the fixed blocks 81. The two arc-shaped electromagnetic blocks 172 are both electrically connected to the control motherboard 3. The elastic telescopic components 173 include a T-shaped rod and a spring. The T-shaped rod is connected to the arc-shaped electromagnetic blocks 172 and is slidably connected to the groove wall of the fixed groove 171. The spring is fixed between the T-shaped rod and the fixed block 81.

[0025] The operating principle of the present invention is now described as follows: unscrew the tube cover of the feed tube 12, then pour an appropriate amount of liquid medicine into the medicine box 1, then install the medicine box 1 on the drone, connect the control end of the drone to the interface of the control main board 3 (the battery unit of the drone can power the control main board 3 through the control end of the drone, and the control main board 3 transmits information such as the liquid level to the remote control terminal through the control end of the drone), and then start the control main board 3 through the remote control terminal and the control end of the drone; After the control mainboard 3 is started, it will immediately control the two arc-shaped electromagnetic blocks 172 to be energized and work, and the two arc-shaped electromagnetic blocks 172 will be stably adsorbed with the steel ball 83. Then, the control mainboard 3 controls the driving motor 101 to work, and the driving motor 101 drives the steel ball 83 to rotate through the lower encoder 103, the connecting plate 102, the strip plate 5, the movable seat 7, the fixed block 81 and the arc-shaped electromagnetic block 172, and the steel ball 83 will drive the fixed ring 161 to rotate synchronously through the fixed tube 13, so that each stirring rod 163 rotates synchronously. Under the action of the rotating centrifugal force, Each centrifugal weight ball 164 moves away from the fixed tube 13, so as to pull the bottom of the stirring rod 163 to move a certain distance, so that each stirring rod 163 is opened. Under the action of rotation, each stirring rod 163 can stir the liquid medicine to keep the liquid medicine inside the medicine box 1 in a good uniformity. The arc-shaped electromagnetic block 172 and the drive motor 101 work for 3 minutes. After the work is completed, the control mainboard 3 will send a prompt message to the remote control terminal through the control end of the drone. At this time, the operator can control the drone to take off and spray the medicine; When the drone is flying with the medicine box 1 to spray medicine, due to the need for flight attitude control and other reasons, the drone fuselage is tilted, and the medicine box 1 will tilt synchronously at this time, and the medicine box 1 will cause the fixed cover 111 to tilt synchronously. At this time, under the action of the gravity counterweight ball 116, the end of the connecting bar 114 away from the rotating rod 112 will move to the lowest point after the tilt, thereby driving the rotating rod 112 to rotate a certain angle through the tension detector 115 and the connecting wheel 113. At the same time, since the connecting bar 114 is tilted, the tension detector 115 will detect the downward tension applied by the gravity counterweight ball 116 and the connecting bar 114, and the upper encoder 117 will convert the rotation angle of the rotating rod 112 into an electrical signal and feed it back to the control main board 3, and the tension detector 115 will convert the tension into an electrical signal and feed it back to the control main board 3; The control main board 3 controls the operation of the drive motor 101 according to the electric signal fed back by the upper encoder 117. For example, when the shaft of the upper encoder 117 rotates 30° along with the rotating rod 112, the upper encoder 117 converts the angle into a corresponding electric signal and feeds it back to the control main board 3. Then the control main board 3 controls the operation of the drive motor 101. The drive motor 101 controls the shafts of the connecting plate 102 and the lower encoder 103 to rotate synchronously. When the lower encoder 103 also rotates 30°, the strength of the electric signal fed back by the lower encoder 103 to the control main board 3 is the same as the strength of the electric signal fed back by the upper encoder 117. At this time, the control main board 3 controls the drive motor 101 to stop working. When the driving motor 101 drives the connecting plate 102 to rotate, the connecting plate 102 will drive the movable seat 7 to rotate synchronously by 30° through the strip plate 5. After the tension detector 115 feeds back an electrical signal to the control main board 3, at the same time, the control main board 3 controls the left electromagnetic block 94 and the right electromagnetic block 95 to work according to the electrical signal fed back by the tension detector 115. The lower the strength of the electrical signal fed back by the tension detector 115, the smaller the tilt angle of the medicine box 1. At this time, the control main board 3 controls the current passed into the left electromagnetic block 94 to decrease, and controls the current passed into the right electromagnetic block 95 to increase (after the control main board 3 is started, the control main board 3 will immediately start the left electromagnetic block 94 and the right electromagnetic block 95). Magnetic block 95, and the current intensity passed into the left electromagnetic block 94 and the right electromagnetic block 95 is the same), at this time, the magnetic thrust of the right electromagnetic block 95 on the same side permanent magnet block 92 increases, while the magnetic thrust of the left electromagnetic block 94 on the same side permanent magnet block 92 decreases, so the movable seat 7 moves a certain distance to the left end of the strip plate 5. As the inclination angle of the medicine box 1 becomes larger and larger, the lowest point of the medicine box 1 and the center point axis of the box cover 2 are getting closer and closer. At this time, the control main board 3 controls the current passed into the left electromagnetic block 94 to gradually increase, while the current passed into the right electromagnetic block 95 gradually decreases, so that the movable seat 7 gradually moves back, so that the infrared liquid level meter 4 can always be kept above the lowest point of the medicine box 1. To ensure that the remaining medicine amount at the lowest point can be detected (wherein, the reduced and increased current intensity is adapted to the tension detected by the tension detector 115. In the horizontal state, the electrical signal intensity fed back by the tension detector 115 to the control main board 3 is 0. At this time, the control main board 3 controls the current passed through the left electromagnetic block 94 and the right electromagnetic block 95 to be 2A. When the medicine box 1 starts to tilt, the electrical signal intensity fed back by the tension detector 115 to the control main board 3 gradually increases from 0, and the control main board 3 controls the current passed through the left electromagnetic block 94 to be reduced to 0.1A, and increases synchronously from 0.1A, while the current passed through the right electromagnetic block 95 is 3.9A, and decreases synchronously); During the flight of the drone, due to sudden acceleration or deceleration, the liquid medicine inside the medicine box 1 may shake greatly under the action of inertia. However, since the liquid medicine inside the fixed tube 13 and the movable tube 14 is blocked by the fixed tube 13 and the movable tube 14, the degree of shaking is not large, so the influence of liquid level fluctuation on the stability of liquid level detection can be reduced (when the liquid medicine is poured into the medicine box 1, part of the liquid medicine will enter the movable tube 14 and the fixed tube 13 through the liquid hole 15 of the movable tube 14, and the liquid level height inside is the same as the height of the liquid medicine outside, and the infrared liquid level meter 4 can measure the liquid level by emitting infrared rays and calculating the time required to receive the reflected infrared rays, so as to judge the remaining amount of medicine. When the medicine box 1 is tilted, under the counterweight of the fixed tube 13 and its auxiliary structure, and the steel ball 83 can rotate, the infrared liquid level meter 4 can always remain vertical).

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for detecting the amount of residual medicine in a spraying drone, comprising a box cover (2) mounted on the top of a medicine box (1), a control mainboard (3) mounted on the top of the box cover (2), and an infrared liquid level meter (4) arranged below the box cover (2), characterized in that: Also includes: A strip plate (5) is arranged below the box cover (2); a strip hole (6) is formed on the end surface of the strip plate (5); a movable seat (7) is slidably connected inside the strip hole (6); a mounting assembly (8) is installed at the bottom of the movable seat (7); and the infrared liquid level meter (4) is installed inside the mounting assembly (8); A magnetic push adjustment unit (9), installed inside the strip plate (5) and used for adjusting the position of the movable seat (7); A rotation drive unit (10) is mounted on the end surface of the box cover (2), and the rotation drive unit (10) is used to drive the strip plate (5) to rotate; The skew detection unit (11) is installed on the top of the box cover (2), and the control main board (3) controls the magnetic push adjustment unit (9) and the rotation drive unit (10) to work according to the electrical signal fed back by the skew detection unit (11); The feed pipe (12) is fixedly inserted into the top of the box cover (2).

2. The device for detecting the amount of residual medicine in a spraying drone according to claim 1 is characterized in that: The mounting assembly (8) comprises a fixed block (81) fixedly mounted on the bottom of the movable seat (7); a ball groove (82) is provided on the end surface of the fixed block (81); a steel ball (83) is rotatably arranged inside the ball groove (82); a detection hole (84) is provided at the center of the top of the steel ball (83); a detection end of the infrared liquid level meter (4) is fixedly arranged inside the detection hole (84); the infrared liquid level meter (4) is electrically connected to the control main board (3); and a stabilizing mechanism is installed at the bottom of the steel ball (83).

3. The device for detecting the amount of residual medicine in a spraying drone according to claim 1 is characterized in that: The magnetic push adjustment unit (9) comprises a magnetic isolation block (91) arranged on both sides of the movable seat (7), and the two magnetic isolation blocks (91) are fixedly installed on the side walls of the movable seat (7), and the two side walls of the magnetic isolation block (91) are fixedly installed with a permanent magnet block (92), the hole walls on two opposite sides of the bar hole (6) are provided with a slide groove (93), and the two magnetic isolation blocks (91) are slidably arranged inside the slide groove (93), the groove wall on one side of the two slide grooves (93) are fixedly plugged with a left electromagnetic block (94), and the groove wall on the side of the two slide grooves (93) away from the left electromagnetic block (94) are fixedly plugged with a right electromagnetic block (95), and the two left electromagnetic blocks (94) and the two right electromagnetic blocks (95) are electrically connected to the control main board (3).

4. The device for detecting the amount of residual medicine in a spraying drone according to claim 3, characterized in that: The rotary drive unit (10) comprises a drive motor (101) fixedly mounted on the top of the box cover (2); an output shaft of the drive motor (101) is rotatably connected to an end surface of the box cover (2); a connecting plate (102) is fixedly mounted on the top of the strip plate (5); a lower encoder (103) is arranged between the connecting plate (102) and the output shaft of the drive motor (101); a housing of the lower encoder (103) is fixedly connected to the bottom of the box cover (2); the output shaft of the drive motor (101) drives the connecting plate (102) to rotate via a shaft of the lower encoder (103); and the drive motor (101) and the lower encoder (103) are electrically connected to a control main board (3).

5. The device for detecting the amount of residual medicine in a spraying drone according to claim 4, characterized in that: The skew detection unit (11) comprises a fixed cover (111) sleeved on the outside of the drive motor (101), and the fixed cover (111) is fixedly mounted on the top of the box cover (2), the end surface of the fixed cover (111) is rotatably connected to a rotating rod (112), and a connecting wheel (113) is fixedly mounted on the bottom of the rotating rod (112), a connecting strip (114) is provided on one side of the connecting wheel (113), a tension detector (115) is fixedly plugged into the side wall of the connecting wheel (113), and the movable end of the tension detector (115) is fixedly connected to the end of the connecting strip (114). The connecting rod (114) is connected to the connecting wheel (113), one end of the connecting bar (114) away from the connecting wheel (113) is fixedly connected to a gravity counterweight ball (116), an upper encoder (117) coaxial with the rotating rod (112) is fixedly installed on the top of the fixed cover (111), and the shaft of the upper encoder (117) is transmission-connected to the rotating rod (112), the control main board (3) controls the left electromagnetic block (94) and the right electromagnetic block (95) to work according to the electrical signal fed back by the tension detector (115), and the control main board (3) controls the drive motor (101) to work according to the electrical signal fed back by the upper encoder (117).

6. The device for detecting the amount of residual medicine in a spraying drone according to claim 2, characterized in that: The stabilizing mechanism comprises a fixed tube (13) fixedly mounted on the bottom of the steel ball (83), and a movable tube (14) is slidably connected to the lower side of the interior of the fixed tube (13), a plurality of liquid holes (15) are provided on the lower side of the tube wall of the movable tube (14), a stirring assembly (16) is mounted on the fixed tube (13), and a magnetic attraction assembly (17) is mounted on the fixed block (81).

7. The device for detecting the amount of residual medicine in a spraying drone according to claim 6, characterized in that: The stirring assembly (16) comprises a fixing ring (161) fixedly sleeved on the upper end of the outer wall of the fixing tube (13), and the outer wall of the fixing ring (161) is provided with a plurality of grooves (162), each groove (162) is hingedly provided with a stirring rod (163), and the bottom end of each stirring rod (163) is fixedly mounted with a centrifugal weight ball (164).

8. The device for detecting the amount of residual medicine in a spraying drone according to claim 6, characterized in that: The magnetic attraction component (17) comprises two fixed grooves (171) provided on the groove wall of the ball groove (82), the interiors of the two fixed grooves (171) are both slidably connected with arc-shaped electromagnetic blocks (172), the two arc-shaped electromagnetic blocks (172) are both installed with elastic telescopic components (173), and the elastic telescopic components (173) are installed on the side walls of the fixed blocks (81), and the two arc-shaped electromagnetic blocks (172) are both electrically connected to the control mainboard (3).

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