Plant protection unmanned aerial vehicle anti-interference excess material detection device and method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a plant protection unmanned aerial vehicle anti-interference excess material detection device and method.The plant protection unmanned aerial vehicle anti-interference excess material detection device comprises a machine body and a storage box, a discharging pipe is arranged at the bottom of the storage box, an upper cavity and a lower cavity are formed in the storage box, a discharging groove is formed between the lower cavity and the upper cavity, and a storage tank is installed in the upper cavity; a detection assembly is arranged in the storage box. Fertilizer is weighed through a spiral detection piece on the lower portion, when it is judged that the fertilizer exceeds a preset value range, it is indicated that materials are insufficient, at the moment, a telescopic rod is controlled through an industrial personal computer, a pressure sensor on a detection shifting rod on the upper portion is switched, and when remaining fertilizer is sufficient, a high-range pressure sensor is used; when the residual fertilizer is less, the pressure sensor with the low measuring range is switched, so that the service lives of the pressure sensor with the low measuring range and the pressure sensor with the high measuring range are ensured, and the accuracy of a detection result when the residual fertilizer is less can be ensured by using the pressure sensor with the low measuring range.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an anti-interference residual material detection device and method for a plant protection unmanned aerial vehicle. Background Art

[0002] The prior art plant protection drone anti-interference residual material detection device mainly detects the residual amount of the material through the torque change of the stirring rod in the material bin. For example, a plant protection drone anti-interference residual material detection device disclosed in prior art publication number CN117326059A adopts this method. Its main method is to set a detection component on the stirring rod. The detection component is used to detect the torque change of the stirring rod, and then know whether the stirring rod is stirring the material, so as to detect whether there is residual material in the plant protection drone; Although the above-mentioned existing technology detects the remaining amount in the material bin, some fertilizer will remain at the discharge port after the plant protection drone completes its work. The fertilizer at this position cannot be detected by the change in the torque of the stirring rod. The existing detection method often ignores the remaining fertilizer at this position, resulting in waste, and when the remaining amount is small, the accuracy of the detection result is reduced. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] The present invention provides an anti-interference residual material detection device and method for a plant protection UAV, which can solve the problem that the existing technology cannot detect the residual fertilizer in the discharge port, resulting in waste of resources. The specific scheme is as follows: On the one hand, the present invention provides an anti-interference residual material detection device for a plant protection UAV, comprising a body and a storage box, a discharge pipe is arranged at the bottom of the storage box, an upper cavity and a lower cavity are arranged inside the storage box, a material discharge trough is arranged between the lower cavity and the upper cavity, a storage tank is installed in the upper cavity, a detection component is arranged in the storage box, and the storage box is used to perform weight detection on fertilizers at various positions in the storage box, a drive shaft is installed in the storage box, and the detection component comprises: A detection lever connected to the top of the drive shaft and located inside the storage tank, the detection lever is configured with a torque detection device, and the torque detection device includes two pressure sensors; A detection plate is slidably mounted on the middle of the driving shaft and located on the top of the lower cavity. The detection plate is configured to receive the fertilizer dropped from the upper cavity and detect its weight. A switchable storage box is provided at the bottom of the detection plate. A spiral detection piece, connected to the bottom of the driving shaft and located in the discharge pipe, is used to detect the weight of the fertilizer in the discharge pipe; Among them, the two pressure sensors are selectively enabled according to the detection data of the spiral detection sheet.

[0005] Preferably, a slide plate is fixedly connected to the top of the storage box, and the slide plate is slidably mounted on a mounting frame corresponding to the bottom of the machine body, and the slide plate and the bottom of the machine body are fixed together by bolts, and a motor is fixedly mounted on the top of the drive shaft, and the output end of the motor is fixedly connected to the top of the drive shaft.

[0006] Preferably, it also includes: A dispersion plate, wherein the top of the dispersion plate has four dispersion grooves, the dispersion grooves have an inclined shape, and the bottom of the inner wall of the upper cavity is provided with four grooves, the four grooves correspond to the four feeding grooves respectively, and the four dispersion grooves correspond to the positions of the four grooves respectively, so that the fertilizer can be distributed into the four grooves when falling; There are two electric push rods, and the upper and lower ends of the dispersion plate are connected to the drive shaft through the electric push rods respectively. The two electric push rods work synchronously to allow the dispersion plate to move upward, while the other parts of the drive shaft remain stationary. When the dispersion plate moves upward, it can block the small opening at the bottom of the storage tank, so that the fertilizer cannot be discharged.

[0007] Preferably, it also includes: A rotating sleeve is rotatably mounted on the outer wall of the driving shaft, and the detection lever is fixedly connected to the outer wall of the rotating sleeve via a connecting rod; A movable groove is provided on the inner wall of the rotating sleeve; A limit block is connected to the outer wall of the driving shaft, and a pressure sensor is installed in the gap between the movable groove and the limit block.

[0008] Preferably, it also includes: A receiving groove is provided at the bottom of the detection plate, and the receiving groove has a plurality of receiving grooves, and the plurality of receiving grooves are provided in a circle at the bottom of the detection plate; A ball, wherein the ball is embedded in the receiving groove; An annular groove is provided on the inner wall of the storage box, the detection disc is accommodated around the annular groove, there is a gap between the bottom of the detection disc and the bottom of the inner wall of the annular groove, and the bottom of the ball rolls on the bottom of the inner wall of the annular groove.

[0009] Preferably, it also includes: A sliding column is slidably installed on the top of the inner wall of the accommodating groove, the bottom of the sliding column contacts the top of the ball, and a pressure strain gauge is connected to the top of the inner wall of the accommodating groove. The top of the sliding column contacts the pressure strain gauge. When the pressure on the detection disk decreases, the top of the ball can drive the sliding column to move upward, applying different pressures to the pressure strain gauge, so that the weight of the material on the detection disk can be calculated according to the pressure value detected by the pressure strain gauge.

[0010] Preferably, the storage box is connected to the bottom of the detection plate, and there are four storage boxes, the positions of the four storage boxes correspond to the positions of the lower feeding trough, and when the lower feeding trough is concentric with the storage box, the fertilizer in the lower feeding trough can fall into the storage box, and further includes: A gate plate is rotatably mounted on the bottom of the material storage box, and when the gate plate is in a horizontal state, the bottom of the material storage box can be closed; A bevel gear is coaxially connected to the end of the shaft of the gate plate. When the bevel gear rotates, it can drive the gate plate to rotate synchronously, so that the bottom of the storage box is opened; A torsion spring, which is installed between the bevel gear and the outer wall of the storage box, and which keeps the gate in a horizontal state by default; The bevel gear ring is installed inside the lower cavity. The bevel gear ring is located above the teeth of the four bevel gears. When the bevel gear ring moves downward, it can mesh with the bevel gears. When the bevel gear ring moves upward, it can be separated from the teeth of the bevel gears.

[0011] Preferably, it also includes: A sliding sleeve is fixedly connected to the bottom of the bevel gear ring, a fixing rod is connected to the bottom of the inner wall of the lower cavity, the sliding sleeve is slidably connected to the fixing rod, an air inlet is provided in the middle of the fixing rod, and the bottom end of the air inlet is connected to an air pump. When the air pump injects air into the air inlet, the gas enters the interior of the sliding sleeve, and the sliding sleeve is lifted upward under the action of air pressure. When the air pump extracts the gas in the sliding sleeve, negative pressure is formed inside the sliding sleeve, and under the action of the negative pressure, the bevel gear ring descends to a height capable of meshing with the bevel gear.

[0012] Preferably, it also includes: A polygonal block, fixedly connected to the top of the spiral detection piece; A polygonal groove is provided at the bottom end of the driving shaft, the shape of the polygonal groove matches the shape of the polygonal block, and the polygonal block is slidably connected to the inside of the polygonal groove; The tension sensor is connected to the top of the polygonal block and the top of the inner wall of the polygonal groove.

[0013] On the other hand, the present invention provides an anti-interference residual material detection method for a plant protection UAV, comprising the following steps: S1, the driving shaft drives the detection lever, the detection plate and the spiral detection piece to rotate; S2, the detection lever detects the amount of fertilizer in the storage tank; S3, the detection plate detects the weight of the fertilizer discharged from the upper cavity into the lower cavity; S4, the spiral detection piece detects the weight of the fertilizer in the discharge pipe; S5. When the spiral detection sheet detects that the mass of the fertilizer applied to the spiral detection sheet is greater than a threshold value, the detection plate is controlled to close the switch at the bottom of the storage box on the detection plate, so that the fertilizer cannot fall; S6. When the weight of the fertilizer on the spiral detection piece is within the normal range, the switch of the storage box is opened, and the fertilizer continues to fall into the spiral detection piece, and as the spiral detection piece rotates, the fertilizer continues to be applied downward.

[0014] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. The present invention weighs the fertilizer through the spiral detection piece at the bottom. When it is determined that the fertilizer exceeds the preset value range, it means that the material is insufficient. At this time, the telescopic rod is controlled by the industrial computer to switch the pressure sensor on the upper detection lever. When the fertilizer residue is sufficient, the high-range pressure sensor is used. When the fertilizer residue is less, it is switched to the low-range pressure sensor, thereby ensuring the service life of the low-range pressure sensor and the high-range pressure sensor. The use of the low-range pressure sensor can also ensure the accuracy of the detection result when the fertilizer residue is less.

[0015] 2. The present invention arranges a detection lever inside the storage tank, thereby utilizing the torque change generated when the detection lever is rotated, so as to calculate the residual content of fertilizer in the storage tank, and scrapes the inner wall of the storage tank by the detection lever, so that the fertilizer is not easily accumulated in the dead corner of the storage tank.

[0016] 3. The present invention arranges a detection plate above the lower cavity, so that the quality of the fertilizer that is about to fall into the lower cavity can be detected, and a storage box is arranged on the detection plate, and a gate is arranged at the bottom of the storage box, so that the operator can set different fertilizer amounts for different crops and control the switch of the gate, thereby achieving the effect of controlling the fertilizer usage.

[0017] 4. The present invention can detect the fertilizer inside the discharge pipe by arranging a spiral detection piece inside the discharge pipe. When the detection result exceeds a threshold value, the fertilizer discharged from the storage box can be controlled to avoid excessive fertilizer application.

[0018] 5. The present invention can achieve the effect of controlling the amount of fertilizer used by utilizing the mutual cooperation between the detection disk and the spiral detection sheet, and can also separately detect the weight of fertilizers at different positions at the same time. Compared with the prior art that can only detect the residual fertilizer in the storage tank, it is more convenient to use. The operator can separately detect the residual material at each position and can promptly discover the problems of blockage and insufficient fertilizer discharge.

[0019] Other features and advantages of the present invention will be described in the following description, and part of them will become obvious from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is an overall stereoscopic diagram of a plant protection drone in Embodiment 1 of the present invention; Figure 2 This is a bottom stereoscopic diagram of a plant protection drone in Embodiment 1 of the present invention; Figure 3 is a three-dimensional diagram of a storage box in the second embodiment of the present invention; Figure 4 It is a partial cross-sectional view of the second embodiment of the present invention; Figure 5 is a three-dimensional cross-sectional view of the second embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the feed chute and the groove in the second embodiment of the present invention; Figure 7 A three-dimensional diagram of a detection lever in a second embodiment of the present invention; Figure 8 It is a top view of the second embodiment of the present invention; Fig. 9 For the present invention Figure 8 Middle AA section view; Fig.10 is a three-dimensional diagram of a detection plate in Embodiment 2 of the present invention; Fig.11 It is a stereoscopic diagram of the bevel gear ring and the bevel gear in the second embodiment of the present invention; Fig.12 It is a stereoscopic diagram of the gate plate and the bevel gear in the second embodiment of the present invention; Fig.13It is a stereoscopic diagram of the detection lever, the detection disk and the spiral detection sheet in the second embodiment of the present invention; Fig.14 An exploded view of the detection lever, the detection plate and the spiral detection sheet in the second embodiment of the present invention; Fig.15 This is a schematic diagram of the installation of the tension sensor in the second embodiment of the present invention; Fig.16 It is a schematic diagram of the installation of the low-range pressure sensor and the high-range pressure sensor of the present invention.

[0021] The reference numerals are as follows: 101. fuselage; 102. rotor; 201, storage box; 202, slide plate; 203, discharge pipe; 204, upper cavity; 205, lower cavity; 206, electric push rod; 207, discharge chute; 208, motor; 209, drive shaft; 210, dispersion disc; 211, bevel gear ring; 212, sliding sleeve; 301, detection lever; 3011, rotating sleeve; 3012, connecting rod; 3013, movable groove; 3014, limit block; 3015, pressure sensor; 3016, telescopic rod; 302, detection plate; 3021, receiving groove; 3022, ball bearing; 3023, annular groove; 3024, sliding column; 3025, pressure strain gauge; 3026, material storage box; 3027, gate; 3028, bevel gear; 3029, torsion spring; 303, spiral detection piece; 3031, polygonal block; 3032, tension sensor; 3033, polygonal groove. DETAILED DESCRIPTION

[0022] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used to explain the principles of the present invention together with the embodiments of the present invention.

[0023] Embodiment 1: Figure 1 , Figure 2 As shown, this embodiment provides a plant protection drone, which includes: The body 101 and the rotors 102, the number of the rotors 102 is four or six, and preferably, the present embodiment is a six-rotor configuration; like Figure 3 The storage box 201 shown is installed below the body 101. The top of the storage box 201 is open. The top of the storage box 201 is fixedly connected to a slide plate 202. Figure 2As shown, the slide plate 202 is slidably mounted on a mounting frame corresponding to the bottom of the fuselage 101, and the slide plate 202 and the bottom of the fuselage 101 are fixed together by bolts to prevent the slide plate 202 from loosening from the fuselage 101 during flight; The discharge pipe 203 is fixedly connected to the bottom of the storage box 201. The discharge pipe 203 and the storage box 201 can be connected by integral molding or welding. The upper and lower ends of the discharge pipe 203 are through-set, and the top of the discharge pipe 203 is connected to the inside of the storage box 201. The upper cavity 204 and the lower cavity 205 are respectively arranged at the upper and lower parts of the storage box 201. Four material discharge troughs 207 are opened between the upper cavity 204 and the lower cavity 205. The upper and lower ends of the four material discharge troughs 207 respectively penetrate into the upper cavity 204 and the lower cavity 205. The upper cavity 204 is used to load fertilizer, and the fertilizer can be discharged from the lower trough 207 into the lower cavity 205; Figure 4 and Figure 5 The motor 208 shown is mounted on the top of the storage box 201; The storage tank 213 is fixedly installed inside the upper cavity 204; The driving shaft 209 is rotatably mounted inside the storage tank 213, and the top end of the driving shaft 209 is connected to the bottom output end of the motor 208; A dispersion plate 210, wherein the top of the dispersion plate 210 has four dispersion grooves, and the dispersion grooves have an inclined shape, and the inclined shape allows the fertilizer to flow naturally; like Figure 6 As shown, four grooves are arranged at the bottom of the inner wall of the upper cavity 204, and the four grooves correspond to the four discharge troughs 207 respectively. The four dispersion grooves correspond to the positions of the four grooves respectively. The fertilizer can be distributed into the four grooves when falling through the four grooves, thereby preventing the fertilizer from piling up during the falling process and reducing the risk of blockage.

[0024] Embodiment 2: This embodiment provides an anti-interference residual material detection device for a plant protection UAV, which can be applied to a plant protection UAV provided in Embodiment 1, and includes: like Figure 7 The detection lever 301 shown is used to detect the amount of fertilizer in the storage tank 213. The detection lever 301 is connected to the top of the driving shaft 209 and is located inside the storage tank 213; Specifically, it also includes: The rotating sleeve 3011 is rotatably mounted on the outer wall of the driving shaft 209. The detection lever 301 is fixedly connected to the outer wall of the rotating sleeve 3011 through the connecting rod 3012. The detection lever 301 is an L-shaped structure. The detection lever 301 can fit the inner wall of the storage tank 213. When the detection lever 301 rotates, the fertilizer accumulated near the inner wall of the storage tank 213 in the storage tank 213 can be distributed to the middle of the storage tank 213 through the structure of the detection lever 301 and the connecting rod 3012, so as to prevent the fertilizer from accumulating in the dead angle between the side wall and the bottom of the inner wall of the storage tank 213. The movable groove 3013 is formed on the inner wall of the rotating sleeve 3011; The limit block 3014 is connected to the outer wall of the driving shaft 209. By providing the movable groove 3013 and the limit block 3014, the rotating sleeve 3011 can only rotate within the gap formed between the limit block 3014 and the movable groove 3013 when rotating around the driving shaft 209. As a feasible way to detect the resistance of the fertilizer to the lever 301, a pressure sensor 3015 can be installed in the gap between the movable groove 3013 and the limit block 3014. The pressure sensor 3015 is connected to the inner wall of the movable groove 3013 through the telescopic rod. When the detection lever 301 rotates, under the influence of the resistance of the fertilizer in the storage tank 213, the detection lever 301 rotates together with the rotating sleeve 3011, thereby squeezing the pressure sensor 3015, so that the value of the pressure sensor 3015 changes, while the torque and speed of the motor 208 driving the drive shaft 209 to rotate are fixed. Since the resistance applied to the side of the detection lever 301 by fertilizers of different heights is different, the value reflected by the pressure sensor 3015 can be used to calculate the storage of fertilizers in the storage tank 213, so as to obtain the residual mass of fertilizers in the storage tank 213. It should be noted that the pressure sensor 3015 has a low range and a high range, and the low range pressure sensor 3015 and the high range pressure sensor 3015 are used selectively, that is, the telescopic rod 3016 is extended or retracted to determine which pressure sensor to use, and the telescopic rod 3016 is controlled by the industrial computer; As another feasible way to detect the fertilizer resistance of the lever 301, a torque sensor can be set at the top of the driving shaft 209 and the top of the rotating sleeve 3011, and the resistance of the lever 301 can be directly measured by the torque sensor.

[0025] like Figure 8 , Fig. 9The detection plate 302 shown is used to detect the weight of the fertilizer discharged from the upper cavity 204 into the lower cavity 205. The detection plate 302 is slidably mounted in the middle of the driving shaft 209 and located at the top of the inner wall of the lower cavity 205, and can catch the fertilizer falling from the upper cavity 204. The middle of the detection plate 302 and the middle of the driving shaft 209 have a mutually sleeved limiting structure, and the two can only slide up and down relative to each other, and cannot rotate relative to each other. Specifically, it also includes: The receiving groove 3021 is provided at the bottom of the detection plate 302. There are a plurality of receiving grooves 3021, and the plurality of receiving grooves 3021 are provided in a circle at the bottom of the detection plate 302. The ball 3022 is embedded in the receiving groove 3021, so that the ball 3022 can rotate freely in the receiving groove 3021 and will not fall off. The shape of the receiving groove 3021 can cause the ball 3022 to move up and down inside the receiving groove 3021; The annular groove 3023 is formed on the inner wall of the storage box 201. The periphery of the detection plate 302 is accommodated in the annular groove 3023. There is a gap between the bottom of the detection plate 302 and the bottom of the inner wall of the annular groove 3023. The bottom of the ball 3022 rolls on the bottom of the inner wall of the annular groove 3023. Sliding column 3024, sliding column 3024 is slidably installed on the top of the inner wall of the receiving groove 3021, the bottom of the sliding column 3024 contacts the top of the ball 3022, the top of the inner wall of the receiving groove 3021 is connected with a pressure strain gauge 3025, and the top of the sliding column 3024 contacts the pressure strain gauge 3025. When the pressure on the detection plate 302 decreases, the top of the ball 3022 can drive the sliding column 3024 to move upward, and apply different pressures to the pressure strain gauge 3025, so that the weight of the material on the detection plate 302 can be calculated according to the pressure value detected by the pressure strain gauge 3025; Also includes Fig.10 , Fig.11 , Fig.12 The storage box 3026 shown is connected to the bottom of the detection plate 302, and there are four storage boxes 3026. The positions of the four storage boxes 3026 correspond to the positions of the feeding trough 207. When the feeding trough 207 is concentric with the storage box 3026, the fertilizer in the feeding trough 207 can fall into the storage box 3026. The gate plate 3027 is rotatably mounted on the bottom of the material storage box 3026. When the gate plate 3027 is in a horizontal state, the bottom of the material storage box 3026 can be closed to prevent the liquid inside from being discharged. The bevel gear 3028 is coaxially connected to the end of the shaft of the gate plate 3027. When the bevel gear 3028 rotates, it can drive the gate plate 3027 to rotate synchronously, so that the bottom of the storage box 3026 is opened; Torsion spring 3029, the torsion spring 3029 is installed between the bevel gear 3028 and the outer wall of the storage box 3026, and the torsion spring 3029 makes the gate plate 3027 in a horizontal state by default; The bevel gear ring 211 is installed inside the lower cavity 205. The bevel gear ring 211 is located above the teeth of the four bevel gears 3028. When the bevel gear ring 211 moves downward, it can mesh with the bevel gears 3028. When the bevel gear ring 211 moves upward, it can separate from the teeth of the bevel gears 3028. The sliding sleeve 212 is fixedly connected to the bottom of the bevel gear ring 211. The bottom of the inner wall of the lower cavity 205 is connected with a fixing rod. The sliding sleeve 212 is slidably connected to the fixing rod. An air inlet is provided in the middle of the fixing rod. The bottom end of the air inlet is connected to the air pump. When the air pump injects air into the air inlet, the gas enters the interior of the sliding sleeve 212. Under the action of air pressure, the sliding sleeve 212 is pushed up. When the air pump extracts the gas in the sliding sleeve 212, a negative pressure is formed inside the sliding sleeve 212. Under the action of the negative pressure, the bevel gear ring 211 quickly drops to a height that can mesh with the bevel gear 3028. The air pump continues to work, and the interior of the heat wave sliding sleeve 212 is always in a negative pressure state, so that when the bevel gear 3028 rolls on the bevel gear ring 211, the bevel gear ring 211 will not bounce upward. In the above scheme, when the bevel gear ring 211 is meshed with the bevel gear, since the detection disk 302 rotates synchronously with the driving shaft 209, the bevel gear 3028 at the bottom of the storage box 3026 generates a rotation amplitude under the meshing lease with the bevel gear ring 211. When the bevel gear 3028 rotates, the gate plate 3027 can be rotated, so that the fertilizer in the storage box 3026 is discharged; There are two ways to discharge fertilizer: First, the motor 208 drives the drive shaft 209 to rotate at a constant speed, and the air pump works by timing air intake and timing air exhaust, so that the sliding sleeve 212 moves up and down regularly, so that the opening time and closing time of the gate 3027 are fixed. In this case, the amount and time of fertilizer discharged by the discharge pipe 203 are the same; Second, the overall weight of the detection plate 302 is detected by a plurality of pressure strain gauges 3025, and then the weight of the detection plate 302 itself is subtracted to obtain the weight of the fertilizer in the storage box 3026, and then the value is sent to the air pump through the industrial computer, and the operator can control the amount of fertilizer discharged according to different plant types; It should be noted that since there is a small discharge opening at the bottom of the fertilizer in the storage tank 213, a portion of the fertilizer can flow out of this small opening and accumulate in the groove at the top of the discharge chute 207. Therefore, when too much fertilizer accumulates in the groove, the weight detected by the detection disk 302 includes the weight of the fertilizer in the groove, resulting in the fertilizer discharged from the storage box 3026 not corresponding to the actual weighed value. Therefore, in order to avoid this influence, when the detection disk 302 is detecting, the two electric push rods 206 work synchronously to allow the entire dispersion disk 210 to move upward, while the other parts of the drive shaft 209 remain stationary. After the dispersion disk 210 moves upward, the small opening at the bottom of the storage tank 213 can be blocked, so that the fertilizer cannot be discharged. Through this solution, the value detected by the detection disk 302 and the value of the fertilizer released by the storage box 3026 are the same.

[0026] like Fig.13 , Fig.14 The spiral detection piece 303 shown is used to detect the weight of the fertilizer in the discharge pipe 203, and is connected to the bottom of the driving shaft 209. The edge of the spiral detection piece 303 contacts the inner wall of the discharge pipe 203. When the spiral detection piece 303 rotates, the fertilizer in the lower cavity 205 can be pushed to the bottom of the discharge pipe 203, so that the fertilizer is discharged, and the fertilizer is spread on the planting area as the drone flies; Specifically, it also includes: like Fig.15 The polygonal block 3031 shown is fixedly connected to the top of the spiral detection piece 303; The polygonal groove 3033 is provided at the bottom end of the driving shaft 209. The shape of the polygonal groove 3033 matches the shape of the polygonal block 3031. The polygonal block 3031 is slidably connected to the inside of the polygonal groove 3033. A tension sensor 3032 is connected to the top of the polygonal block 3031 and the top of the inner wall of the polygonal groove 3033; In the above scheme, the motor 208 drives the driving shaft 209 to rotate, so that the spiral detection piece 303 rotates synchronously. When the fertilizer falls on the spiral detection piece 303, the fertilizer can be transported to the bottom of the discharge pipe 203 as the spiral detection piece 303 rotates. Due to the pushing effect of the spiral detection piece 303, the fertilizer is not easy to accumulate inside the discharge pipe 203, thus avoiding uneven fertilization caused by blockage. The real-time weight of the spiral detection piece 303 can be detected by the tension sensor 3032, so as to calculate the weight of the fertilizer on the spiral detection piece 303, so as to facilitate the operator to monitor the area to be fertilized. The value of the tension sensor 3032 can be sent to the industrial computer.

[0027] The effects produced by setting the above-mentioned detection disk 302 and spiral detection sheet 303 are: When the tension sensor 3032 detects that the mass of the fertilizer on the spiral detection piece 303 is greater than a threshold value (the threshold value is set according to different crops), the air pump is controlled to push the sliding sleeve 212 upward to separate the bevel gear 3028 from the bevel gear ring 211, so that the fertilizer stays in the storage box 3026. When the weight of the fertilizer on the spiral detection piece 303 is within the normal range, the air pump generates negative pressure again to allow the sliding sleeve 212 to slide downward, so that the bevel gear ring 211 and the bevel gear 3028 continue to mesh, so that the fertilizer in the storage box 3026 continues to fall, thereby preventing the growth of crops from being affected due to excessive fertilization. When the weight of the fertilizer detected by the detection plate 302 and the spiral detection piece 303 is significantly reduced, it means that the remaining fertilizer in the storage tank 213 is about to be exhausted.

[0028] Embodiment 3: The technical solution of this embodiment is different from that of Embodiment 2 in that this embodiment provides a method for detecting residual material by using a plant protection drone with anti-interference, including the following steps: S1, the driving shaft 209 drives the detection lever 301, the detection disk 302 and the spiral detection sheet 303 to rotate; S2, the detection lever 301 detects the amount of fertilizer in the storage tank 213; S3, the detection plate 302 detects the weight of the fertilizer discharged from the upper cavity 204 into the lower cavity 205; S4, the spiral detection piece 303 detects the weight of the fertilizer in the discharge pipe 203; S5. When the spiral detection sheet 303 detects that the mass of the fertilizer applied to the spiral detection sheet 303 is greater than the threshold value, the detection plate 302 is controlled to close the switch at the bottom of the storage box 3026 on the detection plate 302, so that the fertilizer cannot fall; S6. When the weight of the fertilizer on the spiral detection piece 303 is within the normal range, the switch of the storage box 3026 is opened, and the fertilizer continues to fall into the spiral detection piece 303, and as the spiral detection piece 303 rotates, the fertilizer continues to be applied downward.

[0029] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] In the embodiments of the present application, the devices or elements referred to or implied must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0032] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An anti-interference residual material detection device for a plant protection drone, comprising a body (101) and a storage box (201), wherein a discharge pipe (203) is arranged at the bottom of the storage box (201), an upper cavity (204) and a lower cavity (205) are arranged inside the storage box (201), a discharge chute (207) is provided between the lower cavity (205) and the upper cavity (204), a storage tank (213) is installed in the upper cavity (204), a detection component is arranged in the storage box (201) for performing weight detection on fertilizers at various positions in the storage box (201), and a drive shaft (209) is installed in the storage box (201), characterized in that: The detection components include: A detection lever (301) connected to the top of the drive shaft (209) and located inside the storage tank (213), the detection lever (301) being provided with a torque detection device, the torque detection device comprising two pressure sensors (3015); A detection plate (302) is slidably mounted in the middle of the driving shaft (209) and is located at the top of the lower cavity (205). The detection plate (302) is configured to receive fertilizer dropped from the upper cavity (204) and detect its weight. A closable storage box (3026) is provided at the bottom of the detection plate (302); A spiral detection piece (303), connected to the bottom of the driving shaft (209) and located in the discharge pipe (203), for detecting the weight of fertilizer in the discharge pipe (203); The two pressure sensors (3015) are selectively enabled according to the detection data of the spiral detection sheet (303).

2. The anti-interference residual material detection device for a plant protection UAV according to claim 1, characterized in that: A slide plate (202) is fixedly connected to the top of the storage box (201), and the slide plate (202) is slidably mounted on a mounting frame corresponding to the bottom of the machine body (101), and the slide plate (202) and the bottom of the machine body (101) are fixed together by bolts. A motor (208) is fixedly mounted on the top of the drive shaft (209), and an output end of the motor (208) is fixedly connected to the top of the drive shaft (209).

3. The anti-interference residual material detection device for a plant protection UAV according to claim 1, characterized in that: Also includes: A dispersion plate (210), wherein the top of the dispersion plate (210) is provided with four dispersion grooves, the dispersion grooves having an inclined shape, and the bottom of the inner wall of the upper cavity (204) is provided with four grooves, the four grooves respectively corresponding to the four feeding grooves (207), and the four dispersion grooves respectively corresponding to the positions of the four grooves, so that the fertilizer can be distributed into the four grooves when falling; The electric push rods (206) have two ends. The upper and lower ends of the dispersion plate (210) are connected to the drive shaft (209) through the electric push rods (206) respectively. The two electric push rods (206) work synchronously to allow the dispersion plate (210) to move upward, while the other parts of the drive shaft (209) remain stationary. When the dispersion plate (210) moves upward, it can block the small opening at the bottom of the storage tank (213), so that the fertilizer cannot be discharged.

4. The anti-interference residual material detection device for a plant protection UAV according to claim 1, characterized in that: Also includes: A rotating sleeve (3011) is rotatably mounted on the outer wall of the driving shaft (209); the detection lever (301) is fixedly connected to the outer wall of the rotating sleeve (3011) via a connecting rod (3012); A movable groove (3013) is provided on the inner wall of the rotating sleeve (3011); The limit block (3014) is connected to the outer wall of the driving shaft (209).

5. The anti-interference residual material detection device for a plant protection UAV according to claim 1, characterized in that: Also includes: A receiving groove (3021) is provided at the bottom of the detection plate (302), there are a plurality of receiving grooves (3021), and the plurality of receiving grooves (3021) are provided in a circle at the bottom of the detection plate (302); A ball (3022), the ball (3022) is embedded in the receiving groove (3021); An annular groove (3023) is provided on the inner wall of the storage box (201); the periphery of the detection plate (302) is accommodated in the annular groove (3023); a gap is provided between the bottom of the detection plate (302) and the bottom of the inner wall of the annular groove (3023); and the bottom of the ball bearing (3022) rolls on the bottom of the inner wall of the annular groove (3023).

6. The anti-interference residual material detection device for a plant protection UAV according to claim 5, characterized in that: Also includes: A sliding column (3024) is slidably mounted on the top of the inner wall of the receiving groove (3021), the bottom of the sliding column (3024) contacts the top of the ball (3022), the top of the inner wall of the receiving groove (3021) is connected to a pressure strain gauge (3025), the top of the sliding column (3024) contacts the pressure strain gauge (3025), when the detection plate (302) is subjected to a pressure drop, the top of the ball (3022) can drive the sliding column (3024) to move upward, and apply different pressures to the pressure strain gauge (3025), so that the weight of the material on the detection plate (302) can be calculated according to the pressure value detected by the pressure strain gauge (3025).

7. The anti-interference residual material detection device for a crop protection UAV according to claim 1, characterized in that: The storage box (3026) is connected to the bottom of the detection plate (302), and there are four storage boxes (3026). The positions of the four storage boxes (3026) correspond to the positions of the feed trough (207). When the feed trough (207) and the storage box (3026) are concentric, the fertilizer in the feed trough (207) can fall into the storage box (3026). The method also includes: The gate plate (3027) is rotatably mounted on the bottom of the material storage box (3026). When the gate plate (3027) is in a horizontal state, the bottom of the material storage box (3026) can be closed; The bevel gear (3028) is coaxially connected to the end of the shaft of the gate plate (3027). When the bevel gear (3028) rotates, it can drive the gate plate (3027) to rotate synchronously, so that the bottom of the material storage box (3026) is opened; A torsion spring (3029), the torsion spring (3029) is installed between the bevel gear (3028) and the outer wall of the storage box (3026), and the torsion spring (3029) allows the gate plate (3027) to be in a horizontal state by default; The bevel gear ring (211) is installed inside the lower cavity (205). The bevel gear ring (211) is located above the teeth of the four bevel gears (3028). When the bevel gear ring (211) moves downward, it can mesh with the bevel gears (3028). When the bevel gear ring (211) moves upward, it can separate from the teeth of the bevel gears (3028).

8. The anti-interference residual material detection device for a plant protection UAV according to claim 7, characterized in that: Also includes: The sliding sleeve (212) is fixedly connected to the bottom of the bevel gear ring (211). The bottom of the inner wall of the lower cavity (205) is connected to a fixing rod. The sliding sleeve (212) is slidably connected to the fixing rod. An air inlet is provided in the middle of the fixing rod. The bottom end of the air inlet is connected to an air pump. When the air pump injects air into the air inlet, the air enters the interior of the sliding sleeve (212). Under the action of air pressure, the sliding sleeve (212) is lifted upward. When the air pump extracts the air in the sliding sleeve (212), negative pressure is formed inside the sliding sleeve (212). Under the action of the negative pressure, the bevel gear ring (211) descends to a height capable of meshing with the bevel gear (3028).

9. The anti-interference residual material detection device for a crop protection UAV according to claim 1, characterized in that: Also includes: A polygonal block (3031) is fixedly connected to the top of the spiral detection piece (303); A polygonal groove (3033) is provided at the bottom end of the driving shaft (209), the shape of the polygonal groove (3033) matches the shape of the polygonal block (3031), and the polygonal block (3031) is slidably connected to the inside of the polygonal groove (3033); The tension sensor (3032) is connected to the top of the polygonal block (3031) and the top of the inner wall of the polygonal groove (3033).

10. A method for detecting residual material of a plant protection UAV with anti-interference, using a device for detecting residual material of a plant protection UAV with anti-interference according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the driving shaft (209) drives the detection lever (301), the detection disk (302) and the spiral detection sheet (303) to rotate; S2, the detection lever (301) detects the amount of fertilizer stored in the storage tank (213); S3, the detection plate (302) detects the weight of the fertilizer discharged from the upper cavity (204) into the lower cavity (205); S4, the spiral detection piece (303) detects the weight of the fertilizer in the discharge pipe (203); S5. When the spiral detection sheet (303) detects that the mass of the fertilizer applied to the spiral detection sheet (303) is greater than a threshold value, the detection plate (302) is controlled to close the switch at the bottom of the material storage box (3026) on the detection plate (302), so that the fertilizer cannot fall; S6. When the weight of the fertilizer on the spiral detection piece (303) is within a normal range, the switch of the storage box (3026) is opened, and the fertilizer continues to fall into the spiral detection piece (303), and as the spiral detection piece (303) rotates, the fertilizer continues to be applied downward.

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