Spraying and breeding unmanned aerial vehicle for mine remediation

Abstract

The invention discloses a mine repair spraying breeding unmanned aerial vehicle which comprises a load-carrying aircraft, a plurality of spraying aircrafts and a master controller, the spraying aircrafts are hung below the load-carrying aircraft, a control system of the load-carrying aircraft is connected with the master controller, a storage box is installed on a rack of the load-carrying aircraft, and the storage box is connected with the master controller. The load-carrying aircraft is used for storing seed mixed liquid and is provided with a liquid supply mechanism which is in control connection with the main controller and is used for extracting the seed mixed liquid; the unmanned aerial vehicle is unique in structure and ingenious in design, and adopts a child-mother combined design, so that the unmanned aerial vehicle for mine remediation, spraying and breeding has the advantages of carrying enough seed mixed liquid, reducing the influence of rotor wind power and improving the remediation and spraying effect on the premise of ensuring effective spraying.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine restoration equipment, and particularly relates to a mine restoration spraying and breeding unmanned aerial vehicle. Background Art

[0002] Mine restoration refers to the process of environmental restoration and ecological restoration of mined mines. The purpose of mine restoration is to reduce or eliminate the impact of mining on the environment, restore the functions of the ecosystem, protect biodiversity, improve soil and water quality, and improve the quality of life of surrounding communities; the methods of mine restoration include vegetation restoration, soil restoration, water body treatment, mine terrain transformation, etc. In the current process of vegetation planting for mine restoration, traditional methods are all carried out manually for sowing, watering or spraying fertilizers. However, affected by the mine environment, when facing relatively steep and high mine areas, a mine restoration spraying and breeding unmanned aerial vehicle is used to carry out mine restoration operations.

[0003] The mine restoration spraying and breeding unmanned aerial vehicle utilizes its vertical take-off and landing flight ability, can carry a large amount of seed mixture, fly near the restoration area, and perform spraying operations in holes, so as to cope with the complex geographical environment of the mine; however, during the process of spraying the seed mixture by the existing mine restoration spraying and breeding unmanned aerial vehicle, the spraying effect of the seed mixture will be affected by the wind factor and deviate, affecting the spraying effect; and the load capacity of the existing mine restoration spraying and breeding unmanned aerial vehicle is related to the rotor power. The greater the rotor power, the greater the load capacity of the unmanned aerial vehicle. And the greater the rotor power of the unmanned aerial vehicle, the rotor wind generated during the operation of the rotor will also rise linearly. Since the nozzle is installed on the unmanned aerial vehicle body, it will cause the mine restoration spraying and breeding unmanned aerial vehicle with a large load capacity to have a poor restoration spraying effect affected by the rotor wind, and it is difficult to ensure the uniformity of the restoration spraying. Summary of the Invention

[0004] Aiming at the defects and problems existing in the mine restoration spraying and breeding unmanned aerial vehicle, the present invention provides a mine restoration spraying and breeding unmanned aerial vehicle. The structure of the mine restoration spraying and breeding unmanned aerial vehicle is unique and ingeniously designed. It adopts a sub-mother combined design, enabling the mine restoration spraying and breeding unmanned aerial vehicle to carry enough seed mixture, on the premise of ensuring effective spraying, reducing the influence of the rotor wind, and improving the poor restoration spraying effect.

[0005] The solution adopted by the present invention to solve its technical problems is: a mine repair spray breeding drone, including a load-carrying aircraft, a spraying aircraft and a general controller, wherein a plurality of the spraying aircraft are provided and hoisted under the load-carrying aircraft, the control system of the load-carrying aircraft is connected to the general controller, a storage box is installed on the frame of the load-carrying aircraft for storing a seed mixture, and a liquid supply mechanism connected to the control of the general controller is installed on the load-carrying aircraft for extracting the seed mixture; the spraying aircraft includes a flight control system connected to the general controller and an aircraft body, and the aircraft The main body includes a frame, a flight drive mechanism, a flight control mechanism and a nozzle. The frame includes a base, the base is connected to a traction assembly, the other end of the traction assembly is fixedly connected to the load-bearing aircraft frame, the left and right sides of the base are symmetrically installed with a fuselage, and the end of the fuselage away from the base is installed with a flight drive mechanism, the flight drive mechanism is connected to the flight control mechanism, and the control system controls the flight drive mechanism through the flight control mechanism to adjust the flight direction of the spraying aircraft; a nozzle seat is matched and installed in the base, and the nozzle is matched and installed in the nozzle seat, and the liquid inlet end of the nozzle is connected to the liquid discharge end of the liquid supply mechanism.

[0006] The traction assembly includes a hollow traction rope, and the two ends of the hollow traction rope are respectively fixedly connected to the frame of the load-carrying aircraft and the frame of the spraying aircraft; a liquid supply pipe is provided in the hollow traction rope, and the two ends of the liquid supply pipe extend outward from the hollow traction rope and are respectively connected to the liquid inlet end of the nozzle and the liquid discharge end of the liquid supply mechanism.

[0007] The liquid supply mechanism comprises a suction pump matched and installed in the storage box, the suction pump is control-connected to the controller, and the discharge end of the suction pump extends out of the storage box and is connected to the liquid supply pipe.

[0008] The flight drive mechanism includes an annular mounting seat, a sphere, a rotor assembly and a control rod. The annular mounting seat is connected to the end of the fuselage. The sphere is matched and installed in the annular mounting seat and can rotate freely, and the upper and lower ends of the sphere both protrude from the annular mounting seat; the rotor assembly is arranged above the sphere and connected to the sphere. The bottom end of the sphere is transmission-connected to the flight control mechanism through the control rod. The control system can control the rotor assembly through the flight control mechanism to adjust the flight direction of the spray aircraft.

[0009] The inner ring surface of the annular mounting seat is provided with an arcuate annular groove along the circumference, and the spherical body is matched and sleeved in the annular groove in the annular mounting seat and can rotate along the inner groove wall of the arcuate annular groove in the annular mounting seat.

[0010] The flight control mechanism includes a drive assembly, a drive rod, and a support rod connected to the flight control system. The support rods are arranged in parallel at intervals on the rear side of the base, and both ends of the support rods are fixedly connected to the adjacent side fuselages. The drive rods are arranged in parallel at intervals below the base and are connected to the support rods through the drive assembly. Both ends of the drive rods are hinged to the adjacent side control rods.

[0011] The drive assembly includes electric push rods symmetrically installed on the left and right sections of the support rod. The electric push rods are connected to the flight control system. Fixed sleeves are hinged at both ends of the electric push rods, and the fixed sleeves at both ends of the electric push rods are respectively rotatably sleeved on the middle part of the control rod and the support rod.

[0012] The beneficial effects of the present invention: A mine restoration spraying and breeding unmanned aerial vehicle provided by the present invention includes a load-carrying aircraft, a spraying aircraft, and a master controller. A plurality of spraying aircraft are provided and hoisted below the load-carrying aircraft. The control system of the load-carrying aircraft is connected to the master controller. A storage tank is installed on the frame of the load-carrying aircraft for storing the seed mixture, and a liquid supply mechanism controlled and connected to the master controller is installed on the load-carrying aircraft for extracting the seed mixture. A nozzle seat is fitted inside the base of the spraying aircraft, and the nozzle is fitted inside the nozzle seat. The liquid inlet end of the nozzle is communicated with the liquid discharge end of the liquid supply mechanism. When in use, the load-carrying aircraft for carrying the seed mixture will lift the spraying unmanned aerial vehicle into the air and fly to the working area according to the instruction. After flying to the working area, the load-carrying aircraft hovers and remains stationary without making large-scale movements. Then, the liquid supply mechanism and the spraying aircraft are started. After the liquid supply mechanism is started, it will pump the seed mixture in the storage tank on the middle unmanned aerial vehicle and transport it to the spraying unmanned aerial vehicle, which is sprayed out through the nozzle to spray and repair the mine restoration surface. After the spraying aircraft is started, it can move within the range allowed by the traction assembly according to the demand to cover different areas, ensuring uniform spraying coverage.

[0013] Compared with the existing mine restoration spraying and breeding unmanned aerial vehicles, the mine restoration spraying and breeding unmanned aerial vehicle provided in this embodiment adopts a mother-child combined design. The spraying aircraft is used to carry the nozzle away from the high-power load-carrying aircraft for long-distance spraying and repair operations, which can better achieve uniform spraying and reduce the deviation impact caused by the high-power rotor wind. It not only effectively solves the problem that the rotor wind of the load-carrying aircraft affects the spraying and repair effect of the nozzle, but also compared with adjusting the spraying position by moving the load-carrying aircraft, the mine restoration spraying and breeding unmanned aerial vehicle provided in this embodiment can effectively reduce the movement and energy consumption of the load-carrying aircraft by using the spraying aircraft to carry the nozzle to move and adjust the spraying position. Moreover, the spraying aircraft uses its unique spherical rotor control structure, and the movement can achieve more precise control to adapt to different terrains and needs. Description of the Drawings

[0014] Figure 1It is a schematic three-dimensional structure diagram of the present invention.

[0015] Figure 2 It is a schematic three-dimensional structure diagram of the spraying aircraft of the present invention.

[0016] Figure 3 It is a schematic three-dimensional structure view of the frame of the spraying aircraft of the present invention.

[0017] Figure 4 It is a schematic internal structure diagram of the annular mounting seat of the present invention.

[0018] Figure 5 It is a schematic structure diagram of the traction assembly of the present invention.

[0019] Figure 6 It is a schematic structure diagram of the flight control mechanism of the present invention.

[0020] Figure 7 It is a schematic structure diagram of the electromagnetic locking assembly of the present invention.

[0021] Reference numerals in the figure: 1 is a load-carrying aircraft, 11 is a storage tank, 2 is a spraying aircraft, 31 is a frame, 311 is a base, 312 is a fuselage, 32 is a flight drive mechanism, 321 is an annular mounting seat, 3211 is an arc-shaped groove, 322 is a sphere, 323 is a rotor assembly, 3231 is a motor base, 3232 is a rotor blade, 3233 is a connecting rod, 324 is a control rod, 33 is a flight control mechanism, 331 is an electric push rod, 332 is a drive rod, 333 is a support rod, 34 is a nozzle, 35 is a leg, 4 is a traction assembly, 41 is a hollow traction rope, 42 is a liquid supply pipe, 5 is a fixing sleeve, 61 is a connecting rod, 62 is a locking sleeve, 63 is a limiting clamping plate. Embodiment

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments. Embodiment

[0023] In response to the problems raised in the above-mentioned background art, this embodiment provides a mine restoration spraying and breeding unmanned aerial vehicle, as Figures 1-6 shown, including a load-carrying aircraft 1, a spraying aircraft 2 and a total controller. The control system of the load-carrying aircraft 1 is connected to the total controller. A storage tank 11 for storing a seed mixture is installed on the frame of the load-carrying aircraft, and a liquid supply mechanism controlled and connected to the total controller is installed on the load-carrying aircraft for pumping out the seed mixture; there are various types of load-carrying aircraft, such as using a DJI T50 agricultural unmanned aerial vehicle or other large-load unmanned aerial vehicles of other models.

[0024] A plurality of spraying aircraft 2 are provided and are hoisted below the load-carrying aircraft. When the load-carrying aircraft ascends with the storage tank filled with the seed mixture, the load-carrying aircraft will synchronously lift the spraying aircraft and follow it into the air. The spraying aircraft 2 includes a flight control system and an aircraft body connected to the master controller. The aircraft body includes a frame 31, a flight drive mechanism 32, a flight control mechanism 33, and a nozzle 34. The frame 31 includes a base 311, and the base 311 is connected with a traction assembly. The other end of the traction member is fixedly connected to the frame of the load-carrying aircraft. Specifically: The traction assembly includes a hollow traction rope 41. The two ends of the hollow traction rope 41 are respectively fixedly connected to the frames of the load-carrying aircraft and the spraying aircraft. After the load-carrying aircraft takes off, it can lift the spraying aircraft smoothly through the traction rope. And when the spraying aircraft is not lifted by the load-carrying aircraft, the spraying aircraft will not start working, so as to effectively prevent the rotors during the operation of the spraying aircraft from colliding with the hollow traction rope during the takeoff process.

[0025] On the left and right sides of the base 311, fuselages 312 are symmetrically installed. Legs 35 are matched and installed on the fuselages, which are used to contact the ground when supporting the landing of the spraying aircraft, so that the UAV can be parked stably and lifted by the load-carrying aircraft; at the end of the fuselage far from the base, flight drive mechanisms are installed. The flight drive mechanisms are connected to the flight control mechanism. The control system can control the flight drive mechanisms through the flight control mechanism to adjust the flight direction of the spraying aircraft. The flight drive mechanism 32 includes an annular mounting seat 321, a sphere 322, a rotor assembly 323, and a control rod 324. The annular mounting seat 321 is connected to the end of the fuselage. The sphere is matched and installed in the annular mounting seat and can rotate freely. Specifically: An arc-shaped ring groove 3211 is provided along the circumference on the inner ring surface of the annular mounting seat 321. The size of the arc-shaped ring groove 3211 matches the size of the sphere. The sphere 322 is fitted and installed in the annular groove in the annular mounting seat and can rotate along the inner groove wall of the arc-shaped ring groove in the annular mounting seat. And because the arc-shaped ring groove is a groove structure, the sphere will not fall off from the annular mounting seat under the constraint of the arc-shaped ring groove.

[0026] Furthermore, there are various ways to install the sphere in the annular mounting seat. For example: the annular mounting seat is composed of two mounting seat bodies that are symmetrically arranged up and down or left and right. The two mounting seat bodies divide the arc-shaped ring groove into two parts. When the two mounting seat bodies are fixedly connected together by bolts to form an arc-shaped mounting seat, the arc-shaped ring groove segments in the two mounting seat bodies are butted together to form a complete arc-shaped ring groove.

[0027] An annular mounting seat protrudes from the upper and lower ends of the sphere 322, that is, the height of the annular mounting seat is smaller than the diameter of the sphere; the rotor assembly 323 is arranged above the sphere and connected to the sphere, and the rotor assembly includes a motor seat 3231 fixedly connected to the top of the sphere, and a motor connected to the flight control system is fixedly installed on the motor seat. The motor driving end is arranged upward and is equipped with rotor blades 3232. The controller can control the motor to drive the rotating blades to rotate through the flight control system, thereby providing power for the flight of the spray drone; further, there are many ways to connect the motor seat to the sphere, for example: a connecting rod 3233 is fixedly connected to the top of the sphere, and the top of the connecting rod is vertically connected to the bottom surface of the motor seat.

[0028] The bottom end of the sphere 322 is connected to the flight control mechanism through a control rod. The control system can control the rotor assembly through the flight control mechanism to adjust the flight direction of the spray aircraft. Specifically: The flight control mechanism 33 includes a driving assembly connected to the flight control system, a driving rod 332 and a support rod 333. The support rod 333 is arranged in parallel and spaced on the rear side of the base 311, and the two ends of the support rod are respectively fixedly connected to the adjacent side fuselage; the driving rod 332 is arranged in parallel and spaced below the base, and is connected to the support rod through the driving assembly. The two ends of the driving rod are respectively hinged to the adjacent side control rod, so that the driving rod is combined with the fuselage through the control rod and the sphere to form the same parallelogram structure control frame. The flight control system can control the deformation and front and rear flipping of the control frame through the driving assembly, so as to synchronously adjust the angles of the two rotor assemblies to control the flight direction of the spray aircraft. Specifically: The driving assembly includes an electric push rod 331 symmetrically installed on the left and right sections of the support rod. The electric push rod 331 is connected to the flight control system. Both ends of the electric push rod are hinged with a fixing sleeve 5. The fixing sleeves at both ends of the electric push rod are rotatably mounted on the middle part of the control rod and the support rod respectively. The flight control system can drive the driving rod to move in parallel by controlling the extension and retraction of the telescopic ends of the two electric push rods, thereby using the control rods hinged at both ends to drive the sphere to rotate, and synchronously adjust the angles of the two rotor assemblies to control the flight direction of the spray aircraft.

[0029] Furthermore, the flight control system establishes a three-dimensional coordinate system with the center of the frame as the origin. The drive rod is provided with a sensor group connected to the flight control system. The flight control system can detect and obtain the real-time coordinates of the drive rod in the three-dimensional coordinate system through the sensor group. The flight control system can accurately control the flight attitude of the spray aircraft according to the multi-point three-dimensional real-time coordinates of the drive rod.

[0030] A nozzle base 6 is fitted and installed inside the base. A nozzle 34 is fitted and installed inside the nozzle base. The liquid inlet end of the nozzle is communicated with the liquid discharge end of the liquid supply mechanism. A liquid supply pipe 42 is arranged inside the hollow traction rope 41. Both ends of the liquid supply pipe extend out of the hollow traction rope and are respectively communicated with the liquid inlet end of the nozzle and the liquid discharge end of the liquid supply mechanism. The liquid supply mechanism includes a suction pump fitted and installed inside the storage tank. The suction pump is controlled and connected to the controller. The liquid discharge end of the suction pump extends out of the storage tank and is connected to the liquid supply pipe. When the industrial mechanism works, the liquid extraction pump will extract the seed mixture inside the storage tank and convey it to the nozzle of the spraying aircraft through the liquid supply pipe, and the nozzle on the spraying aircraft sprays it out.

[0031] When the mine restoration spraying and breeding unmanned aerial vehicle provided in this embodiment is in use, the load-carrying aircraft used to carry the seed mixture will lift the spraying unmanned aerial vehicle into the air and fly to the working area according to the instruction. After flying to the working area, the load-carrying aircraft hovers statically without making large-scale movements. Then, the liquid supply mechanism and the spraying aircraft are started. After the liquid supply mechanism is started, it will pump the seed mixture in the storage tank on the unmanned aerial vehicle and convey it to the spraying unmanned aerial vehicle, and it is sprayed out through the nozzle to carry out spraying restoration on the mine restoration surface. After the spraying aircraft is started, it can move within the range allowed by the traction assembly according to the demand to cover different areas to ensure uniform spraying coverage.

[0032] Compared with the existing mine restoration spraying and breeding unmanned aerial vehicles, the mine restoration spraying and breeding unmanned aerial vehicle provided in this embodiment adopts a mother-child combined design. The spraying aircraft is used to carry the nozzle away from the high-power load-carrying aircraft for long-distance spraying restoration operations, which can better achieve uniform spraying and reduce the deviation impact caused by the wind force of the high-power rotor. It not only effectively solves the problem that the wind force of the rotor of the load-carrying aircraft affects the spraying restoration effect of the nozzle, but also compared with adjusting the spraying position by moving the load-carrying aircraft, the mine restoration spraying and breeding unmanned aerial vehicle provided in this embodiment can effectively reduce the movement and energy consumption of the load-carrying aircraft by using the spraying aircraft to carry the nozzle to move and adjust the spraying position. Moreover, the spraying aircraft uses its unique spherical rotor control structure, and the movement can achieve more precise control to adapt to different terrains and needs. Embodiment

[0033] The difference between Embodiment 2 and Embodiment 1 is that, as Figure 7As shown, the two sides of the base 311 are rod-shaped structures, and the central axis of the fuselage 312 intersects with the center points of the two spheres on both sides. An electromagnetic locking assembly connected to the driving rod is provided on the fuselage 312. The electromagnetic locking assembly includes a connecting rod 61 disposed between the fuselage 312 and the driving rod 332. The connecting rod 61 and the control rod 324 are parallel to each other in the same vertical plane. Lock sleeves 62 are hinged at both ends of the connecting rod. The lock sleeves at both ends of the connecting rod are respectively rotatably sleeved on the fuselage 312 and the driving rod 332, and electromagnetic locks a connected to the main controller are respectively and correspondingly installed on the two lock sleeves. When the electromagnetic locks are activated, the lock sleeves are locked to the fuselage 312 or the driving rod 332 sleeved by the electromagnetic locks a, losing the rotation function. Limiting clamping plates are slidably sleeved on the driving rod on the left and right sides of the lock sleeve. The limiting clamping plates can rotate on the driving rod. The limiting clamping plates 63 on both sides of the same lock sleeve are connected together by a tension spring. In the natural state, the tension spring will drive the two limiting clamping plates to move towards each other and contact the connecting rod. Electromagnetic locks b connected to the main controller are provided on the upper end surfaces of the clamping plates. When the electromagnetic locks are activated, the limiting clamping plates will be attracted and fixed to the lock sleeve by the electromagnetic locks b, thereby clamping the connecting rod to keep it perpendicular to the driving rod. During use, when the main controller controls the front and back movement of the spraying aircraft through the flight control mechanism, the main controller will synchronously control the activation of the electromagnetic locks b, thereby restricting the movement trajectory of the control rod so that it can only rotate back and forth around the central axis of the fuselage. When the main controller controls the left and right movement of the spraying aircraft through the flight control mechanism, the main controller will synchronously control the activation of the electromagnetic locks a, thereby restricting the movement trajectory of the control rod so that it can only move left and right horizontally. Embodiment

[0034] The difference between Embodiment 3 and Embodiment 2 is that a guiding tube is provided above the base 311. The bottom end of the guiding tube is hinged and fixed to the top of the base 311. The top end of the guiding rod extends out of the spraying aircraft. The hollow towing rope 41 passes through the guiding tube and enters the base. A tension spring is provided on the base at the rear side of the guiding tube. In the natural state, the tension spring will drive the guiding tube to turn backward to the horizontal state. During use, when the load-carrying aircraft hoists the spraying aircraft into the air through the hollow towing rope, the hollow towing rope will be stretched straight under force, thereby driving the guiding tube to overcome the traction force of the tension spring and turn upward to maintain the vertical state. When the hollow towing rope 41 loses the traction force, the guiding tube will turn backward under the action of the tension spring, causing the hollow towing rope 41 to bend backward, so that the hollow towing rope will not interfere with the spraying aircraft's flight operation under the constraint of the guiding tube.

[0035] It should be understood that the above specific embodiments of the present invention are only for illustrative explanation or interpretation of the principles of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A mine repair spraying and breeding drone, including a load-carrying aircraft, a spraying aircraft and a master controller, It is characterized in that There are multiple spray aircrafts, which are hoisted under the load-carrying aircraft. The control system of the load-carrying aircraft is connected to the main controller. A storage box is installed on the frame of the load-carrying aircraft for storing the seed mixture, and a liquid supply mechanism connected to the main controller is installed on the load-carrying aircraft for extracting the seed mixture. The spray aircraft includes a flight control system connected to the main controller and an aircraft body. The aircraft body includes a frame, a flight drive mechanism, a flight control mechanism and a nozzle. The frame includes a base, the base is connected to a traction assembly, and the other end of the traction assembly is fixedly connected to the frame of the load-carrying aircraft. The fuselage is symmetrically installed on the left and right sides of the base, and the end of the fuselage away from the base is installed with a flight drive mechanism, which is connected to the flight control mechanism. The control system controls the flight drive mechanism through the flight control mechanism to adjust the flight direction of the spray aircraft. A nozzle seat is matched and installed in the base, and the nozzle is matched and installed in the nozzle seat, and the liquid inlet end of the nozzle is connected to the liquid discharge end of the liquid supply mechanism.

2. The mine repair spraying breeding drone according to claim 1, It is characterized in that The traction assembly includes a hollow traction rope, and the two ends of the hollow traction rope are respectively fixedly connected to the frame of the load-carrying aircraft and the frame of the spraying aircraft; a liquid supply pipe is provided in the hollow traction rope, and the two ends of the liquid supply pipe extend outward from the hollow traction rope and are respectively connected to the liquid inlet end of the nozzle and the liquid discharge end of the liquid supply mechanism.

3. The mine repair spraying breeding drone according to claim 2, It is characterized in that The liquid supply mechanism comprises a suction pump matched and installed in the storage box, the suction pump is control-connected to the controller, and the discharge end of the suction pump extends out of the storage box and is connected to the liquid supply pipe.

4. The mine repair spraying breeding drone according to claim 1, It is characterized in that The flight drive mechanism includes an annular mounting seat, a sphere, a rotor assembly and a control rod. The annular mounting seat is connected to the end of the fuselage. The sphere is matched and installed in the annular mounting seat and can rotate freely, and the upper and lower ends of the sphere both protrude from the annular mounting seat; the rotor assembly is arranged above the sphere and connected to the sphere. The bottom end of the sphere is transmission-connected to the flight control mechanism through the control rod. The control system can control the rotor assembly through the flight control mechanism to adjust the flight direction of the spray aircraft.

5. The mine repair spraying breeding drone according to claim 4, It is characterized in that The inner ring surface of the annular mounting seat is provided with an arcuate annular groove along the circumference, and the spherical body is matched and sleeved in the annular groove in the annular mounting seat and can rotate along the inner groove wall of the arcuate annular groove in the annular mounting seat.

6. The mine repair spraying breeding drone according to claim 4, It is characterized in that The flight control mechanism includes a driving component, a driving rod, and a support rod connected to the flight control system. The support rods are arranged in parallel at intervals on the rear side of the base, and both ends of the support rods are fixedly connected to the adjacent side fuselages respectively; the driving rods are arranged in parallel at intervals under the base and are connected to the support rods through the driving component, and both ends of the driving rods are hinged to the adjacent side control rods respectively.

7. The mine restoration spraying and breeding unmanned aerial vehicle according to claim 6, wherein, the driving component includes electric push rods symmetrically installed on the left and right sections of the support rod, and the electric push rods are connected to the flight control system; fixed sleeves are hinged at both ends of the electric push rods, and the fixed sleeves at both ends of the electric push rods are respectively rotatably sleeved on the middle part of the control rod and the support rod.

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