An agricultural pesticide spraying unmanned aerial vehicle

Abstract

The application relates to the technical field of pesticide spraying equipment, and particularly discloses an agricultural pesticide spraying unmanned aerial vehicle, which comprises a machine body, a pesticide tank and a stirring mechanism. The stirring mechanism comprises a base plate and a first lifting driver. The base plate is movably arranged in the pesticide tank. The outer peripheral wall of the base plate is in contact with the inner peripheral wall of the pesticide tank. The first lifting driver is arranged on the pesticide tank and used for driving the base plate to lift. The stirring mechanism further comprises a stirring shaft and a rotary driver. The stirring shaft is rotatably arranged on the lower surface of the base plate. The stirring shaft is provided with a through groove. The rotary driver is arranged on the base plate and used for driving the stirring shaft to rotate. Two straight paddles are arranged on the two sides of the stirring shaft and movably arranged in the through groove along the radial direction of the pesticide tank. The groove wall of the through groove is in contact with the blade surface of the straight paddle. The lower surface of the base plate is provided with an annular groove used for guiding the straight paddle to move along the radial direction of the pesticide tank. The agricultural pesticide spraying unmanned aerial vehicle can reduce pesticide residues on the inner surface of the pesticide tank and the surface of the straight paddle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pesticide spraying equipment, in particular to an agricultural pesticide spraying unmanned aerial vehicle. BACKGROUND

[0002] With the transformation of modern agriculture towards intelligence and precision, traditional pesticide spraying methods face the bottleneck of low efficiency, resource waste and personnel safety hazards. Based on this, the agricultural pesticide spraying unmanned aerial vehicle emerges as the times require, which integrates flight control, intelligent sensing and precise pesticide application three core technologies, with the characteristics of efficient, precise and environmentally friendly spraying, and becomes a bright spot in the field of modern agricultural plant protection. It can realize efficient and precise spraying operation on farmland through high-precision positioning system and sensors, effectively replace traditional manual spraying method, significantly improve work efficiency, reduce pesticide use, and reduce labor intensity and environmental pollution. In addition, its intelligent flight control system and data acquisition function make it adapt to complex terrain and diversified crops, providing efficient, precise and environmentally friendly solutions for modern agricultural production, and helping agriculture to develop towards intelligence and sustainability.

[0003] The agricultural pesticide spraying unmanned aerial vehicle in the prior art, such as the pesticide spraying unmanned aerial vehicle disclosed in the Chinese patent application file with publication number CN112537451A, has the effects of increasing pesticide spraying area and improving work efficiency by setting swing rods, round blocks, discs, supporting rods, cooperating gears and driving gears. In the process of use, the servo motor works to make the disc rotate and the round block move inside the strip-shaped groove, so that the swing rod swings, increases the area of the spray head spraying pesticide, and the pesticide in the pesticide cavity is stirred by the stirring rod, which improves the mixing degree of the pesticide, thereby increasing the spraying area of the pesticide.

[0004] However, the above-mentioned pesticide spraying unmanned aerial vehicle in the prior art has the problem that during operation, due to the complex composition of the pesticide, residues are easily formed on the inner wall of the pesticide cavity and the surface of the stirring rod. The residual pesticide may react with the pesticide loaded next time, resulting in reduced pesticide efficacy, even toxic substances, and affecting the subsequent operation effect. SUMMARY

[0005] The present application provides an agricultural pesticide spraying unmanned aerial vehicle, which aims to solve the problem of cross contamination caused by pesticide residues in related art pesticide spraying unmanned aerial vehicles, which affects the subsequent operation effect.

[0006] The present application provides an agricultural pesticide spraying unmanned aerial vehicle, which adopts the following technical scheme:

[0007] The utility model provides an agricultural pesticide spraying unmanned plane, including body, the reagent tank for containing pesticide is set up on the body, the stirring mechanism for stirring pesticide is set up on the reagent tank, the stirring mechanism includes:

[0008] The substrate moves up and down in the reagent tank and is above the pesticide liquid level, the outer peripheral wall of the substrate is in contact with the inner peripheral wall of the reagent tank, the first lifting driver is installed on the reagent tank and is used to drive the substrate to lift to make the outer peripheral wall of the substrate clean the inner peripheral wall of the reagent tank;

[0009] The stirring shaft is rotatably installed on the lower surface of the substrate and is on the central axis of the reagent tank, the stirring shaft is provided with a through groove extending along the radial direction of the reagent tank, and the rotary driver is installed on the substrate and is used to drive the stirring shaft to rotate around the central axis of the reagent tank;

[0010] The straight paddle is distributed on both sides of the stirring shaft and is movably installed in the through groove along the radial direction of the reagent tank, the groove wall of the through groove is in contact with the blade surface of the straight paddle, the lower surface of the substrate is provided with an annular groove corresponding to each straight paddle, the annular groove is used to guide the straight paddle to move along the radial direction of the reagent tank when the straight paddle rotates with the stirring shaft, so that the groove wall of the through groove can clean the straight paddle, and the substrate can move downward to the lower bottom surface of the straight paddle in contact with the inner bottom surface of the reagent tank, so that the lower bottom surface of the straight paddle can clean the inner bottom surface of the reagent tank.

[0011] Further, the number of through grooves provided on the stirring shaft is one, and the two straight paddles are oppositely distributed on both sides of the longitudinal section of the reagent tank and are jointly installed in the through groove, and the opposite blade surfaces of the two straight paddles abut.

[0012] Further, the two annular grooves intersect, and the stirring shaft is located at the center position of the intersection part of the two annular grooves.

[0013] Further, the end portion of each straight paddle is provided with a guide block movably installed in the annular groove, and the guide block is in the shape of an arc.

[0014] Further, the lower surface of the substrate is horizontal and keeps in contact with the pesticide liquid level under the control of the first lifting driver.

[0015] Further, the upper bottom surface of each straight paddle is in contact with the lower surface of the substrate, so that the upper bottom surface of the straight paddle can clean the lower surface of the substrate.

[0016] Further, the stirring mechanism further comprises a double link ring movably assembled on the base plate and filled in the two annular grooves, and a second lifting driver installed on the medicament tank and used for driving the double link ring to lift, the double link ring can move downward to be flush with the annular groove.

[0017] Further, an annular groove coaxial with the stirring shaft is arranged on the outer side of the inner bottom surface of the medicament tank, and a ring-shaped sealing plate is installed in the annular groove by a spring, the spring is used for applying an elastic force to the ring-shaped sealing plate, so that the ring-shaped sealing plate moves upward to be flush with the annular groove, and the lower bottom surface of each straight paddle is provided with a protrusion, the protrusion can push the ring-shaped sealing plate and extend into the annular groove, so as to limit the radial movement of the straight paddle along the medicament tank.

[0018] Further, the end of each straight paddle is provided with an upward and downward extending clamping groove, the lower end of the guide block is rotatably installed on the limiting block, the limiting block is installed in the clamping groove by an elastic expansion rod, and when the guide block moves in the annular groove to be tangent to the clamping groove, the guide block can enter the clamping groove under the pushing of the double link ring.

[0019] Further, a containing groove for containing the stirring shaft is arranged at the center of the inner bottom surface of the medicament tank.

[0020] The agricultural pesticide spraying unmanned aerial vehicle provided by the application has the beneficial effects that: through the arrangement of the stirring mechanism, the automatic cleaning mechanism is realized by the cooperation of spraying and stirring. Under the control of the first lifting driver, the base plate gradually moves downward with the decrease of the pesticide liquid level, and the outer peripheral wall can scrape the pesticide remaining on the inner peripheral wall of the medicament tank. The arrangement of the guide block and the annular groove enables the straight paddle to move radially along the medicament tank during stirring, and the pesticide remaining on the straight paddle is scraped by the relative leaf surface of the slot wall and the straight paddle. The arrangement of the double link ring and the annular groove enables the straight paddle to keep the state that the outer end surface is in contact with the inner peripheral wall of the medicament tank, the upper bottom surface is in contact with the lower surface of the base plate, and the lower bottom surface is in contact with the inner bottom surface of the medicament tank before the spraying operation is completed, so as to scrape the inner peripheral wall of the medicament tank, the lower surface of the base plate and the inner bottom surface of the medicament tank. In this way, the pesticide remaining in the medicament tank and on the surface of the straight paddle can be reduced, the risk of chemical reaction between the remaining pesticide and the next loaded pesticide can be reduced, the influence of cross contamination on subsequent operation can be avoided, the stability and safety of the spraying effect can be ensured, the remaining substances can be mixed into the current pesticide for reuse, the waste of pesticide can be reduced, and the use efficiency of pesticide is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the agricultural pesticide spraying unmanned aerial vehicle of the application.

[0022] Figure 2is a structural schematic view of a pesticide tank of an agricultural pesticide spraying unmanned aerial vehicle of the present application.

[0023] Figure 3 is a structural schematic view of a stirring mechanism of an agricultural pesticide spraying unmanned aerial vehicle of the present application.

[0024] Figure 4 is a structural schematic view of a stirring mechanism of an agricultural pesticide spraying unmanned aerial vehicle of the present application from another perspective.

[0025] Figure 5 is a structural schematic view of a stirring mechanism of an agricultural pesticide spraying unmanned aerial vehicle of the present application in a first state.

[0026] Figure 6 is a structural schematic view of a stirring mechanism of an agricultural pesticide spraying unmanned aerial vehicle of the present application in a second state.

[0027] Figure 7 is a structural schematic view of a stirring mechanism of an agricultural pesticide spraying unmanned aerial vehicle of the present application in a third state.

[0028] Reference signs:

[0029] 10, body; 110, pesticide tank; 111, annular groove; 112, spring; 113, annular sealing plate; 114, containing groove; 120, liquid delivery pipeline; 130, stirring mechanism; 20, base plate; 210, annular groove; 30, first lifting driver; 40, stirring shaft; 50, rotary driver; 60, straight paddle; 610, protrusion; 620, clamping groove; 70, guide block; 710, limiting block; 720, elastic telescopic rod; 80, double connecting ring; 90, second lifting driver. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0031] As Figures 1 to 7As shown, the embodiment of the agricultural pesticide spraying unmanned aerial vehicle of the present application comprises a body 10, a power system, a spraying system, a communication system and an auxiliary system, and the power system, the spraying system, the communication system and the auxiliary system are respectively arranged on the body 10. Among them, the power system is used to provide flight power for the unmanned aerial vehicle and control the flight attitude and movement of the unmanned aerial vehicle; the spraying system is the core part of the unmanned aerial vehicle for plant protection operation, which comprises a pesticide tank 110 for containing pesticide, a stirring mechanism 130 arranged on the pesticide tank 110 for stirring pesticide, a spray head arranged below the pesticide tank 110 for atomizing and spraying pesticide, a liquid delivery pipeline 120 arranged at the lower end of the pesticide tank 110 and connected between the pesticide tank 110 and the spray head; the communication system is used for communication with the ground control station, transmission of flight data and reception of instructions; the auxiliary system is used to protect the body 10 and the spraying system from damage during take-off and landing.

[0032] As shown in Figure 1 and Figure 2 , the pesticide tank 110 is a cylindrical container and is fixedly installed on the body 10 in a vertical attitude by bolts. The inside of the pesticide tank 110 is used to store pesticide, and the inner bottom surface of the pesticide tank 110 is provided with a liquid outlet connected to the liquid delivery pipeline 120.

[0033] The inner bottom surface of the pesticide tank 110 is provided with an annular groove 111, and the center of the annular groove 111 is located on the central axis of the pesticide tank 110. An annular sealing plate 113 is installed in the annular groove 111 by a spring 112, and the spring 112 is used to exert an elastic force on the annular sealing plate 113 to move the annular sealing plate 113 upward to the upper surface flush with the groove of the annular groove 111, so as to ensure that the inner bottom surface of the pesticide tank 110 is flat, so that the pesticide can smoothly enter the liquid outlet, which is conducive to reducing pesticide residue. The inner bottom surface of the pesticide tank 110 is provided with a receiving groove 114.

[0034] As shown in Figures 1 to 4 , the stirring mechanism 130 comprises a base plate 20, a first lifting driver 30, a stirring shaft 40, a rotary driver 50, a straight paddle 60, a guide block 70, a double connecting ring 80 and a second lifting driver 90.

[0035] The substrate 20 is movably arranged in the pesticide tank 110 and above the pesticide liquid surface. The outer peripheral wall of the substrate 20 is in contact with the inner peripheral wall of the pesticide tank 110, and the lower surface of the substrate 20 is horizontal. The first lifting driver 30 is a hydraulic cylinder, which is mounted on the pesticide tank 110 and used to drive the substrate 20 to move up and down. In other embodiments, the first lifting driver 30 can also be a pneumatic cylinder or an electric push rod. During the spraying process of the unmanned aerial vehicle, the residual amount of pesticide in the pesticide tank 110 gradually decreases, and the liquid level gradually decreases. As the pesticide liquid surface gradually moves downward, the first lifting driver 30 controls the substrate 20 to gradually move downward, so that the lower surface of the substrate 20 remains in contact with the pesticide liquid surface to fix the position of the pesticide in the pesticide tank 110, thereby reducing the free surface and the shaking amplitude of the pesticide in the pesticide tank 110, maintaining the relative stability of the center of gravity of the pesticide tank 110, and improving the flight balance of the unmanned aerial vehicle. In addition, during the downward movement of the substrate 20, the outer peripheral wall of the substrate 20 moves relative to the inner peripheral wall of the pesticide tank 110, and the outer peripheral wall of the substrate 20 can scrape off the pesticide remaining on the inner peripheral wall of the pesticide tank 110 by friction to remove the attachments on the inner peripheral wall, thereby cleaning the inner peripheral wall of the pesticide tank 110. The scraped pesticide falls under the pressure of the substrate 20 and is mixed into the pesticide in the pesticide tank 110 for reuse, reducing the waste of pesticide and improving the use efficiency of pesticide.

[0036] The stirring shaft 40 is rotatably arranged on the lower surface of the substrate 20 and located on the central axis of the pesticide tank 110. The stirring shaft 40 is provided with a through slot extending radially along the pesticide tank 110. The rotary driver 50 is mounted on the substrate 20 and used to drive the stirring shaft 40 to rotate around the central axis of the pesticide tank 110. The rotary driver 50 in the embodiment includes a motor mounted on the substrate 20, a driving gear connected to the output end of the motor, and a driven gear arranged on the stirring shaft 40 and meshing with the driving gear. When the motor drives the driving gear to rotate, the driving gear drives the stirring shaft 40 to rotate around the central axis of the pesticide tank 110 through the driven gear.

[0037] The two straight paddles 60 are arranged on both sides of the stirring shaft 40 and movably arranged in the through slot along the pesticide tank 110. The stirring shaft 40 drives the two straight paddles 60 to rotate through the through slot. When the two straight paddles 60 rotate around the central axis of the pesticide tank 110, they can stir and mix the pesticide in the pesticide tank 110, avoid the pesticide from precipitating during spraying, ensure that the pesticide is fully mixed and the concentration remains unchanged before spraying, and ensure the spraying effect of the pesticide. The upper bottom surface of each straight paddle 60 is in contact with the lower surface of the substrate 20, so that the upper bottom surface of the straight paddle 60 can clean the lower surface of the substrate 20. In addition, the substrate 20 can move downward until the lower bottom surface of the straight paddle 60 is in contact with the inner bottom surface of the pesticide tank 110, so that the lower bottom surface of the straight paddle 60 can clean the inner bottom surface of the pesticide tank 110.

[0038] The number of through grooves opened on the stirring shaft 40 in the embodiment is one, and two straight paddles 60 are oppositely distributed on both sides of the longitudinal section of the medicament tank 110 and are jointly installed in the through groove. The opposite paddle surfaces of the two straight paddles 60 abut, and the paddle surfaces, upper bottom surface and lower bottom surface of the two straight paddles 60 opposite to each other all contact the groove wall of the through groove. In other embodiments, the number of through grooves opened on the stirring shaft 40 can also be two corresponding to the number of straight paddles 60, and each straight paddle 60 is separately installed in the through groove, and the two paddle surfaces, upper bottom surface and lower bottom surface of each straight paddle 60 all contact the groove wall of the through groove.

[0039] The lower surface of the base plate 20 is opened with annular grooves 210 corresponding to each straight paddle 60, the two annular grooves 210 intersect, and the stirring shaft 40 is located at the center position of the intersection part of the two annular grooves 210. The end part of each straight paddle 60 is provided with a guide block 70 movably assembled in the annular groove 210, and the guide block 70 is in an arc shape. The annular groove 210 is used to guide the straight paddle 60 to move along the radial direction of the medicament tank 110 through the guide block 70 when the straight paddle 60 rotates with the stirring shaft 40, so that the groove wall of the through groove can scrape the paddle surfaces, upper bottom surface and lower bottom surface opposite to each other of the two straight paddles 60, and the opposite paddle surfaces of the two straight paddles 60 can scrape each other, thereby cleaning the two straight paddles 60.

[0040] The double connecting rings 80 are movably assembled on the base plate 20 and filled in the two annular grooves 210. The second lifting driver 90 is a hydraulic cylinder, and the second lifting driver 90 is installed on the medicament tank 110 and used to drive the double connecting rings 80 to move up and down. Under the driving of the second lifting driver 90, the double connecting rings 80 can move downward to the lower bottom surface flush with the groove opening of the annular groove 210. In other embodiments, the second lifting driver 90 can also be a pneumatic cylinder or an electric push rod.

[0041] The end part of each straight paddle 60 is opened with a clamping groove 620 extending upward and downward, the lower end of the guide block 70 is rotatably installed on a limiting block 710, the limiting block 710 is installed in the clamping groove 620 through an elastic expansion rod 720, and the guide block 70 can enter the clamping groove 620 under the pushing of the double connecting rings 80 when the guide block 70 moves in the annular groove 210 to be tangent to the clamping groove 620.

[0042] The lower bottom surface of each straight paddle 60 is provided with a protrusion 610, and the protrusion 610 can push the annular sealing plate 113 and extend into the annular groove 111 to limit the radial movement of the straight paddle 60 along the medicament tank 110.

[0043] The working process of the embodiment of the agricultural pesticide spraying unmanned aerial vehicle of the present application includes the following steps:

[0044] The first step is the initial state preparation. A certain amount of pesticide is contained in the pesticide tank 110. The substrate 20 is located above the pesticide liquid level. There is a certain distance between the lower end of the stirring shaft 40 and the inner bottom surface of the pesticide tank 110. The lower bottom surface of the double connecting ring 80 is located above the slot of the annular groove 210. The guide block 70 is assembled in the annular groove 210. The annular sealing plate 113 is moved upward to the upper surface under the action of the spring 112 and is flush with the slot of the annular groove 111.

[0045] The second step is the spraying and stirring cooperative operation. The unmanned aerial vehicle takes off and reaches the designated operation area. The spraying system is started. The pesticide in the pesticide tank 110 flows to the spray head through the liquid pipeline 120 for spraying. The rotary driver 50 drives the stirring shaft 40 to rotate the two straight paddles 60. The two straight paddles 60 stir and mix the pesticide in the pesticide tank 110. As shown in the figure, the end of the straight paddle 60 moves in the annular groove 210 on the lower surface of the substrate 20 during rotation. The guide block 70 guides the straight paddle 60 to move along the radial direction of the pesticide tank 110. The slot wall scrapes the opposite surfaces, the upper bottom surface and the lower bottom surface of the two straight paddles 60. At the same time, the opposite surfaces of the two straight paddles 60 scrape each other to clean the two straight paddles 60. Figures 5 to 7

[0046] The third step is the liquid level drop. With the spraying of the pesticide, the remaining amount of pesticide in the pesticide tank 110 gradually decreases, and the liquid level gradually drops. The first lifting driver 30 controls the substrate 20 to gradually move downward, so that the lower surface of the substrate 20 remains in contact with the pesticide liquid level to fix the position of the pesticide in the pesticide tank 110. The second lifting driver 90 controls the double connecting ring 80 to move downward synchronously with the substrate 20, so that the position of the double connecting ring 80 in the annular groove 210 remains unchanged. During the downward movement of the substrate 20, the outer peripheral wall of the substrate 20 scrapes off the pesticide remaining on the inner peripheral wall of the pesticide tank 110 by friction to remove the attachments on the inner peripheral wall and clean the inner peripheral wall of the pesticide tank 110.

[0047] The fourth step is the work of the double connecting ring 80. When the substrate 20 moves downward to the lower end of the stirring shaft 40 and extends into the containing groove 114, the first lifting driver 30 stops working. The protrusion 610 on the lower bottom surface of the straight paddle 60 pushes the annular sealing plate 113 and extends into the annular groove 111. The lower bottom surface of the straight paddle 60 is in contact with the inner bottom surface of the pesticide tank 110. The second lifting driver 90 drives the double connecting ring 80 to move downward to the lower bottom surface flush with the slot of the annular groove 210. At this time, the guide block 70 moves in the annular groove 210 to be tangent to the clamping groove 620 and enters the clamping groove 620 under the pushing of the double connecting ring 80. The straight paddle 60 is disconnected from the annular groove 210 and no longer moves along the radial direction of the pesticide tank 110 under the limiting of the annular groove 111. As shown in the figure, the double connecting ring 80 is in the working state. The protrusion 610 on the lower bottom surface of the straight paddle 60 pushes the annular sealing plate 113 and extends into the annular groove 111. The lower bottom surface of the straight paddle 60 is in contact with the inner bottom surface of the pesticide tank 110. Figure 7 ​As shown, under the driving of the rotary driver 50, the straight paddle 60 rotates around the central axis of the medicine tank 110 to clean the inner peripheral wall of the medicine tank 110, the lower surface of the base plate 20 and the inner bottom surface of the medicine tank 110, until the spraying operation is completed, in a state that the outer end surface is in contact with the inner peripheral wall of the medicine tank 110, the upper bottom surface is in contact with the lower surface of the base plate 20, and the lower bottom surface is in contact with the inner bottom surface of the medicine tank 110.

[0048] Thus, the embodiment of the agricultural pesticide spraying unmanned aerial vehicle of the present application realizes the automatic cleaning mechanism by the setting of the stirring mechanism 130 and the cooperative operation of spraying and stirring. Under the control of the first lifting driver 30, the base plate 20 gradually moves downward with the decrease of the pesticide level, and the outer peripheral wall can scrape off the pesticide remaining on the inner peripheral wall of the medicine tank 110. The setting of the guide block 70 and the annular groove 210 enables the straight paddle 60 to move along the radial direction of the medicine tank 110 during stirring, and the relative blade surfaces of the slot wall of the through slot and the straight paddle 60 scrape off the pesticide remaining on the straight paddle 60. The setting of the double connecting ring 80 and the annular groove 111 enables the straight paddle 60 to maintain the state that the outer end surface is in contact with the inner peripheral wall of the medicine tank 110, the upper bottom surface is in contact with the lower surface of the base plate 20, and the lower bottom surface is in contact with the inner bottom surface of the medicine tank 110 before the completion of the spraying operation, so as to scrape off the pesticide from the inner peripheral wall of the medicine tank 110, the lower surface of the base plate 20 and the inner bottom surface of the medicine tank 110. In this way, the pesticide remaining in the medicine tank 110 and on the surface of the straight paddle 60 can be reduced, the risk of chemical reaction between the remaining pesticide and the next pesticide loading can be reduced, the influence of cross contamination on subsequent operation can be avoided, the stability and safety of the spraying effect can be ensured, and the scraped remaining pesticide can be immediately mixed into the current pesticide for reuse, reducing the waste of pesticide and improving the use efficiency of pesticide.

[0049] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. An agricultural pesticide spraying unmanned aerial vehicle, comprising a machine body, a pesticide tank arranged on the machine body for containing pesticide, and a stirring mechanism arranged on the pesticide tank for stirring pesticide, characterized in that, The stirring mechanism comprises: a base plate and a first lifting driver, the base plate is movably arranged in a pesticide tank and above a pesticide liquid surface, an outer circumferential wall of the base plate is in contact with an inner circumferential wall of the pesticide tank, the first lifting driver is arranged on the pesticide tank and used to drive the base plate to move up and down so that the outer circumferential wall of the base plate can clean the inner circumferential wall of the pesticide tank; a stirring shaft and a rotating driver, the stirring shaft is rotatably arranged on a lower surface of the base plate and on a central axis of the pesticide tank, the stirring shaft is provided with a through slot extending along a radial direction of the pesticide tank, and the rotating driver is arranged on the base plate and used to drive the stirring shaft to rotate around the central axis of the pesticide tank; two straight paddles, the two straight paddles are arranged on two sides of the stirring shaft and movably arranged in the through slot along the radial direction of the pesticide tank, a slot wall of the through slot is in contact with a blade surface of the straight paddle, the lower surface of the base plate is provided with an annular groove corresponding to each straight paddle, the annular groove is used to guide the straight paddle to move along the radial direction of the pesticide tank when the straight paddle rotates with the stirring shaft, so that the slot wall of the through slot can clean the straight paddle, and the base plate can move down to the lower bottom surface of the straight paddle being in contact with an inner bottom surface of the pesticide tank, so that the lower bottom surface of the straight paddle can clean the inner bottom surface of the pesticide tank; an end portion of each straight paddle is provided with a guide block movably arranged in the annular groove, and the guide block is in an arc shape; the lower surface of the base plate is horizontal and kept in contact with the pesticide liquid surface under the control of the first lifting driver; an upper bottom surface of each straight paddle is in contact with the lower surface of the base plate, so that the upper bottom surface of the straight paddle can clean the lower surface of the base plate; the stirring mechanism further comprises a double link movably arranged on the base plate and filled in the two annular grooves, and a second lifting driver arranged on the pesticide tank and used to drive the double link to move up and down, the double link can move down to the lower bottom surface being flush with a slot opening of the annular groove.

2. The unmanned agricultural pesticide spraying drone according to claim 1, characterized in that, the number of the through slots arranged on the stirring shaft is one, the two straight paddles are oppositely arranged on two sides of a longitudinal section of the pesticide tank and commonly arranged in the through slot, and opposite blade surfaces of the two straight paddles are in abutment.

3. The unmanned agricultural pesticide spraying drone according to claim 1, characterized in that, the two annular grooves intersect, and the stirring shaft is located at a central position of the intersection of the two annular grooves.

4. The unmanned agricultural pesticide spraying drone according to claim 1, characterized in that, the inner bottom surface of the pesticide tank is provided with an annular groove coaxially arranged with the stirring shaft, a ring-shaped sealing plate is arranged in the annular groove through a spring, the spring is used to apply an elastic force to the ring-shaped sealing plate, so that the ring-shaped sealing plate moves up to the upper surface being flush with a slot opening of the annular groove, a protrusion is arranged on the lower bottom surface of each straight paddle, and the protrusion can push the ring-shaped sealing plate and extend into the annular groove, so as to limit the straight paddle from moving along the radial direction of the pesticide tank.

5. The unmanned agricultural pesticide spraying drone according to claim 1, characterized in that, an end portion of each straight paddle is provided with a clamping slot extending upward and downward, a lower end of the guide block is rotatably arranged on a limiting block, the limiting block is arranged in the clamping slot through an elastic extension rod, and the guide block can enter the clamping slot under the pushing of the double link when the guide block moves in the annular groove to be tangent to the clamping slot. 6.The agricultural pesticide spraying unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that, the inner bottom surface of the pesticide tank is provided with a containing groove for containing the stirring shaft.

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