Irrigation device of multi-rotor plant protection unmanned aerial vehicle and use method of irrigation device

Abstract

The invention relates to an irrigation device of a multi-rotor plant protection unmanned aerial vehicle and a use method thereof, and belongs to the technical field of plant protection unmanned aerial vehicle equipment. The irrigation device of the multi-rotor plant protection unmanned aerial vehicle comprises an unmanned aerial vehicle body; the spraying mechanism comprises a water tank assembly, a conveying pump and four spray heads distributed on the unmanned aerial vehicle body, the output end of the conveying pump communicates with a five-way valve, and branch pipes communicate between the other four ends of the five-way valve and the corresponding spray heads; according to the water tank assembly in the spraying mechanism, the tank body can be divided into the three liquid storage areas through the partition plates, the resonance field during liquid level shaking is reduced, the liquid level can be stabilized through the upper floating plate located on the liquid level, the liquid level fluctuation condition is reduced, the stability of the plant protection unmanned aerial vehicle during spraying operation is improved, and when no mixed solution exists in the upper liquid storage area, the spraying effect is good. And the counterweight plugging block can automatically plug the liquid outlet, so that the upper limit of liquid level fluctuation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of plant protection drone equipment, and in particular to an irrigation device of a multi-rotor plant protection drone and a method of using the same. Background Art

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aerial vehicles (UAVs) controlled by radio remote control and self-contained programmable controls. With the advancement of drone technology, they have found widespread application in a variety of fields, including geological surveys, traffic patrols, agricultural planting, military reconnaissance, aerial photography, and entertainment and leisure. Due to their high efficiency, high-altitude operation, and remote control, drones are of great benefit to all areas of life.

[0003] A plant protection drone is a type of drone used in agricultural planting. It can perform inspections, sowing, fertilizing, spraying, and pollination, which not only improves work efficiency but also reduces the human resources occupied. However, when applying chemical fertilizers to crops, existing plant protection drones need to first dissolve solid particles into liquid, add a water tank, and then use the plant protection drone for spraying. The spraying volume required for fertilization is large. During the spraying process, the liquid will constantly change and be affected by the flight of the plant protection drone. The liquid level in the water tank will shake and fluctuate violently, affecting the stability of the drone's flight. Summary of the Invention

[0004] Based on this, it is necessary to provide an irrigation device for a multi-rotor plant protection drone and a method for using the device to address the problem that the liquid level in the water tank will shake and fluctuate violently, affecting the flight stability of the drone.

[0005] Including: drone body;

[0006] The spraying mechanism includes a water tank assembly, a delivery pump, and four nozzles distributed on the drone body. The output end of the delivery pump is connected to a five-way valve, and the other four ends of the five-way valve are connected to branch pipes between the corresponding nozzles.

[0007] Among them, the water tank assembly includes a box body arranged on the drone body, the delivery pump is fixedly connected to the box body and communicated with it, the inner wall of the box body is fixedly connected to two partitions, and a liquid outlet is provided in the middle of the bottom end of the partition. The two partitions divide the box body into three liquid storage areas, and three float plates are provided in the box body. The three float plates are distributed in the corresponding liquid storage areas, and a counterweight sealing block matching the liquid outlet is provided in the middle of the bottom end of the float plate.

[0008] In one embodiment, the spraying mechanism also includes a mounting box fixedly connected to the bottom end of the box body, the inner top wall of the mounting box is rotatably connected to a transmission rod, the top end of the transmission rod passes through the mounting box and the box body in sequence and is fixedly connected to a mixing rod, the inner wall of the mounting box is rotatably connected to a rotating rod, both ends of the rotating rod pass through the mounting box and are provided with fan blades, and the bottom end of the transmission rod and the middle part of the surface of the rotating rod are fixedly connected to a bevel gear.

[0009] In one embodiment, the spraying mechanism also includes a plurality of protective boxes arranged on the drone body, the inner wall of the protective box is rotatably connected to two circular gears, the inner wall of the protective box is fixedly connected to a motor, one of the circular gears is fixedly connected to the output shaft of the motor, and the end of the other circular gear is fixedly connected to a connecting rod, and the end of the connecting rod passes through the protective box and is fixedly connected to the nozzle.

[0010] In one embodiment, the inner wall of the box is fixedly connected to a limit rod, the surface of the floating plate is fixedly connected to a collar, and the collar slides on the surface of the limit rod.

[0011] In one embodiment, an electromagnet is provided on the surface of the limiting rod, and the collar is made of iron material.

[0012] In one embodiment, a linear displacement sensor is provided in the box, and a probe of the linear displacement sensor is provided on the collar.

[0013] In one embodiment, a one-way bearing is provided at the connection between the rotating rod and the fan blade, and a sealed bearing is provided at the connection between the transmission rod and the installation box and the box body.

[0014] In one embodiment, a plurality of strip grooves are formed on the surface of the mixing rod, and the inner wall of the strip groove is rotatably connected to a water wheel.

[0015] In one embodiment, a plurality of strip-shaped holes are provided on the top of the floating plate, and a drainage groove is provided on the bottom of the floating plate.

[0016] In one embodiment, the outer side of the box body is connected to a liquid inlet pipe, and a sealing cover is provided at one end of the liquid inlet pipe away from the box body.

[0017] A method for using an irrigation device of a multi-rotor plant protection drone comprises the following steps:

[0018] Step 1: Perform preparatory work before spraying, complete the mixing of solid fertilizer and aqueous solution, add the mixed solution into the box through the liquid inlet pipe, and complete the sealing operation of the sealing cover;

[0019] Step 2: Use the handle to operate the drone body. After the drone body is launched and reaches the spraying area, the delivery pump is started during the flight to sequentially deliver the mixed solution in the tank to the five-way valve and branch pipes. Finally, the nozzle sprays the mixed liquid to complete the fertilization spraying operation in the corresponding area.

[0020] Step 3: During the spraying process, if you need to adjust the nozzle, you can start the motor. The motor drives the circular gear to rotate. Under the action of the two meshing circular gears, the connecting rod will drive the nozzle to tilt, thereby changing the spraying area and making the spraying more reasonable.

[0021] Beneficial effects

[0022] 1. The water tank assembly in the above-mentioned spraying mechanism can use partitions to divide the tank into three liquid storage areas, reducing the resonance scene when the liquid surface shakes, and the floating plate on the liquid surface can stabilize the liquid surface, reduce the liquid surface fluctuation, and increase the stability of the plant protection drone during spraying operations. When there is no mixed solution in the upper liquid storage area, the counterweight blocking block will automatically block the liquid outlet to reduce the upper limit of liquid surface fluctuation. The electromagnet can also magnetically adsorb the collar to lock the floating plate in the area without mixed solution, thereby increasing the stability of the blockage.

[0023] 2. The fan blades of the above-mentioned unpowered arrangement can automatically rotate by utilizing the airflow during the flight of the drone body, thereby utilizing the rotating rod, two bevel gears and transmission rod to drive the mixing rod to rotate, and utilizing the mixing rod to stir the bottom of the box to prevent the mixed solution from settling. At the same time, under the action of the one-way bearing, the two fan blades will not affect the rotating rod when rotating in the opposite direction, thereby ensuring the stable operation of the mixing rod. At the same time, when the mixing rod rotates, it is affected by the mixed solution, and the water wheel will divert the mixed solution, thereby improving the mixing effect of the mixed solution.

[0024] 3. The arrangement of the motor and the two circular gears can adjust the inclination angle of the nozzle when the spraying area needs to be adjusted during the spraying operation, and change the inclination area of ​​the four nozzles at the same time, thereby realizing the change of the spraying area and increasing the rationality of the spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the spraying mechanism of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the water tank assembly of the present invention;

[0029] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0030] Figure 5 This is a schematic diagram of the connection between the mixing rod and the fan blades of the present invention;

[0031] Figure 6 For the present invention Figure 5 Enlarged view of point B in the middle;

[0032] Figure 7 Schematic diagram of the internal structure of the protective box of the present invention.

[0033] Reference numerals:

[0034] 100. UAV body; 200. Spraying mechanism; 210. Water tank assembly; 211. Box body; 212. Partition; 213. Liquid outlet; 214. Float; 215. Counterweight blocking block; 216. Limit rod; 2161. Ring; 2162. Electromagnet; 2163. Linear displacement sensor; 217. Mounting box; 2171. Transmission rod; 2172. Mixing rod; 2173. Rotating rod; 2174. Bevel gear; 2175. Fan blade; 2176. One-way bearing; 2177. Sealed bearing; 2178. Water wheel; 220. Delivery pump; 221. Five-way valve; 222. Nozzle; 223. Branch pipe; 230. Protective box; 231. Motor; 232. Circular gear. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0038] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are in contact indirectly through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] Unless otherwise defined, all technical and scientific terms used in the present description have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used in this description are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used in this description includes any and all combinations of one or more of the associated listed items.

[0040] The following combination Figure 1-Figure 7 The present invention describes an irrigation device of a multi-rotor plant protection drone and a method of using the same.

[0041] In one embodiment, it includes: a drone body 100;

[0042] The spraying mechanism 200 includes a water tank assembly 210, a delivery pump 220, and four nozzles 222 distributed on the drone body 100. The output end of the delivery pump 220 is connected to a five-way valve 221, and the other four ends of the five-way valve 221 are connected to branch pipes 223 between the corresponding nozzles 222;

[0043] Among them, the water tank assembly 210 includes a box body 211 arranged on the drone body 100, the delivery pump 220 is fixedly connected to the box body 211 and communicated with it, and two partitions 212 are fixedly connected to the inner wall of the box body 211. A liquid outlet 213 is provided in the middle of the bottom end of the partition 212. The two partitions 212 divide the box body 211 into three liquid storage areas. Three float plates 214 are provided in the box body 211. The three float plates 214 are distributed in the corresponding liquid storage areas. A counterweight blocking block 215 matching the liquid outlet 213 is provided in the middle of the bottom end of the float plate 214.

[0044] A plurality of strip-shaped holes are formed on the top of the floating plate 214 , and a drainage groove is formed on the bottom of the floating plate 214 .

[0045] It should be noted that plant protection drones mainly include:

[0046] The drone body 100 fuselage / arm: the framework structure that carries all systems, the tripod: supports the body and ensures safe take-off and landing, the battery frame: fixes the power supply battery, and the built-in battery is used to realize the normal flight operation of the drone body 100;

[0047] Power system: Battery: Provides power to the entire aircraft, commonly using lithium batteries; Motor and ESC: Converts electrical energy into mechanical energy to drive the propellers, which precisely control the motor speed; Propeller: Generates lift and thrust, supporting flight and attitude adjustment;

[0048] Control system: Remote control / ground station: remote control of flight path and spraying parameters, flight control module: integrated main chip, IMU gyroscope + accelerometer, barometer, processing flight attitude and altitude data, navigation and positioning: GPS / RTK provides centimeter-level positioning, magnetic compass detects direction, millimeter-wave radar realizes terrain imitation and obstacle avoidance;

[0049] The plant protection drone achieves autonomous flight through the flight control system, the power system provides energy and lift, and the spraying system completes fertilizer atomization and precise coverage.

[0050] like Figure 1 、 Figure 2 and Figure 7 As shown, the spraying mechanism 200 also includes a plurality of protective boxes 230 arranged on the drone body 100. The inner wall of the protective box 230 is rotatably connected to two circular gears 232. The inner wall of the protective box 230 is fixedly connected to a motor 231, one of the circular gears 232 is fixedly connected to the output shaft of the motor 231, and the end of the other circular gear 232 is fixedly connected to a connecting rod, and the end of the connecting rod passes through the protective box 230 and is fixedly connected to the nozzle 222.

[0051] The outside of the box body 211 is connected with a liquid inlet pipe, and a sealing cover is provided at one end of the liquid inlet pipe away from the box body 211. The liquid inlet pipe is used to add liquid, and the sealing cover seals the liquid inlet pipe, making it more convenient to add solution to the box body 211.

[0052] In this embodiment, during the spraying process, when the nozzle 222 needs to be adjusted, the motor 231 can be started, and the motor 231 drives the circular gear 232 to rotate. Under the action of the two mutually meshing circular gears 232, the connecting rod drives the nozzle 222 to tilt, thereby changing the spraying area, making the spraying more reasonable. The protective box 230 can protect the motor 231 and the circular gear 232. At the same time, Figure 7 As shown in , the protective box 230 is provided with a limiting groove for limiting the connecting rod, increasing the stability when adjusting the nozzle 222, and changing the tilt area of ​​the four nozzles 222 at the same time, thereby realizing the change of the spraying area and increasing the rationality of the spraying operation.

[0053] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, the spraying mechanism 200 also includes an installation box 217 fixedly connected to the bottom end of the box body 211, and the inner top wall of the installation box 217 is rotatably connected to a transmission rod 2171, the top of the transmission rod 2171 passes through the installation box 217 and the box body 211 in sequence and is fixedly connected to a mixing rod 2172, the inner wall of the installation box 217 is rotatably connected to a rotating rod 2173, both ends of the rotating rod 2173 pass through the installation box 217 and are provided with fan blades 2175, and the bottom end of the transmission rod 2171 and the middle part of the surface of the rotating rod 2173 are fixedly connected to a bevel gear 2174.

[0054] A plurality of strip grooves are formed on the surface of the mixing rod 2172 , and a water wheel 2178 is rotatably connected to the inner wall of the strip groove.

[0055] A one-way bearing 2176 is provided at the connection between the rotating rod 2173 and the fan blade 2175 , and a sealed bearing 2177 is provided at the connection between the transmission rod 2171 and the installation box 217 and the box body 211 .

[0056] In this embodiment, when the drone body 100 is performing a spraying operation in the air, it automatically rotates due to the airflow during flight, thereby utilizing the rotating rod 2173, two bevel gears 2174 and the transmission rod 2171 to drive the mixing rod 2172 to rotate, and utilizing the mixing rod 2172 to stir the bottom of the box 211 to prevent the mixed solution from settling. At the same time, under the action of the one-way bearing 2176, the two fan blades 2175 will not affect the rotating rod 2173 when rotating in the opposite direction, thereby ensuring the stable operation of the mixing rod 2172. At the same time, when the mixing rod 2172 rotates, it is affected by the mixed solution, and the water wheel 2178 will divert the mixed solution to improve the mixing effect of the mixed solution.

[0057] like Figure 2 、 Figure 3 and Figure 4 As shown, the inner wall of the box body 211 is fixedly connected to the limiting rod 216 , and the surface of the floating plate 214 is fixedly connected to the collar 2161 , which slides on the surface of the limiting rod 216 .

[0058] An electromagnet 2162 is provided on the surface of the limiting rod 216 , and the collar 2161 is an iron material component.

[0059] In this embodiment, when the liquid level fluctuates, the float 214 will change with the liquid level, and the ring 2161 will move synchronously with the float 214 on the surface of the limit rod 216 to reduce the fluctuation amplitude of the liquid level. At the same time, if the liquid level drops and the upper mixed solution is emptied, the electromagnet 2162 in the area can be started, and the counterweight blocking block 215 can be used to complete the stable locking and blocking of the corresponding liquid outlet 213. The liquid level below will not enter the upper emptying area. At the same time, the control of the electromagnet 2162 can be placed on the operating handle of the plant protection drone to complete the synchronous operation.

[0060] It should be noted that the 2162 electromagnet is waterproof, with an IP67 rating or higher. It can operate normally when immersed in water up to 1 meter. The coil is physically isolated from the liquid by potting with epoxy resin or silicone. The shell seams are sealed with O-rings or laser welded to prevent liquid infiltration.

[0061] Pressure adaptability: Deepwater environments require enhanced structural design to prevent shell deformation caused by water pressure, such as increasing wall thickness and internal support frames.

[0062] Corrosion resistance and material selection: Anti-corrosion materials, the shell is made of 316L stainless steel, titanium alloy or engineering plastics such as PPS, which can resist the erosion of acid and alkali liquid or seawater1.

[0063] The surfaces of moving parts such as the iron core are nickel plated or Teflon coated.

[0064] A linear displacement sensor 2163 is disposed in the box 211 , and a probe of the linear displacement sensor 2163 is disposed on the collar 2161 .

[0065] In this embodiment, the linear displacement sensor 2163 can convert the movement of the float 214 into a signal to determine the fluctuation amplitude. If an unconventional fluctuation occurs, the electromagnet 2162 can be used to urgently lock the float 214 to achieve control of the liquid level fluctuation amplitude.

[0066] It should be noted that the linear displacement sensor 2163 includes the following sensing elements:

[0067] Magnetostrictive waveguide wire: The core sensitive component, made of special alloy, is sensitive to changes in magnetic field and is responsible for converting displacement into magnetic signal changes.

[0068] Position magnet and float: installed on the liquid surface floating device in the medicine box, moves with the rise and fall of liquid level, and generates a position magnetic field.

[0069] Signal processing unit:

[0070] Electronic detection head: Contains the excitation coil and detection circuit, generates the initial pulse magnetic field and captures the strain pulse signal of the waveguide wire.

[0071] Signal processing circuit: filters, amplifies and digitizes the original signal, and outputs standard displacement data such as voltage or digital signal.

[0072] Protective structure:

[0073] Sealed housing: Made of corrosion-resistant materials such as stainless steel / IP67 protection grade, it isolates the corrosion of liquid medicine and the influence of external environment.

[0074] Fixed bracket: ensures reliable connection between the sensor and the medicine box and reduces interference from flight vibration.

[0075] A method for using an irrigation device of a multi-rotor plant protection drone comprises the following steps:

[0076] Step 1: Perform preparatory work before spraying, complete the mixing of solid fertilizer and aqueous solution, add the mixed solution into the box 211 through the liquid inlet pipe, and complete the sealing operation of the sealing cover;

[0077] Step 2: Use the handle to operate the drone body 100. After the drone body 100 is launched and reaches the spraying area, the delivery pump 220 is started during the flight to sequentially deliver the mixed solution in the box 211 to the five-way valve 221 and the branch pipe 223. Finally, the spray head 222 sprays the mixed liquid to complete the fertilization spraying operation in the corresponding area.

[0078] Step 3: During the spraying process, when the nozzle 222 needs to be adjusted, the motor 231 can be started. The motor 231 drives the circular gear 232 to rotate. Under the action of the two mutually meshing circular gears 232, the connecting rod will drive the nozzle 222 to tilt, thereby changing the spraying area and making the spraying more reasonable.

[0079] It should be noted that the drone body 100, electromagnet 2162, linear displacement sensor 2163, one-way bearing 2176, delivery pump 220, five-way valve 221 and motor 231 in the above description are all relatively mature devices in existing technology applications. The specific models can be selected according to actual needs. At the same time, the power supply of the drone body 100, electromagnet 2162, linear displacement sensor 2163, delivery pump 220 and motor 231 can be powered by a built-in power supply. The specific power supply method is selected according to the situation and will not be elaborated here.

[0080] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. An irrigation device for a multi-rotor plant protection drone, characterized in that: include: UAV body (100); A spraying mechanism (200), the spraying mechanism (200) comprising a water tank assembly (210), a delivery pump (220), and four spray heads (222) distributed on the drone body (100), the output end of the delivery pump (220) being connected to a five-way valve (221), and the other four ends of the five-way valve (221) being connected to branch pipes (223) corresponding to the spray heads (222); The water tank assembly (210) comprises a box body (211) arranged on the drone body (100); the delivery pump (220) is fixedly connected to the box body (211) and communicated therewith; two partitions (212) are fixedly connected to the inner wall of the box body (211); a liquid outlet (213) is provided at the middle of the bottom end of each partition (212); the two partitions (212) divide the box body (211) into three liquid storage areas; three floating plates (214) are provided in the box body (211); the three floating plates (214) are distributed in the corresponding liquid storage areas; and a counterweight blocking block (215) matching the liquid outlet (213) is provided at the middle of the bottom end of each floating plate (214).

2. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: The spraying mechanism (200) further comprises an installation box (217) fixedly connected to the bottom end of the box body (211); a transmission rod (2171) is rotatably connected to the inner top wall of the installation box (217); the top end of the transmission rod (2171) sequentially passes through the installation box (217) and the box body (211) and is fixedly connected to a mixing rod (2172); a rotating rod (2173) is rotatably connected to the inner wall of the installation box (217); both ends of the rotating rod (2173) pass through the installation box (217) and are provided with fan blades (2175); and a bevel gear (2174) is fixedly connected to the bottom end of the transmission rod (2171) and the middle portion of the surface of the rotating rod (2173).

3. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: The spraying mechanism (200) further comprises a plurality of protective boxes (230) arranged on the drone body (100), the inner wall of the protective box (230) being rotatably connected to two circular gears (232), the inner wall of the protective box (230) being fixedly connected to a motor (231), one of the circular gears (232) being fixedly connected to the output shaft of the motor (231), and the end of the other circular gear (232) being fixedly connected to a connecting rod, the end of the connecting rod passing through the protective box (230) and being fixedly connected to the spray head (222).

4. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: The inner wall of the box body (211) is fixedly connected to a limiting rod (216), and the surface of the floating plate (214) is fixedly connected to a collar (2161), and the collar (2161) slides on the surface of the limiting rod (216).

5. The irrigation device of the multi-rotor plant protection drone according to claim 4, characterized in that: An electromagnet (2162) is provided on the surface of the limiting rod (216), and the collar (2161) is a component made of iron material.

6. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: A linear displacement sensor (2163) is provided in the box (211), and a probe of the linear displacement sensor (2163) is provided on the collar (2161).

7. The irrigation device of the multi-rotor plant protection drone according to claim 2, characterized in that: A one-way bearing (2176) is provided at the connection between the rotating rod (2173) and the fan blade (2175), and a sealed bearing (2177) is provided at the connection between the transmission rod (2171), the installation box (217), and the box body (211).

8. The irrigation device of the multi-rotor plant protection drone according to claim 2, characterized in that: The surface of the mixing rod (2172) is provided with a plurality of strip grooves, and the inner wall of the strip groove is rotatably connected to a water wheel (2178).

9. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: A plurality of strip-shaped holes are provided on the top of the floating plate (214), and a drainage groove is provided on the bottom of the floating plate (214).

10. The irrigation device of the multi-rotor plant protection drone according to claim 1, characterized in that: The outer side of the box body (211) is connected to a liquid inlet pipe, and a sealing cover is provided at one end of the liquid inlet pipe away from the box body (211).

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