Targeted pesticide application unmanned aerial vehicle for fruit tree diseases and insect pests

Abstract

The invention relates to the technical field of agricultural unmanned aerial vehicles, and particularly discloses a fruit tree disease and insect pest targeted pesticide application unmanned aerial vehicle which comprises a bearing mechanism, the bearing mechanism comprises an unmanned aerial vehicle body and a mounting frame arranged on the lower surface of the unmanned aerial vehicle body, a pesticide bin is arranged on the mounting frame, and a pump machine is arranged at one end of a conveying pipe; the end, away from the conveying pipe, of the pump machine is connected with a spraying pipe and an adjusting mechanism, the adjusting mechanism comprises an inclined frame fixedly connected to the mounting frame, the end, away from the mounting frame, of the inclined frame is fixedly connected with an outer ring plate, and an inner ring plate is mounted on the circumferential side face of the interior of the outer ring plate; according to the device, the unmanned aerial vehicle body carries the pesticide bin carrying the pump, the spray pipe and the spray head to conduct high-altitude pesticide application operation, the transverse positions of the annular pipe and the spray head can be controlled through sliding fit of the adjusting sliding block and the adjusting sliding groove, and therefore the radius of annular targeted pesticide application can be controlled according to different fruit tree spraying requirements.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural drones, and in particular relates to a drone for targeted pesticide application to fruit tree pests and diseases. Background Art

[0002] Fruit tree spraying drones are not restricted by terrain and can achieve automated operations in both flat and sloping orchards. Drones can quickly complete spraying tasks in large orchards and can operate over a large area at full capacity every day. Using drones to spray pesticides on fruit trees can greatly improve the efficiency of spraying and is suitable for large-scale fruit gardens. Targeted spraying refers to the process of precisely applying pesticides to specific target areas or objects, such as diseased and insect-infested parts of crops, specific plant organs, or diseased areas, through technical means. Unlike traditional uniform spraying methods, it focuses more on precision and targeting.

[0003] Traditional drones carry out targeted spraying by changing the direction of spraying, but different types of fruit trees require different surrounding areas for spraying. Some fruit trees require circular targeted spraying to form a barrier belt around the fruit trees. Traditional drone spraying devices simply change the spraying angle to aim at the spraying point and cannot adapt to specific circular spraying needs. To achieve circular targeted spraying, the drone needs to move in a circular motion along the trajectory, which increases the spraying time and energy consumption, and is also more difficult to operate.

[0004] To this end, those skilled in the art have proposed a drone for targeted pesticide application for fruit tree pests and diseases to solve the problems raised in the background technology.

[0005] The above information disclosed in this background technology is only for enhancing understanding of the background technology of the present invention and therefore it may contain information that does not constitute the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a drone for targeted pesticide application for fruit tree pests and diseases, so as to solve the problems raised in the background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A drone for targeted spraying of fruit tree pests and diseases, comprising:

[0009] A carrying mechanism, the carrying mechanism comprising a drone body and a mounting frame disposed on a lower surface of the drone body, the mounting frame being provided with a medicine chamber, a delivery pipe being connected to a lower surface of the medicine chamber, the delivery pipe being in communication with the interior of the medicine chamber, a pump being provided at one end of the delivery pipe, and a nozzle being connected to an end of the pump remote from the delivery pipe;

[0010] The adjusting mechanism comprises an oblique frame fixedly connected to the mounting frame, the oblique frame being fixedly connected to the outer ring plate at one end away from the mounting frame, the inner ring plate being installed on the inner circumferential side surface of the outer ring plate, the inner ring plate being provided with a built-in slide groove, the inner ring plate being embedded in the built-in slide groove, and the inner ring plate is fixedly connected to a column on the inner ring plate, one end of the column is provided with a rotating assembly, and the rotating assembly is provided with an adjusting rail plate, the adjusting rail plate is provided with an adjusting slide groove, the adjusting slide groove is provided with an adjusting slider, the adjusting slider is slidably engaged with the adjusting slide groove, the adjusting slider is provided with a spray assembly, the spray assembly is communicated with the nozzle, the bracket is fixedly mounted on the outer ring plate, and the image acquisition device is fixedly mounted on the bracket.

[0011] Preferably, the spray assembly includes a connecting rod fixedly connected to the adjusting slider, and an annular tube is fixedly mounted on one end of the connecting rod away from the adjusting slider, and the annular tube is located on the peripheral side of the adjusting slider.

[0012] Preferably, one end of the ring tube is connected to the nozzle, and the other end of the ring tube is connected to the nozzle.

[0013] Preferably, the rotating assembly includes a rotating seat arranged at one end of the column, a rotating plate is installed in the rotating seat, both sides of the rotating plate are connected to a rotating shaft, the rotating plate rotates with the rotating seat through the rotating shaft, a second servo motor is fixedly installed on one side of the rotating seat, and the output end of the second servo motor is connected to the rotating shaft.

[0014] Preferably, a movable bearing is provided at the interface between the nozzle and the pump, and the nozzle is rotatably engaged with the interface of the pump through the movable bearing.

[0015] Preferably, a connecting plate is provided on the lower surface of the medicine bin, and the connecting plate is in contact with the mounting frame. Locking screw holes are provided on the mounting frame and the connecting plate, and fixing screws are threaded into the locking screw holes.

[0016] Preferably, a third servo motor is fixedly mounted on one end of the adjustment rail plate, a threaded rod is provided in the adjustment slot, the threaded rod is threadably engaged with the adjustment slider, and the output end of the third servo motor is connected to the threaded rod.

[0017] Preferably, the medicine bin is provided with an addition tube, the addition tube is communicated with the interior of the medicine bin, and one end of the addition tube is screwed with a threaded sealing cap.

[0018] Preferably, a gear ring is fixedly mounted on the outer peripheral side surface of the inner ring plate, and the gear ring is located in the built-in slide groove. A slot is provided on the inner peripheral side surface of the outer ring plate, and the slot is connected to the built-in slide groove.

[0019] Preferably, a drive compartment is installed on the outer ring plate, and a first servo motor is fixedly installed on the upper surface of the drive compartment. The first servo motor includes an output shaft, and one end of the output shaft is connected to a gear. The gear is located in the drive compartment and meshes with the ring gear.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention performs high-altitude spraying operations by setting up an unmanned aerial vehicle (UAV) body to carry a pesticide tank equipped with a pump, a nozzle, and a spray head. When targeted and precise spraying is required, the image acquisition device can utilize deep learning machine vision technology, multi-sensor fusion technology, etc. to achieve autonomous diagnosis of crop diseases and precise spraying, and then the second servo motor can be started to drive the pitch angle of the spray head on the rotating plate, so that precise spraying can be performed on different parts of the crop. When encountering fruit tree crops that require circular targeted spraying, the circular motion of the inner ring plate and the outer ring plate can be used to drive the entire ring tube and the spray head to rotate in a circle, so that a pesticide barrier ring can be quickly formed around the fruit tree. In addition, the lateral position of the ring tube and the spray head can be controlled by sliding the adjusting slider and the adjusting groove, so that the radius of the circular targeted spraying can be controlled according to the different spraying requirements of the fruit tree.

[0022] (2) The present invention sets a first servo motor to drive the gear to engage with the ring gear, and then drive the rotation of the inner ring plate and the outer ring plate, so as to control the nozzle on the inner ring plate to automatically rotate at a uniform speed, thereby realizing the automation effect of annular targeted spraying. The third servo motor drives the threaded rod to cooperate with the thread of the adjustment slider, which can drive the adjustment slider to automatically slide in the adjustment slot. This device uses an integrated PLC control device to uniformly control the electrical devices carried by the equipment. The ground operator can remotely and independently operate the operating status of each device through wireless control technology, and can change the spraying mode in real time according to the spraying needs.

[0023] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a bottom-up three-dimensional structural schematic diagram of the present invention;

[0026] Figure 3 This is a schematic diagram of the local structure of point A of the present invention;

[0027] Figure 4 It is a right side view of the present invention;

[0028] Figure 5 It is a front view of the present invention;

[0029] Figure 6 It is a schematic diagram of the internal structure of the drive compartment of the present invention.

[0030] In the figure: 1. UAV body; 2. Medicine chamber; 3. Mounting frame; 4. Adding pipe; 5. Threaded sealing cover; 6. Outer ring plate; 7. Inner ring plate; 8. Drive chamber; 9. First servo motor; 10. Rotating seat; 11. Rotating plate; 12. Second servo motor; 13. Bracket; 14. Image acquisition device; 15. Adjustment rail plate; 16. Ring pipe; 17. Column; 18. Delivery pipe; 19. Pump; 20. Movable bearing; 21. Nozzle; 22. Adjustment slide; 23. Adjustment slider; 24. Threaded rod; 25. Connecting rod; 26. Fixing screw; 27. Nozzle; 28. Output shaft; 29. ​​Gear; 30. Ring gear; 31. Slot. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 are within the scope of protection of the present invention.

[0032] Example 1:

[0033] See also Figures 1-6 As shown, a drone for targeted spraying of fruit tree pests and diseases comprises:

[0034] The carrying mechanism includes a drone body 1 and a mounting frame 3 provided on the lower surface of the drone body 1. The mounting frame 3 is provided with a medicine chamber 2. The lower surface of the medicine chamber 2 is connected to a delivery pipe 18. The delivery pipe 18 is connected to the interior of the medicine chamber 2. A pump 19 is provided at one end of the delivery pipe 18. The end of the pump 19 away from the delivery pipe 18 is connected to a nozzle 21.

[0035] The adjustment mechanism includes an oblique frame fixedly connected to the mounting frame 3, and the oblique frame is fixedly connected to the outer ring plate 6 at one end away from the mounting frame 3, and the inner ring plate 7 is installed on the inner circumferential side of the outer ring plate 6. The inner circumferential side of the outer ring plate 6 is provided with a built-in slide groove, and the inner ring plate 7 is engaged with the built-in slide groove. The inner ring plate 7 rotates with the outer ring plate 6 through the built-in slide groove, and a column 17 is fixedly connected to the inner ring plate 7. A rotating assembly is provided at one end of the column 17, and an adjusting rail plate 15 is provided on the rotating assembly. An adjusting slide groove 22 is provided on the adjusting rail plate 15, and an adjusting slider 23 is provided in the adjusting slide groove 22. The adjusting slider 23 slides with the adjusting slide groove 22, and a spray assembly is provided on the adjusting slider 23. The spray assembly is connected to the nozzle 21, and a bracket 13 is fixedly installed on the outer ring plate 6, and an image acquisition device 14 is fixedly installed on the bracket 13.

[0036] Specifically, the spray assembly includes a connecting rod 25 fixedly connected to the adjusting slider 23 , and an annular tube 16 is fixedly mounted on one end of the connecting rod 25 away from the adjusting slider 23 . The annular tube 16 is located on the peripheral side of the adjusting slider 23 .

[0037] Specifically, one end of the annular tube 16 is connected to the nozzle 21 , and the other end of the annular tube 16 is connected to the nozzle 27 .

[0038] As can be seen from the above, the device performs high-altitude pesticide application by setting up a drone body 1 to carry a pesticide tank 2 equipped with a pump 19, a nozzle 21 and a nozzle 27. When targeted and precise pesticide application is required, the image acquisition device 14 can use deep learning machine vision technology, multi-sensor fusion technology, etc. to achieve autonomous diagnosis of crop diseases and precise pesticide application, and then the second servo motor 12 can be started to drive the pitch angle of the nozzle 27 on the rotating plate 11, so that precise pesticide application can be performed on different parts of the crop. When encountering fruit tree crops that require circular targeted pesticide application, the circular motion of the inner ring plate 7 and the outer ring plate 6 can be used to drive the entire ring tube 16 and the nozzle 27 to rotate in a circle, so that a pesticide barrier ring can be quickly formed around the fruit tree, and the lateral position of the ring tube 16 and the nozzle 27 can be controlled by sliding the adjusting slider 23 and the adjusting slot 22, so that the radius of the circular targeted pesticide application can be controlled according to different fruit tree spraying requirements.

[0039] Example 2:

[0040] See also Figures 1-6 As shown, the carrying mechanism includes a drone body 1 and a mounting frame 3 provided on the lower surface of the drone body 1. A medicine chamber 2 is provided on the mounting frame 3. A delivery pipe 18 is connected to the lower surface of the medicine chamber 2. The delivery pipe 18 is connected to the interior of the medicine chamber 2. A pump 19 is provided at one end of the delivery pipe 18. The end of the pump 19 away from the delivery pipe 18 is connected to a nozzle 21.

[0041] The adjustment mechanism includes an oblique frame fixedly connected to the mounting frame 3, and the oblique frame is fixedly connected to the outer ring plate 6 at one end away from the mounting frame 3, and the inner ring plate 7 is installed on the inner circumferential side of the outer ring plate 6. The inner circumferential side of the outer ring plate 6 is provided with a built-in slide groove, and the inner ring plate 7 is engaged with the built-in slide groove. The inner ring plate 7 rotates with the outer ring plate 6 through the built-in slide groove, and a column 17 is fixedly connected to the inner ring plate 7. A rotating assembly is provided at one end of the column 17, and an adjusting rail plate 15 is provided on the rotating assembly. An adjusting slide groove 22 is provided on the adjusting rail plate 15, and an adjusting slider 23 is provided in the adjusting slide groove 22. The adjusting slider 23 slides with the adjusting slide groove 22, and a spray assembly is provided on the adjusting slider 23. The spray assembly is connected to the nozzle 21, and a bracket 13 is fixedly installed on the outer ring plate 6, and an image acquisition device 14 is fixedly installed on the bracket 13.

[0042] Specifically, the rotating assembly includes a rotating base 10 arranged at one end of the column 17, a rotating plate 11 is installed in the rotating base 10, and both sides of the rotating plate 11 are connected to a rotating shaft. The rotating plate 11 rotates with the rotating base 10 through the rotating shaft. A second servo motor 12 is fixedly installed on one side of the rotating base 10, and the output end of the second servo motor 12 is connected to the rotating shaft.

[0043] Specifically, a movable bearing 20 is provided at the interface between the nozzle 21 and the pump 19 , and the nozzle 21 rotates in conjunction with the interface of the pump 19 through the movable bearing 20 .

[0044] Specifically, a connecting plate is provided on the lower surface of the medicine bin 2, and the connecting plate is in contact with the mounting frame 3. Locking screw holes are provided on the mounting frame 3 and the connecting plate, and fixing screws 26 are screwed into the locking screw holes.

[0045] Specifically, a third servo motor is fixedly mounted on one end of the adjustment rail plate 15 , a threaded rod 24 is provided in the adjustment slot 22 , the threaded rod 24 is threadedly engaged with the adjustment slider 23 , and the output end of the third servo motor is connected to the threaded rod 24 .

[0046] Specifically, the medicine bin 2 is provided with an adding pipe 4 , which is connected to the interior of the medicine bin 2 , and one end of the adding pipe 4 is screwed with a threaded sealing cap 5 .

[0047] Specifically, a gear ring 30 is fixedly mounted on the outer peripheral side of the inner ring plate 7 , and the gear ring 30 is located in the built-in slide groove. A slot 31 is opened on the inner peripheral side of the outer ring plate 6 , and the slot 31 is connected to the built-in slide groove.

[0048] Specifically, a drive compartment 8 is installed on the outer ring plate 6, and a first servo motor 9 is fixedly installed on the upper surface of the drive compartment 8. The first servo motor 9 includes an output shaft 28, and one end of the output shaft 28 is connected to a gear 29. The gear 29 is located in the drive compartment 8, and the gear 29 is engaged with the ring gear 30.

[0049] As can be seen from the above, this device is equipped with a first servo motor 9 to drive the gear 29 to engage with the ring gear 30, and then to drive the rotation of the inner ring plate 7 and the outer ring plate 6, so as to control the nozzle 27 on the inner ring plate 7 to automatically rotate at a uniform speed, thereby realizing the automation effect of annular targeted spraying. The third servo motor drives the threaded rod 24 to cooperate with the thread of the adjusting slider 23, which can drive the adjusting slider 23 to automatically slide in the adjusting groove 22. This device uses an integrated PLC control device to uniformly control the electrical devices carried by the equipment. The ground operator can remotely and independently operate the operating status of each device through wireless control technology, and can change the spraying mode in real time according to the spraying needs.

[0050] All standard parts used in the present invention can be purchased commercially, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. In addition, the circuit connections adopt conventional connection methods in the prior art and will not be described in detail here. Any matters not described in detail in this specification belong to the prior art known to professionals in this field.

[0051] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0052] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0053] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0054] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0055] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0056] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A drone for targeted spraying of fruit tree pests and diseases, characterized by: include: A carrying mechanism, the carrying mechanism comprising an unmanned aerial vehicle (UAV) body (1) and a mounting frame (3) arranged on the lower surface of the UAV body (1); a medicine chamber (2) is arranged on the mounting frame (3); a delivery pipe (18) is connected to the lower surface of the medicine chamber (2); the delivery pipe (18) is communicated with the interior of the medicine chamber (2); a pump (19) is arranged at one end of the delivery pipe (18); and a nozzle (21) is connected to the end of the pump (19) away from the delivery pipe (18); An adjustment mechanism, wherein the adjustment mechanism includes an oblique frame fixedly connected to the mounting frame (3), an outer ring plate (6) is fixedly connected to one end of the oblique frame away from the mounting frame (3), an inner ring plate (7) is installed on the inner peripheral side of the outer ring plate (6), a built-in slide groove is provided on the inner peripheral side of the outer ring plate (6), the inner ring plate (7) is engaged with the built-in slide groove, the inner ring plate (7) is rotatably matched with the outer ring plate (6) through the built-in slide groove, a column (17) is fixedly connected to the inner ring plate (7), and one end of the column (17) is fixedly connected to the outer ring plate (7), and the inner ring plate (7) is fixedly connected to the outer ring plate (6). A rotating assembly is provided, an adjusting rail plate (15) is provided on the rotating assembly, an adjusting chute (22) is provided on the adjusting rail plate (15), an adjusting slider (23) is provided in the adjusting chute (22), the adjusting slider (23) is slidably matched with the adjusting chute (22), a spraying assembly is provided on the adjusting slider (23), the spraying assembly is connected to the nozzle (21), a bracket (13) is fixedly installed on the outer ring plate (6), and an image acquisition device (14) is fixedly installed on the bracket (13).

2. The fruit tree pest targeted spraying drone according to claim 1, characterized in that: The spray assembly comprises a connecting rod (25) fixedly connected to the adjusting slider (23); an annular tube (16) is fixedly mounted on one end of the connecting rod (25) away from the adjusting slider (23); and the annular tube (16) is located on the peripheral side of the adjusting slider (23).

3. The fruit tree pest targeted spraying drone according to claim 2, characterized in that: One end of the annular tube (16) is connected to the nozzle (21), and the other end of the annular tube (16) is connected to the nozzle (27).

4. The drone for targeted pesticide application for fruit tree pests and diseases according to claim 1, characterized in that: The rotating assembly comprises a rotating seat (10) arranged at one end of a column (17), a rotating plate (11) is installed in the rotating seat (10), both sides of the rotating plate (11) are connected to a rotating shaft, the rotating plate (11) rotates with the rotating seat (10) through the rotating shaft, a second servo motor (12) is fixedly installed on one side of the rotating seat (10), and the output end of the second servo motor (12) is connected to the rotating shaft.

5. The drone for targeted pesticide application for fruit tree pests and diseases according to claim 1, characterized in that: A movable bearing (20) is provided at the interface between the nozzle (21) and the pump (19), and the nozzle (21) is rotatably matched with the interface of the pump (19) through the movable bearing (20).

6. The fruit tree pest targeted spraying drone according to claim 1, characterized in that: The lower surface of the medicine bin (2) is provided with a connecting plate, and the connecting plate is in contact with the mounting frame (3). The mounting frame (3) and the connecting plate are both provided with locking screw holes, and fixing screws (26) are screwed into the locking screw holes.

7. The fruit tree pest targeted spraying drone according to claim 1, characterized in that: A third servo motor is fixedly mounted on one end of the adjustment rail plate (15); a threaded rod (24) is provided in the adjustment slide groove (22); the threaded rod (24) is threadedly engaged with the adjustment slider (23); and the output end of the third servo motor is connected to the threaded rod (24).

8. The drone for targeted pesticide application for fruit tree pests and diseases according to claim 1, characterized in that: The medicine bin (2) is provided with an addition pipe (4), the addition pipe (4) is connected to the interior of the medicine bin (2), and one end of the addition pipe (4) is screwed with a threaded sealing cap (5).

9. The drone for targeted pesticide application for fruit tree pests and diseases according to claim 1, characterized in that: A gear ring (30) is fixedly mounted on the outer peripheral side surface of the inner ring plate (7), and the gear ring (30) is located in the built-in slide groove. A slot (31) is opened on the inner peripheral side surface of the outer ring plate (6), and the slot (31) is connected to the built-in slide groove.

10. The drone for targeted pesticide application for fruit tree pests and diseases according to claim 9, characterized in that: A drive chamber (8) is mounted on the outer ring plate (6), a first servo motor (9) is fixedly mounted on the upper surface of the drive chamber (8), the first servo motor (9) includes an output shaft (28), one end of the output shaft (28) is connected to a gear (29), the gear (29) is located in the drive chamber (8), and the gear (29) is meshed with a ring gear (30).

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