Unmanned aerial vehicle planting robot capable of automatically pollinating, sensing and spraying

Abstract

The invention discloses an automatic pollination sensing and spraying unmanned aerial vehicle planting robot, and belongs to the technical field of agricultural pollination equipment, the automatic pollination sensing and spraying unmanned aerial vehicle planting robot comprises a spraying mechanism and a controller, and the spraying mechanism comprises a box body, a micro plunger pump, a spraying assembly, an adjusting assembly and a backwashing assembly. According to the unmanned aerial vehicle planting robot with the automatic pollination sensing and spraying functions, the two spraying components and the adjusting assembly are arranged, when a filter plate of the working spraying component is blocked, the adjusting assembly can drive a connecting pipe to rotate by 180 degrees, the states of electromagnetic valves are synchronously switched, the electromagnetic valve of the blocking component is closed, and the electromagnetic valve of the standby component is opened; operation stagnation caused by faults of a single component is avoided, operation continuity is guaranteed, and field operation efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural pollination equipment technology, and in particular relates to a drone-based planting robot with automated pollination sensing and spraying. Background Art

[0002] With the rapid development of modern agricultural technology, automation and intelligent technologies are increasingly widely used in agriculture, greatly improving agricultural production efficiency and crop yield. In the crop pollination process, traditional manual pollination methods are not only labor-intensive and inefficient, but also struggle to guarantee the uniformity and timeliness of pollination, especially in large-scale planting scenarios. In recent years, the rise of drone technology has provided a new solution for agricultural pollination. Drone pollination, with its advantages of high efficiency, flexibility, and wide coverage, is gradually becoming an important means of modern agricultural pollination.

[0003] However, existing drone pollination robots have the following shortcomings when in use: First, the spraying components of drone pollination robots are easily clogged by field impurities (such as insect remains, plant fibers, etc.). Traditional single-spray head designs require stopping the machine for cleaning after clogging, which leads to operation interruption and seriously affects the pollination efficiency during the critical flowering period. Second, the cleaning strategy for clogged shower heads is simplistic and does not differentiate between different levels of clogging. High-intensity cleaning is used for mild clogging, resulting in excessive energy consumption. Summary of the Invention

[0004] The purpose of this invention is to provide an automated pollination sensing and spraying drone planting robot to solve the problems in the prior art where the spraying components of drone pollination robots are easily clogged by field impurities. Traditional single-spray head designs require shutdown for cleaning after clogging, resulting in operation interruption and seriously affecting pollination efficiency during the critical flowering period. Furthermore, the cleaning strategy for clogged spray heads is singular and does not classify the degree of clogging. High-intensity cleaning is used for mild clogging, resulting in excessive energy consumption.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An automated pollination sensing and spraying drone-based planting robot includes a spraying mechanism and a controller. The spraying mechanism includes: a housing mounted on the drone, containing a pollen liquid chamber and a washing liquid chamber; a miniature plunger pump mounted on the bottom of the housing, its inlet pipe connected to the pollen liquid chamber; and a spraying assembly including: a connecting pipe rotatably connected to the outlet pipe of the miniature plunger pump, on which an electromagnetic flow sensor is mounted; two branch pipes, both connected to the connecting pipe, each branch pipe equipped with a solenoid valve; and two spraying components, each connected to one of the branch pipes. The system includes a spray head, a first pressure sensor, a filter plate, and multiple vibrators. The inner wall of the spray head and the filter plate are coated with a superhydrophobic coating. An adjustment component is used to drive the connecting pipe to rotate. A backwashing component is connected to the cleaning liquid chamber. The controller is installed on the drone and is used to select to start the vibrator or select to start the adjustment component to rotate the spray component 180 degrees according to the degree of clogging of the filter plate in the spray component. Simultaneously, the blocked spray component is deactivated, a backup spray component is activated, and then the blocked spray component is backwashed through the backwashing component.

[0006] Preferably, the adjustment assembly includes: a mounting plate, fixedly connected to the bottom surface of the housing; a stepper motor, mounted on the mounting plate, with a gear mounted on its power output shaft; and a gear ring, fixedly sleeved on the connecting pipe and meshing with the gear.

[0007] Preferably, the backwashing assembly includes: a water pump mounted on the mounting plate, the water pump pipe of which is connected to the cleaning liquid chamber; a flushing head mounted on the water pump outlet pipe; and a second pressure sensor mounted on the outlet pipe.

[0008] Preferably, the controller includes: a user setting module for receiving user-set reference pressure, maximum pressure difference, initial flow rate, and blockage threshold; a data receiving and processing module for receiving real-time flow data collected by an electromagnetic flow sensor and real-time pressure at the spray head inlet collected by a first pressure sensor, calculating a blockage index and classifying blockage levels, and then generating a corresponding control signal set; a preventive maintenance module for generating a preventive control signal after the micro plunger pump has been working continuously for one hour; and a control module for receiving the control signal set sent by the data receiving and processing module and the preventive maintenance module, and outputting control commands according to the signal set.

[0009] Preferably, the blockage level includes mild blockage, moderate blockage, and severe blockage, and the control signal sets corresponding to mild blockage, moderate blockage, and severe blockage are respectively the first control signal set, the second control signal set, and the third control signal set.

[0010] Preferably, when the control module receives the first set of control signals, it outputs a command to start the vibrator to run for 10 seconds; Preferably, when the control module receives the second set of control signals, it outputs an instruction to drive the adjustment component to rotate 180 degrees and switch the solenoid valve, as well as to start the backwash component to rinse the spray component with 0.3MPa water pressure for 10 seconds. Preferably, when the control module receives the third control signal set, it outputs an instruction to drive the adjustment component to rotate 180 degrees and switch the solenoid valve, as well as to start the backwash component to rinse the spray component with 0.6MPa water pressure for 15 seconds.

[0011] Preferably, the preventive control signal sent by the preventive maintenance module is a fourth control signal set. When the control module receives the fourth control signal set, it controls the backwashing component to perform a 5-second backwash on the filter plate of the standby spray component with a water pressure of 0.2 MPa.

[0012] Preferably, the filter plate is provided with a plurality of filter holes, which are in the shape of an inverted frustum, with the opening near the splitter pipe being 150 μm and the opening away from the splitter pipe being 50 μm.

[0013] Preferably, it also includes: a light-scattering liquid concentration sensor, installed on the inlet pipe of the miniature plunger pump; and a stirring assembly, installed on the housing.

[0014] Preferably, the stirring assembly includes: a drive motor mounted on the housing; a shaft fixedly connected to the power output shaft of the drive motor and rotatably connected to the housing; and multiple stirring rods, all located inside the pollen liquid chamber and mounted on the shaft.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The automated pollination sensing and spraying drone planting robot of the present invention is equipped with two spraying components and an adjustment component. When the filter plate of the working spraying component is blocked, the adjustment component can drive the connecting pipe to rotate 180 degrees, and simultaneously switch the state of the solenoid valve, close the solenoid valve of the blocked component, and open the solenoid valve of the backup component, so as to avoid the work stoppage caused by the failure of a single component, ensure the continuity of the operation, and improve the efficiency of field operation.

[0016] 2. The automated pollination sensing and spraying drone planting robot in this invention determines the degree of clogging of the filter plate by setting a first pressure sensor, an electromagnetic flow sensor and a controller. It then matches different treatment schemes for different clogging levels to achieve on-demand cleaning and avoid energy waste caused by over-cleaning.

[0017] 3. The filter plate in this invention has several inverted frustum-shaped filter holes, which reduces the flow resistance of pollen liquid and improves the efficiency of impurity removal during backwashing, thus solving the problems of easy clogging of straight circular filter holes and high backwash residue.

[0018] 4. The spraying mechanism in this invention is equipped with a light scattering concentration sensor and a stirring component. The light scattering liquid concentration sensor monitors the real-time concentration of the pollen solution. When the deviation rate exceeds 10%, the stirring component starts stirring for 1 minute to prevent the pollen solution from separating due to particle sedimentation when it is left to stand. This ensures that the absolute amount of pollen sprayed onto the flowers is stable and avoids insufficient or excessive pollination due to concentration fluctuations. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 The three-dimensional view of the drone-based planting robot for automated pollination sensing and spraying in this invention Figure 1 ; Figure 2 The three-dimensional view of the drone-based planting robot for automated pollination sensing and spraying in this invention Figure 2 ; Figure 3 This is a schematic diagram of the interior of the box in this invention; Figure 4 This is a schematic diagram of the assembly structure of the spray assembly, regulating assembly and backwashing assembly in this invention; Figure 5 This is a perspective view of the spray assembly in this invention; Figure 6 This is an exploded view of the spray head in this invention; Figure 7 This is a cross-sectional view of the filter plate in this invention; Figure 8 This is a block diagram of the controller in this invention; Reference numerals: 100, UAV; 200, Spraying mechanism; 201, Housing; 202, Pollen liquid chamber; 203, Cleaning liquid chamber; 204, Miniature plunger pump; 205, Inlet pipe; 206, Outlet pipe; 207, Light scattering liquid concentration sensor; 210, Stirring assembly; 211, Drive motor; 212, Shaft; 213, Stirring rod; 220, Spraying assembly; 221, Connecting pipe; 222, Diverter pipe; 223, Solenoid valve; 224, Electromagnetic flow meter. Sensor; 225, Spray assembly; 2251, Spray head; 2252, First pressure sensor; 2253, Filter plate; 2254, Mounting slot; 2255, Vibrator; 230, Adjustment assembly; 231, Mounting plate; 232, Stepper motor; 233, Gear; 234, Gear ring; 240, Backwash assembly; 241, Water pump; 242, Pump pipe; 243, Outlet pipe; 244, Flushing head; 245, Second pressure sensor; 300, Controller. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0024] This invention is described in detail with reference to the accompanying drawings. When detailing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not to scale. Furthermore, the accompanying drawings are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0025] Furthermore, it should be noted in the description of this invention that the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" in this invention should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; similarly, they can refer to mechanical connections, electrical connections, or direct connections, or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] Example 1: As Figures 1-7 As shown, the unmanned aerial vehicle (UAV) planting robot with automated pollination sensing and spraying includes a spraying mechanism 200 and a controller 300. The spraying mechanism 200 includes a housing 201, a micro plunger pump 204, a spraying assembly 220, an adjustment assembly 230, and a backwashing assembly 240.

[0028] The housing 201 is mounted on the drone 100. The housing 201 has an internal partition that divides the internal space of the housing 201 into a pollen liquid chamber 202 and a cleaning liquid chamber 203. Feed pipes and sealing caps are installed on both sides of the housing 201. The two feed pipes are connected to the pollen liquid chamber 202 and the cleaning liquid chamber 203, respectively. The pollen liquid chamber 202 is used to hold a mixture of pollen and water; the cleaning liquid chamber 203 is used to hold clean water.

[0029] A miniature plunger pump 204 is mounted on the bottom surface of the housing 201. The miniature plunger pump 204 has an inlet pipe 205 and an outlet pipe 206. The inlet pipe 205 of the miniature plunger pump 204 is connected to the pollen liquid chamber 202. The miniature plunger pump 204 has a dynamic pressure regulation function, which enables the miniature plunger pump 204 to maintain the pollen liquid spraying flow rate set by the system, ensuring a stable pollination rate.

[0030] The spray assembly 220 includes a connecting pipe 221, two branch pipes 222, and two spray components 225. The connecting pipe 221 is rotatably connected to the outlet pipe 206 of the micro plunger pump 204, and an electromagnetic flow sensor 224 is installed on the connecting pipe 221. Both branch pipes 222 are connected to the connecting pipe 221, and both branch pipes 222 are equipped with solenoid valves 223. The electromagnetic flow sensor 224 is used to monitor the real-time flow rate of the pollen solution transported by the connecting pipe 221. The larger the difference between the real-time flow rate and the initial flow rate, the more severe the clogging of the filter plate 2253. The initial flow rate refers to the stable delivery flow rate of the connecting pipe 221 after the first start-up or replacement of the filter plate 2253, when the filter plate 2253 is unclogging.

[0031] When the filter plate 2253 in the spray component 225 becomes clogged during operation, the effective cross-sectional area of ​​the pollen liquid through the filter plate 2253 decreases, and the local flow resistance increases significantly. According to the pipeline resistance law in fluid mechanics, the flow rate through the connecting pipe 221 will decrease as the resistance increases during the time when the output pressure of the micro plunger pump 204 is not compensated.

[0032] Two spray components 225 are respectively connected to two diversion pipes 222. Each spray component 225 includes a spray head 2251, a first pressure sensor 2252, a filter plate 2253, and multiple vibrators 2255. The spray head 2251 is threadedly connected to the lower end of the diversion pipe 222. The filter plate 2253 is installed inside the spray head 2251 at the inlet of the spray head 2251. Both the spray head 2251 and the filter plate 2253 are coated with a hydrophobic coating. By setting the superhydrophobic coating, pollen adhesion can be prevented and flow resistance can be reduced. The first pressure sensor 2252 is installed on the part of the spray head 2251 above the filter plate 2253. Multiple mounting grooves 2254 are opened on the outer side of the filter plate 2253, and multiple vibrators 2255 are respectively installed in multiple mounting grooves 2254. The first pressure sensor 2252 can monitor the real-time pressure at the inlet of the spray head 2251. The greater the difference between the pressure at the inlet of the spray head 2251 and the reference pressure, the more severe the blockage of the filter plate 2253. The reference pressure refers to the stable operating pressure of the spray head 2251 after the first start-up or replacement of the filter plate 2253, when the filter plate 2253 is not blocked.

[0033] The filter plate 2253 is a key flow resistance component from the inlet to the outlet of the spray head 2251. When impurities adhere to the surface of the filter plate 2253 or the filter holes are blocked, the effective cross-sectional area of ​​the pollen liquid fluid passing through the filter plate 2253 decreases, and the local flow resistance increases. In order to maintain the pollen liquid spray flow rate set by the system and ensure stable pollination, the micro plunger pump 204 will increase the output pressure to overcome the increased flow resistance. This additional pressure will be directly reflected at the inlet of the spray head 2251, resulting in an increase in inlet pressure.

[0034] The adjusting component 230 is used to drive the connecting pipe 221 to rotate; the backwashing component 240 is connected to the cleaning fluid chamber 203. The controller 300 is installed on the drone 100. The controller 300 is used to select to start the vibrator 2255 or select to start the adjusting component 230 to rotate the spray component 220 180 degrees according to the degree of blockage of the filter plate 2253 in the spray component 225, simultaneously close the solenoid valve 223 corresponding to the blocked spray component 225, open the solenoid valve 223 corresponding to the standby spray component 225, and then backwash the blocked filter plate 2253 through the backwashing component 240.

[0035] When the pollen liquid is stirred outside the container 201, the complexity of the field environment means that the pollen liquid will inevitably face multiple contamination threats during the stirring process: insect remains and plant fibers may be mixed in after the pollen storage tank is opened; dust and small particles may fall into the stirring tank during the stirring process; and there is also debris generated by friction after long-term use of the container 201. If a filter plate 2253 is not installed, these impurities will enter the spray head 2251 with the pollen liquid, scratching the superhydrophobic coating on the inner wall, destroying the anti-sticking effect, causing pollen to stick and remain, and reducing the efficiency of the self-cleaning system; secondly, the impurities will also form agglomerates with the pollen in the pollen liquid, thus affecting the spraying effect.

[0036] Specifically, the stirred pollen solution is injected into the pollen solution chamber 202, and clean water is injected into the cleaning solution chamber 203. Under normal circumstances, the solenoid valve 223 away from the backwash assembly 240 is in the open state, and the solenoid valve 223 close to the backwash assembly 240 is in the closed state.

[0037] When pollination of plants is required, the drone 100 is activated to move the spraying mechanism 200 to the designated location. Then, the micro plunger pump 204 is activated to transport the pollen liquid in the pollen liquid chamber 202 to the connecting pipe 221, so that the pollen liquid enters the diversion pipe 222 and the spraying component 225. After passing through the filter plate 2253, the pollen liquid is sprayed onto the flowers of the plant.

[0038] During the spraying process, when the filter plate 2253 is clogged, the controller 300 will select different treatment methods according to the degree of clogging of the filter plate 2253. When the degree of clogging is low, the controller 300 will control the start of the vibrator 2255 in the spraying component 225 which is in working condition, so that the vibrator 2255 vibrates, thereby causing the filter plate 2253 to vibrate, thereby clearing the filter plate 2253.

[0039] When the filter plate 2253 is highly clogged, the spray assembly 220 is rotated 180 degrees by adjusting component 230, simultaneously closing the solenoid valve 223 corresponding to the clogged spray component 225 and opening the solenoid valve 223 corresponding to the standby spray component 225, allowing the unclogged spray component 225 to perform the spraying operation. Then, the backwash assembly 240 is activated, using clean water from the cleaning chamber 203 to backwash the filter plate 2253 of the clogged spray component 225.

[0040] like Figure 4As shown, the adjustment assembly 230 includes a mounting plate 231, a stepper motor 232, and a gear ring 234. The mounting plate 231 is fixedly connected to the bottom surface of the housing 201; the stepper motor 232 is mounted on the mounting plate 231, and a gear 233 is mounted on the power output shaft of the stepper motor 232; the gear ring 234 is fixedly sleeved on the connecting pipe 221, and the gear ring 234 is meshed with the gear 233.

[0041] Specifically, when the stepper motor 232 is running, it drives the gear 233 to rotate, which in turn drives the gear ring 234 to rotate, which in turn drives the connecting tube 221 to rotate. One operation of the stepper motor 232 will drive the connecting tube 221 to rotate 180 degrees.

[0042] like Figure 3-Figure 6 As shown, the backwash assembly 240 includes a water pump 241, a flushing head 244, and a second pressure sensor 245. The water pump 241 is mounted on the mounting plate 231, and the water pump 241's suction pipe 242 is connected to the cleaning liquid chamber 203. The flushing head 244 is mounted on the water pump 241's outlet pipe 243, and the second pressure sensor 245 is mounted on the outlet pipe 243.

[0043] Specifically, by starting the water pump 241, clean water is extracted from the cleaning liquid chamber 203 and transported to the flushing head 244 through the water outlet pipe 243. The flushing head 244 sprays water onto the filter plate 2253, thereby backwashing the filter plate 2253.

[0044] The second pressure sensor 245 can detect the water pressure of the water pipe 243, and the water pump 241 can adjust the water pressure of the water being transported, thereby adjusting the pressure of the water sprayed from the flushing head 244.

[0045] like Figure 1 , Figures 4-6 and Figure 8 As shown, the controller 300 includes a user setting module, a data receiving and processing module, a preventive maintenance module, and a control module.

[0046] The user setting module is used to receive the reference pressure at the inlet of the spray head 2251, the maximum pressure difference of the spray head 2251, the initial flow rate of the connecting pipe 221, and the blockage thresholds C1, C2, and C3, where C1 < C2 < C3. The data receiving and processing module is used to receive real-time flow data collected by electromagnetic flow sensor 224 and real-time pressure at the inlet of spray head 2251, with a receiving frequency of 5 seconds / time; then, it uses a preset formula to calculate the clogging index CI of filter plate 2253, compares the clogging index CI with the clogging range threshold to obtain the clogging level, and then sends out the corresponding control signal set according to different clogging levels.

[0047] The congestion index (CI) is calculated as follows: CI = 0.6 × (ΔP / ΔPmax) + 0.4 × Qr; In the formula, CI is the clogging index of filter plate 2253; ΔP is the difference between the real-time pressure at the inlet of the current working spray head 2251 and the reference pressure. The reference pressure refers to the stable working pressure of the spray head 2251 after the first start-up or replacement of the new filter plate 2253, when the filter plate 2253 is not clogged; ΔPmax is the maximum allowable pressure difference of the spray head 2251, which is 0.3MPa by default; Qr is the flow rate decay rate, calculated as: (initial flow rate - current real-time flow rate) / initial flow rate × 100%. The current real-time flow rate refers to the real-time flow rate of pollen liquid transported by the connecting pipe 221 collected by the electromagnetic flow sensor 224. The initial flow rate refers to the stable transport flow rate of the connecting pipe 221 after the first start-up or replacement of the new filter plate 2253, when the filter plate 2253 is not clogged.

[0048] The method for generating congestion levels and the corresponding set of control signals are as follows: The congestion levels are categorized as mild, moderate, and severe; by default, C1 is 0.1, C2 is 0.3, and C3 is 0.5.

[0049] When C1≤C<C2, it is a mild blockage, and the data receiving and processing module generates the first set of control signals; When C2≤C<C3, it is considered moderate congestion, and the data receiving and processing module generates a second set of control signals. When C≥C3, it indicates severe congestion, and the data receiving and processing module generates a third set of control signals; Preventive maintenance module: After the micro plunger pump 204 has been working continuously for one hour, the preventive maintenance module sends a fourth control signal set to the control module, so that the backwashing component 240 performs a preventive backwash on the spray component 225 to avoid the deposition of impurities when it is stationary.

[0050] The control module is used to receive control signal sets sent by the data receiving and processing module and the preventive maintenance module, and to issue different control commands based on different control signal sets.

[0051] When the first set of control signals is received, the current spray component 225 continues to work, and the control module starts the vibrator 2255 to run for 10 seconds. When the second control signal set is received, the control module controls the start of the stepper motor 232, which drives the connecting pipe 221 to rotate 180 degrees through the gear 233 and the gear ring 234. Simultaneously, the solenoid valve 223 corresponding to the blocked spray component 225 is closed, and the solenoid valve 223 corresponding to the standby spray component 225 is opened. Then, the water pump 241 is started and runs for 10 seconds to extract the clean water in the cleaning liquid chamber 203 and deliver the clean water to the flushing head 244 at a water pressure of 0.3MPa. The flushing head 244 sprays the clean water onto the filter plate 2253 to backwash the filter plate 2253. When the third control signal set is received, the control module controls the start of the stepper motor 232, which drives the connecting pipe 221 to rotate 180 degrees through the gear 233 and the gear ring 234. Simultaneously, the solenoid valve 223 corresponding to the blocked spray component 225 is closed, and the solenoid valve 223 corresponding to the standby spray component 225 is opened. Then, the water pump 241 is started and runs for 15 seconds to extract the clean water in the cleaning liquid chamber 203 and deliver the clean water to the flushing head 244 at a water pressure of 0.6MPa. The flushing head 244 sprays the clean water onto the filter plate 2253, and the filter plate 2253 is backwashed by the clean water.

[0052] When the fourth control signal set is received, the current spray component 225 continues to work. The control module starts the water pump 241 to run for 5 seconds, extracts the clean water in the cleaning liquid chamber 203, and delivers the clean water to the flushing head 244 at a water pressure of 0.2MPa. The flushing head 244 then sprays the clean water onto the filter plate 2253 of the standby spray component 225 to backwash the filter plate 2253 and prevent impurities from accumulating when it is left to stand.

[0053] Working principle: In actual use, the well-stirred pollen liquid is injected into the pollen liquid chamber 202, and clean water is injected into the cleaning liquid chamber 203.

[0054] When pollination of plants is required, the drone 100 is activated to move the spraying mechanism 200 to the designated location. Then, the micro plunger pump 204 is activated to transport the pollen liquid in the pollen liquid chamber 202 to the connecting pipe 221, so that the pollen liquid enters the diversion pipe 222 and the spray head 2251. After passing through the filter plate 2253, the pollen liquid is sprayed onto the flowers of the plant.

[0055] During the spraying process, the electromagnetic flow sensor 224 monitors the real-time flow rate of the pollen liquid transported by the connecting pipe 221, and the first pressure sensor 2252 monitors the real-time pressure at the inlet of the spray head 2251. The data receiving and processing module in the controller 300 receives the real-time flow data collected by the electromagnetic flow sensor 224 and the real-time pressure at the inlet of the spray head 2251 every 10 seconds.

[0056] The data receiving and processing module in the controller 300 then uses a preset formula to calculate the blockage index CI of the filter plate 2253, compares the blockage index CI with the blockage range threshold to obtain the blockage level, and then sends a set of control signals to the control module according to different blockage levels.

[0057] For example, when a minor blockage is detected, the data receiving and processing module sends a first set of control signals to the control module; When a moderate blockage is detected, the data receiving and processing module sends a second set of control signals to the control module. When a severe blockage is detected, the data receiving and processing module sends a third set of control signals to the control module.

[0058] When the control module of the controller 300 receives the first set of control signals, it maintains the current operation of the spray component 225 and starts the vibrator 2255 to run for 10 seconds. When the control module of the controller 300 receives the second control signal set, the control module controls the start of the stepper motor 232, which drives the connecting pipe 221 to rotate 180 degrees through the gear 233 and the gear ring 234. Simultaneously, the solenoid valve 223 corresponding to the blocked spray component 225 is closed, and the solenoid valve 223 corresponding to the standby spray component 225 is opened. Then, the water pump 241 is started and runs for 10 seconds to extract the clean water in the cleaning liquid chamber 203 and deliver the clean water to the flushing head 244 at a water pressure of 0.3MPa. The flushing head 244 sprays the clean water onto the filter plate 2253 to backwash the filter plate 2253. When the control module of the controller 300 receives the third control signal set, the control module controls the start of the stepper motor 232, which drives the connecting pipe 221 to rotate 180 degrees through the gear 233 and the gear ring 234. Simultaneously, the solenoid valve 223 corresponding to the blocked spray component 225 is closed, and the solenoid valve 223 corresponding to the standby spray component 225 is opened. Then, the water pump 241 is started and runs for 15 seconds to extract the clean water in the cleaning liquid chamber 203 and deliver the clean water to the flushing head 244 at a water pressure of 0.6MPa. The flushing head 244 sprays the clean water onto the filter plate 2253, and the filter plate 2253 is backwashed by the clean water.

[0059] This operation allows for the cleaning of clogged filter plates 2253 without affecting pollen spraying operations, saving time. Furthermore, different cleaning methods can be adopted depending on the degree of clogging, improving flexibility and reducing energy consumption.

[0060] Example 2: Figure 6 and Figure 7 As shown, while all other parts are the same as in Example 1, the difference between this example and Example 1 is that: The filter plate 2253 has several filter holes that are arranged through it. The filter holes are in the shape of an inverted frustum. The openings near the split pipe 222 are larger, at 150μm, while the openings further away from the split pipe 222 are smaller, at 50μm.

[0061] By setting the filter holes in the shape of an inverted frustum, fluid resistance can be reduced and pressure loss can be reduced by 20%-30% compared to the straight circular hole structure.

[0062] When performing backwashing, the conical surface of the inverted frustum structure becomes an auxiliary ramp for impurities to detach: the water flow impacts the small opening in the opposite direction to the large opening, and impurities are more easily removed from the filter holes under the thrust of the water flow and the guiding effect of the conical surface, improving the cleaning efficiency by 40% compared to straight circular holes.

[0063] Furthermore, since the friction between the impurities and the conical surface is sliding friction rather than the scraping friction of a straight circular hole when the impurities fall off, the surface of the filter plate 2253 has no obvious scratches, which improves its service life compared to the filter plate 2253 with a straight circular hole structure.

[0064] Example 3: As Figures 1-3 As shown, while all other parts are the same as in Example 1, the difference between this example and Example 1 is that: The automated pollination sensing and spraying drone-based planting robot 100 also includes a light-scattering liquid concentration sensor 207 and a stirring assembly 210. The light-scattering liquid concentration sensor 207 is mounted on the inlet pipe 205 of the miniature plunger pump 204.

[0065] The stirring assembly 210 is mounted on the housing 201. The stirring assembly 210 includes a drive motor 211, a shaft 212, and multiple stirring rods 213. The drive motor 211 is mounted on the housing 201; the shaft 212 is fixedly connected to the power output shaft of the drive motor 211 and rotatably connected to the housing 201; the multiple stirring rods 213 are all located inside the pollen liquid chamber 202 and are all mounted on the shaft 212.

[0066] The light scattering liquid concentration sensor 207 is used to monitor the real-time concentration of pollen solution in the inlet pipe 205. A large deviation between the real-time concentration and the set concentration indicates that the pollen solution in the pollen solution chamber 202 has undergone stratification. The set concentration refers to the concentration of the pollen solution when it is injected into the pollen solution chamber 202 after stirring.

[0067] Deviation rate = (actual concentration - set concentration) / set concentration × 100%.

[0068] Working principle: In actual use, the light scattering liquid concentration sensor 207 sends the real-time concentration data of the pollen liquid to the data receiving and processing module of the controller 300. The data receiving and processing module calculates the deviation rate and then determines whether the deviation rate exceeds 10% (deviation rate > 10% or < -10%). When the deviation rate exceeds 10%, the data receiving and processing module sends an adjustment signal to the control module. The control module of the controller 300 controls the start of the drive motor 211 to run for 1 minute. When the drive motor 211 runs, it drives the shaft 212 to rotate, which in turn drives multiple stirring rods 213 to rotate. The rotating stirring rods 213 stir the pollen liquid in the pollen liquid chamber 202, thereby making the pollen liquid evenly mixed.

[0069] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0070] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automated pollination sensing and spraying drone-based planting robot, characterized in that, It includes a spraying mechanism and a controller, wherein the spraying mechanism includes: The housing is mounted on the drone and contains a pollen liquid chamber and a cleaning liquid chamber. A miniature plunger pump is installed on the bottom surface of the housing, and its inlet pipe is connected to the pollen liquid chamber; Spray assembly, comprising: A connecting pipe is rotatably connected to the outlet pipe of the micro plunger pump, and an electromagnetic flow sensor is installed on it. Both of the two shunt pipes are connected to the connecting pipe, and both of the shunt pipes are equipped with solenoid valves; Two spray components are respectively connected to the two diversion pipes, each including a spray head, a first pressure sensor, a filter plate and multiple vibrators, and the inner wall of the spray head and the filter plate are provided with a superhydrophobic coating. An adjustment component is used to drive the connecting pipe to rotate; The backwash assembly is connected to the cleaning fluid chamber; The controller is installed on the drone. The controller is used to select to start the vibrator or select to start the adjustment component to rotate the spray component 180 degrees according to the degree of clogging of the filter plate in the spray component. Simultaneously, the clogged spray component is stopped and the standby spray component is started. Then, the clogged spray component is backwashed by the backwash component.

2. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 1, characterized in that, The adjustment component includes: The mounting plate is fixedly connected to the bottom surface of the housing. A stepper motor is mounted on the mounting plate, and a gear is mounted on its power output shaft; A gear ring is fixedly sleeved on the connecting pipe and meshes with the gear.

3. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 2, characterized in that, The backwashing assembly includes: A water pump is mounted on the mounting plate, and its water pumping pipe is connected to the cleaning liquid chamber. A flushing head is installed on the outlet pipe of the water pump; The second pressure sensor is installed on the water outlet pipe.

4. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 3, characterized in that, The controller includes: The user settings module is used to receive user-defined baseline pressure, maximum pressure difference, initial flow rate, and blockage threshold. The data receiving and processing module is used to receive real-time flow data collected by the electromagnetic flow sensor and real-time pressure at the spray head inlet collected by the first pressure sensor, calculate the blockage index and classify the blockage level, and then generate the corresponding control signal set. The preventive maintenance module is used to generate a preventive control signal after the miniature plunger pump has been operating continuously for one hour. The control module is used to receive the control signal set sent by the data receiving and processing module and the preventive maintenance module, and output control commands according to the signal set.

5. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 4, characterized in that, The blockage levels include mild blockage, moderate blockage, and severe blockage, and the control signal sets corresponding to mild blockage, moderate blockage, and severe blockage are the first control signal set, the second control signal set, and the third control signal set, respectively.

6. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 5, characterized in that, When the control module receives the first set of control signals, it outputs a command to start the vibrator to run for 10 seconds. When the control module receives the second set of control signals, it outputs an instruction to drive the adjustment component to rotate 180 degrees and switch the solenoid valve, as well as to start the backwash component to rinse the spray component with 0.3MPa water pressure for 10 seconds. When the control module receives the third set of control signals, it outputs a command to drive the adjustment component to rotate 180 degrees and switch the solenoid valve, as well as to start the backwash component to flush the spray component with 0.6MPa water pressure for 15 seconds.

7. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 4, characterized in that, The preventive control signal sent by the preventive maintenance module is the fourth control signal set. When the control module receives the fourth control signal set, it controls the backwashing component to perform a 5-second backwash on the filter plate of the standby spray component with a water pressure of 0.2 MPa.

8. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 7, characterized in that, The filter plate has several filter holes that are shaped like an inverted frustum. The openings near the splitter pipe are 150 μm in diameter and the openings away from the splitter pipe are 50 μm in diameter.

9. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 6, characterized in that, Also includes: A light-scattering liquid concentration sensor is installed on the inlet pipe of the miniature plunger pump; A stirring assembly is installed on the housing.

10. The unmanned aerial vehicle (UAV) planting robot for automated pollination sensing and spraying according to claim 9, characterized in that, The stirring assembly includes: A drive motor is mounted on the housing. The shaft is fixedly connected to the power output shaft of the drive motor and rotatably connected to the housing. Multiple stirring rods are located inside the pollen liquid cavity and are all mounted on the shaft.

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