Pull wire type precise pesticide spraying unmanned aerial vehicle

Abstract

The invention discloses a stay wire type precise pesticide spraying unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles, the stay wire type precise pesticide spraying unmanned aerial vehicle comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a pesticide box and an airborne intelligent camera, the lower end of the unmanned aerial vehicle body is provided with at least one profiling pesticide spraying arm, and the profiling pesticide spraying arms can conduct profiling according to tree crowns; sprayers and position sensors are distributed on the profiling pesticide spraying arm, an outlet of the pesticide box is communicated with the sprayers through pipelines, a transmission box, a sensor control system and a pesticide spraying arm control system are arranged at the position, corresponding to the profiling pesticide spraying arm, of the upper end of the unmanned aerial vehicle body, the transmission box is connected with the profiling pesticide spraying arm, and the position sensors are electrically connected with the sensor control system. The sensor control system is electrically connected with the pesticide spraying arm control system, and the pesticide spraying arm control system is electrically connected with the transmission case. Through profiling of the profiling pesticide spraying arm, the position of the spray head on the profiling pesticide spraying arm can be controlled to be matched with the shape of a fruit tree crown, the comprehensiveness and uniformity of the spraying coverage range are ensured, and precise pesticide spraying is achieved.

Description

Technical Field

[0001] This invention relates to the field of drone technology, specifically to a wire-operated precision spraying drone. Background Technology

[0002] Chemical control through spraying of pesticides on fruit trees is a common and effective plant protection method used in orchards. Ensuring good spraying quality is a favorable guarantee for achieving high and stable yields in orchards. According to statistics, fruit trees need to be sprayed with pesticides 8-15 times a year. The workload of orchard pesticide application accounts for about 30% of the total workload of fruit tree management, making it the most time-consuming and important operation.

[0003] However, traditional fruit tree spraying has the following drawbacks: (1) The development of plant protection machinery and pesticide application technology is relatively slow. Large-scale prevention and control operations often adopt large-volume continuous spraying. When the sprayer is operating, it ignores the planting pattern of fruit trees and the differences between fruit trees and sprays them in the same way. This extensive application method makes the pesticide utilization rate and operation efficiency very low. The pesticide deposition rate on the branches and leaves of fruit trees is only 15%-20%. About 20%-30% or more of the fine pesticide droplets will drift to non-target areas with the airflow. This will not only waste pesticides and water resources and reduce the control effect of pests and diseases, but also seriously pollute the environment. (2) In agricultural products that have been treated with excessive pesticides, the pesticide residues exceed the standard, which will seriously endanger people's health on the one hand, and affect the export of agricultural products and the sustainable development of agricultural production on the other hand. Summary of the Invention

[0004] To address the existing technical problems, this invention provides a wire-operated precision spraying drone to solve the problems in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution: A wire-guided precision spraying drone includes a drone body with a pesticide tank and an onboard intelligent camera. At least one contour-following spraying arm is located at the lower end of the drone body, capable of conforming to the shape of a tree canopy. Nozzles and position sensors are distributed on the contour-following spraying arm. The outlet of the pesticide tank is connected to the nozzles via a pipe. At the upper end of the drone body, corresponding to the contour-following spraying arm, a transmission box, a sensor control system, and a spraying arm control system are located. The transmission box is connected to the contour-following spraying arm. The position sensors are electrically connected to the sensor control system, the sensor control system is electrically connected to the spraying arm control system, and the spraying arm control system is electrically connected to the transmission box.

[0006] Preferably, the contour spraying arm includes a connecting seat connected to the lower end of the UAV body. The lower end of the connecting seat is provided with a plurality of first joints and second joints arranged in a staggered manner, and the first joints and second joints are connected end to end. The first joints and the second joints are rotatably connected by a rotating shaft. The rotating shaft is fixedly connected to a wheel. The wheel is connected to the transmission box. One of the two wheels located at both ends of the first joint or the second joint is connected to the first joint through a push rod, and the other wheel is connected to the second joint through a push rod.

[0007] In this scheme, the position sensor can measure the distance between the nozzle and the fruit tree in real time and transmit the data to the sensor control system for data analysis. The spraying arm control system processes and calculates the information acquired from the sensor control system and converts it into the rotation angle of the wheel. Then, the transmission box drives multiple staggered first and second joints on the contour spraying arm to perform reciprocating curve rotational motion. Specifically, the transmission box drives the wheel at the corresponding position to rotate. The rotation of the wheel will drive the corresponding first or second joint to rotate longitudinally around the drone. At the same time, it can stop rotating after rotating around its corresponding wheel to a specified angle. The multiple wheels work together to finally realize the contour spraying arm's contouring process.

[0008] Meanwhile, the contour spraying arm adopts this structure, which can extend or shorten the length of the contour spraying arm by increasing or decreasing the number of the first and second joints, so as to adapt to the shape of different varieties of fruit trees, making it more widely applicable and more compatible.

[0009] Preferably, the transmission box includes a housing, an input shaft on the housing, the input shaft being connected to a transmission motor via a chain drive mechanism, a sun gear being mounted on the input shaft, and a number of transmission output shafts distributed on the housing equal to the number of the round wheels, with planetary gears mounted on the transmission output shafts and meshing with the sun gears; A first gear is also fitted on the transmission output shaft, which meshes with a second gear and a third gear. The third gear meshes with a fourth gear and the first gear. The central shaft of the second gear is connected to the forward output shaft via an electromagnetic clutch. A fifth gear is fitted on the forward output shaft. The central shaft of the fourth gear is connected to the reverse output shaft via an electromagnetic clutch. A sixth gear is fitted on the reverse output shaft. A winding shaft is provided on the housing, and a seventh gear is fitted on the winding shaft. The seventh gear meshes with the fifth gear and the sixth gear. A winding device is provided on the winding shaft, and the winding device is connected to the wheel via a pull wire. The spraying arm control system is electrically connected to the transmission motor and the electromagnetic clutch.

[0010] In this scheme, the drive motor drives the input shaft to rotate via a chain drive mechanism, synchronously driving the sun gear on the input shaft to rotate. The sun gear drives the planetary gears to rotate, synchronously driving the output shaft to rotate. The output shaft drives the first gear to rotate synchronously, which in turn drives the second and third gears to rotate synchronously. The third gear drives the fourth gear and the first gear to rotate synchronously. Therefore, the second and fourth gears rotate in opposite directions. The second and fifth gears are coaxially connected via electromagnetic clutches, and the fourth and sixth gears are also coaxially connected via electromagnetic clutches. Thus, the fifth and sixth gears can drive the seventh gear to rotate in opposite directions. The rotation of the seventh gear synchronously drives the winding shaft and the winding device to rotate. The spraying arm control system adjusts the rotation according to the position... After the information acquired by the sensor is calculated, the contouring drive signal of the contouring spraying arm is transmitted to the drive motor and the corresponding electromagnetic clutch. When the electromagnetic clutch is disengaged, the corresponding forward or reverse output shaft stops rotating. At this time, only the corresponding reverse or forward output shaft rotates, synchronously driving the winding shaft and the winding device to rotate in reverse or forward. Since the winding device is connected to the corresponding wheel through winding, when the winding device rotates in forward or reverse, it will drive the wheel to rotate accordingly through the pull wire. The rotation of the wheel drives the corresponding first or second joint to rotate. Multiple winding devices move simultaneously, driving multiple wheels on the contouring spraying arm to rotate, so that the contouring spraying arm moves according to the preset trajectory, thereby contouring the tree crown, and finally realizing the contouring process of the contouring spraying arm.

[0011] Preferably, when the number of wheels on each of the contour spraying arms is no more than four, the planetary gears directly mesh with the sun gear; When the number of wheels on each of the contour spraying arms is greater than four, four of the planetary gears mesh directly with the sun gear, and the other planetary gears mesh with the planetary gears that mesh directly with the sun gear through transition gears.

[0012] This configuration allows the planetary gears to rotate at the same speed, with adjacent planetary gears rotating in opposite directions.

[0013] Preferably, the transmission box housing includes a first connecting plate, a second connecting plate, and a third connecting plate that are parallel to each other. The input shaft is disposed between the first connecting plate and the second connecting plate. The transmission output shaft is disposed on the side of the first connecting plate facing the second connecting plate. The central shafts of the second gear, the third gear, and the fourth gear are disposed on the second connecting plate. The forward rotation output shaft and the reverse rotation output shaft are disposed on the side of the second connecting plate facing the third connecting plate. The winding shaft is disposed on the third connecting plate.

[0014] Preferably, the nozzle is disposed on the first joint, and two nozzles are disposed on each first joint, with the position sensor disposed between the two nozzles.

[0015] Preferably, there are two contour spraying arms, and correspondingly, there are also two transmission boxes, two sensor control systems, and two spraying arm control systems, with the two transmission boxes located on both sides of the medicine tank.

[0016] With this setup, when spraying pesticides, the drone will rotate 180° around the vertical axis to achieve full circumferential coverage of the fruit trees without any blind spots.

[0017] Preferably, the outlet of the medicine tank is connected to the spray water pump via a first hose, the spray water pump is connected to a distributor, and the two outlets on the distributor are respectively connected to the nozzles on the corresponding contour spraying arms via second hoses, the second hoses being equipped with pressure gauges.

[0018] Preferably, the upper end of the medicine box is also provided with an overflow pipe, one end of which is connected to the upper end of the medicine box, and the other end of which is connected to the inlet of the distributor. An overflow valve is provided on the overflow pipe.

[0019] Preferably, the drone body has rotating arms distributed circumferentially, and the ends of the rotating arms are provided with propellers, which are driven by micro motors. Two landing support rods are symmetrically distributed on both sides of the drone body, and the airborne smart camera is mounted on the landing support rods.

[0020] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention relies on an airborne intelligent camera to complete the identification, positioning, and trajectory planning of the target fruit tree, enabling autonomous navigation to the operating airspace. Then, the contour-following spraying arm unfolds, and using multiple position sensors for sensing and guidance, the position of the nozzles on the contour-following spraying arm can be controlled to fit the shape of the fruit tree canopy, ensuring the comprehensiveness and uniformity of the spray coverage, achieving precise application of pesticides. This not only greatly reduces the amount of pesticide sprayed, improves the efficiency of pesticide utilization, and reduces pesticide residues on the fruit, but also reduces the labor intensity of workers and improves spraying efficiency through the use of autonomous drones. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a wire-operated precision spraying drone according to the present invention; Figure 2 for Figure 1 A top view of a wire-operated precision spraying drone after removing its protective cover; Figure 3 for Figure 1 A schematic diagram of the connection structure between the contour spraying arm and the transmission box of a wire-guided precision spraying drone. Figure 4 for Figure 3 A schematic diagram of the transmission box after removing the first connecting plate; Figure 5 for Figure 3 Side view of the transmission box in the middle; Figure 6 for Figure 5 AA section view in the middle; Figure 7 for Figure 5 BB section view in the middle; Figure 8 for Figure 1 A schematic diagram of the contour spraying arm of a wire-operated precision spraying drone; Figure 9 for Figure 8 A schematic diagram of the connection structure between the first and second joints of the contour spraying arm. Figure 10 for Figure 9 Another structural diagram from a different angle; Figure 11 This is a schematic diagram of the pipeline connection between the medicine tank and the nozzle of a wire-operated precision spraying drone according to the present invention. Figure 12 This is a structural schematic diagram of a wire-operated precision spraying drone in use according to the present invention. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0023] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] As attached Figure 1 - Appendix Figure 11The illustrated type of precision spraying drone includes a drone body 1, on which a pesticide tank 2 and an onboard intelligent camera 15 are mounted. Rotating arms 12 are distributed circumferentially along the drone body 1. In this embodiment, the rotating arms 12 are located near the four corners of the drone body 1. A rotary propeller 13, driven by a micro-motor, is located at the free end of each rotating arm 12. Two symmetrically distributed ground support rods 14 are located on both sides of the drone body 1, and the onboard intelligent camera 15 is mounted on the ground support rods 14. The onboard intelligent camera 15 is electrically connected to the drive unit of the drone body 1. When the drone and the onboard intelligent camera 15 are started, the drone identifies the orchard, captures fruit tree data, and drives the drone to fly directly above the fruit trees. This allows the drone to autonomously navigate to the operating airspace by relying on the onboard intelligent camera 15 to identify, locate, and plan the flight path of the target fruit trees.

[0025] The lower end of the UAV body 1 is provided with at least one contour spraying arm 4, which can follow the shape of the tree crown. The upper end of the UAV body 1 is provided with a transmission box 5, a sensor control system 81, and a spraying arm control system 82 corresponding to the contour spraying arm 4. The contour spraying arm 4 is provided with nozzles 46 and position sensors 47. The lower end outlet of the medicine tank 2 is connected to the nozzles 46 through a pipe. The transmission box 5 is connected to the contour spraying arm 4. The position sensor 47 is electrically connected to the sensor control system 81. The sensor control system 81 is electrically connected to the spraying arm control system 82. The spraying arm control system 82 is electrically connected to the transmission box 5. The sensor control system 81 is used to process the corresponding signals acquired by the position sensor 47 and construct a three-dimensional spatial model. The spraying arm control system 82 calculates the real-time canopy morphology features and converts them into the rotation angle of the wheel 43 on the contour spraying arm 4. Then, the transmission box 5 drives the wheel 43 on the contour spraying arm 4 to rotate to adjust the spatial posture of the contour spraying arm 4 and maintain a constant spraying distance between the nozzle 46 and the surface of the fruit tree canopy.

[0026] A protective cover 11 is provided on the main body 1 of the UAV, and the transmission box 5, transmission motor 50, sensor control system 81 and spraying arm control system 82 are located inside the protective cover 11.

[0027] In this embodiment, there are two contour spraying arms 4, which are distributed below the UAV body 1 near both ends. Correspondingly, there are also two transmission boxes 5, two sensor control systems 81, and two spraying arm control systems 82. The two transmission boxes 5 are located on both sides of the medicine tank 2, which is located in the middle of the UAV body 1. The position sensor 47 on each contour spraying arm 4 is connected to the corresponding sensor control system 81. The sensor control system 81 is electrically connected to the corresponding spraying arm control system 82, and the spraying arm control system 82 is electrically connected to the corresponding transmission box 5.

[0028] refer to Figure 11 The outlet of the medicine tank 2 is connected to the spray water pump 3 via a first hose 91. The spray water pump 3 is connected to a distributor 95. A filter 94 is installed on the pipe section between the outlet of the medicine tank 2 and the inlet of the spray water pump 3. The two outlets of the distributor 95 are respectively connected to the nozzles 46 on the corresponding contour spraying arms 4 via second hoses 92, i.e., one second hose 92 corresponds to one contour spraying arm 4. A pressure gauge 96 is installed on the second hose 92, and a solenoid valve 460 is installed on the nozzle 46. The spraying arm control system 82 is also electrically connected to the spray water pump 3 and the solenoid valve 460 respectively, for adjusting the spray pressure and spray speed of the nozzle 46. An overflow pipe 93 is also provided at the upper end of the medicine tank 2. One end of the overflow pipe 93 is connected to the upper end of the medicine tank 2, and the other end of the overflow pipe 93 is connected to the inlet of the distributor 95. An overflow valve 97 is installed on the overflow pipe 93. A medicine tank cover 21 is provided at the upper end of the medicine tank 2.

[0029] refer to Figure 8 and Figure 10 The contour spraying arm 4 includes a connecting seat 40 connected to the lower end of the UAV body 1. The lower end of the connecting seat 40 has multiple first joints 41 and second joints 42 arranged in a staggered pattern, with the first joints 41 and second joints 42 connected end-to-end. The first joints 41 and second joints 42 are rotatably connected via a rotating shaft 44. The rotating shaft 44 is fixedly connected to a wheel 43, and the wheel 43 is connected to the transmission box 5 via a pull wire. One of the two wheels 43 located at either end of the first joint 41 or the second joint 42... Wheel 43 is connected to the first joint 41 via push rod 45, and another wheel 43 is connected to the second joint 42 via push rod 45. Push rod 45 is fixedly connected to wheel 43, and push rod 45 is also fixedly connected to the first joint 41 and the second joint 42. That is, one of the two adjacent wheels 43 is connected to the first joint 41 via push rod 45, and the other wheel 43 is connected to the second joint 42 via push rod 45. In this way, when the transmission box 5 drives the corresponding wheel 43 to rotate, the wheel 43 can drive the corresponding first joint 41 or second joint 42 to rotate.

[0030] The nozzle 46 can be disposed on the first joint 41 or the second joint 42. In this embodiment, the nozzle 46 is disposed on the first joint 41, and two nozzles 46 are disposed on each first joint 41. The position sensor 47 is disposed between the two nozzles 46.

[0031] The number of the first joint 41 and the second joint 42 can be selected according to the specific situation. Simply connect the rotating shaft 44 and the wheel 43 to the connection point of the first joint 41 or the second joint 42 to adjust the length of the contour spraying arm 4. At the same time, connect the push rod 45 on the wheel 43 to the corresponding first joint 41 or the second joint 42. The overall connection and disassembly are also relatively convenient.

[0032] In this embodiment, each contour spraying arm 4 includes five first joints 41 and four second joints 42. The five first joints 41 and four second joints 42 are connected end to end in an alternating manner. The upper end of the first joint 41 located at the top is connected to the connecting seat 40. Each contour spraying arm 4 includes eight wheels 43.

[0033] refer to Figures 3-7 The transmission box 5 includes a box body, on which an input shaft 54 ​​is provided. The input shaft 54 ​​is connected to a transmission motor 50 via a chain transmission mechanism 55. The transmission motor 50 is mounted on the UAV body 1 and is electrically connected to the spraying arm control system 82. A sun gear 56 is fitted on the input shaft 54. The box body has the same number of transmission output shafts 59 as the number of the circular wheels 43. Planetary gears 57 are fitted on the transmission output shafts 59 and mesh with the sun gears 56.

[0034] A first gear 61 is also fitted on the transmission output shaft 59. The first gear 61 meshes with the second gear 62 and the third gear 63 respectively. The third gear 63 meshes with the fourth gear 64 and the first gear 61 respectively. The central shaft of the second gear 62 is connected to the forward output shaft 71 through an electromagnetic clutch 65. A fifth gear 73 is fitted on the forward output shaft 71. The central shaft of the fourth gear 64 is connected to the reverse output shaft 72 through an electromagnetic clutch 65. A sixth gear 74 is fitted on the reverse output shaft 72. A winding shaft 76 is provided on the housing. A seventh gear 75 is fitted on the winding shaft 76. The seventh gear 75 meshes with the fifth gear 73 and the sixth gear 74 respectively. A winding device (not shown in the figure) is provided on the winding shaft 76. The winding device is connected to the wheel 43 through a pull wire. The pull wire is a steel wire rope. Each winding device corresponds to one wheel 43. The spraying arm control system 82 is electrically connected to the transmission motor 50 and the electromagnetic clutch 65 respectively.

[0035] In this embodiment, the transmission box 5 includes a first connecting plate 51, a second connecting plate 52, and a third connecting plate 53 that are parallel to each other. The first connecting plate 51, the second connecting plate 52, and the third connecting plate 53 are connected by a connecting rod 500. The second connecting plate 52 is located between the first connecting plate 51 and the third connecting plate 53. The input shaft 54 ​​is located between the first connecting plate 51 and the second connecting plate 52. The transmission output shaft 59 is located on the side of the first connecting plate 51 facing the second connecting plate 52. The central axes of the second gear 62, the third gear 63, and the fourth gear 64 are located on the second connecting plate 52. The forward output shaft 71 and the reverse output shaft 72 are located on the side of the second connecting plate 52 facing the third connecting plate 53. The winding shaft 76 is located on the third connecting plate 53. Furthermore, the centerlines of the transmission output shaft 59, the central axes of the second gear 62, the third gear 63, and the fourth gear 64, the forward output shaft 71, the reverse output shaft 72, and the winding shaft 76 are parallel.

[0036] When the number of wheels 43 on each contour spraying arm 4 is no more than four, the planetary gears 57 mesh directly with the sun gear 56; when the number of wheels 43 on each contour spraying arm 4 is more than four, four of the planetary gears 57 mesh directly with the sun gear 56, and the other planetary gears 57 mesh with the planetary gears 57 that mesh directly with the sun gear 56 through a transition gear 58.

[0037] In this embodiment, there are eight transmission output shafts 59 and eight winding shafts 76. Each winding shaft 76 is equipped with a winding device, and each winding device corresponds to a wheel 43. The eight transmission output shafts 59 are arranged in two rows on the housing of the transmission box. The planetary gears 57 on the four middle transmission output shafts 59 directly mesh with the sun gear 56. The planetary gears 57 on the other four transmission output shafts 59 mesh with their adjacent planetary gears 57 through transition gears 58, so as to achieve the same rotational speed for the eight planetary gears 57.

[0038] The algorithm calculation and control process of the spraying arm control system 82 in this invention belongs to the prior art and will not be described in further detail here.

[0039] The principle and usage of this invention are as follows: The drone and onboard smart camera 15 are activated. Under the detection of the onboard camera 15, the orchard is identified, fruit tree data is captured, and the drone is controlled to fly directly above the fruit trees. Upon reaching the target area, the position sensor 47 is activated to scan the fruit trees. The spraying arm control system 82 calculates the angle at which each first joint 41 and second joint 42 on the contour spraying arm 4 needs to be folded, converts it into the rotation angle of the corresponding wheel 43, and then drives the first joint 41 and second joint 42 at the corresponding position to rotate, realizing the contour spraying arm 4's contour spraying process, maintaining a constant spraying distance between the nozzle 46 and the canopy surface, so that it surrounds the fruit trees (see reference). Figure 12 Simultaneously, it can calculate the required amount of pesticide in real time. Then, it turns on the spraying water pump 3, extracts pesticide from the pesticide tank 2, and transfers it to the nozzle 46 for a trial spray on the fruit trees. After the trial spray, the rotating drone sprays the fruit trees 360 degrees in all directions. This invention innovatively configures two symmetrical contour spraying arms 4 working together. During spraying, the drone will rotate 180° around the vertical axis to complete the full circumference coverage of the fruit trees with pesticide without dead angles.

[0040] The preferred embodiments of the present invention have been described above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A wire-operated precision spraying drone, comprising a drone body (1), wherein the drone body (1) is equipped with a medicine tank (2) and an onboard intelligent camera (15), characterized in that: The lower end of the UAV body (1) is provided with at least one contour spraying arm (4), which can follow the shape of the tree crown. The contour spraying arm (4) is provided with nozzles (46) and position sensors (47). The outlet of the medicine tank (2) is connected to the nozzles (46) through a pipe. At the upper end of the UAV body (1) corresponding to the position of the contour spraying arm (4), there is a transmission box (5), a sensor control system (81) and a spraying arm control system (82). The transmission box (5) is connected to the contour spraying arm (4). The position sensor (47) is electrically connected to the sensor control system (81). The sensor control system (81) is electrically connected to the spraying arm control system (82). The spraying arm control system (82) is electrically connected to the transmission box (5).

2. The wire-operated precision spraying drone according to claim 1, characterized in that: The contour spraying arm (4) includes a connecting seat (40) connected to the lower end of the UAV body (1). The lower end of the connecting seat (40) is provided with a plurality of first joints (41) and second joints (42) arranged in a staggered manner. The first joints (41) and second joints (42) are connected end to end. The first joints (41) and second joints (42) are rotatably connected by a rotating shaft (44). The rotating shaft (44) is fixedly connected to a wheel (43). The wheel (43) is connected to the transmission box (5) by a pull wire. One of the two wheels (43) located at both ends of the first joint (41) or the second joint (42) is connected to the first joint (41) by a push rod (45), and the other wheel (43) is connected to the second joint (42) by a push rod (45).

3. The wire-operated precision spraying drone according to claim 2, characterized in that: The transmission box (5) includes a box body, on which an input shaft (54) is provided. The input shaft (54) is connected to a transmission motor (50) through a chain transmission mechanism (55). A sun gear (56) is sleeved on the input shaft (54). The box body has the same number of transmission output shafts (59) as the number of the round wheels (43). A planetary gear (57) is sleeved on the transmission output shaft (59). The planetary gear (57) meshes with the sun gear (56). A first gear (61) is also fitted on the transmission output shaft (59). The first gear (61) meshes with the second gear (62) and the third gear (63) respectively. The third gear (63) meshes with the fourth gear (64) and the first gear (61) respectively. The central shaft of the second gear (62) is connected to the forward output shaft (71) through an electromagnetic clutch (65). A fifth gear (73) is fitted on the forward output shaft (71). The central shaft of the fourth gear (64) is connected to the reverse output shaft (71) through an electromagnetic clutch (65). The output shaft (72) is connected, and a sixth gear (74) is fitted on the reverse output shaft (72). The housing is provided with a winding shaft (76), and a seventh gear (75) is fitted on the winding shaft (76). The seventh gear (75) meshes with the fifth gear (73) and the sixth gear (74) respectively. A winding device is provided on the winding shaft (76), and the winding device is connected to the wheel (43) by a pull wire. The spraying arm control system (82) is electrically connected to the drive motor (50) and the electromagnetic clutch (65) respectively.

4. The wire-operated precision spraying drone according to claim 3, characterized in that: When the number of wheels (43) on each of the contour spraying arms (4) is no more than four, the planetary gear (57) meshes directly with the sun gear (56); When the number of wheels (43) on each of the contour spraying arms (4) is greater than four, four of the planetary gears (57) mesh directly with the sun gear (56), and the other planetary gears (57) mesh with the planetary gears (57) that mesh directly with the sun gear (56) through a transition gear (58).

5. A wire-operated precision spraying drone according to claim 3, characterized in that: The transmission box (5) includes a first connecting plate (51), a second connecting plate (52), and a third connecting plate (53) that are parallel to each other. The input shaft (54) is located between the first connecting plate (51) and the second connecting plate (52). The transmission output shaft (59) is located on the side of the first connecting plate (51) facing the second connecting plate (52). The central shafts of the second gear (62), the third gear (63), and the fourth gear (64) are located on the second connecting plate (52). The forward output shaft (71) and the reverse output shaft (72) are located on the side of the second connecting plate (52) facing the third connecting plate (53). The winding shaft (76) is located on the third connecting plate (53).

6. A wire-operated precision spraying drone according to claim 2, characterized in that: The nozzle (46) is disposed on the first joint (41), and two nozzles (46) are disposed on each first joint (41), and the position sensor (47) is disposed between the two nozzles (46).

7. A wire-operated precision spraying drone according to any one of claims 1-6, characterized in that: There are two contour spraying arms (4), and correspondingly there are two transmission boxes (5), two sensor control systems (81) and two spraying arm control systems (82). The two transmission boxes (5) are located on both sides of the medicine box (2).

8. A wire-operated precision spraying drone according to claim 7, characterized in that: The outlet of the medicine tank (2) is connected to the spray water pump (3) through the first hose (91). The spray water pump (3) is connected to the distributor (95). The two outlets on the distributor (95) are connected to the nozzles (46) on the corresponding contour spraying arm (4) through the second hose (92). The second hose (92) is equipped with a pressure gauge (96).

9. A wire-operated precision spraying drone according to claim 8, characterized in that: The medicine box (2) is also provided with an overflow pipe (93) at the upper end. One end of the overflow pipe (93) is connected to the upper end of the medicine box (2), and the other end of the overflow pipe (93) is connected to the inlet of the diverter (95). An overflow valve (97) is provided on the overflow pipe (93).

10. A wire-operated precision spraying drone according to claim 1, characterized in that: The UAV body (1) has a rotating arm (12) distributed along its circumference. The end of the rotating arm (12) is provided with a rotary propeller (13), which is driven by a micro motor. The UAV body (1) has two symmetrically distributed landing support rods (14) on both sides. The airborne smart camera (15) is located on the landing support rods (14).

Images