A guyed precision pesticide spraying unmanned aerial vehicle

Abstract

The application discloses a stay wire type precision pesticide spraying unmanned plane and belongs to the technical field of unmanned planes. The unmanned plane comprises a plane body, a pesticide box and an onboard intelligent camera are arranged on the plane body, at least one profiled pesticide spraying arm is arranged at the lower end of the plane body, the profiled pesticide spraying arm can be profiled according to a tree crown, a nozzle and a position sensor are distributed on the profiled pesticide spraying arm, the outlet of the pesticide box is communicated with the nozzle through a pipeline, a transmission box, a sensor control system and a pesticide spraying arm control system are arranged at the position of the profiled pesticide spraying arm on the upper end of the plane body, the transmission box is connected with the profiled pesticide spraying arm, the position sensor is 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 box. The profiled pesticide spraying arm can control the position of the nozzle on the profiled pesticide spraying arm to be fitted with the shape of the tree crown, the overall coverage and uniformity of the spraying range are ensured, and precise pesticide spraying is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a stay wire type precise pesticide spraying unmanned aerial vehicle. BACKGROUND

[0002] Chemical control of pesticide spraying on fruit trees is an effective plant protection method commonly used in orchards, and good spraying quality is a favorable guarantee for high yield and stable yield of orchards. According to statistics, fruit trees need to be sprayed with pesticides 8-15 times a year, and the work load of pesticide spraying in orchards accounts for about 30% of the total work load of fruit tree management. It is the most time-consuming and important operation project.

[0003] However, the traditional fruit tree pesticide spraying has the following shortcomings:

[0004] (1) The development of plant protection machinery and pesticide application technology is relatively slow. Large-scale prevention and control operations often use large-capacity washing type continuous pesticide spraying. The pesticide spraying machine operates regardless of the planting mode of fruit trees and the differences between fruit trees, and uses the same pesticide spraying method. This extensive pesticide spraying method makes the pesticide utilization rate and operation efficiency very low, and the pesticide deposition rate on the branches and leaves of fruit trees is only 15%-20%. About 20%-30% or more of the small pesticide droplets will drift to non-spraying target areas with air flow, which not only wastes pesticides and water resources, reduces the prevention and control effect on pests and diseases, but also seriously pollutes the environment.

[0005] (2) Excessive pesticide residues in agricultural products will not only seriously harm people's health, but also affect the export of agricultural products and the sustainable development of agricultural production. SUMMARY

[0006] In view of the existing technical problems, the present application provides a stay wire type precise pesticide spraying unmanned aerial vehicle to solve the problems in the prior art.

[0007] In order to achieve the above-mentioned application purpose, the present application provides the following technical scheme:

[0008] A stay wire type precise pesticide spraying unmanned aerial vehicle, comprising an unmanned aerial vehicle body, a pesticide tank and an onboard intelligent camera are arranged on the unmanned aerial vehicle body, at least one profiled pesticide spraying arm is arranged at the lower end of the unmanned aerial vehicle body, the profiled pesticide spraying arm can be profiled according to the crown, a spray head and a position sensor are distributed on the profiled pesticide spraying arm, the outlet of the pesticide tank is communicated with the spray head through a pipeline, a transmission box, a sensor control system and a pesticide spraying arm control system are arranged at the position corresponding to the profiled pesticide spraying arm at the upper end of the unmanned aerial vehicle body, the transmission box is connected with the profiled pesticide spraying arm, the position sensor is 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 box.

[0009] Preferably, the profiling spraying arm comprises 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 staggered in sequence, and the first joints and the second joints are connected end to end, the first joints and the second joints are connected by a rotating shaft, the rotating shaft is fixedly connected with a circular wheel, the circular wheel is connected with the transmission box, one of the two circular wheels located at the two ends of the first joint or the second joint is connected with the first joint through a push rod, and the other circular wheel is connected with the second joint through a push rod.

[0010] In this scheme, the position sensor can measure the distance between the spray head and the fruit tree in real time, and at the same time, the data is transmitted to the sensor control system for data analysis. The spraying arm control system processes and calculates the information obtained from the sensor control system and converts it into the rotation angle of the circular wheel, and then drives the profiling spraying arm through the transmission box. A plurality of staggered first joints and second joints make reciprocating curve rotation, specifically, the transmission box drives the corresponding circular wheel to rotate, and the rotation of the circular wheel drives the corresponding first joint or second joint to rotate around the UAV longitudinally, and at the same time, it can stop rotating after rotating to the specified angle around the corresponding circular wheel. The plurality of circular wheels work together to ultimately realize the profiling process of the profiling spraying arm.

[0011] At the same time, the profiling spraying arm with this structure can extend or shorten the length of the profiling spraying arm by increasing or decreasing the number of first joints and second joints to adapt to the shape of different varieties of fruit trees, and has wider application range and higher matching performance.

[0012] Preferably, the transmission box comprises a box body, an input shaft is arranged on the box body, the input shaft is connected with a transmission motor through a chain transmission mechanism, a sun gear is sleeved on the input shaft, and a same number of transmission output shafts as the number of the circular wheels are distributed on the box body, a planetary gear is sleeved on the transmission output shaft, and the planetary gear is engaged with the sun gear;

[0013] A first gear is further sleeved on the transmission output shaft, the first gear is engaged with a second gear and a third gear respectively, the third gear is engaged with a fourth gear and the first gear respectively, the central shaft of the second gear is connected with a forward rotation output shaft through an electromagnetic clutch, a fifth gear is sleeved on the forward rotation output shaft, the central shaft of the fourth gear is connected with a reverse rotation output shaft through an electromagnetic clutch, a sixth gear is sleeved on the reverse rotation output shaft, a winding shaft is arranged on the box body, a seventh gear is sleeved on the winding shaft, the seventh gear is engaged with the fifth gear and the sixth gear respectively, a winding device is arranged on the winding shaft, the winding device is connected with the circular wheel through a pull wire, and the spraying arm control system is electrically connected with the transmission motor and the electromagnetic clutch respectively.

[0014] The scheme is that the transmission motor drives the input shaft to rotate through the chain transmission mechanism, synchronously drives the sun gear on the input shaft to rotate, drives the planetary gear to rotate through the sun gear, synchronously drives the transmission output shaft to rotate, drives the first gear to synchronously rotate through the transmission output shaft, drives the second gear and the third gear to synchronously rotate through the first gear, drives the fourth gear and the first gear to synchronously rotate through the third gear, so that the second gear and the fourth gear rotate reversely, the fifth gear and the sixth gear are coaxially connected with the second gear and the fourth gear through the electromagnetic clutch, so that the fifth gear and the sixth gear can drive the seventh gear to rotate in opposite directions, the seventh gear synchronously drives the winding shaft and the winding device to rotate, the spraying arm control system transmits the profiling driving signal of the profiling spraying arm to the transmission motor and the corresponding electromagnetic clutch after calculation according to the information obtained by the position sensor, the electromagnetic clutch is disconnected, and the corresponding forward rotation output shaft or reverse rotation output shaft stops rotating, at this time, only the corresponding reverse rotation output shaft or forward rotation output shaft rotates, synchronously drives the winding shaft and the winding device to reverse or forward rotate, since the winding device and the corresponding circular wheel are connected through the winding, the winding device forward or reverse rotation will drive the circular wheel to rotate correspondingly through the pulling line, the circular wheel drives the corresponding first joint or second joint to rotate, and the plurality of winding devices simultaneously drive a plurality of circular wheels on the profiling spraying arm to rotate, so that the profiling spraying arm moves according to the preset trajectory, and the profiling of the tree crown is performed, and finally the profiling process of the profiling spraying arm is realized.

[0015] Preferably, when the number of the circular wheels on each of the profiling spraying arms is not more than four, the planetary gears are directly engaged with the sun gear.

[0016] When the number of the circular wheels on each of the profiling spraying arms is more than four, four of the planetary gears are directly engaged with the sun gear, and the other planetary gears are engaged with the planetary gears directly engaged with the sun gear through the transition gear.

[0017] In this way, the planetary gears have the same rotating speed, and the directions of rotation of the adjacent two planetary gears are opposite.

[0018] Preferably, the box body of the transmission box comprises first, second and third connecting plates which are parallel to each other, the input shaft is arranged between the first and second connecting plates, the transmission output shaft is arranged on one side of the first connecting plate facing the second connecting plate, the central shafts of the second, third and fourth gears are arranged on the second connecting plate, the forward rotation output shaft and the reverse rotation output shaft are arranged on one side of the second connecting plate facing the third connecting plate, and the winding shaft is arranged on the third connecting plate.

[0019] Preferably, the spray head is arranged on the first joint, two spray heads are arranged on each first joint, and the position sensor is arranged between the two spray heads.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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

[0026] Figure 1 This is a schematic diagram of the overall structure of a wire-operated precision spraying drone according to the present invention;

[0027] Figure 2 for Figure 1 A top view of a wire-operated precision spraying drone after removing its protective cover;

[0028] 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.

[0029] Figure 4 for Figure 3Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0030] Figure 5 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 3 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0031] Figure 6 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 5 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0032] Figure 7 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 5 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0033] Figure 8 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 1 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0034] Figure 9 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 8 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0035] Figure 10 Structure diagram of the transmission case in the figure after removing the first connecting plate; Figure 9 Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0036] Figure 11 Structure diagram of the transmission case in the figure after removing the first connecting plate; Structure diagram of the transmission case in the figure after removing the first connecting plate;

[0037] Figure 12 Structure diagram of the transmission case in the figure after removing the first connecting plate. DETAILED DESCRIPTION

[0038] The application will be described in further detail below with reference to the test examples and specific embodiments. However, it should not be understood that the scope of the above-mentioned subject matter of the application is limited to the following examples, and any technology realized based on the content of the application falls within the scope of the application.

[0039] In the description of the application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0040] As shown in the accompanying Figure 1 As shown in the accompanying Figure 11The shown one is a precise spraying unmanned plane, including unmanned plane body 1, which is provided with medicine box 2 and onboard intelligent camera 15, the unmanned plane body 1 is distributed with rotating arm 12 along its circumference, the rotating arm 12 is arranged at the position close to the four corners of the unmanned plane body 1 in the embodiment, the free end of the rotating arm 12 is provided with rotating paddle 13, which is driven by a micro motor. Two landing support rods 14 are symmetrically distributed on the two sides of the unmanned plane body 1, and the onboard intelligent camera 15 is arranged on the landing support rod 14. The onboard intelligent camera 15 is electrically connected with the driving part of the unmanned plane body 1, the unmanned plane and the onboard intelligent camera 15 are started to work, under the detection of the onboard intelligent camera 15, the orchard is identified, the fruit tree data is captured, the unmanned plane is driven to fly above the fruit tree, the identification positioning and flight path planning of the target fruit tree are realized by relying on the onboard intelligent camera 15, and the unmanned plane is autonomously cruised to the operation airspace.

[0041] The lower end of the unmanned plane body 1 is provided with at least one profiled spraying arm 4, the profiled spraying arm 4 can be profiled according to the crown, the upper end of the unmanned plane body 1 is provided with a transmission box 5, a sensor control system 81 and a spraying arm control system 82 corresponding to the profiled spraying arm 4, the profiled spraying arm 4 is distributed with a spray head 46 and a position sensor 47, the lower end outlet of the medicine box 2 is communicated with the spray head 46 through a pipeline, the transmission box 5 is connected with the profiled spraying arm 4, the position sensor 47 is electrically connected with the sensor control system 81, the sensor control system 81 is electrically connected with the spraying arm control system 82, and the spraying arm control system 82 is electrically connected with the transmission box 5. The sensor control system 81 is used for constructing a three-dimensional space model after processing the corresponding signals acquired by the position sensor 47, the spraying arm control system 82 converts the real-time acquired crown layer morphological characteristics into the rotation angle of the circular wheel 43 on the profiled spraying arm 4 after calculation, and then drives the circular wheel 43 on the profiled spraying arm 4 to rotate through the transmission box 5 to adjust the space position of the profiled spraying arm 4, so as to maintain the constant spraying distance between the spray head 46 and the crown surface of the fruit tree.

[0042] The protection cover 11 is arranged on the unmanned plane body 1, and the transmission box 5, the transmission motor 50, the sensor control system 81 and the spraying arm control system 82 are located in the protection cover 11.

[0043] The profiled spraying arms 4 in this embodiment are two, and the two profiled spraying arms 4 are distributed at the positions close to the two ends of the unmanned aerial vehicle body 1 below. Correspondingly, the transmission boxes 5, the sensor control systems 81 and the spraying arm control systems 82 are also two respectively. The two transmission boxes 5 are respectively located on the two sides of the pesticide tank 2, and the pesticide tank 2 is located in the middle of the unmanned aerial vehicle body 1. The position sensor 47 on each profiled spraying arm 4 is connected with the corresponding position sensor control system 81, the sensor control system 81 is electrically connected with the corresponding spraying arm control system 82, and the spraying arm control system 82 is electrically connected with the corresponding transmission box 5.

[0044] Reference Figure 11 The outlet of the pesticide tank 2 is connected with the pesticide water pump 3 through the first hose 91, the pesticide water pump 3 is communicated with the flow divider 95, the filter 94 is arranged on the pipe section between the outlet of the pesticide tank 2 and the inlet of the pesticide water pump 3, the two outlets of the flow divider 95 are respectively communicated with the nozzles 46 on the corresponding profiled spraying arms 4 through the second hoses 92, that is, one second hose 92 corresponds to one profiled spraying arm 4, the pressure gauge 96 is arranged on the second hose 92, the electromagnetic valve 460 is arranged on the nozzle 46, and the spraying arm control system 82 is also electrically connected with the pesticide water pump 3 and the electromagnetic valve 460 respectively, so as to adjust the spraying pressure and spraying speed of the nozzle 46. The upper end of the pesticide tank 2 is also provided with the overflow pipeline 93, one end of the overflow pipeline 93 is communicated with the upper end of the pesticide tank 2, the other end of the overflow pipeline 93 is communicated with the inlet of the flow divider 95, and the overflow valve 97 is arranged on the overflow pipeline 93. The pesticide tank cover 21 is arranged on the upper end of the pesticide tank 2.

[0045] Reference Figure 8 And Figure 10 The profiled spraying arms 4 include the connecting seat 40 connected with the lower end of the unmanned aerial vehicle body 1, the lower end of the connecting seat 40 is provided with a plurality of first joints 41 and second joints 42 which are staggered and arranged in sequence, and the first joints 41 and the second joints 42 are connected end to end, the first joints 41 and the second joints 42 are rotationally connected through the rotating shaft 44, the rotating shaft 44 is fixedly connected with the circular wheel 43, the circular wheel 43 is connected with the transmission box 5 through the stay wire, one of the two circular wheels 43 located at the two ends of the first joint 41 or the second joint 42 is connected with the first joint 41 through the push rod 45, and the other circular wheel 43 is connected with the second joint 42 through the push rod 45, the push rod 45 is fixedly connected with the circular wheel 43, and the push rod 45 is also fixedly connected with the first joint 41 and the second joint 42, that is, one of the two adjacent circular wheels 43 is connected with the first joint 41 through the push rod 45, and the other circular wheel 43 is connected with the second joint 42 through the push rod 45, so that when the transmission box 5 drives the corresponding circular wheel 43 to rotate, the circular wheel 43 can drive the corresponding first joint 41 or the second joint 42 to rotate.

[0046] The spray head 46 can be arranged on the first joint 41 or the second joint 42. In the embodiment, the spray head 46 is arranged on the first joint 41, and two spray heads 46 are arranged on each first joint 41. The position sensor 47 is arranged between the two spray heads 46.

[0047] The number of the first joints 41 and the second joints 42 is selected according to the specific situation. The shaft 44 and the circular wheel 43 are connected at the connection of the first joint 41 or the second joint 42 to adjust the length of the profiled pesticide spraying arm 4. The push rod 45 on the circular wheel 43 is connected to the corresponding first joint 41 or second joint 42, and the whole is convenient to connect and disassemble.

[0048] In the embodiment, each profiled pesticide spraying arm 4 includes five first joints 41 and four second joints 42. The five first joints 41 and the four second joints 42 are connected in an alternating manner. The upper end of the first joint 41 at the uppermost end is connected to the connecting seat 40. Each profiled pesticide spraying arm 4 includes eight circular wheels 43.

[0049] Reference Figures 3-7 The transmission box 5 includes a box body. An input shaft 54 is arranged on the box body. The input shaft 54 is connected to a transmission motor 50 through a chain transmission mechanism 55. The transmission motor 50 is arranged on the unmanned aerial vehicle body 1. The transmission motor 50 is electrically connected to a pesticide spraying arm control system 82. A sun gear 56 is sleeved on the input shaft 54. The same number of transmission output shafts 59 as the number of the circular wheels 43 are distributed on the box body. Planetary gears 57 are sleeved on the transmission output shafts 59. The planetary gears 57 are engaged with the sun gear 56.

[0050] First gears 61 are also sleeved on the transmission output shafts 59. The first gears 61 are engaged with second gears 62 and third gears 63, respectively. The third gears 63 are engaged with fourth gears 64 and the first gears 61, respectively. The central shaft of the second gear 62 is connected to a forward rotation output shaft 71 through an electromagnetic clutch 65. A fifth gear 73 is sleeved on the forward rotation output shaft 71. The central shaft of the fourth gear 64 is connected to a reverse rotation output shaft 72 through an electromagnetic clutch 65. A sixth gear 74 is sleeved on the reverse rotation output shaft 72. A winding shaft 76 is arranged on the box body. A seventh gear 75 is sleeved on the winding shaft 76. The seventh gear 75 is engaged with the fifth gear 73 and the sixth gear 74, respectively. Winding devices (not shown in the figure) are arranged on the winding shaft 76. The winding devices are connected to the circular wheels 43 through pull wires. The pull wires are steel wires. Each winding device corresponds to a circular wheel 43. The pesticide spraying arm control system 82 is electrically connected to the transmission motor 50 and the electromagnetic clutch 65, respectively.

[0051] The box body of the transmission box 5 in the embodiment comprises a first connecting plate 51, a second connecting plate 52 and a third connecting plate 53 which are parallel to each other, the first connecting plate 51, the second connecting plate 52 and the third connecting plate 53 are connected through a connecting rod 500, the second connecting plate 52 is arranged between the first connecting plate 51 and the third connecting plate 53, the input shaft 54 is arranged between the first connecting plate 51 and the second connecting plate 52, the transmission output shaft 59 is arranged 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 arranged on the second connecting plate 52, the forward rotation output shaft 71 and the reverse rotation output shaft 72 are arranged on the side of the second connecting plate 52 facing the third connecting plate 53, and the winding shaft 76 is arranged on the third connecting plate 53. The axial lines of the transmission output shaft 59, the second gear 62, the third gear 63, the fourth gear 64, the central shafts of the forward rotation output shaft 71, the reverse rotation output shaft 72 and the winding shaft 76 are parallel.

[0052] When the number of the circular wheels 43 on each of the profiled spraying arms 4 is not more than four, the planetary gears 57 are directly engaged with the sun gear 56; when the number of the circular wheels 43 on each of the profiled spraying arms 4 is more than four, four of the planetary gears 57 are directly engaged with the sun gear 56, and the other planetary gears 57 are engaged with the planetary gears 57 directly engaged with the sun gear 56 through the transition gears 58.

[0053] In the embodiment, there are eight transmission output shafts 59, and there are also eight winding shafts 76, each of which is provided with a winding device, each of which corresponds to a circular wheel 43, the eight transmission output shafts 59 are distributed in two rows on the box body of the transmission box, the planetary gears 57 on the middle four transmission output shafts 59 are directly engaged with the sun gear 56, and the planetary gears 57 on the remaining four transmission output shafts 59 are engaged with the planetary gears 57 adjacent thereto through the transition gears 58, so that the eight planetary gears 57 have the same rotation speed.

[0054] The algorithm calculation control process of the spraying arm control system 82 in the embodiment belongs to the prior art, and will not be described further.

[0055] The principle and use process of the embodiment are as follows:

[0056] The unmanned aerial vehicle and the on-board intelligent camera 15 are started to work. Under the detection of the on-board camera 15, the orchard is identified, and the data of the fruit trees are captured. The unmanned aerial vehicle is controlled to fly to the top of the fruit trees. After reaching the target area, the position sensor 47 is started to work, and the fruit trees are scanned. The angle at which each of the first joint 41 and the second joint 42 of the profiled pesticide spraying arm 4 needs to be folded is calculated through the pesticide spraying arm control system 82, converted into the rotation angle of the corresponding position circle 43, and then drives the first joint 41 and the second joint 42 at the corresponding position to rotate, so as to realize the profiling process of the profiled pesticide spraying arm 4, maintain the constant spraying distance between the spraying head 46 and the canopy surface, and make the spraying head 46 surround the fruit trees (see Figure 12 ). At the same time, the required amount of pesticide can be calculated in real time. Then, the pesticide pump 3 is opened, the pesticide in the pesticide box 2 is pumped to the spraying head 46 to spray the fruit trees, after the trial spraying is completed, the unmanned aerial vehicle is rotated to spray the fruit trees in all directions. The symmetric two profiled pesticide spraying arms 4 are innovatively configured in the cooperative working mechanism of the present application. When spraying pesticide, the unmanned aerial vehicle rotates 180° around the vertical axis to complete the full-circumferential pesticide coverage of the fruit trees without dead angle.

[0057] The preferred embodiments of the present application are described above. It should be understood that those skilled in the art can make many modifications and changes to the present application without creative labor on the basis of the concept of the present application. Therefore, any technical solution obtained by logical analysis, reasoning or limited experiment on the basis of the prior art according to the concept of the present application shall be within the protection scope defined by the claims.

Claims

1. A precision pesticide spraying unmanned aerial vehicle with a pull wire, comprising an unmanned aerial vehicle body (1), a pesticide box (2) and an onboard intelligent camera (15) are arranged on the unmanned aerial vehicle body (1), characterized in that: The lower end of the unmanned aerial vehicle body (1) is provided with at least one profiled pesticide spraying arm (4), the profiled pesticide spraying arm (4) can be profiled according to the tree crown, the profiled pesticide spraying arm (4) is distributed with a spray head (46) and a position sensor (47), the outlet of the pesticide tank (2) is communicated with the spray head (46) through a pipeline, a transmission box (5), a sensor control system (81) and a pesticide spraying arm control system (82) are arranged at the position corresponding to the profiled pesticide spraying arm (4) at the upper end of the unmanned aerial vehicle body (1), the transmission box (5) is connected with the profiled pesticide spraying arm (4), the position sensor (47) is electrically connected with the sensor control system (81), the sensor control system (81) is electrically connected with the pesticide spraying arm control system (82), and the pesticide spraying arm control system (82) is electrically connected with the transmission box (5); The profiled pesticide spraying arm (4) comprises a connecting seat (40) connected to the lower end of the unmanned aerial vehicle body (1), the lower end of the connecting seat (40) is provided with a plurality of first joints (41) and second joints (42) distributed in sequence and staggered, and the first joints (41) and the second joints (42) are connected end to end, the first joints (41) and the second joints (42) are rotationally connected through a rotating shaft (44), the rotating shaft (44) is fixedly connected with a circular wheel (43), the circular wheel (43) is connected with the transmission box (5) through a pull wire, one of the two circular wheels (43) located at the two ends of the first joint (41) or the second joint (42) is connected with the first joint (41) through a push rod (45), and the other circular wheel (43) is connected with the second joint (42) through a push rod (45).

2. The precision pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: The transmission box (5) comprises a box body, an input shaft (54) is arranged on the box body, the input shaft (54) is connected with a transmission motor (50) through a chain transmission mechanism (55), a sun gear (56) is sleeved on the input shaft (54), a same number of transmission output shafts (59) as the circular wheels (43) are distributed on the box body, a planetary gear (57) is sleeved on the transmission output shaft (59), and the planetary gear (57) is engaged with the sun gear (56); The transmission output shaft (59) is further sleeved with a first gear (61), which is respectively engaged with a second gear (62) and a third gear (63), the third gear (63) is respectively engaged with a fourth gear (64) and the first gear (61), the central shaft of the second gear (62) is connected with a forward rotation output shaft (71) through an electromagnetic clutch (65), the forward rotation output shaft (71) is sleeved with a fifth gear (73), the central shaft of the fourth gear (64) is connected with a reverse rotation output shaft (72) through an electromagnetic clutch (65), the reverse rotation output shaft (72) is sleeved with a sixth gear (74), the box is provided with a winding shaft (76), the winding shaft (76) is sleeved with a seventh gear (75), the seventh gear (75) is respectively engaged with the fifth gear (73) and the sixth gear (74), the winding shaft (76) is provided with a winding device, the winding device is connected with the circular wheel (43) through a pull wire, and the spray arm control system (82) is respectively connected with the transmission motor (50) and the electromagnetic clutch (65).

3. The precision pesticide spraying unmanned aerial vehicle according to claim 2, characterized in that: When the number of circular wheels (43) on each of the profiled spray arms (4) is not more than four, the planetary gear (57) is directly engaged with the sun gear (56); When the number of circular wheels (43) on each of the profiled spray arms (4) is more than four, four of the planetary gears (57) are directly engaged with the sun gear (56), and the other planetary gears (57) are engaged with the planetary gears (57) directly engaged with the sun gear (56) through a transition gear (58).

4. The precision pesticide spraying unmanned aerial vehicle according to claim 2, characterized in that: The box body of the transmission box (5) comprises a first connecting plate (51), a second connecting plate (52) and a third connecting plate (53) which are parallel to each other, the input shaft (54) is arranged between the first connecting plate (51) and the second connecting plate (52), the transmission output shaft (59) is arranged on one 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 arranged on the second connecting plate (52), the forward rotation output shaft (71) and the reverse rotation output shaft (72) are arranged on one side of the second connecting plate (52) facing the third connecting plate (53), and the winding shaft (76) is arranged on the third connecting plate (53).

5. The precision pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: The spray head (46) is arranged on the first joint (41), and two spray heads (46) are arranged on each first joint (41), and the position sensor (47) is arranged between the two spray heads (46).

6. The precision pesticide spraying unmanned aerial vehicle of any one of claims 1-5, wherein: The profiled spray arms (4) are two, and correspondingly, the transmission box (5), the sensor control system (81) and the spray arm control system (82) are also two respectively, and the two transmission boxes (5) are respectively located on the two sides of the pesticide box (2).

7. The precision pesticide spraying unmanned aerial vehicle according to claim 6, characterized in that: The outlet of the medicine box (2) is connected with a medicine spraying pump (3) through a first hose (91), the medicine spraying pump (3) is communicated with a flow divider (95), two outlets of the flow divider (95) are respectively communicated with nozzles (46) on corresponding profiled medicine spraying arms (4) through second hoses (92), and a pressure gauge (96) is arranged on the second hose (92).

8. The precision pesticide spraying unmanned aerial vehicle according to claim 7, characterized in that: The upper end of the medicine box (2) is further provided with an overflow pipeline (93), one end of the overflow pipeline (93) is communicated with the upper end of the medicine box (2), the other end of the overflow pipeline (93) is communicated with an inlet of the flow divider (95), and an overflow valve (97) is arranged on the overflow pipeline (93).

9. The precision pesticide spraying unmanned aerial vehicle of claim 1, wherein: The unmanned aerial vehicle body (1) is provided with rotating arms (12) distributed along the circumference thereof, the end of the rotating arm (12) is provided with a rotating paddle (13), the rotating paddle (13) is driven by a micro motor, two landing support rods (14) are symmetrically distributed on the two sides of the unmanned aerial vehicle body (1), and the on-board intelligent camera (15) is arranged on the landing support rod (14).

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