A saving type synchronous refueling and medicating method for a medicating unmanned aerial vehicle

Abstract

The application discloses a kind of saving type synchronous oiling and dosing methods for drug application unmanned aerial vehicle, including two feeding nozzles arranged on the material adding unmanned aerial vehicle and drug application oil tank and drug application tank arranged on the drug application unmanned aerial vehicle;The structure of drug application oil tank and drug application tank is same, and it includes box, leakage-proof sealing film, one-way pressure door and liquid leakage collection box;Feeding nozzle includes outer tube and inner tube arranged in outer tube, and the end of outer tube is inserted into the through hole of liquid leakage collection box after passing through the flow channel, and the open end of inner tube faces automatic telescopic structure, and automatic telescopic structure drives automatic support mechanism to extend into the inner side of inner tube, and after electric support mechanism drives the support claw of itself to open, it is supported on the inner wall of inner tube;The application solves the problem that the existing drug application unmanned aerial vehicle repeatedly lifts to add oil and medicine, resulting in low work efficiency, and the problem of supply waste and environmental pollution caused by material leakage when the material adding unmanned aerial vehicle supplies the drug application unmanned aerial vehicle in the air.

Description

Technical Field

[0001] This invention relates to the field of refueling for pesticide-spraying drones, specifically a cost-effective synchronous refueling and pesticide-dispensing method for pesticide-spraying drones. Background Technology

[0002] Pesticides are chemical agents used in agriculture and forestry to control pests and diseases and regulate plant growth. They are widely used in agricultural, forestry, and animal husbandry production, environmental and household sanitation pest control and disease prevention, and industrial product mildew and insect prevention. When used for pesticide application in agriculture and forestry, pulse thermal fogging machines achieve ultra-low volume atomization through pulse combustion technology. After two fragmentations, the pesticide is dispersed into the forest as smoke through the tailpipe. However, during use, it was found that the pesticide application drone has a short flight time, and repeated take-offs and landings for refueling and pesticide application lead to low work efficiency. Aerial refueling via a refueling drone is necessary, but aerial refueling is prone to leakage, exacerbating waste and environmental pollution. To address these issues, a cost-effective simultaneous refueling and pesticide application method for pesticide application drones is proposed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a cost-effective synchronous refueling and dosing method for pesticide application drones, which addresses the shortcomings of the prior art. This method solves the problems of low work efficiency caused by repeated take-off and landing of existing pesticide application drones for refueling and dosing, and waste of refueling and environmental pollution caused by leakage of refueling drones in the air when refueling drones resupply to pesticide application drones.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for economical synchronous refueling and pesticide application for pesticide application drones is disclosed. The pesticide application tank and pesticide application tank on the drone have identical structures, both including a tank body and a leakage collection box. The tank body is connected to the leakage collection box. One side of the tank body has a through hole. The leakage collection box has a horizontal through hole communicating with the through hole and penetrating both sides of the leakage collection box. The through hole is connected to one end of an outer sleeve sealed by ribs. The other end of the outer sleeve extends into the through hole. The ribs have multiple rib holes, and a leak-proof sealing membrane is sealed around the rib holes. A slit is provided in the center of the leak-proof sealing membrane. An automatic telescopic structure is provided inside the outer sleeve, and an automatic support mechanism is provided at the end of the automatic telescopic structure. The leakage collection box has a flow channel and a collection chamber located below the through hole. The through hole communicates with the collection chamber through the flow channel. A second through hole communicating with the collection chamber is provided on the right side of the tank body, and a one-way pressure gate is provided on the second through hole.

[0006] The feeding nozzle on the feeding drone includes an outer tube and an inner tube set inside the outer tube. The end face of the inner tube facing the feeding drone is a sealed surface, and the other end face is provided with an opening.

[0007] The method of adding fuel and medicine includes the following steps:

[0008] The binocular sensor on the feeding drone identifies the position information of the marker on the spraying drone and sends the information to the controller on the feeding drone in real time. The controller controls the flight of the feeding drone in real time based on the information sent by the binocular sensor and then fine-tunes the position of the feeding drone in real time until the feeding drone is accurately positioned, that is, the two feeding nozzles on the feeding drone are aligned with the through holes on the spraying oil tank and the spraying medicine tank on the spraying drone, respectively, that is, they are in the same direction.

[0009] The spraying drone and the feeding drone continued to approach each other, causing the two feeding nozzles to move into the through holes of the spraying oil tank and the spraying medicine tank of the spraying drone, respectively, until one end of the feeding nozzle passed over the flow channel and inserted into the through hole of the leakage collection box.

[0010] After the two feeding nozzles are connected to the through holes of the spraying oil tank and the spraying medicine tank, the controller on the spraying drone controls the automatic telescopic structure to insert into the inner tube. After it is inserted to the preset position, the controller controls the automatic support mechanism to move. The support claws of the automatic support mechanism open and support the inner wall of the inner tube.

[0011] The controller on the feeding drone controls two conveying mechanisms to deliver liquid medicine and oil to the application drone. Under the action of one conveying mechanism, the oil is delivered sequentially through the outer tube of a feeding nozzle, through the gap between the outer and inner tubes, and then into the through hole of a leakage collection box on the application drone. After passing through the through hole of the leakage collection box, the oil opens the cut of the leak-proof sealing membrane and flows into the application oil tank. Under the action of another conveying mechanism, the liquid medicine is delivered sequentially through the outer tube of another feeding nozzle, through the gap between the outer and inner tubes, and then into the through hole of another leakage collection box on the application drone. After passing through the through hole of the other leakage collection box, the liquid medicine opens the cut of the leak-proof sealing membrane and flows into the application medicine tank.

[0012] As a further improved technical solution of the present invention, when the oil in the application tank is filled to the preset level, controller 1 controls the corresponding conveying mechanism to stop conveying liquid. When the liquid in the application tank is filled to the preset level, controller 1 controls the corresponding conveying mechanism to stop conveying liquid. When both conveying mechanisms stop conveying liquid, controller 2 controls the support claw of the automatic support mechanism to retract and reset, and the automatic telescopic structure to reset. The feeding drone carrying the feeding nozzle separates from the application drone, so that the two feeding nozzles are pulled out from the application tank and the application oil tank.

[0013] As a further improvement of the present invention, after multiple refueling and feeding, if the liquid level in the collection chamber of the leakage collection box is higher than the liquid level in the corresponding tank, the resulting pressure difference will open the one-way pressure gate, causing the collected liquid to flow back into the corresponding tank until the liquid level is equal.

[0014] As a further improved technical solution of the present invention, the controller 1 on the feeding drone and the controller 2 on the spraying drone communicate wirelessly. The controller 1 uses the distance between itself and the marker identified by the binocular sensor to determine whether the two feeding nozzles are successfully connected to the through holes of the spraying oil tank and the spraying medicine tank. When the distance between the binocular sensor and the marker reaches the preset distance, it indicates that the connection is complete.

[0015] As a further improved technical solution of the present invention, liquid level sensors are respectively installed in the application oil tank and the application medicine tank. The controller of the application drone determines whether the oil in the application oil tank and the medicine in the application medicine tank have been added to the preset liquid level by the liquid level information detected by the liquid level sensor. The controller of the application drone feeds back the liquid level information to the controller of the feeding drone in real time.

[0016] As a further improvement of the present invention, the feeding drone is equipped with a feeding oil tank, a feeding medicine tank and two feeding nozzles. The outlet of the feeding oil tank and the outlet of the feeding medicine tank are respectively connected to the outer pipe of the feeding nozzle through a conveying mechanism; the two feeding nozzles are used to connect to the application oil tank and the application medicine tank respectively.

[0017] As a further improved technical solution of the present invention, the protruding side of the leak-proof sealing film faces the inside of the box; the through hole of the box is a circular through hole, and the rib is a circular rib; the outer side of the leakage collection box is provided with a circular groove and the circular groove is located outside the through hole; the outer side of one end of the outer tube is provided with a trumpet-shaped feeding cover for embedding in the circular groove.

[0018] As a further improvement of the present invention, the automatic telescopic structure includes a motor, an outer telescopic tube, and an inner threaded rod. The motor is connected to the inner wall of the outer sleeve, the output end of the motor is connected to the inner threaded rod, the inner threaded rod is threadedly connected to the outer telescopic tube, the slider on the outer surface of the outer telescopic tube is slidably connected to the groove on the inner wall of the outer sleeve, and an automatic support mechanism is provided at the end of the outer telescopic tube.

[0019] As a further improvement of the present invention, the automatic support mechanism adopts an electric support claw; the conveying mechanism adopts a pressure pump.

[0020] As a further improvement of the present invention, the outer tube is connected to the inner tube by a connecting rod, and the inner tube is located in the middle of the inner side of the outer tube; a sealing ring is connected to the outer circular surface of one end of the outer tube, and a sealing gasket is connected to the end of the inner tube with an opening.

[0021] When one end of the outer tube passes over the flow channel and is inserted into the through hole of the leakage collection box, the sealing ring on the outer circular surface of the outer tube can make sealing contact with the inner wall of the through hole. At the same time, the sealing gasket at the end of the inner tube can seal and fit with the end of the outer sleeve.

[0022] As a further improved technical solution of the present invention, the feeding drone is equipped with a power supply, a binocular sensor and a controller, and the binocular sensor and the controller are both connected to the power supply.

[0023] The spraying drone is equipped with a power supply and a controller. The motor in the automatic telescopic structure, the electric support claw of the automatic support mechanism, and the controller are all connected to the power supply. The controller is connected to the motor in the automatic telescopic structure and the electric support claw of the automatic support mechanism.

[0024] As a further improved technical solution of the present invention, in the spraying drone, the spraying fuel tank is located directly above the spraying medicine tank, and the marker is located directly above the spraying fuel tank; in the feeding drone, the feeding fuel tank is located directly above the feeding medicine tank, and the binocular sensor is located directly above the feeding fuel tank.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention enables simultaneous refueling and pesticide application by a feeding drone during pesticide application drone operations. It also effectively collects and reuses leaked oil and pesticide, simplifying the feeding process, enhancing endurance, and significantly improving the utilization rate of pesticide and fuel, while reducing waste and environmental pollution.

[0027] This invention utilizes a highly automated refueling drone to simultaneously refuel and dispense pesticides to a pesticide application drone. Refueling and dispensing can be performed in the air via a refueling robot, eliminating the need for the drone to land and refuel, significantly improving the drone's operational endurance and efficiency. An innovative retractable automatic support mechanism is designed. This mechanism expands after entering the inner pipe, firmly locking the relative positions of the two drones during refueling, effectively resisting external disturbances (such as wind) and ensuring the stability and safety of the pipeline connection. It prevents leakage or detachment due to shaking, forming a stable connection. The horn-shaped refueling hood also assists in fixing the outer pipe and the leakage collection box, ensuring reliable and safe refueling. The leak-proof sealing membrane has a one-way conduction function under a certain hydraulic pressure; after the hydraulic pressure is released, it closes, preventing liquid leakage from the tank. The unique leakage collection box, combined with a one-way pressure gate design, automatically recovers and reuses the collected leaked oil (fuel) or pesticide using gravity and pressure difference, achieving zero resource waste and zero environmental pollution. The overall technical solution combines high efficiency, economy, and environmental friendliness, with significant application benefits.

[0028] In summary, compared with existing technologies, this method can not only simultaneously refuel and add chemicals, improving the endurance and operational efficiency of the spraying drone and the material dispensing drone, but also collect and reuse leaked oil (fuel) or chemicals, effectively reducing resource waste and environmental pollution. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure after the feeding drone and the spraying drone are connected.

[0030] Figure 2 This is a schematic diagram of the structure of a material-feeding drone.

[0031] Figure 3 This is a schematic diagram of the structure of a pesticide application drone.

[0032] Figure 4 This is a partial structural cross-sectional view of the spraying fuel tank or spraying container in a spraying drone.

[0033] Figure 5 This is a schematic diagram of the overall structure of the stiffening plate and outer sleeve in a pesticide application drone.

[0034] Figure 6 This is a schematic diagram of the leak-proof sealing membrane structure in a pesticide application drone.

[0035] Figure 7 This is a cross-sectional view of a portion of the structure of a pesticide spraying drone after the pesticide spraying tank or pesticide spraying tank is connected to the feeding nozzle of a feeding drone.

[0036] Figure 8 This is a schematic diagram of the connection structure between the fuel tank, the medicine tank, and the nozzle of a feeding drone. Detailed Implementation

[0037] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0038] like Figure 1 As shown, this embodiment first provides a cost-saving synchronous refueling and dosing device for a pesticide application drone, including a refueling oil tank B1, a refueling medicine tank B2 and two refueling nozzles B3 installed on the refueling drone B, and a pesticide application oil tank A1 and a pesticide application medicine tank A2 installed on the pesticide application drone A.

[0039] like Figure 2 and Figure 8As shown, in the feeding drone B, the outlet of the feeding tank B1 is connected to one end of the outer pipe B32 of a feeding nozzle B3 via a conveying mechanism B5. This feeding nozzle B3 is used to connect to the application tank A1, thereby conveying the oil in the feeding tank B1 to the application tank A1, thus refueling the application tank A1. The outlet of the feeding tank B2 is connected to one end of the outer pipe B32 of another feeding nozzle B3 via another conveying mechanism B5. This feeding nozzle B3 is used to connect to the application tank A2, thereby conveying the medicine in the feeding tank B2 to the application tank A2.

[0040] like Figures 3-6 As shown, in the spraying drone A, the spraying oil tank A1 for storing oil and the spraying medicine tank A2 for storing medicine have the same structure, both including a body A12, a one-way pressure valve A23, and a leakage collection box A13. The right side of the body A12 is fixedly connected to the leakage collection box A13. A through hole A1 is provided in the middle of the right side of the body A12. A horizontal through hole A15 is provided in the middle of the leakage collection box A13, communicating with the through hole A15 and penetrating the middle of the left and right sides of the leakage collection box A13. The through hole A15 is surrounded by... Figure 5 The rib plate A24 shown is sealed around its perimeter. The middle part of rib plate A24 is fixedly connected to one sealed end of the outer sleeve A16. The other end of the outer sleeve A16 extends into the through hole A15 of the leakage collection box A13, as shown. Figures 5-6As shown, the stiffening rib A24 has multiple stiffening rib holes A241. A leak-proof sealing membrane A25 is sealed around each of the stiffening rib holes A241. The leak-proof sealing membrane A25 has a cross-shaped cut in its center, with the convex side facing the inside of the housing A12 and the concave side facing the through hole A15. Under pressure from a certain liquid, the concave side of the leak-proof sealing membrane A25 deforms, opening the cross-shaped cut to allow liquid to flow. When the concave side of the leak-proof sealing membrane A25 is no longer under pressure, the cross-shaped cut automatically closes, achieving a seal. The leak-proof sealing membrane A25 is a one-way valve with a certain degree of elasticity, providing unidirectional liquid flow. The outer sleeve A16 has an internal automatic telescopic structure, with an automatic support mechanism A20 at its end. The leakage collection box A13 has a flow channel A21 and a collection chamber A22 located below the through hole A15. The through hole A15 communicates with the collection chamber A22 via the flow channel A21. The right side of the box body A12 has a second through hole communicating with the collection chamber A22, and a one-way pressure gate A23 is installed on the second through hole. The one-way pressure gate A23 has a one-way liquid conveying function; under a certain pressure, liquid can only be conveyed from the collection chamber A22 to the box body A12. The outer side of the leakage collection box A13 has a circular groove A14 located outside the through hole A15. The end of the circular groove A14 has a chamfer to facilitate the insertion of the flared feeding cover B31 for better fit.

[0041] like Figure 3 and Figure 7 As shown, the feeding nozzle B3 includes an outer tube B32 and an inner tube B33 disposed inside the outer tube B32. The end face of the inner tube B33 facing the feeding drone B is a sealed surface, and the other end face is provided with an opening. The outer side of one end of the outer tube B32 is provided with a horn-shaped feeding cover B31 for embedding in the circular groove A14. The horn-shaped feeding cover B31 has the function of assisting in fixing the feeding nozzle B to the leakage collection box A13. One end of the outer tube B32 is used to pass over the flow channel A21 and then be inserted into the through hole A15 of the leakage collection box A13. One open end of the inner tube B33 faces the automatic telescopic structure. The automatic telescopic structure is used to drive the automatic support mechanism A20 to extend into the inner tube B33, and the electric support mechanism is used to drive its own support claw to open and support on the inner wall of the inner tube B33, thereby realizing a stable connection between the feeding nozzle B3 and the application oil tank A1 or application medicine tank A2. The inner wall of the inner tube B33 near the open end is provided with a protrusion to facilitate the support and fixation of the support claw in the automatic support mechanism A20.

[0042] The oil or medicine is conveyed sequentially through the outer pipe B32 and the gap between the outer pipe B32 and the inner pipe B33 by the conveying mechanism B5, and then into the through hole A15 of the leakage collection box A13. After passing through the through hole A15 of the leakage collection box A13, the cut of the leak-proof sealing membrane A25 is opened, and the liquid flows into the corresponding box A12. The conveying process for oil and medicine is the same.

[0043] The through hole one of the box body A12 is a circular through hole, such as Figure 5 Stiffener A24 is a circular stiffener.

[0044] like Figure 7 As shown, the automatic telescopic structure includes a motor A17, an outer telescopic tube A18, and an internal threaded rod A19. The motor A17 is connected to the inner wall of the outer sleeve A16, and the output end of the motor A17 is connected to the internal threaded rod A19. The internal threaded rod A19 is threadedly connected to the outer telescopic tube A18. The slider on the outer surface of the outer telescopic tube A18 is slidably connected to the groove on the inner wall of the outer sleeve A16 (a sealed sliding connection can be used according to actual needs). An automatic support mechanism A20 is provided at the end of the outer telescopic tube A18. The automatic support mechanism A20 adopts the existing electric support claw, that is, the motor can drive the support claw to open and close. When the support claw is opened, it can be supported on the inner wall of the inner tube B33. The motor can be installed at the end of the outer telescopic tube A18. The connection between the motor and the support claw adopts the existing structure. Under the drive of the motor, several support claws can move outward synchronously to open and move inward synchronously to retract. The outer tube B32 is connected to the inner tube B33 via a connecting rod, and the inner tube B33 is located inside the middle of the outer tube B32; for example Figure 7 As shown, a sealing ring B34 is connected to the outer circular surface of one end of the outer tube B32, and a sealing gasket B35 is connected to the open end of the inner tube B33. When one end of the outer tube B32 passes above the flow channel A21 and is inserted into the through hole A15 of the leakage collection box A13, the sealing ring B34 on the outer circular surface of the outer tube B32 can make sealing contact with the inner wall of the through hole A15. At the same time, the sealing gasket B35 at the end of the inner tube B33 can make sealing fit with the end of the outer sleeve A16. The sealing ring B34 includes a ring body, on which multiple inclined sealing protrusions are fixedly connected.

[0045] The conveying mechanism B5 uses an existing electric pressure pump, which is electrically driven and uses a motor to drive the impeller or plunger to achieve liquid conveying. Figure 8A ring frame B6 can also be installed at the end of the outer tube B32 near the feeding robot B. A membrane B7 is sealed around the inside of the ring frame B6. The membrane B7 and the leak-proof sealing membrane A25 are made of the same material and serve the same function as described in this article. A cross-shaped notch is also provided on the membrane B7. The convex side of the membrane B7 faces the application robot A. A solenoid valve can also be installed at the end of the outer tube B32 near the feeding robot B. This solenoid valve can be connected to a controller to control the flow of water.

[0046] like Figure 2 As shown, the feeding drone B is equipped with a power supply, a binocular sensor B4, and a controller. Both the binocular sensor B4 and the controller are connected to the power supply. The spraying drone A is equipped with a marker A3. The binocular sensor B4 is used to collect the relative position information between itself and the marker A3 on the spraying drone A and send the signal to the controller. The controller is used to process the position information and then fine-tune the position of the feeding drone B until the two feeding nozzles B3 on the feeding drone B can be aligned and connected with the spraying oil tank A1 and the spraying medicine tank A2 of the spraying drone A, respectively.

[0047] The application tank A1 is located directly above the application tank A2, the marker A3 is located directly above the application tank A1, the feeding tank B1 is located directly above the feeding tank B2, and the binocular sensor B4 is located directly above the feeding tank B1.

[0048] The spraying drone A is equipped with a power supply and a controller. The motor A17 in the automatic telescopic structure, the electric support claw of the automatic support mechanism A20, and the controller are all connected to the power supply. The controller is connected to the motor A17 in the automatic telescopic structure and the electric support claw of the automatic support mechanism A20.

[0049] The leak-proof sealing membrane A25 remains closed until the set pressure for infusion is reached.

[0050] During the operation of spraying drone A, liquid level sensors are installed in both spraying oil tank A1 and spraying medicine tank A2. These sensors can detect the liquid level and send signals to controller 2. Controller 2 communicates wirelessly with the ground control station and provides real-time feedback to the ground control station on the liquid level values ​​in spraying oil tank A1 and spraying medicine tank A2, as well as its own position. When the liquid level sensors detect that the oil or medicine level is below the warning value, the ground control station automatically dispatches feeding drone B to fly near spraying drone A to perform feeding operations based on the real-time location of spraying drone A (the dispatching method uses existing technology, i.e., the controller 1 of feeding drone B also communicates wirelessly with the ground control station, and the ground control station sends the real-time location of spraying drone A to controller 1, which then controls feeding drone B to fly near spraying drone A). At the same time, the ground control station also wirelessly sends the liquid level values ​​in spraying oil tank A1 and spraying medicine tank A2 to the controller 1 of feeding drone B in real time. After the spraying drone A approaches the feeding drone B, the binocular sensor B4 identifies the position of the marker A3 on the spraying drone A and sends a signal to the controller in real time. The controller (which pre-stores the relative positions of the binocular sensor B4 and marker A3 when both feeding nozzles B3 are aligned with the circular grooves A14 and through holes A15 of the leakage collection box A13 of the oil tank A1 and the spraying tank A2) controls the flight of the feeding drone B in real time and makes real-time fine adjustments to the position of the feeding drone B until the feeding drone B is precisely positioned, that is, both feeding nozzles B3 of the feeding drone B are aligned with the circular grooves A14 and through holes A15 on the oil tank A1 and the spraying tank A2, respectively. After determining the insertion direction of the two feeding nozzles B3, the two feeding nozzles B3 move into the circular grooves A14 and through holes A15 of the oil tank A1 and the spraying tank A2 of the spraying drone A, respectively. The horn-shaped feeding cover B31 of the feeding nozzle B3 is embedded in the circular groove A14. At the same time, one end of the outer tube B32 passes above the flow channel A21 and is inserted into the through hole A15 of the leakage collection box A13 and close to the rib plate A24. At this time, the controller one determines whether the two feeding nozzles B3 are successfully connected to the application oil tank A1 and the application medicine tank A2 based on the relative position (including distance) between the binocular sensor B4 and the marker A3 transmitted in real time by the binocular sensor B4. (When the distance between the binocular sensor B4 and the marker A3 reaches the preset distance, it indicates that the connection is complete.) After the connection is completed, the controller one can wirelessly feed back the connection completion information to the controller two. (Alternatively, a pressure sensor can be installed at the bottom of the circular groove A14. The controller two can determine whether the horn-shaped feeding cover B31 has been inserted into the bottom of the circular groove A14 by the pressure value collected in real time by the pressure sensor, and thus determine whether the connection is complete.)After the two feeding nozzles B3 are connected to the application oil tank A1 and the application medicine tank A2, the controller 2 then controls the motor A17 in the automatic telescopic structure to drive the internal threaded rod A19 to rotate, so that the outer telescopic tube A18 is inserted into the inner tube B33. After the outer telescopic tube A18 moves to the preset position, the controller 2 controls the motor A17 in the electric support claw to drive multiple support claws to open outwards at the same time. The support claws are tightly engaged with the protrusions on the inner wall of the inner tube B33, ensuring that the relative positions of the two machines are firmly locked during the feeding process, effectively resisting external disturbances such as wind, ensuring the stability and safety of the pipeline connection, preventing leakage or detachment due to shaking, and forming a stable connection. The feeding procedure is then initiated: Controller 1 controls two conveying mechanisms B5 to convey liquid medicine and oil respectively (if only one of the liquid medicine and oil needs to be conveyed, controller 1 controls one of the corresponding conveying mechanisms B5 to convey the liquid, and the other conveying mechanism B5 does not work). Taking oil as an example, under the action of conveying mechanism B5, the oil passes through the outer pipe B32 in sequence, and the gap between the outer pipe B32 and the inner pipe B33 before being conveyed to the through hole A15 of the leakage collection box A13. The cut of the leak-proof sealing membrane A25 is opened under the action of hydraulic pressure. After the oil passes through the through hole A15 of the leakage collection box A13, the cut of the leak-proof sealing membrane A25 is opened and it flows into the box A12 of the application oil tank A1. Taking the liquid medicine as an example, under the action of another conveying mechanism B5, the liquid medicine passes through another outer tube B32 in sequence, and the gap between another outer tube B32 and another inner tube B33 before being conveyed to the through hole A15 of another leakage collection box A13. After passing through the through hole A15 of another leakage collection box A13, the liquid medicine opens the cut of the leak-proof sealing film A25 and flows into the box A12 of the medicine application box A2. The liquid level sensors inside tank A12 of the application oil tank A1 and tank A2 of the application medicine tank A2 collect liquid level information in real time and send it to controller 2. Controller 1 then uses the liquid level information fed back by controller 2 in real time (controller 1 and controller 2 can directly transmit information wirelessly, or share information through wireless communication via ground control station) to determine whether the feeding is finished. If the liquid level in a certain tank A12 reaches the preset level, it means that the feeding of that tank A12 is finished. When the feeding of a certain liquid is finished prematurely, controller 1 controls the corresponding conveying mechanism B5 to stop conveying the liquid (if there is a solenoid valve on the outer pipe B3, it also controls the solenoid valve to close). When both the medicine liquid and the oil liquid are finished feeding, both conveying mechanisms B5 stop conveying the liquid. Subsequently, the electric support claws of the two automatic support mechanisms A20 retract and reset, the two automatic telescopic structures reset, and the feeding drone B carrying the feeding nozzle B3 (including the trumpet-shaped feeding cover B31, the outer tube B32 and the inner tube B33) separates from the pesticide application drone A, causing the two feeding nozzles B3 to be pulled out from the pesticide application tank A2 and the pesticide application oil tank A1.During the above process, immediately after the conveying mechanism B5 stops conveying liquid, the cut of the leak-proof sealing membrane A25 will automatically close. After the cut of the leak-proof sealing membrane A25 automatically closes, if there is still residual liquid in the gap between the outer tube B32 and the inner tube B33 in a certain feeding nozzle B3, the liquid will flow into the collection chamber A22 below through the flow channel A21 in the corresponding leakage collection box A13 due to gravity as the feeding nozzle B3 is pulled out of the corresponding leakage collection box A13. Of course, during the process of conveying liquid by the conveying mechanism B5, the sealing ring B34 on the outer surface of the outer tube B34 plays a certain sealing role between the outer tube B32 and the through hole A15, and the sealing gasket B35 also plays a certain sealing role between the end of the inner tube B33 and the end of the outer sleeve A16, preventing liquid leakage. After multiple refueling and chemical additions, if the liquid level in collection chamber A22 is higher than the liquid level in the corresponding tank A12, the resulting pressure difference will open the one-way pressure valve A23, causing the collected liquid to flow back into the corresponding tank A12 until the liquid levels are equal, thus achieving the reuse of the leaked liquid; the chemical addition operation is finally completed. This system can not only simultaneously complete refueling and chemical addition, improving the endurance and operational efficiency of the chemical application drone A, but also collect and reuse leaked fuel and chemical solutions, effectively reducing resource waste and environmental pollution.

[0051] After refueling and dosing, the feeding drone B can return to the ground control station for refueling and dosing again, awaiting the next round of refueling and dosing for the spraying drone B. In this paper, the connection and control methods between the feeding drone B and the ground control station, the connection and control methods between the spraying drone A and the ground control station, the flight control of the feeding drone B, the flight control of the spraying drone A, the connection methods between the spraying tank A2 and the spraying oil tank A1 and the spraying structure on the spraying drone A, and the combustion chamber and smoke nozzles in the spraying structure on the spraying drone A are all outside the scope of this paper and are implemented using existing technologies. The control process and algorithm for fine-tuning the position of the feeding drone by combining the binocular sensor B4, the marker A3, and the controller until the two feeding nozzles B3 of the feeding drone B are aligned with the circular grooves A14 and the through holes A15 on the spraying oil tank A1 and the spraying oil tank A2, respectively, are also implemented using existing technologies. The flight structure on the feeding drone B, the process of controller one controlling the flight of the feeding drone B, the flight mechanism on the spraying drone A, and the process of controller two controlling the flight of the spraying drone A are all accomplished using technology.

[0052] This invention utilizes a highly automated feeding drone B to simultaneously refuel and add pesticides to a pesticide application drone A, significantly improving the drone A's operational endurance and efficiency. The innovative design of a retractable automatic support mechanism and a liquid collection box A13 ensures reliable and safe feeding. The unique liquid collection box A13, combined with a one-way pressure gate A23, automatically recovers liquid using gravity and pressure difference, and then reuses the collection box A13 to collect leaked oil or pesticides, achieving zero resource waste and zero environmental pollution. The overall technical solution is highly efficient, economical, and environmentally friendly, with significant application benefits.

[0053] Based on the above-mentioned economical synchronous refueling and dosing device for spraying drones, this embodiment also provides an economical synchronous refueling and dosing method for spraying drones, including the following steps:

[0054] The binocular sensor B4 on the feeding drone B identifies the position of the marker A3 on the spraying drone A and sends a signal to the controller in real time. The controller controls the flight of the feeding drone B in real time and then makes real-time fine adjustments to the position of the feeding drone B until the feeding drone B is accurately positioned, that is, the two feeding nozzles B3 of the feeding drone B are aligned with the through holes A15 on the spraying oil tank A1 and the spraying medicine tank A2 respectively, that is, they are in the same direction.

[0055] As the spraying drone A and the feeding drone B continue to approach each other, the two feeding nozzles B3 move into the through holes A15 of the spraying oil tank A1 and the spraying medicine tank A2 of the spraying drone A, respectively, until the trumpet-shaped feeding cover B31 of the feeding nozzle B3 is embedded in the circular groove A14, and one end of the outer tube B32 of the feeding nozzle B3 passes above the flow channel A21 and is inserted into the through hole A15 of the leakage collection box A13;

[0056] After the two feeding nozzles B3 are connected to the through holes A15 of the spraying oil tank A1 and the spraying medicine tank A2, the controller 2 on the spraying drone A starts to control the outer telescopic tube A18 in the automatic telescopic structure to be inserted into the inner tube B33. After the outer telescopic tube A18 moves to the preset position, the controller 2 controls the automatic support mechanism A20 to move. After the support claw of the automatic support mechanism A20 opens, it supports the inner wall of the inner tube B33.

[0057] The controller on the feeding drone B controls two conveying mechanisms B5 to convey liquid medicine and oil respectively. Under the action of one conveying mechanism B5, the oil is conveyed sequentially through an outer pipe B32, and the gap between an outer pipe B32 and an inner pipe B33, and then into the through hole A15 of a leakage collection box A13. After passing through the through hole A15 of the leakage collection box A13, the oil opens the cut of the leak-proof sealing membrane A25 and flows into the box A12 of the application oil tank A1. Under the action of another conveying mechanism B5, the liquid medicine is conveyed sequentially through another outer pipe B32, and the gap between another outer pipe B32 and another inner pipe B33, and then into the through hole A15 of another leakage collection box A13. After passing through the through hole A15 of the other leakage collection box A13, the liquid medicine opens the cut of the leak-proof sealing membrane A25 and flows into the box A12 of the application medicine tank A2.

[0058] When the liquid in the application tank A1 is filled to the preset level, controller 1 controls the corresponding conveying mechanism B5 to stop conveying liquid. When the liquid in the application tank A2 is filled to the preset level, controller 1 controls the corresponding conveying mechanism B5 to stop conveying liquid. When both conveying mechanisms B5 stop conveying liquid, controller 2 controls the support claw of the automatic support mechanism A20 to retract and reset, the automatic telescopic structure to reset, and the feeding drone B carrying the feeding nozzle B3 separates from the application drone A, so that the two feeding nozzles B3 are pulled out from the application tank A2 and the application tank A1.

[0059] After multiple refueling and filling processes, if the liquid level in the collection chamber A22 of the leakage collection box A13 is higher than the liquid level in the corresponding tank A12, the resulting pressure difference will open the one-way pressure gate A23, causing the collected liquid to flow back into the corresponding tank A12 until the liquid level is equal.

[0060] Among them, the controller 1 on the feeding drone B communicates wirelessly with the controller 2 on the spraying drone A. The controller 1 uses the binocular sensor B4 to identify the distance between itself and the marker A3, and then determines whether the two feeding nozzles B3 are successfully connected to the through holes A15 of the spraying oil tank A1 and the spraying medicine tank A2. When the distance between the binocular sensor and the marker A3 B4 reaches the preset distance, it indicates that the connection is complete.

[0061] Liquid level sensors are installed in the application oil tank A1 and the application medicine tank A2 respectively. The controller 2 of the application drone A determines whether the oil in the application oil tank A1 and the medicine in the application medicine tank A2 have been added to the preset liquid level by the liquid level information detected by the liquid level sensors. The controller 2 of the application drone A feeds back the liquid level information to the controller 1 of the feeding drone B in real time.

[0062] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A cost-effective synchronous refueling and pesticide application method for pesticide-applying drones, characterized in that: The spraying oil tank and spraying medicine tank on the spraying drone have the same structure, both including a box body and a leakage collection box. The box body is connected to the leakage collection box. One side of the box body is provided with a through hole. The leakage collection box is provided with a horizontal through hole communicating with the through hole and passing through both sides of the leakage collection box. The through hole is connected to one end of the outer sleeve by a rib plate. The other end of the outer sleeve extends into the through hole. The rib plate has multiple rib plate holes. The rib plate holes are sealed with a leak-proof sealing membrane. The leak-proof sealing membrane has a slit in the middle. The outer sleeve is provided with an automatic telescopic structure. The end of the automatic telescopic structure is provided with an automatic support mechanism. The leakage collection box is provided with a flow channel and a collection chamber located below the through hole. The through hole communicates with the collection chamber through the flow channel. The right side of the box body is provided with a through hole two communicating with the collection chamber. A one-way pressure gate is provided on the through hole two. The feeding nozzle on the feeding drone includes an outer tube and an inner tube set inside the outer tube. The end face of the inner tube facing the feeding drone is a sealed surface, and the other end face is provided with an opening. The method of adding fuel and medicine includes the following steps: The binocular sensor on the feeding drone identifies the position information of the marker on the spraying drone and sends the information to the controller on the feeding drone in real time. The controller controls the flight of the feeding drone in real time based on the information sent by the binocular sensor and then fine-tunes the position of the feeding drone in real time until the feeding drone is accurately positioned, that is, the two feeding nozzles on the feeding drone are aligned with the through holes on the spraying oil tank and the spraying medicine tank on the spraying drone, respectively, that is, they are in the same direction. The spraying drone and the feeding drone continued to approach each other, causing the two feeding nozzles to move into the through holes of the spraying oil tank and the spraying medicine tank of the spraying drone, respectively, until one end of the feeding nozzle passed over the flow channel and inserted into the through hole of the leakage collection box. After the two feeding nozzles are connected to the through holes of the spraying oil tank and the spraying medicine tank, the controller on the spraying drone controls the automatic telescopic structure to insert into the inner tube. After it is inserted to the preset position, the controller controls the automatic support mechanism to move. The support claws of the automatic support mechanism open and support the inner wall of the inner tube. The controller on the feeding drone controls two conveying mechanisms to deliver liquid medicine and oil to the application drone. Under the action of one conveying mechanism, the oil is delivered sequentially through the outer tube of a feeding nozzle, through the gap between the outer and inner tubes, and then into the through hole of a leakage collection box on the application drone. After passing through the through hole of the leakage collection box, the oil opens the cut of the leak-proof sealing membrane and flows into the application oil tank. Under the action of another conveying mechanism, the liquid medicine is delivered sequentially through the outer tube of another feeding nozzle, through the gap between the outer and inner tubes, and then into the through hole of another leakage collection box on the application drone. After passing through the through hole of the other leakage collection box, the liquid medicine opens the cut of the leak-proof sealing membrane and flows into the application medicine tank.

2. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: When the oil in the application tank reaches the preset level, controller 1 controls the corresponding conveying mechanism to stop conveying liquid. When the liquid in the application tank reaches the preset level, controller 1 controls the corresponding conveying mechanism to stop conveying liquid. When both conveying mechanisms stop conveying liquid, controller 2 controls the support claws of the automatic support mechanism to retract and reset, and the automatic telescopic structure to reset. The feeding drone carrying the feeding nozzle separates from the application drone, causing the two feeding nozzles to be pulled out of the application tank and the application oil tank.

3. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 2, characterized in that: Liquid level sensors are installed in the spraying oil tank and the spraying medicine tank respectively. The controller 2 of the spraying drone determines whether the oil in the spraying oil tank and the medicine in the spraying medicine tank have been added to the preset liquid level by the liquid level information detected by the liquid level sensors. The controller 2 of the spraying drone feeds back the liquid level information to the controller 1 of the feeding drone in real time.

4. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: After multiple refueling and filling processes, if the liquid level in the collection chamber of the leakage collection box is higher than the liquid level in the corresponding tank, the resulting pressure difference will open the one-way pressure valve, causing the collected liquid to flow back into the corresponding tank until the liquid level is equal.

5. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: The controller 1 on the feeding drone communicates wirelessly with the controller 2 on the spraying drone. The controller 1 uses a binocular sensor to identify the distance between itself and the marker, and then determines whether the two feeding nozzles are successfully connected to the through holes of the spraying oil tank and the spraying medicine tank. When the distance between the binocular sensor and the marker reaches the preset distance, it indicates that the connection is complete.

6. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: The feeding drone is equipped with a feeding oil tank, a feeding medicine tank, and two feeding nozzles. The outlets of the feeding oil tank and the feeding medicine tank are connected to the outer pipes of the feeding nozzles through a conveying mechanism. The two feeding nozzles are used to connect to the application oil tank and the application medicine tank, respectively.

7. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: The protruding side of the leak-proof sealing film faces the inside of the box; the through hole of the box is a circular through hole, and the rib is a circular rib; the outer side of the leakage collection box is provided with a circular groove and the circular groove is located outside the through hole; the outer side of one end of the outer tube is provided with a trumpet-shaped feeding cover for embedding in the circular groove.

8. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: The automatic telescopic structure includes a motor, an outer telescopic tube, and an inner threaded rod. The motor is connected to the inner wall of the outer sleeve, and the output end of the motor is connected to the inner threaded rod. The inner threaded rod is threadedly connected to the outer telescopic tube. The slider on the outer surface of the outer telescopic tube is slidably connected to the groove on the inner wall of the outer sleeve. An automatic support mechanism is provided at the end of the outer telescopic tube.

9. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 1, characterized in that: The outer tube is connected to the inner tube via a connecting rod, and the inner tube is located in the middle of the inner side of the outer tube; a sealing ring is connected to the outer circular surface of one end of the outer tube, and a sealing gasket is connected to the end of the inner tube with an opening. When one end of the outer tube passes over the flow channel and is inserted into the through hole of the leakage collection box, the sealing ring on the outer circular surface of the outer tube can make sealing contact with the inner wall of the through hole. At the same time, the sealing gasket at the end of the inner tube can seal and fit with the end of the outer sleeve.

10. The economical synchronous refueling and dosing method for pesticide-applying drones according to claim 5, characterized in that: In the spraying drone, the spraying fuel tank is located directly above the spraying medicine tank, and the marker is located directly above the spraying fuel tank. In the feeding drone, the feeding fuel tank is located directly above the feeding medicine tank, and the binocular sensor is located directly above the feeding fuel tank.

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