Unmanned aerial vehicle automatic spraying device and method suitable for multiple scenes

Abstract

The invention provides an unmanned aerial vehicle automatic spraying device and method suitable for multiple scenes, and belongs to the technical field of agricultural unmanned aerial vehicles. The device comprises an unmanned aerial vehicle body, a liquid storage tank is carried on the lower portion of the unmanned aerial vehicle body, a main control system and a positioning system are integrated in the unmanned aerial vehicle body, and data acquisition systems are arranged at the top and the bottom of the unmanned aerial vehicle body; a spraying system is arranged below the unmanned aerial vehicle body and comprises an atomizing spraying mechanism and a telescopic spraying mechanism, and material taking systems are arranged at the top of the unmanned aerial vehicle and symmetrically distributed at the two ends of the liquid storage tank. According to the unmanned aerial vehicle automatic spraying device and method suitable for the multiple scenes, the problems that when an existing agricultural unmanned aerial vehicle works in different scenes, the precision is insufficient, the spraying range cannot be adjusted, and the automation degree is low are solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural drone technology, and in particular to an automatic spraying device and method for drones applicable to multiple scenarios. Background Technology

[0002] In the current agricultural field, drones, as a highly efficient operating platform combined with automated spraying systems, have demonstrated enormous potential in agricultural irrigation and fertilization. However, existing agricultural drone technology still has several limitations, restricting its application and effectiveness in a wider range of scenarios.

[0003] Most mainstream agricultural drones employ a multi-rotor structure, offering flexible operation and convenient takeoff and landing, making them suitable for small to medium-sized farmlands and complex terrain. In terms of positioning systems, they primarily rely on GPS combined with BeiDou dual-mode technology, providing high positioning accuracy and ensuring a certain degree of precision in fertilization operations. However, during operation, these drones often fail to fully consider the spatial differences in crop health and soil characteristics within a plot, resulting in insufficient precision in fertilization and making it difficult to meet the requirements of modern agriculture for refined management.

[0004] Furthermore, the spraying range of existing agricultural drones is mostly fixed, making it difficult to flexibly adjust to the needs of different operational scenarios (such as large outdoor farmlands, greenhouses, and indoor potted plants). Especially in confined spaces like indoor areas or greenhouses, the large spraying range of traditional drones not only wastes resources but also makes it difficult to effectively irrigate potted plants at the edges, such as along walls. Additionally, manual intervention is often required when replenishing fertilizer or irrigation solution, indicating a need for improved automation. Technically, while some patented technologies attempt to improve spraying effects by adjusting motor speed and direction or using drive belts, these solutions either fail to achieve effective liquid atomization or struggle to precisely control the spraying range, thus failing to meet the operational needs of multiple scenarios simultaneously. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic spraying device and method for drones applicable to multiple scenarios, which solves the problems of insufficient accuracy, non-adjustable spraying range and low degree of automation of existing agricultural drones when operating in different scenarios.

[0006] To achieve the above objectives, the present invention provides an automatic spraying device for drones applicable to multiple scenarios. The device includes a drone body, a liquid storage tank mounted on the lower part of the drone body, a main control system and a positioning system integrated inside the drone body, data acquisition systems installed on the top and bottom of the drone body, a spraying system installed below the drone body, the spraying system including an atomizing spraying mechanism and a retractable spraying mechanism, and a material picking system installed on the top of the drone, which is symmetrically distributed at both ends of the liquid storage tank.

[0007] Preferably, the drone body has drone body fixing plates at both the top and bottom ends, an wing shaft is provided between the drone body fixing plates, the wing shaft is fixedly connected to the drone fixing plates by bolts, an wing motor is provided at the end of the wing shaft, the wing motor is fixedly connected to the wing shaft, an wing is provided above the wing motor, the wing is connected to the output shaft of the wing motor, and a landing gear is connected below the drone fixing plates, the landing gear is located outside the spraying system.

[0008] Preferably, the positioning system includes a GPS positioning module, a Beidou dual-mode positioning module, and a MEMS inertial navigation module, and the positioning system is electrically connected to the main control system.

[0009] Preferably, the data acquisition system includes a multispectral sensor, an RGB camera, and a thermal infrared sensor. A camera bracket is provided above the RGB camera, and the RGB camera is fixedly connected to the drone body mounting plate through the camera bracket. The multispectral sensor and the thermal infrared sensor are both fixedly connected to the drone body mounting plate below the drone body. The data acquisition system is electrically connected to the main control system.

[0010] Preferably, the atomizing spraying mechanism includes a nozzle housing, inside which a drive motor is installed. Below the drive motor are a coupling, a stepped shaft, and an atomizing disc. The drive motor is connected to the stepped shaft via the coupling. Below the stepped shaft is the atomizing disc. A flow guide is installed on the outside of the atomizing disc. The flow guide is fixedly connected to the nozzle housing via an electric push rod. Above the atomizing disc are a second water pipe, a solenoid valve, and a first water pipe. One end of the second water pipe is connected to the first solenoid valve, which is connected to a liquid storage tank via the first water pipe.

[0011] Preferably, the telescopic spraying mechanism includes a nozzle, a telescopic tube, and a second solenoid valve. The nozzle is connected to the second solenoid valve through the telescopic tube, and the second solenoid valve is connected to the storage tank through a water pipe.

[0012] Preferably, the material handling system includes infrared sensor one and infrared sensor two, which are symmetrically distributed at both ends of the liquid inlet of the storage tank.

[0013] Preferably, the edge of the atomizing disc is serrated and the flow guide is conical.

[0014] An automatic spraying method for drones applicable to multiple scenarios is disclosed. The device includes two working modes: an outdoor working mode and an indoor working mode. Each mode can be set with an automatic periodic water replenishment strategy and a manual start-up strategy. In the outdoor automatic periodic water replenishment mode, the drone uses GPS and BeiDou positioning to automatically replenish and spray the pre-set crop area. In the outdoor manual start-up mode, the drone locates the user-designated area, collects vegetation index and color characteristic data of the potted plants, and then plans a path for variable-rate spraying. In the indoor automatic periodic water replenishment mode, the drone uses a MEMS inertial navigation module to locate the potted plant area for automatic replenishment and irrigation. In the indoor manual start-up mode, the drone locates the designated potted plant area, collects vegetation index and color characteristic data of the crops, and then adjusts the nozzle position for precise irrigation. The completion status of all four modes is determined by the main control system detecting the flow rate of the solenoid valve.

[0015] Therefore, the present invention employs the above-mentioned automatic spraying device and method for drones applicable to multiple scenarios, and the technical effects are as follows: 1. Multi-scenario adaptability: By equipping the drone with a GPS positioning module combined with a Beidou dual-mode positioning module and a MEMS inertial navigation module, it achieves high-precision positioning both indoors and outdoors, ensuring accurate operation in different scenarios (large-scale outdoor farmland, greenhouses, indoor potted plants).

[0016] 2. Precision variable fertilization and irrigation: Using multispectral sensors, RGB cameras and thermal infrared sensors, vegetation index and color characteristic data of crops in target plots are collected. Through data fusion and dynamic adjustment, precision variable fertilization and irrigation are achieved, improving resource utilization efficiency.

[0017] 3. Adjustable spraying range: The spraying system consists of an atomizing spraying mechanism and a telescopic spraying mechanism. The former uses a centrifugal spraying disc to atomize water or fertilizer and controls the spraying range by adjusting the motor speed and the height of the guide hood; the latter adjusts the nozzle position through a telescopic tube to meet the spraying needs of different scenarios.

[0018] 4. Automatic material feeding and replenishment: The material feeding device is equipped with an infrared sensor and precisely connects with the discharge port to achieve automatic material feeding, reducing manual intervention and improving the degree of automation of the operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an automatic spraying device for drones applicable to multiple scenarios according to the present invention; Figure 2 This is a schematic diagram of the bottom structure of an automatic spraying device for drones applicable to multiple scenarios according to the present invention; Figure 3 This is a schematic diagram of the top structure of an automatic spraying device for drones applicable to multiple scenarios according to the present invention; Figure 4This is a schematic diagram of the atomizing spraying mechanism of an automatic spraying device for drones applicable to multiple scenarios according to the present invention.

[0020] Figure Labels 1. Unmanned aerial vehicle (UAV) body; 2. Liquid storage tank; 3. RGB camera; 4. Infrared sensor one; 5. Atomizing spraying mechanism; 6. Telescopic spraying mechanism; 7. Camera bracket; 8. Multispectral sensor; 9. Thermal infrared sensor; 10. Infrared sensor two; 101. UAV body mounting plate; 102. Wing motor; 103. Wing; 104. Landing gear; 105. Wing shaft; 501. Nozzle housing; 502. Solenoid valve one; 503. Electric push rod; 504. Coupling; 505. Flow guide; 506. Stepped shaft; 507. Atomizing disc; 508. Water pipe one; 509. Water pipe two; 510. Drive motor; 601. Solenoid valve two; 602. Telescopic pipe; 603. Nozzle. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0023] Example 1 like Figures 1-4 As shown, the present invention provides an automatic spraying device and method for drones applicable to multiple scenarios. The device includes a drone body 1, a liquid storage tank 2 mounted on the lower part of the drone body 1, a main control system and a positioning system integrated inside the drone body 1, data acquisition systems set at the top and bottom of the drone body 1, a spraying system set below the drone body 1, the spraying system including an atomizing spraying mechanism 5 and a retractable spraying mechanism 6, and a material picking system set at the top of the drone, which is symmetrically distributed at both ends of the liquid storage tank 2.

[0024] The drone body 1 serves as the main frame of the entire device, with drone body fixing plates 101 at both the top and bottom. A wing shaft 105 is positioned between the two fixing plates, and the wing shaft 105 is bolted to the drone fixing plates. A wing motor 102 is mounted at the end of the wing shaft 105, and is fixedly connected to the wing shaft 105. A wing 103 is mounted above the wing motor 102, and is connected to the output shaft of the wing motor 102 to drive the rotation of the wing 103. A landing gear 104 is connected below the drone fixing plates, positioned outside the subsequent spraying system, and used for takeoff and landing support of the device.

[0025] The lower part of the drone body 1 is equipped with a liquid storage tank 2 for storing the liquid required for spraying. The drone body 1 integrates a main control system and a positioning system. The positioning system includes a GPS positioning module, a Beidou dual-mode positioning module, and a MEMS inertial navigation module. The positioning system is electrically connected to the main control system so that the main control system can obtain the drone's position information and control it.

[0026] Data acquisition systems are installed on both the top and bottom of the drone body 1. These systems include a multispectral sensor 8, an RGB camera 3, and a thermal infrared sensor 9. A camera bracket 7 is mounted above the RGB camera 3, and the RGB camera 3 is fixedly connected to the drone body mounting plate 101 via the camera bracket 7. The multispectral sensor 8 and the thermal infrared sensor 9 are both fixedly mounted on the bottom of the drone body 1 and fixedly connected to the drone body mounting plate 101. The data acquisition systems are electrically connected to the main control system, enabling them to transmit the acquired data to the main control system.

[0027] A spraying system is installed below the unmanned aerial vehicle (UAV) body 1. The spraying system includes an atomizing spraying mechanism 5 and a retractable spraying mechanism 6. In the atomizing spraying mechanism 5, a drive motor 510 is installed inside the nozzle housing 501. Below the drive motor 510, a coupling 504, a stepped shaft 506, and an atomizing disc 507 are arranged in sequence. The drive motor 510 is connected to the stepped shaft 506 through the coupling 504. The atomizing disc 507 is connected below the stepped shaft 506. The edge of the atomizing disc 507 is serrated. A flow guide 505 is installed on the outside of the atomizing disc 507. The flow guide 505 has a conical structure and is fixedly connected to the nozzle housing 501 through an electric push rod 503. Above the atomizing disc 507 are a second water pipe 509, a first solenoid valve 502, and a first water pipe 508. One end of the second water pipe 509 is connected to the first solenoid valve 502. The first solenoid valve 502 is connected to the liquid storage tank 2 through the first water pipe 508 to realize the delivery and atomization spraying control of the liquid. A drive motor 510 is connected to a coupling 504, which in turn is connected to a stepped shaft 506. The stepped shaft 506 is connected to an atomizing disc 507. The drive motor 510 drives the atomizing disc 507 to rotate. Liquid in the storage tank 2 is transported to the center of the atomizing disc 507 via water pipe 1 508, water pipe 2 509, and solenoid valve 1 502. The liquid forms a thin film on the surface of the atomizing disc 507 due to centrifugal force and flows towards the edge. When the liquid reaches the edge of the atomizing disc 507, it breaks into uniform and tiny droplets due to inertia, surface tension, and air resistance. The edge of the atomizing disc 507 is designed with a serrated shape to enhance the atomization effect. An electric push rod 503 is fixed to the nozzle housing 501 and connected to a guide shroud 505. It is used to adjust the height of the guide shroud 505 to control the spray range.

[0028] The telescopic spraying mechanism 6 includes a nozzle 603, a telescopic tube 602, and a second solenoid valve 601. The nozzle 603 is connected to the second solenoid valve 601 through the telescopic tube 602. The second solenoid valve 601 is connected to the liquid storage tank 2 through a water pipe. The telescopic tube 602 can extend and retract in the horizontal direction, thereby controlling the position of the nozzle 603 and realizing spraying operations at different distances and ranges.

[0029] The drone is equipped with a material handling system on its top, symmetrically distributed at both ends of the liquid storage tank 2. This system includes infrared sensor 4 and infrared sensor 10, which are symmetrically positioned at both ends of the liquid inlet of the tank 2 to ensure precise alignment between the inlet and the delivery device, thus enabling automatic material handling. Based on information obtained from the positioning system and data acquisition system, the main control system controls the spraying system to perform different spraying operations. Simultaneously, the material handling system assists in replenishing the liquid in the storage tank 2.

[0030] The aforementioned device includes two operating modes: an outdoor operating mode and an indoor operating mode. Each mode can be set to either an automatic periodic water replenishment strategy or a manual start-up strategy. The specific workflows are as follows: In the outdoor automatic periodic water replenishment mode: the drone locates the preset crop area using a GPS positioning module combined with a Beidou dual-mode positioning module; the drone detects the remaining liquid in the storage tank 2, and if the remaining liquid is insufficient, it flies to the material collection station; at the material collection station, the drone precisely docks with the discharge port through the material collection system, automatically delivering fertilizer or water to the storage tank 2 until the storage tank 2 has sufficient liquid; the drone flies to the target crop plot based on GPS positioning; the atomizing spraying mechanism 5 is activated, and the atomizing disc 507 is driven to rotate at high speed by the drive motor 510, atomizing the liquid and spraying it evenly onto the crop leaves, while adjusting the speed of the drive motor 510 and the height of the guide hood 505 to control the spraying range; the retractable spraying mechanism 6 is activated to irrigate the crop roots; the main control system determines whether irrigation is complete by detecting the flow rate through the solenoid valve, and closes the solenoid valve after completion.

[0031] In outdoor manual start-up operation mode: The drone is positioned to the crop area specified by the user via a GPS positioning module combined with a Beidou dual-mode positioning module; the drone uses a multispectral sensor 8, an RGB camera 3, and a thermal infrared sensor 9 to collect vegetation index and color characteristic data of the crops in the target plot; based on the collected data, it determines whether watering or fertilization is needed and calculates the required amount; the drone detects the remaining liquid in the storage tank 2, and if the remaining amount is insufficient, it flies to the material collection station for automatic material collection; at the material collection station, the drone accurately docks with the discharge port through the material collection system to automatically replenish fertilizer or water; according to the vegetation index and crop distribution of the target plot, the drone plans the working path and spraying volume through the GPS positioning module; the drone flies to the designated plot, starts the atomizing spraying mechanism 5 to perform variable spraying, and adjusts the speed of the drive motor 510 and the height of the guide shroud 505 to control the spraying range; the telescopic spraying mechanism 6 is started to irrigate the crop roots; the main control system determines whether irrigation is complete by detecting the flow rate through the solenoid valve, and closes the solenoid valve after completion.

[0032] In the indoor automatic periodic watering mode: the drone positions itself to the preset indoor potted plant area via the indoor MEMS inertial navigation module; the drone detects the remaining liquid in the liquid storage tank 2, and if the remaining liquid is insufficient, it flies to the indoor material collection station for automatic material collection; at the material collection station, the drone precisely docks with the material outlet through the material collection system to automatically replenish fertilizer or water; the drone uses a multispectral sensor 8, an RGB camera 3, and a thermal infrared sensor 9 to collect vegetation index and color characteristic data of the indoor potted plants; based on the collected data, it determines whether watering is needed and calculates the required amount; the drone activates the retractable spray structure, adjusts the position of the nozzle 603 through the retractable tube, and waters the potted plants; if the potted plants are located near a wall, the drone uses the inertial navigation system to determine its own position and height, and adjusts the position of the nozzle 603 to water the potted plants near the wall; the main control system detects the flow rate through the solenoid valve to determine whether watering is complete, and closes the solenoid valve after completion.

[0033] In the indoor manual start-up operation mode: Through the MEMS inertial navigation module, the drone locates the indoor potted plant area specified by the user. It uses a multispectral sensor 8, an RGB camera 3, and a thermal infrared sensor 9 to collect vegetation index and color characteristic data of the indoor potted plants. Based on the collected data, it determines whether watering or fertilization is needed and calculates the required amount. The drone detects the remaining liquid in the liquid storage tank 2. If the remaining liquid is insufficient, it flies to the indoor material collection station for automatic material collection. At the material collection station, the drone accurately docks with the discharge port through an infrared sensor and automatically replenishes fertilizer or water. The drone activates the retractable spray structure and adjusts the position of the nozzle 603 through the retractable tube to water the potted plants. If the potted plants are located near a wall, the drone uses the inertial navigation system to determine its own position and height and adjusts the position of the nozzle 603 to water the potted plants near the wall. The main control system detects the flow rate through the solenoid valve to determine whether watering is complete. After completion, the solenoid valve is closed.

[0034] It is worth noting that if the drone is operating in a greenhouse, it will automatically lower the height of the deflector 505 and reduce the speed of the drive motor 510. The radial droplets formed by the atomizing disc 507 will be forced to change their direction of movement by the deflector 505 and concentrated downwards for spraying, thus reducing the spraying area. If the drone is operating in a large outdoor farmland, it will automatically raise the height of the deflector 505 and increase the speed of the drive motor 510, thereby increasing the spraying area of ​​the atomizing spraying mechanism 5. After atomizing, the drone will activate the retractable spraying mechanism 6 to irrigate the crop roots. The system controls the opening of the solenoid valve 601, and the liquid flows from the storage tank 2 through the retractable pipe 602 and through the nozzle 603 to irrigate the crop roots, achieving effective irrigation.

[0035] If the drone is in indoor operating mode, it will activate the retractable spraying mechanism 6, opening the system control solenoid valve 601. Liquid flows from the storage tank 2 through the retractable pipe 602 and onto the potted plants through the nozzle 603, effectively irrigating the plant roots. If the indoor potted plants are located against a wall, the drone will adjust the position of the nozzle 603 via the retractable pipe, and, using the inertial navigation system, determine the drone's approximate position and altitude, adjusting its position and attitude to irrigate the potted plants against the wall.

[0036] Therefore, the present invention adopts the above-mentioned automatic spraying device and method for drones applicable to multiple scenarios. Through a high-precision positioning system, a multi-dimensional data acquisition and analysis system, an adjustable spraying range system, an automatic material handling and replenishment system, multiple working modes and strategies, and an intelligent decision-making and control system, it realizes precise, efficient, and automated spraying operations in multiple scenarios, which not only improves the efficiency and quality of agricultural production, but also provides strong support for the refined management of modern agriculture.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic spraying device for drones suitable for multiple scenarios, characterized in that, The device includes an unmanned aerial vehicle (UAV) body with a liquid storage tank mounted on its lower part. The UAV body integrates a main control system and a positioning system. Data acquisition systems are installed on the top and bottom of the UAV body. A spraying system is installed below the UAV body, which includes an atomizing spraying mechanism and a retractable spraying mechanism. A material handling system is installed on the top of the UAV, and the material handling systems are symmetrically distributed at both ends of the liquid storage tank.

2. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The drone body has drone body mounting plates at both the top and bottom. A wing shaft is installed between the drone body mounting plates. The wing shaft is fixedly connected to the drone mounting plates by bolts. A wing motor is installed at the end of the wing shaft. The wing motor is fixedly connected to the wing shaft. A wing is installed above the wing motor. The wing is connected to the output shaft of the wing motor. A landing gear is connected below the drone mounting plates. The landing gear is located outside the spraying system.

3. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The positioning system includes a GPS positioning module, a Beidou dual-mode positioning module, and a MEMS inertial navigation module. The positioning system is electrically connected to the main control system.

4. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The data acquisition system includes a multispectral sensor, an RGB camera, and a thermal infrared sensor. A camera bracket is installed above the RGB camera, and the RGB camera is fixedly connected to the drone body mounting plate through the camera bracket. The multispectral sensor and the thermal infrared sensor are both fixedly connected to the drone body mounting plate below the drone body. The data acquisition system is electrically connected to the main control system.

5. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The atomizing spraying mechanism includes a nozzle housing, inside which a drive motor is installed. Below the drive motor are a coupling, a stepped shaft, and an atomizing disc. The drive motor is connected to the stepped shaft via the coupling. Below the stepped shaft is the atomizing disc. A flow guide is installed on the outside of the atomizing disc. The flow guide is fixedly connected to the nozzle housing via an electric push rod. Above the atomizing disc are a second water pipe, a solenoid valve, and a first water pipe. One end of the second water pipe is connected to the first solenoid valve, which is connected to the liquid storage tank via the first water pipe.

6. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The telescopic spraying mechanism includes a nozzle, a telescopic tube, and a second solenoid valve. The nozzle is connected to the second solenoid valve through the telescopic tube, and the second solenoid valve is connected to the liquid storage tank through a water pipe.

7. The automatic spraying device for drones applicable to multiple scenarios according to claim 1, characterized in that, The material handling system includes infrared sensor one and infrared sensor two, which are symmetrically distributed at both ends of the liquid inlet of the storage tank.

8. The automatic spraying device for drones applicable to multiple scenarios according to claim 5, characterized in that, The atomizing disc has a serrated edge, and the flow guide has a conical structure.

9. A method for automatic spraying by drones applicable to multiple scenarios, comprising applying the automatic spraying device for drones applicable to multiple scenarios as described in claims 1-8 to agricultural irrigation and fertilization, characterized in that, The device includes two operating modes: an outdoor mode and an indoor mode. Each mode can be set to either an automatic periodic watering strategy or a manual start-up strategy. In the outdoor automatic periodic watering mode, the drone uses GPS and BeiDou positioning to automatically replenish and spray the pre-set crop area. In the outdoor manual start-up mode, it locates the user-specified area, collects vegetation index and color characteristic data of the crops, and then plans a path for variable-rate spraying. In the indoor automatic periodic watering mode, it uses a MEMS inertial navigation module to locate the potted plant area for automatic watering and irrigation. In the indoor manual start-up mode, it locates the designated potted plant area, collects vegetation index and color characteristic data of the potted plants, and then adjusts the nozzle position for precise irrigation. The main control system detects the flow rate of the solenoid valve to determine the completion status in all four modes.

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