An agricultural unmanned aerial vehicle with adjustable swath width

Abstract

The application discloses a kind of agricultural unmanned plane with adjustable spray width, and relates to the technical field of agricultural unmanned plane, including unmanned plane body;Cantilever is fixedly connected below the unmanned plane body, multiple slide seats are slidably connected on the cantilever, each slide seat is fixedly connected with sprayer;Width adjusting mechanism, it includes the moving assembly arranged in the cantilever, the adsorption component arranged in each slide seat, the adsorption component is used to adsorb the slide seat, and the slide seat is moved under the drive of the moving assembly;Chemical tank is fixedly connected on the unmanned plane body, and the chemical tank is connected with multiple sprayers by a liquid pump and multiple flexible pipelines.The application drives the spray head stepless sliding by built-in moving assembly, and the spray width can be dynamically adjusted in real time as the change of plot.

Description

Technical Field

[0001] This invention relates to the field of agricultural drone technology, specifically to an agricultural drone with adjustable spray width. Background Technology

[0002] With the rapid development of modern agriculture towards precision and intelligence, plant protection drones, as a new type of aerial plant protection operation platform, are being used more and more widely in the field of pest and disease control due to their advantages such as high operation efficiency, strong terrain adaptability, and convenient operation.

[0003] However, this existing technology has some drawbacks: First, most of the mainstream plant protection drones on the market currently adopt a fixed spray width and fixed flow rate operation mode. Once the nozzle spacing and spray range are installed and fixed, they cannot be adjusted in real time during flight. However, the ridge width and crop row spacing of different plots are different, and the canopy size and density of different crops are also different. Fixed spray width is difficult to adapt to diverse farmland planting patterns and crop growth stages, which can easily lead to pesticide waste or insufficient spray coverage.

[0004] Secondly, some solutions change the nozzle spacing by sliding adjustment rods or deployable auxiliary rods to expand the spray coverage. These mechanical adjustments usually need to be set manually before operation and cannot dynamically adjust the spray width in real time according to changes in terrain, distribution of obstacles or differences in crop density during flight.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned defects and provide an agricultural drone with adjustable spray width.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an agricultural drone with adjustable spray width, comprising a drone body; a support rod fixedly connected to the lower part of the drone body, wherein multiple slides are slidably connected to the support rod, and each slide is fixedly connected to a sprayer; a width adjustment mechanism, comprising a moving component disposed within the support rod and an adsorption component disposed within each slide, wherein the adsorption component is used to adsorb the slide and drives the slide to move under the drive of the moving component; and a medicine tank fixedly connected to the drone body, wherein the medicine tank is connected to multiple sprayers through a liquid pump and multiple flexible pipelines.

[0008] Furthermore, the moving component includes a drive seat slidably connected inside the support rod and two winch units disposed at both ends of the support rod. The ropes of the two winch units are respectively connected to both ends of the drive seat, and the two winch units are used to drive the drive seat to move along the inside of the support rod.

[0009] Furthermore, the adsorption assembly includes a magnetic ring disposed within the drive seat, two magnetic shielding strips disposed on the side wall of the magnetic ring, the magnetic shielding strips being disposed along the generatrix of the magnetic ring, the two magnetic shielding strips being located on the same horizontal plane, an adsorption magnet being rotatably connected to the center of the magnetic ring, a first iron piece adsorbed by the adsorption magnet being disposed on the upper inner side of the slide seat, and a rotary motor for controlling the rotation of the adsorption magnet being disposed within the drive seat.

[0010] Furthermore, a limiting magnet is movably connected to the lower inner side of the slide block, and a second iron plate is provided on the support rod near the limiting magnet.

[0011] Furthermore, a sliding groove is provided at the lower end of the slide block along the radial direction of the bearing rod, the top of the sliding groove is open, the limiting magnet is slidably connected in the sliding groove, and the S pole of the limiting magnet is close to the adsorption magnet.

[0012] Furthermore, the two winch units are disposed on the lower surfaces at both ends of the support rod. After the ropes of the two winch units are tensioned, they continue to rotate, tighten, and lock.

[0013] Furthermore, fixed pulleys are provided at both ends of the bearing rod, around which the rope of the winch unit passes.

[0014] The advantages of this invention compared to the prior art are: 1. The nozzle is driven by a built-in moving component to slide steplessly, and the spray width can be dynamically adjusted in real time according to the changes in the plot.

[0015] 2. Non-contact magnetic adsorption transmission is used to replace mechanical locking, avoiding wear and loosening of the adjustment mechanism caused by flight vibration.

[0016] 3. A limit magnetic self-locking structure is added, which automatically locks the slide position after adjustment to ensure stable spray width. Attached Figure Description

[0017] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0018] Figure 1 This is an overall schematic diagram provided by the embodiments of the present invention. Figure 1 ; Figure 2 This is an overall schematic diagram provided by the embodiments of the present invention. Figure 2 ; Figure 3 This is a schematic cross-section of the width adjustment mechanism provided in an embodiment of the present invention. Figure 1 ; Figure 4 This is provided by the embodiments of the present invention. Figure 3 Enlarged view of area A in the middle; Figure 5 This is provided by the embodiments of the present invention. Figure 3 Enlarged view of area B in the middle; Figure 6 This is a schematic cross-section of the width adjustment mechanism provided in an embodiment of the present invention. Figure 2 ; As shown in the figure: 1. UAV body; 2. Support rod; 21. Second iron plate; 3. Slide seat; 31. Sliding groove; 4. Sprayer; 5. Width adjustment mechanism; 51. Moving component; 511. Drive seat; 512. Winch unit; 513. Fixed pulley; 52. Adsorption component; 521. Magnetic ring; 522. Magnetic strip; 523. Adsorption magnet; 524. First iron plate; 525. Rotary motor; 526. Limiting magnet; 6. Medicine tank; 7. Liquid pump; 8. Flexible pipeline. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] First embodiment: Combined with appendix Figures 1 to 6 The present invention discloses an agricultural drone with adjustable spray width, which mainly includes a drone body 1, a support rod 2, a width adjustment mechanism 5, and a medicine tank 6.

[0021] The following section will elaborate on the composition, assembly relationship, and collaborative working method of each part.

[0022] The agricultural drone with adjustable spray width in this embodiment includes a drone body 1. A support rod 2 extending laterally is fixedly connected to the lower part of the drone body 1. Multiple slides 3 are slidably sleeved on the support rod 2. A sprayer 4 is fixedly installed at the bottom of each slide 3. A medicine tank 6 is mounted on the drone body 1. The medicine tank 6 is connected to the liquid inlet of each sprayer 4 through a liquid pump 7 and multiple flexible pipes 8. The multiple slides 3 are adjusted to each other through a width adjustment mechanism 5, which includes a moving component 51 set in the support rod 2 and an adsorption component 52 set in each of the slides 3. The adsorption component 52 is used to adsorb the slide 3 and drive the slide 3 to move under the drive of the moving component 51.

[0023] The overall working principle is as follows: During aerial operations, when it is necessary to adjust the spray coverage range according to the current ridge width or crop canopy morphology, the width adjustment mechanism 5 located inside the support rod 2 is activated. This mechanism first generates a constraint force on the slide block 3 through the adsorption component 52, so that the slide block 3 and the internal moving component 51 are temporarily combined into one. Then, the moving component 51 moves along the axial direction of the support rod 2, driving the slide block 3 and the sprayer 4 to move to the target position. After reaching the preset position, the adsorption component 52 releases the adsorption, and at the same time, the limiting structure between the slide block 3 and the support rod 2 intervenes to firmly lock the slide block 3 in the current position, thereby completing a dynamic adjustment action of the spray width.

[0024] Second embodiment: To clearly illustrate the technical solution of the present invention, the following detailed description is provided in conjunction with specific embodiments. The second embodiment is a basic implementation of the width adjustment mechanism 5, as detailed below: The width adjustment mechanism 5 consists of two parts: a moving component 51 and an adsorption component 52. The moving component 51 is responsible for providing the driving force for linear reciprocating motion. It includes a drive seat 511 built into the hollow cavity of the support rod 2. The outer contour of the drive seat 511 slides with the inner wall of the support rod 2. Two winch units 512 are fixedly installed on the lower surfaces of both ends of the support rod 2, each including a drive motor and a winding reel. The two winch units 512 lead out ropes, and the other ends of the two ropes are respectively connected to the front and rear ends of the drive seat 511 along the axial direction. By controlling the winding and unwinding of the winch units 512 at both ends, the drive seat 511 can be pulled to move smoothly along the axial direction inside the support rod 2. To ensure the smoothness of the transmission, fixed pulleys 513 are also provided at the corners of both ends of the inner cavity of the support rod 2 for the rope to turn and pass around.

[0025] Third embodiment: Based on the above-described basic implementation, the present invention also provides a third embodiment, which corresponds to the specific implementation of the adsorption component 52, as follows:

[0026] The adsorption component 52 is used to establish or disengage the force transmission connection between the drive seat 511 and the slide 3. A ring-shaped magnetic guide ring 521 is fixedly embedded inside the drive seat 511. The magnetic guide ring 521 is made of a high magnetic permeability material and is used to guide the direction of magnetic lines of force. Along the generatrix direction of the annular sidewall of the magnetic guide ring 521, two magnetic isolation strips 522 are symmetrically embedded on its upper and lower sides. The magnetic isolation strips 522 divide the magnetic guide ring 521 into two independent magnetic guiding areas. A long strip-shaped adsorption magnet 523 is rotatably connected in the central through hole of the magnetic guide ring 521. A rotating motor 525 is also fixed inside the drive seat 511. The output shaft of the rotating motor 525 is fixedly connected to the rotation center of the adsorption magnet 523. Correspondingly, a first iron plate 524 is fixedly installed on the upper inner side of each slide 3, that is, close to the outer wall of the bearing rod 2.

[0027] When the slide block 3 needs to be attracted, the rotating motor 525 drives the attraction magnet 523 to rotate to the first position. At this time, the line connecting the north and south poles of the attraction magnet 523 is perpendicular to the plane containing the two magnetic strips 522. Magnetic lines of force originate from one pole of the attraction magnet 523, are led out through one half of the magnetic ring 521, penetrate the thin wall of the support rod 2, attract the first iron piece 524, and then return to the other pole of the attraction magnet 523 through the other half of the magnetic ring 521, forming a closed magnetic circuit. This firmly attracts and fixes the slide block 3 to the drive seat 511. When the slide block 3 needs to be released, the rotating motor 525 drives the magnet to rotate to the first position. The motor 525 drives the adsorption magnet 523 to rotate 90 degrees to the second position. At this time, the line connecting the north and south poles of the adsorption magnet 523 is parallel to the plane where the two magnetic strips 522 are located. Since the magnetic strips 522 block the magnetic circuit, the magnetic lines of force form a short circuit loop inside the magnetic ring 521 and cannot radiate outward to penetrate the support rod 2, so that the magnetic attraction force acting on the first iron piece 524 disappears, and the slide 3 and the drive seat 511 are in a separated state. In order to ensure effective penetration of the magnetic circuit, the support rod 2 is made of non-magnetic material at least in the corresponding adsorption stroke section, preferably high-strength engineering plastic.

[0028] Fourth embodiment: Based on the above-described basic implementation method, the present invention also provides a fourth embodiment, which corresponds to the limiting and locking structure between the slide block 3 and the bearing rod 2, as follows: To prevent the slide block 3 from sliding unexpectedly due to inertia or changes in flight attitude after the adsorption component 52 is released from adsorption, this embodiment adds a mechanical limiting auxiliary locking mechanism. A sliding groove 31 extending radially is provided on the lower inner side of the slide block 3. The top of the sliding groove 31 is open towards the support rod 2. A limiting magnet 526 is slidably accommodated inside the sliding groove 31, and the S pole of the limiting magnet 526 is close to the direction where the adsorption magnet 523 is located. On the outer wall of the support rod 2, and at a position corresponding to the movement trajectory of the limiting magnet 526, an axially extending strip-shaped second iron piece 21 is embedded and installed.

[0029] The working principle is as follows: When the adsorption component 52 is in the adsorption position, the strong magnetic field of the adsorption magnet 523 not only attracts the first iron sheet 524, but its magnetic field edge also generates a repulsive force on the limiting magnet 526. Since the S pole of the limiting magnet 526 is close to the adsorption magnet 523, and since the S pole of the limiting magnet 526 and the magnetic field generated by the adsorption magnet 523 in this position are opposite in direction, a repulsive force is generated. The limiting magnet 526 is driven to move along the sliding groove 31 in a direction away from the bearing rod 2, thereby separating from the second iron sheet 21. Upon contact, the lock is released, and the slide block 3 can be freely slid by the drive seat 511. When the adsorption component 52 switches to the release position and the magnetic field disappears, the limiting magnet 526 moves towards the support rod 2 under its own gravity and is firmly adsorbed onto the surface of the second iron plate 21. Relying on the frictional resistance and magnetic attraction between the limiting magnet 526 and the second iron plate 21, the slide block 3 is fixed and locked at the current position of the support rod 2, effectively resisting the low-frequency vibration generated during the flight of the drone and ensuring the operational stability after the spray width is adjusted.

[0030] Fifth embodiment: Based on the above-described basic implementation methods, the present invention also provides a fifth embodiment, corresponding to the tensioning and locking structure in the moving component 51, as follows: To ensure that the rope does not slacken due to vibration and cause the spray width to drift after the drive seat 511 is moved into place, the two winch units 512 are equipped with geared motors with self-locking function. When the drive seat 511 is pulled to the target coordinate position, the control unit instructs the winch unit 512 to continue to be powered on for a short time and rotate a small angle so that both ropes are in a taut state. Then, the current length of the rope is locked by the braking resistance of the motor itself. This measure eliminates the possible play gap when the rope changes the direction of force, and further improves the displacement control accuracy of the width adjustment mechanism 5.

[0031] The present invention and its embodiments have been described above. This description is not restrictive, and the figures shown are only one embodiment of the present invention. The actual structure is not limited to this.

[0032] In conclusion, if anyone skilled in the art, inspired by this invention, designs a similar structure and embodiment without departing from the spirit of the invention, such design should fall within the scope of protection of this invention.

Claims

1. An agricultural drone with adjustable spray width, comprising a drone body (1), characterized in that: The support rod (2) is fixedly connected to the lower part of the UAV body (1). Multiple slides (3) are slidably connected to the support rod (2), and a sprayer (4) is fixedly connected to each slide (3). Width adjustment mechanism (5) includes a moving component (51) disposed in the bearing rod (2) and an adsorption component (52) disposed in each of the slides (3). The adsorption component (52) is used to adsorb the slide (3) and drive the slide (3) to move under the drive of the moving component (51). The medicine tank (6) is fixedly connected to the body (1) of the UAV. The medicine tank (6) is connected to multiple sprayers (4) through a liquid pump (7) and multiple flexible pipes (8).

2. The agricultural drone with adjustable spray width according to claim 1, characterized in that: The moving component (51) includes a drive seat (511) slidably connected inside the support rod (2) and two winch units (512) disposed at both ends of the support rod (2). The ropes of the two winch units (512) are respectively connected to both ends of the drive seat (511). The two winch units (512) are used to drive the drive seat (511) to move along the support rod (2).

3. The agricultural drone with adjustable spray width according to claim 2, characterized in that: The adsorption assembly (52) includes a magnetic ring (521) disposed in the drive seat (511). Two magnetic isolation strips (522) are disposed on the side wall of the magnetic ring (521). The magnetic isolation strips (522) are disposed along the generatrix of the magnetic ring (521). The two magnetic isolation strips (522) are located on the same horizontal plane. An adsorption magnet (523) is rotatably connected to the middle of the magnetic ring (521). A first iron piece (524) adsorbed by the adsorption magnet (523) is disposed on the upper inner side of the slide (3). A rotary motor (525) for controlling the rotation of the adsorption magnet (523) is disposed in the drive seat (511).

4. The agricultural drone with adjustable spray width according to claim 3, characterized in that: The lower inner side of the slide (3) is movably connected to a limiting magnet (526), ​​and a second iron plate (21) is provided on the bearing rod (2) near the limiting magnet (526).

5. The agricultural drone with adjustable spray width according to claim 4, characterized in that: The lower end of the slide block (3) is provided with a sliding groove (31) along the radial direction of the bearing rod (2). The top of the sliding groove (31) is open. The limiting magnet (526) is slidably connected in the sliding groove (31). The S pole of the limiting magnet (526) is close to the adsorption magnet (523).

6. The agricultural drone with adjustable spray width according to claim 2, characterized in that: The two winch units (512) are located on the lower surfaces of both ends of the support rod (2). After the ropes of the two winch units (512) are tensioned, they continue to rotate, tighten, and lock.

7. The agricultural drone with adjustable spray width according to claim 6, characterized in that: The bearing rod (2) is provided with fixed pulleys (513) at both ends, around which the rope of the winch unit (512) passes.

Images