Wind-driven fan-type uniform spraying device for orchards and its usage method

Abstract

This invention discloses a wind-driven fan-shaped orchard uniform spraying device and its usage method, relating to the field of spraying technology. It includes an aerial work platform and a ground-based trolley. The aerial work platform is equipped with a spraying system, and the ground-based trolley carries a transfer platform for the aerial work platform. The ground-based trolley is equipped with a water supply component connected to the spraying system. The invention employs a technical solution combining air blowing and mechanical rotation, implementing atomization through air-solid coupling to enhance the atomization effect. Through a circumferential array of fan-shaped nozzles, this invention achieves a large-volume fan-shaped distribution and uniform, stable production of droplets, enhancing droplet precision control and spraying efficiency.

Description

Technical Field

[0001] This invention relates to the field of spray equipment technology, and in particular to a wind-driven fan-type uniform spraying device for orchards and its usage method. Background Technology

[0002] With the large-scale development of modern agriculture, traditional wind-driven spraying operations, which rely on airflow to disperse and transport droplets, suffer from problems such as uneven droplet distribution, poor penetration, low efficiency, high cost, and insufficient pesticide utilization, especially in densely planted orchards where effective coverage is difficult to achieve. With the research and application of drone technology, drone spraying, through high-precision positioning, intelligent variable-rate spraying, and autonomous flight control, can significantly improve operational efficiency, reduce pesticide usage, and decrease the risk of personnel contact with pesticides. Currently, most drone-mounted spraying systems are relatively simple, lacking environmental adaptive functions such as spray angle or drone attitude adjustment. Environmental factors such as flight attitude and wind speed have a significant impact on the spraying effect and operational stability, making existing drone spraying systems difficult to adapt to complex environments or orchards at different altitudes for efficient spraying.

[0003] For example, CN116280199A, published on June 23, 2023, discloses an ultra-low volume spraying mechanism and method for agricultural plant protection drones, including the drone body, which includes a spraying component and an adjustment component, with the adjustment component communicating with the spraying component. The aforementioned spraying equipment cannot achieve large-scale spraying of plants, resulting in poor practicality. Summary of the Invention

[0004] The purpose of this invention is to provide a more practical wind-driven fan-type uniform spraying device for orchards and its usage method. This invention uses a spray system to drive the atomization of water by the fluid flow rate generated by an aerial work platform, thereby achieving rotating spraying.

[0005] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is: a wind-driven fan-type orchard uniform spraying device, including an aerial work platform and a ground walking trolley, wherein the aerial work platform is equipped with a spraying system, the ground walking trolley carries a transfer platform for the aerial work platform, and the ground walking trolley is equipped with a water supply component connected to the spraying system.

[0006] The aerial work platform includes a drone, which is connected to a spray system.

[0007] The spraying system includes a fixed shaft connected to the drone, a wind-driven fan on the fixed shaft, a shroud fixedly connected to the wind-driven fan, a rotating cylinder connected to the shroud, a fan-shaped nozzle on the rotating cylinder, a drain hole on the shroud, and the shroud communicating with a water supply assembly.

[0008] The fan is connected to a fixed shaft via a bearing. The shroud has a water storage chamber inside and the shroud has an annular cross-section. The drain hole is located on the side of the shroud near the fan-shaped nozzle. The rotating drum has a water inlet channel that communicates with the water storage chamber.

[0009] The water supply assembly includes a water tank installed on a transfer platform, a water pump installed inside the water tank, and a winch installed on the transfer platform. A water pipe is wound on the winch, one end of which is connected to the water pump in the water tank, and the other end of which is connected to the water inlet channel through a rotary joint.

[0010] The fan-shaped nozzle includes a dispersing fan blade, a connecting cylinder, and an atomizing nozzle. The dispersing fan blade is fixedly connected to the connecting cylinder, and the connecting cylinder is fixedly connected to the rotating cylinder. The atomizing nozzle is located on the end of the dispersing fan blade away from the connecting cylinder. The dispersing fan blade is distributed in a petal shape on the rotating cylinder. The area of ​​the dispersing fan blade gradually increases from the fairing to the moving ground vehicle. The cross-section of the dispersing fan blade is hook-shaped, and the atomizing nozzle is located in the recess of the dispersing fan blade.

[0011] The fan-shaped nozzle is also equipped with a pressurization component, which includes a connecting shaft, a small fan blade, a cone, a coil, a rotating frame, and a squeezing wheel. The connecting shaft is located in the recess of the fan-shaped nozzle, and its two ends are respectively located on both sides of the fan-shaped nozzle. One end of the connecting shaft is connected to the small fan blade, and the other end of the connecting shaft is connected to the rotating frame. The rotating frame is hinged to the squeezing wheel. The cone is fixedly connected to the fan-shaped nozzle, and the coil is fixed on the inner wall of the cone. The squeezing wheel abuts against the coil, and one end of the coil communicates with the atomizing nozzle on the fan-shaped nozzle.

[0012] The transfer platform is equipped with a helipad and a power distribution compartment.

[0013] The ground-walking trolley is equipped with a frame on both sides. Two fixed seats are provided on one side of the frame. The fixed seats are equipped with load-bearing wheels. One fixed seat is equipped with a drive wheel. The other fixed seat is equipped with a tension wheel. Tracks are connected to the load-bearing wheels, drive wheels, and tension wheels. A movable seat is provided on the fixed seat. The movable seat is connected to the tension wheel. The movable seat is connected to the fixed seat through adjusting bolts.

[0014] A method for using the above-mentioned wind-driven fan-type orchard uniform spraying device includes the following steps: Step 1: Conduct equipment self-inspection to ensure the safety of the device's mechanical structure, good electrical insulation, and normal switch control and communication. Step 2: Load the working liquid into the water tank according to the size of the orchard, and adjust the spraying effect and control the spraying dosage by adjusting the number of fan-shaped nozzles on the rotating drum; Step 3: Turn on the water pump in the water tank of the orchard transfer platform, check the working condition of the water pipeline and its interface. When the hydrological conditions of the orchard meet the preconditions for aerial spraying, the aerial operation gimbal will reach the set operating height under the action of vertical lift, and drive the drone to the target operation position. Step four: The aerial work platform lifts the spraying system from the helipad of the transfer platform to above the orchard. During the ascent of the spraying system, the winch adjusts the length of the water pipe according to the working distance and sends the working liquid to the aerial work platform through the water pump. After the aerial work platform is working stably, the umbrella-shaped uniform spraying system begins to operate. Step 5: The ground-based mobile vehicle and drone move to transport the spraying system to different locations to spray the fruit trees.

[0015] The beneficial effects of this invention are: The invention employs a technical solution that combines air blowing and mechanical rotation to perform atomization operations through air-solid coupling, thereby enhancing the atomization effect. The invention also achieves a large-volume fan-shaped distribution and uniform and stable production of droplets through a circumferential array of fan-shaped nozzles, thereby enhancing droplet precision control and spraying operation efficiency. The airflow generated by the drone's rotor causes the wind-driven fan to rotate, which in turn causes the connected fairing and rotating drum to rotate. At this time, the water supply component works, causing water to flow into the fairing and out of the fairing's drain hole. The rotating drum then rotates the fan-shaped nozzles, which in turn disperse the water flowing out of the drain hole into a water mist, thus achieving the spraying operation. The spraying system utilizes the airflow generated by the drone's operation, thus eliminating the need for an external drive source and making it more practical. When water droplets accumulate in the recess of the fan-shaped nozzle, the water flows into the coil through the atomizing nozzle. The airflow generated by the operation of the UAV rotor causes the small fan blades on the connecting shaft to rotate. The rotation of the connecting shaft causes the rotating frame in the cone to rotate, which in turn causes the extrusion wheel on the rotating frame to rotate and extrude the coil, thereby pressurizing the water flow in the coil. The pressurized water is then quickly discharged through the coil and dispersed through the fan-shaped nozzle on the next side. The umbrella-shaped uniform spraying system of this invention uses a wind-driven fan to recover and utilize the wake of the drone rotor to drive the spraying device to rotate, simplifying the structure, saving energy consumption, and recovering green energy at the same time. This invention also uses water and electricity lines to send energy to the working altitude, solving the problem of drone and water tank endurance and ensuring continuous and stable spraying operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the wind-driven fan-type uniform spraying device for orchards disclosed herein.

[0017] Figure 2 This is a schematic diagram of a spray system.

[0018] Figure 3 This is a schematic diagram of a fan-shaped nozzle.

[0019] Figure 4 This is a schematic diagram showing the distribution of the fan-shaped nozzles when connected to the rotating drum.

[0020] Figure 5 This is a schematic diagram of the connection between the fan-shaped nozzle and the pressurization component.

[0021] Figure 6 for Figure 5 A cross-sectional schematic diagram.

[0022] Figure 7 This is a schematic diagram of part of the booster assembly.

[0023] Figure 8 A schematic diagram showing the connection between the ground-walking trolley and the spray system.

[0024] Figure 9 This is a schematic diagram of the ground-walking vehicle disclosed in this publication. Attached Figure

[0025] 1-Spraying system, 2-Aerial work platform, 3-Transfer platform, 4-Ground trolley, 5-Water tank, 6-Wind, 7-Water inlet pipe, 8-Connecting shaft, 9-Small fan blade, 10-Cone, 11-Coil, 12-Rotating frame, 13-Extrusion wheel 101-Fixed shaft, 102-Wind-driven fan, 103-Fairing, 104-Rotating drum, 105-Fan-shaped nozzle, 106-Water inlet channel, 107-Drain hole 1051 - Dispersing fan blades, 1052 - Connecting cylinder, 1053 - Spray nozzle, drones 301 - Apron, 302 - Power Distribution Cabin 401-Frame, 402-Fixed seat, 403-Load-bearing wheel, 404-Drive wheel, 405-Tension wheel, 406-Track. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0028] like Figure 1-9As shown, it includes an aerial work platform 2 and a ground walking trolley 4. The aerial work platform 2 is equipped with a spray system 1, and the ground walking trolley 4 carries a transfer platform 3 for the aerial work platform 2. The ground walking trolley 4 is equipped with a water supply component connected to the spray system 1.

[0029] In use, the ground-walking trolley 4 moves in the orchard. When it moves close to the fruit trees, the aerial work platform 2 leaves the transfer platform 3 and starts working, which in turn drives the spraying system 1 to move closer to the fruit trees. At this time, the water supply component on the ground-walking trolley 4 works to deliver water to the spraying system 1, and then the spraying system 1 works to atomize the water and spray it out. Through the cooperation of the aerial work platform 2 and the ground-walking trolley 4, stable spraying of the fruit trees in the orchard is achieved, making it more practical.

[0030] The aerial operation gimbal 2 includes a drone 201, which is connected to the spray system 1. The drone 201 enables convenient movement and adjustment of the atomization system 1. Specifically, the drone 201 is a multi-rotor agricultural drone, specifically model (DJI) AGRAS.

[0031] Specifically, drones are typically equipped with a flight controller, a GPS / RTK positioning module, and accompanying smart remote controllers or ground station control software. Operators can manually control the drone using a handheld smart remote controller with a dedicated app on a touchscreen, or preset flight routes using Mission Planner ground station planning software running on a computer or tablet to achieve automatic flight and spraying operations. The drone and the remote controller communicate via a wireless communication protocol; in this application, Wi-Fi is used to establish the command and data link.

[0032] The spray system 1 includes a fixed shaft 101 connected to the drone 201. A fan 102 is mounted on the fixed shaft 101, and a fairing 103 is fixedly connected to the fan 102. A rotating drum 104 is connected to the fairing 103, and fan-shaped nozzles 105 are mounted on the rotating drum 104. The fairing 103 has drain holes 107 and is connected to a water supply assembly. When the drone 201 is operating, the fixed shaft 101 drives the entire spray system 1 to move. When the drone 201 takes off, the drone rotor generates... The airflow causes the fan 102 to rotate, which in turn causes the fairing 103 and the rotating drum 104 connected to it to rotate. At this time, the water supply component works, causing water to flow into the fairing 103. The water is discharged from the drain hole 107 of the fairing 103. At this time, the rotating drum 104 rotates, causing the fan-shaped nozzle 105 to rotate, which in turn disperses the water flowing out of the drain hole 107 into a water mist, thereby realizing the spraying operation. The spraying system 1 utilizes the airflow generated by the operation of the drone, thus eliminating the need for an external drive source and making it more practical.

[0033] Specifically, one end of the fixed shaft 101 is welded to the bottom of the UAV 201, and the other end of the fixed shaft 101 is connected to the wind-driven fan 102.

[0034] Reference Figure 2 The wind-driven fan 102 is connected to the fixed shaft 101 via a bearing, thereby enabling the wind-driven fan 102 to rotate stably under the airflow generated by the UAV 201. The fairing 103 is provided with a water storage chamber for storing water. The fairing 103 has an annular cross-section, and the drain hole 107 is located on the side of the fairing 103 near the fan-shaped nozzle 105. The rotating drum 104 is provided with a water inlet channel 106 that communicates with the water storage chamber. When the water supply assembly is working, water flows through the water inlet channel 106 in the rotating drum 104 and then enters the water storage chamber through the water inlet channel 106. The water flows out through the drain hole 107, thereby ensuring that the water discharged from the drain hole 107 falls stably on the fan-shaped nozzle 105 for atomization.

[0035] The water supply assembly includes a water tank 5 mounted on a transfer platform 3, a water pump inside the water tank 5, and a winch 6 mounted on the transfer platform 3. A water pipe 7 is wound around the winch 6. One end of the water pipe 7 is connected to the water pump in the water tank 5, and the other end of the water pipe 7 is connected to the water inlet channel 106 through a rotary joint. When the drone 201 moves the atomization system 1, the winch 6 operates, causing the water pipe 7 to be released. The water pump in the water tank 5 operates, causing the water in the water tank 5 to be transported through the water pipe 7 and the rotary joint to the water inlet channel 106 in the rotating drum 104, thereby realizing the water supply operation. In this embodiment, the winch 6 is specifically a GS-50A electric hose automatic winding machine, the water pump is a GB series self-priming centrifugal pump, specifically model GB80-22, and the water pipe is a water delivery hose. High-strength polyester filament braided PVC-lined high-pressure flat agricultural water hose or polyurethane (PU)-lined high-pressure water hose is selected to ensure that the water pipe can be wound up without affecting the water delivery.

[0036] The rotary joint, also known as a swivel joint or rotary sealing joint, is a standard mechanical component specifically used to connect fixed water pipes with rotating and swinging pipelines, allowing water (or other fluids) to pass through while maintaining a dynamic seal to prevent leakage. This ensures that when the rotating drum 104 rotates, the water in the water pipe 7 can be stably delivered to the spray system 1.

[0037] The fan-shaped nozzle 105 includes a dispersing fan blade 1051, a connecting cylinder 1052, and an atomizing nozzle 1053. The dispersing fan blade 1051 is fixedly connected to the connecting cylinder 1052, and the connecting cylinder 1052 is fixedly connected to the rotating cylinder 104. The atomizing nozzle 1053 is located on the dispersing fan blade 1051 at one end away from the connecting cylinder 1052. The connecting cylinder 1052 is sleeved on the rotating cylinder 104 and then bonded together with glue. The dispersing fan blades 1051 are distributed in a petal shape on the rotating drum 104. The area of ​​the dispersing fan blades 1051 gradually increases from the fairing 103 to the moving ground trolley 4, thereby ensuring that after the rotating drum 104 rotates, the dispersing fan blades 1051 stably disperse and atomize the water flowing out of the drain hole 107. The cross-section of the dispersing fan blades 1051 is hook-shaped, thereby ensuring that the falling water is caught, which facilitates the dispersing fan blades 1051 to disperse the water. The atomizing nozzles 1053 are set in the recess of the dispersing fan blades 1051. The setting of the atomizing nozzles 1053 prevents water droplets from accumulating on the dispersing fan blades 1051 and ensures that the water droplets are stably discharged through the atomizing nozzles 1053.

[0038] The fan-shaped nozzle 105 is also equipped with a pressurization assembly, which includes a connecting shaft 8, a small fan blade 9, a cone 10, a coil 11, a rotating frame 12, and a squeezing wheel 13. The connecting shaft 8 is located in the recess of the fan-shaped nozzle 105, with its two ends respectively located on both sides of the fan-shaped nozzle 105. One end of the connecting shaft 8 is connected to the small fan blade 9, and the other end is connected to the rotating frame 12. The rotating frame 12 is hinged to the squeezing wheel 13. The cone 10 is fixedly connected to the fan-shaped nozzle 105. The coil 11 is fixed to the inner wall of the cone 10. The squeezing wheel 13 abuts against the coil 11, and one end of the coil 11 is connected to the atomizing nozzle 1053 on the fan-shaped nozzle 105. When water droplets accumulate in the recess of the fan-shaped nozzle 105, the water flows through the atomizing nozzle 1053 into the coil 11. The airflow generated by the rotor of the second UAV 201 causes the small fan blades 9 on the connecting shaft 8 to rotate. The rotation of the connecting shaft 8 causes the rotating frame 12 in the cone 10 to rotate. Then, the squeezing wheel 13 on the rotating frame 12 rotates and squeezes the coil 11, thereby pressurizing the water flow in the coil 11. The pressurized water is then quickly discharged through the coil 11. The discharged water is then dispersed through the fan-shaped nozzle 105 on the next side, thereby improving the water utilization efficiency of the fan-shaped nozzle 105 and increasing the atomization effect.

[0039] Specifically, a bearing seat is provided in the recess of the fan-shaped nozzle 105, the connecting shaft 8 passes through the bearing seat, and a shaft hole is provided on the bearing seat. The connecting shaft 8 passes through the shaft hole and is axially positioned by the shaft end nut. The inner wall of the shaft hole can be coated or embedded with a self-lubricating material layer (such as a polytetrafluoroethylene bushing) to form a sliding bearing structure, so that the connecting shaft 8 can rotate freely in the shaft hole. The cross-sectional diameter of the cone 10 gradually increases from the direction of the connecting shaft 8 near the fan-shaped nozzle 105 to away from the fan-shaped nozzle 105. The coil 11 is bonded inside the cone 10. The extrusion rollers 13 on the rotating frame 12 fixedly connected to the connecting shaft 8 are distributed and adapted to the coil 11. The surface of the extrusion rollers 13 abuts against the coil 11. Specifically, the coil 11 has four coils, and the rotating frame 12 has three layers. Each layer of the rotating frame 12 is hinged with four extrusion rollers 13, thereby realizing the pressurization and discharge of water entering the coil 11.

[0040] The transfer platform 3 is equipped with a helipad 301 and a power distribution compartment 302. The helipad 301 is set up to carry the UAV 201 in front, while the power distribution compartment 302 is equipped with a power source that is electrically connected to the winch 6 and the ground walking trolley 4, so that the power distribution compartment 302 provides power to the winch 6 and the ground walking trolley 4.

[0041] Specifically, a power line connected to the water pipe 7 can also be installed on the winch 5. The power line is electrically connected to the power supply in the power distribution compartment 301, and the other end of the power line is connected to the power supply of the drone 201, thereby ensuring that the drone 201 is powered and increasing the flight time of the drone 201 during use.

[0042] In this embodiment, the power supply for the power distribution compartment is a series-parallel lithium-ion (Li-ion) or lithium polymer (Li-Po) power battery pack, such as a lithium iron phosphate (LiFePO4) battery pack with a nominal voltage of 72V and a capacity of 20Ah to 100Ah. Specifically, the CATL 51.2V 100Ah square aluminum shell cells are grouped together. Its output terminal is connected to the DC bus (or DC-DC step-down module) through the battery management system (BMS) to provide a large current output for the main circuit.

[0043] The ground-walking trolley 4 has a frame 401 on both sides. Two fixed seats 402 are provided on one side of the frame 401. The fixed seats 402 are equipped with load-bearing wheels 403. One fixed seat 402 is equipped with a drive wheel 404. The other fixed seat 402 is equipped with a tension wheel 405. The load-bearing wheels 403, drive wheels 404 and tension wheels 405 are connected to the track 406. The fixed seats 402 are equipped with a movable seat. The movable seat is connected to the tension wheel 405. The movable seat is connected to the fixed seat 402 through adjusting bolts. When the drive wheel 404 is working, the track 406 rotates under the support of the load-bearing wheels 403 and tension wheels 405, thereby realizing the movement of the entire ground-walking trolley 4. Specifically, the drive wheel 404 is equipped with a hub motor. The hub motor is a QSMOTOR 10-inch brushless hub motor, model QS MOTOR205 10×3.0. The power supply of the power distribution compartment 302 is electrically connected to the hub motor. The hub motor driver adopts the RoboClaw 2×30A dual-channel brushless DC motor driver board, which receives PWM (pulse width modulation) signals and direction level signals from the STM32F103 series microcontroller of the main control unit. It independently adjusts the speed and direction of the left and right hub motors, and realizes the forward, backward and stationary turning of the car through differential control. The operating terminal is equipped with a 2.4GHz band handheld radio remote controller FS-i6X. The remote controller transmits joystick displacement signals, which are decoded by the vehicle-mounted wireless receiving module (such as the FlySky IA6B receiver) and transmitted to the main control unit. The main control unit converts the signals into corresponding PWM duty cycles based on the differential speed algorithm and outputs them to the two motor drivers, thereby controlling the ground-walking vehicle to move according to instructions. It can also be switched to automatic navigation mode, where the main control unit reads the onboard GNSS / RTK module and LiDAR SLAM mapping data, calculates the path planning, and directly outputs PWM control signals to drive the hub motors to travel along the preset path.

[0044] The left and right sides of the ground-moving trolley 4 are connected to the fixed seat 401 by bolts. After adjusting the position of the moving seat on the fixed seat 402, it is fixed by adjusting bolts, thereby adjusting the tension of the track 403, so that the entire ground-moving trolley 4 can move stably in the orchard. Specifically, the fixed seat 403 is provided with six waist-shaped holes for adjusting bolts to pass through, and the moving seat is provided with six through holes for adjusting bolts to pass through.

[0045] A method for using the above-mentioned wind-driven fan-type orchard uniform spraying device includes the following steps: Step 1: Conduct equipment self-inspection to ensure the safety of the device's mechanical structure, good electrical insulation, and normal switch control and communication. Step 2: Load the working liquid into the water tank according to the size of the orchard, and adjust the spraying effect and control the spraying dosage by adjusting the number of fan-shaped nozzles 105 on the rotating drum 104; Step 3: Turn on the water pump in the water tank 5 on the orchard transfer platform 3, check the working condition of the water pipeline and its interface. When the orchard hydrological conditions meet the preconditions for aerial spraying, the aerial operation gimbal 2 reaches the set operating height under the action of vertical lift, driving the drone 201 to the target operating position. Step 4: The aerial work platform 2 lifts the spray system 1 from the helipad 301 of the transfer platform 3 to above the orchard. During the ascent of the spray system, the winch 6 adjusts the length of the water pipe 7 according to the working distance and sends the working liquid to the aerial work platform 2 through the water pump. After the aerial work platform 2 is working stably, the umbrella-shaped uniform spray system 1 begins to operate. Step 5: The ground-walking vehicle 4 and the drone 201 move to transport the spraying system 1 to different locations to spray the fruit trees.

[0046] Specifically, step one includes: Mechanical structure self-inspection: Check whether the drum 104 can rotate freely, whether the distribution of the fan-shaped nozzles 105 is correct, whether the drum locking device of the winch 6 is released, and whether the water pipe 7 is excessively bent. Electrical insulation self-test: Use a megohmmeter or built-in insulation monitoring circuit to test whether the insulation resistance to ground of the water pump motor, winch motor, drone battery and hub motor is greater than 2MΩ.

[0047] Step two specifically includes: Based on the target orchard's application area and recommended dosage per acre, calculate the total volume of the required working liquid (such as a mixture of insecticide and foliar fertilizer), and inject the prepared working liquid into water tank 5. By increasing or decreasing the number of fan-shaped nozzles 105 actually installed on the rotary drum 104, the total spray flow rate per unit time can be adjusted, thereby controlling the amount of pesticide applied per acre.

[0048] Step three specifically includes: Start the water pump in water tank 5 to circulate the working fluid in water pipe 7. Check all pipe joints (such as rotary joints) for leaks and ensure the pressure gauge reading is stable at the set value (e.g., 1.5MPa~2.5MPa). Simultaneously, use a meteorological sensor (optional) to detect orchard hydro-meteorological conditions such as wind speed (e.g., below 4m / s) and relative humidity (e.g., above 60%). Once the preset conditions are met, the operator sends a takeoff command via remote control or ground station. The quadcopter of UAV 201 generates vertical lift, causing the aerial work platform 2 to rise vertically to the set working height of 3m~8m above the ground, and then fly along the preset route (positioned via RTK) to the starting work point above the target row of fruit trees.

[0049] Step four specifically includes: When the UAV 201 takes off, it vertically lifts the spray system 1 off the helipad 301. During the lifting process, the encoder of the winch 6 detects the extended length of the water pipe 7 in real time and links it with the RTK altitude data of the UAV 201. The PID control algorithm adjusts the extension and retraction speed to keep the water pipe 7 at a suitable tension and prevent it from dragging on the ground. The water pump continuously pumps the working liquid in the water tank 5 through the water pipe 7 to the rotating drum 104 on the aerial work platform 2. After the UAV 201 hovers and stabilizes, the airflow generated by the UAV rotor causes the wind-driven fan 102 to rotate, which in turn rotates the rotating drum 104. The fan-shaped nozzles 105 on the rotating drum 104 rotate, which disperses the water flowing out of the drain hole 107 into a water mist, thus realizing the spraying operation.

[0050] Step five specifically includes: During the spraying operation, the ground-based mobile vehicle 4 moves synchronously forward along the rows of fruit trees, with its speed matching the flight speed of the drone 201 (e.g., both 1m / s to 2m / s). The drone 201 and the ground-based mobile vehicle 4 can maintain their relative positions using UWB or visual tracking, or they can move along pre-programmed synchronous trajectories. After completing the spraying of the current row, the drone 201, carrying the spraying system 1, ascends to a safe altitude, and the ground-based mobile vehicle 4 turns or moves to the next row. After both are repositioned, step four is repeated for the next row of spraying. During the operation, the water pump pressure (adjustable from 0.5MPa to 3MPa) can be adjusted to accommodate different canopy densities and droplet sizes.

[0051] In summary, when this application is used, the drive wheel 404 works to make the track 406 rotate under the support of the load-bearing wheel 403 and the tension wheel 405, thereby realizing the movement of the entire ground walking vehicle 4. When the ground-walking trolley 4 moves to the designated position, the drone 201 works to move the spray system 1. At this time, the winch 6 works to release the water pipe 7, and the water pump in the water tank 5 works to transport the water in the water tank 5 through the water pipe 7 and the rotary joint to the water inlet channel 106 in the rotating drum 104, thereby realizing the water supply work. When the UAV 201 takes off, the airflow generated by the UAV rotor causes the wind-driven fan 102 to rotate. The rotation of the wind-driven fan 102 causes the fairing 103 and the rotating drum 104 connected to it to rotate. At this time, the water flowing into the water storage chamber of the fairing 103 is discharged from the drain hole 107. The rotation of the rotating drum 104 causes the fan-shaped nozzle 105 to rotate, thereby dispersing the water flowing out of the drain hole 107 into a water mist state, thus realizing the spraying operation. When water droplets accumulate in the recess of the fan-shaped nozzle 105, the water flows through the atomizing nozzle 1053 into the coil 11. The airflow generated by the rotor of the second UAV 201 causes the small fan blades 9 on the connecting shaft 8 to rotate. The rotation of the connecting shaft 8 causes the rotating frame 12 in the cone 10 to rotate. Then, the squeezing wheel 13 on the rotating frame 12 rotates and squeezes the coil 11, thereby pressurizing the water flow in the coil 11. The pressurized water is then quickly discharged through the coil 11. The discharged water is then dispersed through the fan-shaped nozzle 105 on the next side, thereby improving the water utilization efficiency of the fan-shaped nozzle 105 and increasing the atomization effect.

[0052] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wind-driven fan-type uniform spraying device for orchards, characterized in that, It includes an aerial work platform (2) and a ground walking vehicle (4). The aerial work platform (2) is equipped with a spray system (1). The ground walking vehicle (4) carries a transfer platform (3) for the aerial work platform (2). The ground walking vehicle (4) is equipped with a water supply component connected to the spray system (1).

2. The wind-driven fan-type uniform spraying device for orchards according to claim 1, characterized in that, The aerial work platform (2) includes a drone (201), which is connected to the spray system (1).

3. The wind-driven fan-type uniform spraying device for orchards according to claim 2, characterized in that, The spray system (1) includes a fixed shaft (101) connected to the drone (201), a wind-driven fan (102) is provided on the fixed shaft (101), a fairing (103) is fixedly connected to the wind-driven fan (102), a rotating cylinder (104) is connected to the fairing (103), a fan-shaped nozzle (105) is provided on the rotating cylinder (104), a drain hole (107) is provided on the fairing (103), and the fairing (103) is connected to the water supply assembly.

4. The wind-driven fan-type uniform spraying device for orchards according to claim 3, characterized in that, The wind-driven fan (102) is connected to the fixed shaft (101) via a bearing. The shroud (103) is provided with a water storage chamber. The shroud (103) has an annular cross-section. The drain hole (107) is located on the side of the shroud (103) near the fan-shaped nozzle (105). The rotating drum (104) is provided with a water inlet channel (106) that communicates with the water storage chamber.

5. The wind-driven fan-type uniform spraying device for orchards according to claim 4, characterized in that, The water supply assembly includes a water tank (5) set on a transfer platform (3), a water pump is provided in the water tank (5), a winch (6) is also provided on the transfer platform (3), a water pipe (7) is wound on the winch (6), one end of the water pipe (7) is connected to the water pump in the water tank (5), and the other end of the water pipe (7) is connected to the water inlet channel (106) through a rotary joint.

6. The wind-driven fan-type uniform spraying device for orchards according to claim 4, characterized in that, The fan-shaped nozzle (105) includes a dispersing fan blade (1051), a connecting cylinder (1052), and an atomizing nozzle (1053). The dispersing fan blade (1051) is fixedly connected to the connecting cylinder (1052), and the connecting cylinder (1052) is fixedly connected to the rotating cylinder (104). The atomizing nozzle (1053) is located on the dispersing fan blade (1051) at one end away from the connecting cylinder (1052). The dispersing fan blade (1051) is distributed in a petal shape on the rotating cylinder (104). The area of ​​the dispersing fan blade (1051) gradually increases from the fairing (103) to the moving ground vehicle (4). The cross-section of the dispersing fan blade (1051) is hook-shaped. The atomizing nozzle (1053) is located in the recess of the dispersing fan blade (1051).

7. The wind-driven fan-type uniform spraying device for orchards according to claim 6, characterized in that, The fan-shaped nozzle (105) is also provided with a pressurization component, which includes a connecting shaft (8), a small fan blade (9), a cone (10), a coil (11), a rotating frame (12), and a squeezing wheel (13). The connecting shaft (8) is located in the recess of the fan-shaped nozzle (105). The two ends of the connecting shaft (8) are respectively located on both sides of the fan-shaped nozzle (105). One end of the connecting shaft (8) is connected to the small fan blade (9), and the other end of the connecting shaft (8) is connected to the rotating frame (12). The rotating frame (12) is hinged to the squeezing wheel (13). The cone (10) is fixedly connected to the fan-shaped nozzle (105). The coil (11) is fixed on the inner wall of the cone (10). The squeezing wheel (13) abuts against the coil (11). One end of the coil (11) is connected to the atomizing nozzle (1053) on the fan-shaped nozzle (105).

8. The wind-driven fan-type uniform spraying device for orchards according to claim 2, characterized in that, The transfer platform (3) is equipped with a helipad (301) and a power distribution compartment (302).

9. The wind-driven fan-type uniform spraying device for orchards according to claim 1, characterized in that, The ground walking vehicle (4) is provided with a frame (401) on both sides. Two fixed seats (402) are provided on one side of the frame (401). The fixed seats (402) are provided with load-bearing wheels (403). One of the fixed seats (402) is provided with a drive wheel (404). The other fixed seat (402) is provided with a tension wheel (405). The load-bearing wheels (403), drive wheels (404) and tension wheels (405) are connected to a track (406). The fixed seats (402) are provided with a movable seat. The movable seat is connected to the tension wheel (405). The movable seat is connected to the fixed seat (402) by adjusting bolts.

10. A method of using the wind-driven fan-type orchard uniform spraying device according to any one of claims 1-9, characterized in that, The specific steps include: Step 1: Conduct equipment self-inspection to ensure the safety of the device's mechanical structure, good electrical insulation, and normal switch control and communication. Step 2: Load the working liquid into the water tank according to the size of the orchard, and adjust the spraying effect and control the spraying dosage by adjusting the number of fan-shaped nozzles (105) on the rotating drum (104); Step 3: Turn on the water pump in the water tank (5) of the orchard transfer platform (3), check the working condition of the water pipeline and its interface. When the hydrological conditions of the orchard meet the preconditions for aerial spraying, the aerial operation gimbal (2) reaches the set operation height under the action of vertical lift, and drives the drone (201) to the target operation position. Step four: The aerial work platform (2) lifts the spray system (1) from the landing pad (301) of the transfer platform (3) to above the orchard. During the ascent of the spray system, the winch (6) adjusts the length of the water pipe (7) according to the working distance and delivers the working liquid to the aerial work platform (2) via a water pump. After the aerial work platform (2) is in stable operation, the umbrella-shaped uniform spray system (1) begins to operate. Step 5: The ground-walking vehicle (4) and the drone (201) move to transport the spraying system (1) to different locations to spray the fruit trees.

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