A laser operation device and method with the ability of leaf back pest control and inter-plant weed control

Abstract

The application belongs to the technical field of agricultural intelligent equipment, and particularly relates to a laser operation device and method with leaf back pest removal and inter-plant weed removal capabilities; the device comprises a UAV frame, a self-adaptive variable-pitch flight arm assembly installed on the UAV frame, a turnover rotor mechanism installed on the self-adaptive variable-pitch flight arm assembly, a reel telescopic laser operation mechanism suspended below the UAV frame, a laser and a camera; the device has variable-pitch and turnover flight capabilities, is suitable for weed and pest removal operations in various planting modes and scenes, can realize flight operation between plants below the crop canopy, and can further realize laser removal of pests or insect eggs on the back of plant leaves.

Description

Technical Field

[0001] This invention belongs to the field of agricultural intelligent equipment technology, and in particular relates to a laser operation device and method with the ability to remove insects from the back of leaves and weed between plants. Background Technology

[0002] In crop production, pests and weeds are the main factors restricting yield and quality. Currently, the control of these pests still heavily relies on chemical methods, namely, management through the spraying of chemical insecticides and herbicides. Long-term, large-scale use of chemical pesticides not only easily leads to excessive pesticide residues in agricultural products, threatening food safety, but also causes ecological and environmental problems such as soil compaction, acidification, and eutrophication of water bodies. Furthermore, chemical agents can simultaneously kill beneficial insects and microorganisms, thereby disrupting the balance of the farmland ecosystem and inducing and exacerbating pesticide resistance in pests.

[0003] More significantly, in the later stages of crop growth, the plant canopy tends to become denser, reducing ventilation and light penetration between plants, making it difficult for traditional spraying methods to effectively deliver pesticides to the target area. Whether it's manual backpack spraying, ground boom spraying, or the rapidly developing agricultural drones, the pesticide droplets are mostly deposited on the top surface of the canopy due to the layered obstruction of the leaves, making it difficult to penetrate to the lower and middle parts of the plant, the root zone, and the undersides of leaves—hidden areas. Many important pests and large numbers of insect eggs tend to congregate on the undersides of leaves, in leaf axils, at the base of stems, and near the roots, making these areas blind spots for chemical control. Meanwhile, weeds growing between crops compete fiercely for light, water, and nutrients in the later stages of growth. However, at this time, the plants are tall and the rows are densely packed, making it difficult for ground machinery to enter and loosen the soil for weeding. Manual weeding is inefficient and costly. If chemical weeding continues, it's difficult to avoid problems such as pesticide drift damaging seedlings and increased soil residue.

[0004] To overcome the drawbacks of chemical control, physical control technologies have received widespread attention in recent years, especially the use of lasers for weeding and pest control. Lasers can precisely burn targets with high-energy-density beams, causing necrosis of weed meristems or instantaneous inactivation of pests without producing chemical pollution. Existing technologies include publicly available laser weeding robots equipped with machine vision systems to identify weeds and guide laser beams to the base of weed stems via robotic arms for physical weed control. However, these devices are mostly ground-based and cannot easily access densely packed plants in the later stages of crop growth without damaging them. Furthermore, the single laser beam angle makes it difficult to target weeds close to the base of plants or vines entwined on stems. Regarding pest control, some studies have proposed using lasers to kill flying or leaf-surface pests, but these also often rely on fixed supports or ground vehicles as platforms, limiting the operating range and preventing laser irradiation from below or to the sides of leaves. This results in pests and eggs in hidden areas such as the underside of leaves and roots not being effectively removed. Although a few solutions have attempted to mount laser modules on drones, their laser emission direction is usually vertically downward or at a fixed angle. They are mainly used to remove pests or weeds on the surface of crops, but they still do not have the ability to remove pests on the back of leaves below the crop canopy, nor can they achieve precise physical removal of weeds between plants at the same time.

[0005] Therefore, how to provide a non-chemical, non-contact operating device that can penetrate the crop canopy and enter between plants, while simultaneously achieving precise pest control on the underside of leaves below the canopy and precise physical removal of weeds between plants, has become a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0006] In view of this, the present invention aims to provide a laser operation device and method with the ability to remove insects on the back of leaves and weeds between plants, so as to achieve the prevention and control of weeds between crop plants and insect pests in the hidden areas below the canopy.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A laser-based application device capable of removing insects from the underside of leaves and weeding between plants includes: Drone rack; An adaptive variable-pitch flight arm assembly is mounted on the UAV frame; A tilting rotor mechanism is mounted on the flight arm of the adaptive variable pitch flight arm assembly; A retractable laser operation mechanism is suspended below the drone frame. The retractable laser operation mechanism includes: A horizontal servo motor is mounted below the UAV frame; A reel motor mounting bracket is connected to the output end of the horizontal servo motor to rotate about a vertical axis under the drive of the horizontal servo motor; The first and second reel motors are both mounted on the reel motor mounting bracket; The first spool is driven to rotate by the first spool motor; The second reel is driven to rotate by the second reel motor; A pitch servo is connected to the ends of the first and second reels via a pitch servo mounting bracket; the top two sides of the pitch servo mounting bracket are fixedly connected to the ends of the first and second reels, respectively. The laser is connected to the output end of the pitch servo via a laser mounting bracket, so as to perform pitch rotation under the drive of the pitch servo. Specifically: the laser is mounted on a laser mounting bracket, and the upper ends of the laser mounting bracket are respectively connected to the dual output ends of the pitch servo via pitch servos from the servo disk; The camera is mounted on the laser mount via a camera mount.

[0008] The device also includes a first reel fixing wheel and a second reel fixing wheel, wherein the reel motor mounting bracket is connected from the rudder disk to the output end of the horizontal rudder via a horizontal servo motor, so as to rotate under the drive of the horizontal servo motor. The first reel motor is disposed outside the reel motor mounting frame, its drive shaft passes through the reel motor mounting frame and is drivenly connected to the first reel fixing wheel located inside the reel motor mounting frame. The first reel is coaxially fixedly mounted on the end face of the first reel fixing wheel. The second reel motor is located outside the reel motor mounting bracket. Its drive shaft passes through the reel motor mounting bracket and is drivenly connected to the second reel fixing wheel located inside the reel motor mounting bracket. The second reel is coaxially fixedly mounted on the end face of the second reel fixing wheel.

[0009] The horizontal servo is fixed to the lower part of the crossbeam in the middle of the UAV frame by a horizontal servo mounting bracket.

[0010] The UAV frame has flight arm pivots at both ends along its longitudinal direction. Specifically, there are first and second flight arm pivots, which are used to mount the flight arms of the adaptive variable pitch flight arm assembly.

[0011] The adaptive variable-pitch flight arm assembly consists of two sets, symmetrically arranged at both ends of the horizontal servo mounting frame along the longitudinal direction of the UAV frame; wherein: The adaptive variable pitch flight arm assembly includes a wound motor mounting bracket, a winding device, and an inner flight arm assembly and an outer flight arm assembly arranged symmetrically along the transverse side of the UAV frame. The inner and outer flight arm assemblies have the same structure, both including a flight arm, a rotor mounting rod, a flight arm connecting rod guide rail, an electric actuator, and a transmission mechanism; the ends of the flight arms of the inner and outer flight arm assemblies are hinged through corresponding flight arm pivots. The electric actuator has a telescopic actuator end, which is connected to the winding motor mounting bracket; The transmission mechanism is connected between the push rod end of the electric push rod and the flight arm connecting rod guide rail, and is used to convert the linear motion of the push rod end into the motion of the flight arm connecting rod guide rail, thereby driving the flight arm to switch between the folded position and the unfolded position; The winding device is mounted on the winding motor mounting bracket and includes a winding motor and a winding wheel driven by the motor. The winding wire wound on the winding wheel is connected to the corresponding flight arm shaft so as to synchronously wind and unwind the cable when the flight arm moves.

[0012] The winding motor is fixedly mounted on the winding motor mounting bracket. The winding wheel is located inside the winding motor mounting bracket and is mounted on the shaft end of the winding motor, and is driven to rotate by the winding motor. One end of the winding wire is connected to the corresponding flight arm shaft, and the other end is wound on the winding wheel.

[0013] The tilting rotor mechanism includes: Rotor motor; A rotor driven by the rotor motor; The tilting servo is fixed to the corresponding rotor mounting rod via a tilting servo mounting bracket; specifically: one end of the tilting servo mounting bracket is a portal frame for mounting the tilting servo, and the other end is a frame with a central through hole, into which the rotor mounting rod is fitted and fixed. A rotor motor mounting bracket is provided, on which the rotor motor is mounted, and the rotor motor mounting bracket is connected to the output shaft end of the tilting servo.

[0014] The drone frame is equipped with a lidar; the lidar includes a first lidar and a second lidar, which are arranged symmetrically along the transverse side of the drone frame and are respectively mounted on both sides of the middle part of the drone frame via the first lidar mounting bracket and the second lidar mounting bracket.

[0015] The laser operation device also includes an onboard computer, which is mounted on the UAV frame and is connected to the camera to receive image data collected by the camera. The onboard computer is connected to the horizontal servo, the first reel motor, the second reel motor, the pitch servo, the laser, the rotor motor, the roll servo, the inner electric actuator, and the outer electric actuator to send control commands to each actuator.

[0016] A method for inter-plant weeding and leaf underside pest control using a laser-based device involves first controlling the device to fly to the target area, and then selecting the following operating modes: Mode 1, forward-flying inter-plant weeding mode, details are as follows: Step S1: After flying to the target work area, calculate the distance between the working end face of the laser and the surface of the target work object based on the point cloud data collected by the first and second lidars, and adjust the rotor motor speed accordingly to adjust the device to the preset work height and hover. Step S2: The camera captures color images of the plants in the target work area, and the target weeds are identified and located based on the color images; Step S3: Control the first and second reel motors to rotate synchronously according to the position of the target weeds, and adjust the distance between the laser and the target weeds to the optimal working focal length; Step S4: Control the pitch and horizontal servos to work together, adjust the pitch angle and horizontal direction of the laser, and aim the laser beam at the part of the target weed to be burned; Step S5: The laser is turned on, emitting laser light to burn and remove the target weeds; Step S6: Repeat steps S2 to S5 to remove all target weeds in the current inter-plant area in sequence; Mode 2, variable-distance inter-plant pest control mode, details are as follows: Step S1: Based on the point cloud data collected by the first and second lidar, identify individual crops and calculate the plant spacing. Step S2: Based on the plant spacing, control the outer and inner electric actuators to shorten synchronously, driving the flight arm to rotate inward to reduce the flight width; at the same time, control the flip servo to compensate for the rotor rotation plane tilt deviation caused by the flight arm rotation in real time, so that the rotor rotation plane is parallel to the horizontal plane; then adjust the rotor motor speed and speed difference to make the device travel between plants; when the camera identifies the target pest or insect eggs, hover. Step S3: The camera captures images of the roots and stems of the crop plants to identify and locate target pests or insect eggs. Step S4: Based on the location of the target pest or eggs, control the reel motor to adjust the laser focal length, and control the horizontal and vertical servos to adjust the laser beam to align with the target; Step S5: The laser is turned on, emitting laser light to kill the target pests or eggs; Step S6: Repeat steps S3 to S5 to kill all target pests or eggs in the current inter-plant area in sequence; Step S7: Fly to the next target work area and repeat steps S1 to S6 until all areas are completed. Mode 3, variable-pitch flipping flight mode for insect removal on the underside of leaves, details are as follows: Step S1: Identify the outline of the target plant canopy based on the point cloud data collected by the lidar. After determining that the airspace above the target plant has been reached, control the flip servo to drive the rotor assembly to rotate synchronously by 180 degrees, so that the retractable laser operation mechanism is facing upwards and then hovers. Step S2: Identify individual crops and calculate plant spacing based on point cloud data collected by lidar; Step S3: Control the flight arm to rotate inward to reduce the flight width according to the plant spacing, and control the flip servo to compensate for the tilt deviation in real time to achieve variable pitch flight in the flip state; then adjust the rotor motor speed and speed difference to make the device travel under the crop canopy; hover when the camera detects the target pest or insect eggs on the back of the leaf. Step S4: The camera captures images of the back of crop leaves to identify and locate target pests or insect eggs. Step S5: Based on the location of the target pest or eggs, control the reel motor to adjust the laser focal length, and control the horizontal and vertical servos to adjust the laser beam to align with the target on the back of the blade. Step S6: The laser is turned on and emits laser light to kill the target pests or eggs; repeat steps S4 to S6 to kill all target pests or eggs in the current inter-plant area in turn. Step S7: Fly to the next target work area and repeat steps S1 to S6 until all areas are completed. Mode 4, Task Completion and Return, details are as follows: Step S1: After all operations are completed, control the reel motor to synchronously reverse and retract the reel, raising the reel telescopic laser operation mechanism to a safe storage height; Step S2: Control the outer electric actuator and the inner electric actuator to extend synchronously, drive the flight arm to rotate outward to return to the unfolded state, and at the same time retract the winding line; Step S3: During the deployment of the flight arm, control the tilt servo to compensate for tilt deviation in real time. After deployment, adjust the rotor motor speed and speed difference, and control the device to fly to the return area and land. Step S4: When storage is required, control the electric actuator to drive the flight arm to switch to the folded state.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects: The laser operation device described in this invention has variable distance and flip flight capabilities, and is suitable for weeding and pest control operations in various planting modes and scenarios. It can achieve flight operations between plants below the crop canopy, and can further achieve laser removal of pests or insect eggs on the back of plant leaves.

[0018] In the telescopic laser operating mechanism described in this invention, both the first and second reels are arc-shaped structures, enabling unidirectional bending and contraction. Furthermore, the extended structure possesses sufficient load-bearing rigidity to stably support the weight of the pitch servo, laser, camera, and connecting supports. During the overall telescopic movement and angle adjustment, the laser's posture remains stable during operation. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the laser operation device of the present invention in its deployed state; Figure 2 This is a structural diagram of the main body of the UAV of the present invention; Figure 3 This is a schematic diagram of the structure of the retractable laser operation mechanism of the present invention; Figure 4 This is a partial structural diagram of the retractable laser operation mechanism of the present invention; Figure 5 This is a structural diagram of the pitch angle adjustment part of the retractable laser working mechanism of the present invention; Figure 6 This is a schematic diagram of the horizontal angle adjustment of the retractable laser working mechanism of the present invention; Figure 7 This is a schematic diagram of the pitch angle adjustment of the retractable laser working mechanism of the present invention; Figure 8 This is a schematic diagram of the adaptive variable-pitch flight arm assembly structure of the present invention; Figure 9 This is a schematic diagram of the adaptive variable-pitch flight arm winding section of the present invention; Figure 10 This is a schematic diagram of the pitch-changing state of the adaptive variable-pitch flight arm of the present invention; Figure 11 This is a schematic diagram of the tilting rotor mechanism of the present invention; Figure 12 This is a schematic diagram of the flipping rotor mechanism of the present invention. Figure 13 This is a schematic diagram of the variable-pitch flight inter-plant insect removal mode of the device of the present invention; Figure 14 This is a schematic diagram of the variable-pitch flipping flight mode for insect removal on the back of leaves using the device of the present invention; Figure 15 This is a side view of the variable-pitch flipping flight mode of the device of the present invention for removing insects from the back of leaves.

[0020] in: The drone main body 1, the first flight arm pivot 101, the drone frame 102, the battery mounting bracket 103, the battery 104, the first lidar 105, the first lidar mounting bracket 106, the onboard computer 107, the second flight arm pivot 108, the second lidar 109, and the second lidar mounting bracket 110; The reel-type telescopic laser operating mechanism 2 includes: a horizontal servo mounting bracket 201, a horizontal servo 202, a horizontal servo slave servo disc 203, a reel motor mounting bracket 204, a first reel mounting wheel 205, a first reel motor 206, a first reel 207, a pitch servo 208, a pitch servo mounting bracket 209, a laser mounting bracket 210, a camera mounting bracket 211, a camera 212, a laser 213, a second reel motor 214, a second reel 215, a second reel mounting wheel 216, and a pitch servo slave servo disc 217; Adaptive variable pitch flight arm assembly 3, first rotor mounting rod 301, inner flight arm connecting rod 302, inner flight arm connecting rod guide rail 303, inner flight arm 304, winding line 305, outer flight arm 306, outer flight arm connecting rod guide rail 307, outer flight arm connecting rod 308, second rotor mounting rod 309, outer connecting rod ball joint bearing 310, outer electric actuator 311, outer actuator base 312, winding motor mounting bracket 313, winding motor 314, inner actuator base 315, inner electric actuator 316, inner connecting rod ball joint bearing 317, winding reel 318; 4. Rotor mechanism 401. Rotor servo mounting bracket 402. Rotor servo 403. Rotor motor mounting bracket 404. Rotor 405. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] In one embodiment of the present invention, a laser operation device with the ability to remove insects on the underside of leaves and weed between plants includes a drone main body 1, a retractable laser operation mechanism 2, an adaptive variable-pitch flight arm assembly 3, and a flipping rotor mechanism 4. (1) UAV main body 1, please refer to Figures 1 to 2It includes a first flight arm pivot 101, a drone frame 102, a battery holder 103, a battery 104, a first lidar 105, a first lidar holder 106, an onboard computer 107, a second flight arm pivot 108, a second lidar 109, and a second lidar holder 110.

[0024] The UAV frame 102 has a first flight arm pivot 101 and a second flight arm pivot 108 at its two longitudinal ends. The battery 104 and onboard computer 107 are both mounted on the UAV frame 102. The battery 104 is fixed to the UAV frame 102 by a battery mounting bracket 103. The first lidar 105 and the second lidar 109 are mounted on both sides of the central crossbeam of the UAV frame 102 by first lidar mounting brackets 106 and second lidar mounting brackets 110, respectively. Specifically: The UAV frame 102 includes a front horizontal bar, a front vertical bar, a middle crossbeam, a rear vertical bar, and a rear horizontal bar connected in sequence. The battery 104 is fixed to the front vertical bar by a battery mounting bracket 103, and the onboard computer 107 is fixed to the rear vertical bar. The first flight arm pivot 101 and the second flight arm pivot 108 are respectively located at the outer ends of the front horizontal bar and the rear horizontal bar.

[0025] (2) Reel telescopic laser working mechanism 2, please refer to Figures 3 to 7 It includes a horizontal servo mount 201, a horizontal servo 202, a horizontal servo slave servo disc 203, a reel motor mount 204, a first reel fixed wheel 205, a first reel motor 206, a first reel 207, a pitch servo 208, a pitch servo mount 209, a laser mount 210, a camera mount 211, a camera 212, a laser 213, a second reel motor 214, a second reel 215, a second reel fixed wheel 216, and a pitch servo slave servo disc 217.

[0026] The horizontal servo 202 is mounted below the middle crossbeam of the UAV frame 102 via the horizontal servo mounting bracket 201. The reel motor mounting bracket 204 is connected from the servo disk 203 to the output end of the horizontal servo 202 via the horizontal servo. The first reel motor 206 and the second reel motor 214 are both mounted on the reel motor mounting bracket 204. The first reel motor 206 is disposed outside the reel motor mounting bracket 204, and its drive shaft passes through the reel motor mounting bracket 204 and is drivenly connected to the first reel fixing wheel 205 located inside the reel motor mounting bracket 204. The first reel 207 is coaxially fixedly mounted on the end face of the first reel fixing wheel 205. The drive shaft of the first reel motor 206 is rotatably supported on the reel motor mounting bracket 204 by bearings. The second reel motor 214 is disposed outside the reel motor mounting bracket 204, and its drive shaft passes through the reel motor mounting bracket 204 and is drivenly connected to the second reel fixing wheel 216 located inside the reel motor mounting bracket 204. The second reel 215 is coaxially fixedly mounted on the end face of the second reel fixing wheel 216. The drive shaft of the second reel motor 214 is rotatably supported on the reel motor mounting bracket 204 by bearings. Both the first reel 207 and the second reel 215 are integrated industrial reels with built-in tape.

[0027] The top two sides of the pitch servo mounting bracket 209 are respectively connected to the ends of the first reel 207 and the second reel 215, and the pitch servo 208 is fixed inside the pitch servo mounting bracket 209.

[0028] Laser 213 is mounted on laser mounting bracket 210. The laser mounting bracket 210 is connected to the dual output ends of the pitch servo 208 via pitch servo 217 from the servo disk 217 at both ends. The camera 212 is connected to the laser mount 210 via the camera mount 211, and the laser 213 is mounted on the laser mount 210.

[0029] Furthermore, the laser mounting bracket 210 is a one-piece molded part, including a left L-shaped bracket and a right L-shaped bracket, and the left L-shaped bracket and the right L-shaped bracket are connected by two arc-shaped plates; The left L-shaped frame and the right L-shaped frame each have a short plate, and the ends of the two short plates are arc-shaped, so that the arc-shaped ends of the two short plates and the two arc-shaped plates together form a circular through hole, and the laser 213 is inserted and fixed in the circular through hole. Furthermore, the camera mounting bracket 211 includes a hollow cylinder and a connecting plate. The hollow cylinder is fitted around the two arc-shaped plates, and the connecting plate is fixed to the outer wall of the hollow cylinder. The camera 212 is fixedly mounted on the connecting plate.

[0030] The first reel 207 and the second reel 215 are synchronously wound up and down under the drive of the corresponding reel motors to adjust the ground height of the laser 213 and the camera 212.

[0031] (3) In this embodiment, please refer to Figures 8 to 12 The adaptive variable-pitch flight arm assembly 3 consists of two sets, symmetrically arranged at both ends of the horizontal servo mounting frame 201 along the longitudinal direction of the UAV frame 102; wherein the adaptive variable-pitch flight arm assembly 3 includes an inner flight arm assembly and an outer flight arm assembly; specifically: The inner flight arm assembly includes a first rotor mounting rod 301, an inner flight arm 304, and connecting elements such as an inner flight arm connecting rod guide rail 303, an inner electric actuator 316, an inner flight arm connecting rod 302, and an inner connecting rod ball joint bearing 317. One end of the inner flight arm connecting rod guide rail 303 is connected to the first rotor mounting rod 301, and the other end is connected to the inner flight arm 304. The folding and unfolding of the inner flight arm 304 is driven by the inner electric actuator 316, with the following transmission path: one end of the inner flight arm connecting rod 302 is connected to the inner flight arm connecting rod guide rail 303, and the other end is connected to the actuator end of the inner electric actuator 316 via the inner connecting rod ball joint bearing 317. The inner connecting rod ball joint bearing 317 includes a rod portion and a first ball joint bearing and a second ball joint bearing respectively disposed at both ends of the rod portion. The end of the inner flight arm link 302 is hinged to the first ball joint bearing; The push rod end of the inner electric push rod 316 is hinged to the second ball joint bearing; The inner push rod base 315 of the inner electric push rod 316 is fixed to one side of the winding motor fixing bracket 313.

[0032] The outer flight arm assembly adopts a symmetrical structure to the inner flight arm assembly, including a second rotor mounting rod 309, an outer flight arm 306, and connecting elements such as an outer flight arm link guide rail 307, an outer electric actuator 311, an outer flight arm link 308, and an outer link ball joint bearing 310. One end of the outer flight arm link guide rail 307 is connected to the second rotor mounting rod 309, and the other end is connected to the outer flight arm 306. One end of the outer flight arm link 308 is connected to the outer flight arm link guide rail 307, and the other end is connected to the actuator end of the outer electric actuator 311 via the outer link ball joint bearing 310. The outer connecting rod ball joint bearing 310 includes a rod portion and a first ball joint bearing and a second ball joint bearing respectively disposed at both ends of the rod portion. The end of the outer flight arm link 308 is hinged to the first ball joint bearing; The push rod end of the outer electric push rod 311 is hinged to the second ball joint bearing; The outer push rod base 312 of the outer electric push rod 311 is fixed to the other side of the winding motor fixing bracket 313.

[0033] The inner ends of the inner flight arm 304 and the outer flight arm 306 are respectively provided with connecting ears for forming a hinge. The flight arm pivot passes through the connecting ears of the inner flight arm 304 and the outer flight arm 306 to form a rotatable connection. Specifically: the first flight arm pivot 101 passes through the connecting ears of the inner flight arm 304 and the outer flight arm 306 of a set of adaptive variable pitch flight arm assemblies 3, and the second flight arm pivot 108 passes through the connecting ears of the inner flight arm 304 and the outer flight arm 306 of another set of adaptive variable pitch flight arm assemblies 3.

[0034] To enable synchronized cable winding and unwinding during the folding and unfolding of the flight arm, this component is also equipped with a winding device. The winding device includes a winding motor mounting bracket 313, a winding motor 314, a winding wheel 318, and a winding thread 305. The winding motor 314 is fixed to the outer wall of the winding motor mounting bracket 313, and its drive shaft passes through the outer wall of the winding motor mounting bracket 313 and is driven to rotate the winding wheel 318 located inside the winding motor mounting bracket 313. One end of the winding thread 305 is connected to the corresponding flight arm pivot, and the other end is wound around the winding wheel 318 to synchronize cable winding and unwinding during the flight arm's movement. The winding motor mounting bracket 313 has a through hole for the winding thread 305 to pass through.

[0035] When the flight arm folds or unfolds, the winding motor 314 drives the winding wheel 318 to rotate accordingly to release or retract the winding line 305, thereby preventing the cable from getting tangled or loose during the flight arm's movement.

[0036] The inner flight arm assembly and the outer flight arm assembly are structurally symmetrical and installed in the same way. They can move synchronously or independently to achieve folding and unfolding control of one or both flight arms.

[0037] Each set of adaptive variable pitch flight arm assemblies 3 has a tilting rotor mechanism 4 installed on the first rotor mounting rod 301 of the inner flight arm assembly and the second rotor mounting rod 309 of the outer flight arm assembly.

[0038] (4) The tilting rotor mechanism 4 includes a rotor motor 405 and a rotor 404 driven by the rotor motor 405; specifically: the rotor 404 is mounted on the shaft end of the rotor motor 405; Rotor motor mounting bracket 403 is used to support the rotor motor 405 and rotor 404; A tilt drive device is fixedly connected to the rotor mounting rod of the corresponding flight arm. The rotor motor mounting bracket 403 is connected to the output end of the tilt drive device so that it can rotate around an axis under the drive of the tilt drive device, thereby changing the thrust direction of the rotor 404.

[0039] The tilt drive device includes a tilt servo 402 and a tilt servo mounting bracket 401. The tilt servo 402 is fixed to the corresponding rotor mounting rod via the tilt servo mounting bracket 401. Specifically, one end of the tilt servo mounting bracket 401 is a portal frame for mounting the tilt servo 402, and the other end is a frame with a central through hole, into which the rotor mounting rod is fitted and fixed. The rotor motor 405 is mounted on the rotor motor mounting bracket 403, and the rotor motor mounting bracket 403 is connected to the output shaft end of the tilting servo 402.

[0040] The batteries 104 on the drone frame 102 provide power to the onboard computer 107, camera 212, horizontal servo 202, first reel motor 206, second reel motor 214, pitch servo 208, laser 213, rotor motor 405, tilt servo 402, inner electric actuator 316 and outer electric actuator 311.

[0041] The onboard computer 107 is signal-connected to the camera 212 to receive image data collected by the camera 212; the onboard computer 107 is control-connected to the horizontal servo 202, the first reel motor 206, the second reel motor 214, the pitch servo 208, the laser 213, the rotor motor 405, the tilt servo 402, the inner electric actuator 316, and the outer electric actuator 311 to send control commands to each actuator.

[0042] Working principle: Operation preparation and takeoff: The device is powered on and the battery 104 supplies power to the whole machine. The onboard computer 107 sends control commands to each execution component. Under the drive of the inner electric push rod 316 and the outer electric push rod 311, each adaptive variable pitch flight arm assembly 3 switches the outer flight arm 306 and the inner flight arm 304 from the folded state to the unfolded state. That is, the push rod ends of the inner electric push rod 316 and the outer electric push rod 311 extend outward, so that the outer flight arm 306 and the inner flight arm 304 rotate and align, and achieve the unfolded state. The winding device synchronously adjusts the winding line 305 to ensure smooth folding and unfolding.

[0043] When rotor motor 405 is turned on, rotor 404 rotates at high speed under the drive of rotor motor 405, and the device takes off and flies toward the target work area. During the flight, the flight altitude and direction of the device are adjusted by adjusting the speed difference between each rotor motor 405 until it flies to the target work area.

[0044] Depending on the specific task, the laser-based work device of this invention has the following three operating modes: Mode 1, forward-flying inter-plant weeding mode; Step S1: During the flight of the operating device, the first lidar 105 and the second lidar 109 collect point cloud data of the surrounding environment in real time and transmit the point cloud data to the airborne computer 107. The onboard computer 107 constructs a three-dimensional model of the surrounding environment based on the point cloud data, and matches the feature information of the three-dimensional model with the pre-stored environmental feature information of the target work area to determine whether the current environment is the target work area. If not, the onboard computer 107 generates flight control commands to adjust the rotational speed of the rotor motor 405 and the speed difference between each rotor motor 405, thereby adjusting the altitude and direction of the device until it flies to the target work area.

[0045] The target operating area is above the crop. This mode is used when the crop is in the seedling stage, growing at a low height and the canopy has not yet formed. Therefore, there is no need for variable pitch flight, so the flip servo 402 does not need to be activated.

[0046] After reaching the target work area, the onboard computer 107 calculates the vertical distance between the working end face of the laser 213 and the surface of the target work object based on the point cloud data collected by the first lidar 105 and the second lidar 109, and uses it as the current relative height. The onboard computer 107 adjusts the rotation speed of the rotor motor 405 according to the current relative altitude to adjust the device to the preset working height; when the current relative altitude reaches the working height, the onboard computer 107 controls the rotor motor 405 to maintain a stable rotation speed so that the total lift generated by the four rotors 404 is equal to the total weight of the working device, so as to keep the device in a hovering state. In step S2, while hovering, the camera 212 captures color images of the plants in the target work area and transmits them to the onboard computer 107. The onboard computer 107 identifies and locates the target weeds based on the color images and obtains the location information of the target weeds. Step S3: Based on the location information of the target weeds, the onboard computer 107 controls the first spool motor 206 and the second spool motor 214 to rotate synchronously, driving the release or retraction of the ends of the first spool 207 and the second spool 215 to adjust the distance between the working end face of the laser 213 and the target weeds, so that the laser 213 reaches the preset optimal working focal length position. In step S4, the onboard computer 107 controls the pitch servo 208 to drive the laser mounting bracket 210 to rotate in pitch, adjusting the pitch angle of the laser 213; at the same time, the horizontal servo 202 is controlled to drive the reel motor mounting bracket 204 to rotate around the vertical axis to adjust the direction of the laser 213; through the coordinated action of the horizontal servo 202 and the pitch servo 208, the laser beam emitted by the laser 213 is precisely aimed at the part of the target weeds to be burned. Step S5: After alignment, the laser 213 is activated by the onboard computer 107 to emit a laser to irradiate the stem base or meristem of the target weed, so as to burn and necrotize it. Step S6: After removing one target weed, the onboard computer 107 controls the device to repeat the weed identification and positioning steps up to the laser removal step (i.e., repeat steps S1-S5), so that the laser 213 sequentially acts on all the target weeds identified in the current color image until there are no target weeds in the current inter-plant area image collected by the camera 212.

[0047] Mode 2, variable-distance inter-plant pest control mode, such as Figure 13 As shown; Step S1: After the device flies to the target work area, it identifies individual crops and calculates the plant spacing by receiving point cloud data from the first lidar 105 and the second lidar 109 through the onboard computer 107. Furthermore, the onboard computer 107 identifies individual crops based on the three-dimensional contour features and spatial arrangement patterns of the target objects in the point cloud data, and calculates the horizontal distance between the geometric centers of adjacent individual crops as the plant spacing. Step S2: Based on the plant spacing data, the onboard computer 107 performs the following spacing adjustment operation: The winding motor 314 is controlled to rotate, which drives the winding wheel 318 to adjust the length of the winding thread 305; at the same time, the outer electric push rod 311 and the inner electric push rod 316 are controlled to shorten synchronously, which respectively drive the outer flying arm 306 and the inner flying arm 304 to rotate inward around the corresponding flying arm pivot axis, thereby reducing the overall width of the device and enabling the device to fly between crop plants. During this process, due to the rotation of the outer flight arm 306 and the inner flight arm 304, the rotation plane of the rotor 404 is no longer parallel to the ground (horizontal plane). Therefore, the onboard computer 107 controls the tilt servo 402 to be activated, and adjusts the tilt angle of the rotor motor mounting bracket 403 in real time. Its function is to compensate for the tilt deviation caused by the rotation of the flight arms, so that the rotation plane of the rotor 404 is parallel to the ground (horizontal plane). Based on this, the speed of the rotor motor 405 and the speed difference between each rotor motor 405 are adjusted by the airborne computer 107 to adjust the flight altitude and flight direction of the device, so that the device can travel between plants. During the process of moving between plants, when the onboard computer 107 first identifies the target pest or insect eggs based on the real-time images collected by the camera 212, it is determined that the device has reached the target pest control location. At this time, the rotation speed of the rotor motor 405 is kept stable by the onboard computer 107, so that the total lift generated by the four rotors 404 is equal to the total weight of the working device, so as to keep the UAV in a stable hovering state. Step S3: In the hovering state, the camera 212 captures images of pests or insect eggs at the roots and stems of crop plants and transmits them to the onboard computer 107. The onboard computer 107 identifies and locates the pests or insect eggs from the images and obtains the location information of the target pests or insect eggs. Step S4: The onboard computer 107 controls the first reel motor 206 and the second reel motor 214 to rotate synchronously according to the location information of the target pest or insect egg, so as to drive the coordinated release or retraction of the ends of the first reel 207 and the second reel 215, and adjust the distance between the working end face of the laser 213 and the target pest or insect egg, so that the laser 213 reaches the preset optimal working focal length position. Simultaneously, the horizontal servo motor 202 and the pitch servo motor 208 are controlled to rotate in coordination to adjust the horizontal pointing and pitch angle of the laser 213, so that the laser beam emitted by the laser 213 is precisely aimed at the target pest or insect egg. Step S5: The laser 213 is activated by the onboard computer 107 to emit lasers to kill the target pests or eggs. Step S6: After killing a target pest or insect egg, the onboard computer 107 controls the device to repeat steps S3 to S5, so that the laser 213 acts sequentially on all target pests or insect eggs identified from the current image until there are no target pests or insect eggs in the current image captured by the camera 212. Step S7: After completing the operation in the current inter-plant area, fly to the next target operation area through the onboard computer 107 control device, and repeat steps S1 to S6 to continue the pest control operation until the pest control operation in all target operation areas is completed. Mode 3, variable-pitch flipping flight mode for insect removal on the underside of leaves, such as... Figure 14 and Figure 15 As shown; S1: The onboard computer 107 identifies the canopy outline of the target plant based on the point cloud data collected in real time by the first lidar 105 and the second lidar 109; when the determination device has flown to the airspace above the target plant, it confirms that the working device has reached the vicinity of the target plant. Subsequently, the onboard computer 107 controls the tilting servo 402 to drive the rotor motor mounting bracket 403, the rotor motor 405 and the rotor 404 to rotate synchronously by 180 degrees, so as to realize the tilting flight of the device and make the scroll telescopic laser operation mechanism 2 face upward, that is, towards the back of the crop leaf. After the flip is completed, the rotation speed of the rotor motor 405 is kept stable by the onboard computer 107, so that the total lift generated by the four rotors 404 is equal to the total weight of the working device, so as to keep the UAV in a stable hovering state. S2: In the hovering state, the onboard computer 107 identifies individual crops and calculates the plant spacing between adjacent plants based on the point cloud data collected in real time by the first lidar 105 and the second lidar 109. S3: Based on the plant spacing data, the onboard computer 107 performs the following spacing adjustment operation: The winding motor 314 is controlled to rotate, which drives the winding wheel 318 to release the winding thread 305 to adapt to the plant spacing. Simultaneously, the outer electric push rod 311 and the inner electric push rod 316 are controlled to shorten synchronously, thereby driving the outer flight arm 306 and the inner flight arm 304 to rotate inward around their respective flight arm rotation axes, so as to reduce the flight width of the device; During the rotation of the outer flight arm 306 and the inner flight arm 304, the onboard computer 107 controls the tilt servo 402 to adjust the tilt angle of the rotor motor mounting bracket 403 in real time to compensate for the tilt deviation of the rotor 404 rotation plane caused by the rotation of the flight arm, so that the rotation plane of the rotor 404 is always parallel to the horizontal plane, realizing variable pitch flight of the device in the tilt state. After the pitch change is completed, the speed of the rotor motor 405 and the speed difference between each rotor motor 405 are adjusted by the onboard computer 107 to adjust the flight altitude and flight direction of the UAV, so that the UAV can travel under the crop canopy. S4: When the device first identifies the target pest or insect eggs on the back of the leaf based on the real-time image collected by the camera 212 during the process of traveling under the crop canopy, the onboard computer 107 determines that the device has reached the target pest control position and then controls the device to hover. After hovering, the onboard computer 107 identifies and locates the target pest or eggs from the image, and obtains the location information of the target pest or eggs. S5: The onboard computer 107 controls the first reel motor 206 and the second reel motor 214 to rotate synchronously according to the location information of the target pest or insect egg, so as to drive the coordinated release or retraction of the ends of the first reel 207 and the second reel 215, and adjust the distance between the working end face of the laser 213 and the target pest or insect egg, so that the laser 213 reaches the preset optimal working focal length position; Simultaneously, the horizontal servo motor 202 and the pitch servo motor 208 are controlled to rotate in coordination to adjust the horizontal pointing and pitch angle of the laser 213, so that the laser beam emitted by the laser 213 is aimed at the target pest or insect egg on the back of the leaf. S6: After alignment is completed, the laser 213 is activated by the onboard computer 107 to emit laser to kill the target pests or eggs. After killing a target pest or insect egg, the onboard computer 107 controls the device to repeat steps S4 to S6, so that the laser 213 sequentially acts on all the target pests or insect eggs identified on the back of the leaves in the current inter-plant area until there are no target pests or insect eggs in the image of the current inter-plant area collected by the camera 212. Step S7: After completing the work in the current inter-plant area, fly to the next target work area through the onboard computer 107 control device, and repeat steps S1 to S6 until all leaf under-plant pest control work in all target work areas is completed. Mode 4: Task completion and return to base; S1: Retraction procedure of the operating mechanism; After all the tasks are completed, the onboard computer 107 controls the first reel motor 206 and the second reel motor 214 to rotate synchronously in reverse, driving the retraction of the ends of the first reel 207 and the second reel 215, and raising the retractable reel laser operation mechanism 2 to a preset safe storage height. S2: Flight arm deployment steps; The onboard computer 107 controls the outer electric push rod 311 and the inner electric push rod 316 to extend synchronously, thereby driving the outer flight arm 306 and the inner flight arm 304 to rotate outward around their respective flight arm rotation axes, so that the flight arms return to the fully deployed state. At the same time, the winding motor 314 drives the winding wheel 318 to rotate synchronously, retracting the winding thread 305; S3: Attitude recovery and return-to-home flight procedures; During the outward rotation of the outer flight arm 306 and the inner flight arm 304, the onboard computer 107 controls the tilt servo 402 to adjust the tilt angle of the rotor motor mounting bracket 403 in real time to compensate for the tilt deviation of the rotor 404 rotation plane caused by the rotation of the flight arm, so that the rotation plane of the rotor 404 always remains parallel to the horizontal plane. After the flight arm is fully extended and the attitude is stabilized, the speed of the rotor motor 405 and the speed difference between each rotor motor 405 are adjusted by the onboard computer 107 to adjust the flight altitude and flight direction of the device, so that the device flies towards the return area until it reaches the return area and lands. S4: Storage steps; When storage is required, the adaptive variable pitch flight arm assembly 3 switches from an unfolded state to a folded state under the drive of the outer electric actuator 311 and the inner electric actuator 316, so as to reduce the parking and transportation volume of the device.

[0048] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A laser-based application device capable of removing insects from the underside of leaves and weeding between plants, characterized in that, include: Drone rack; An adaptive variable-pitch flight arm assembly is mounted on the UAV frame; A tilting rotor mechanism is mounted on the flight arm of the adaptive variable pitch flight arm assembly; A retractable laser operation mechanism is suspended below the drone frame. The retractable laser operation mechanism includes: A horizontal servo motor is mounted below the UAV frame; A reel motor mounting bracket is connected to the output end of the horizontal servo motor to rotate about a vertical axis under the drive of the horizontal servo motor; The first and second reel motors are both mounted on the reel motor mounting bracket; The first spool is driven to rotate by the first spool motor; The second reel is driven to rotate by the second reel motor; The pitch servo is connected to the ends of the first and second reels via a pitch servo mounting bracket; The laser is connected to the output end of the pitch servo via a laser mounting bracket, so as to perform pitch rotation under the drive of the pitch servo. The camera is mounted on the laser mounting bracket; The drone also includes a first spool fixing wheel and a second spool fixing wheel, wherein the spool motor mounting bracket is connected from the servo disk to the output end of the horizontal servo via a horizontal servo, so as to rotate under the drive of the horizontal servo. The first reel motor is disposed outside the reel motor mounting frame, its drive shaft passes through the reel motor mounting frame and is drivenly connected to the first reel fixing wheel located inside the reel motor mounting frame. The first reel is coaxially fixedly mounted on the end face of the first reel fixing wheel. The second reel motor is disposed outside the reel motor mounting bracket, its drive shaft passes through the reel motor mounting bracket and is drivenly connected to the second reel fixing wheel located inside the reel motor mounting bracket, and the second reel is coaxially fixedly mounted on the end face of the second reel fixing wheel; The adaptive variable-pitch flight arm assembly consists of two sets, symmetrically arranged at both ends of the horizontal servo mounting frame along the longitudinal direction of the UAV frame; wherein: The adaptive variable-pitch flight arm assembly includes a wound motor mounting bracket, a winding device, and inner and outer flight arm assemblies symmetrically arranged laterally along the UAV frame. The inner and outer flight arm assemblies have the same structure, each including a flight arm, a rotor mounting rod, a flight arm connecting rod guide rail, an electric actuator, and a transmission mechanism connecting the flight arm and the rotor mounting rod. The ends of the flight arms of the inner and outer flight arm assemblies are hinged through corresponding flight arm pivots. The electric actuator has a telescopic actuator end, which is connected to the winding motor mounting bracket; The transmission mechanism is connected between the push rod end of the electric push rod and the flight arm connecting rod guide rail, and is used to convert the linear motion of the push rod end into the motion of the flight arm connecting rod guide rail; The winding device is mounted on the winding motor mounting bracket and includes a winding motor and a winding wheel driven by the motor. The winding wire wound on the winding wheel is connected to the corresponding flight arm shaft so as to synchronously wind and unwind the cable when the flight arm moves.

2. The laser-operated device according to claim 1, characterized in that, The horizontal servo is fixed to the bottom of the UAV frame by a horizontal servo mounting bracket.

3. The laser-operated device according to claim 1, characterized in that, The drone frame is equipped with flight arm pivots at both ends along its longitudinal direction.

4. The laser-operated device according to claim 1, characterized in that, The winding motor is fixedly mounted on the winding motor mounting bracket. The winding wheel is located inside the winding motor mounting bracket and is mounted on the shaft end of the winding motor, and is driven to rotate by the winding motor. One end of the winding wire is connected to the corresponding flight arm shaft, and the other end is wound on the winding wheel.

5. The laser-operated device according to claim 1, characterized in that, The tilting rotor mechanism includes: Rotor motor; A rotor driven by the rotor motor; The tilt servo is fixed to the corresponding rotor mounting rod via a tilt servo mounting bracket. A rotor motor mounting bracket is provided, on which the rotor motor is mounted, and the rotor motor mounting bracket is connected to the output end of the tilting servo.

6. The laser-operated device according to claim 1, characterized in that, The drone frame is equipped with a lidar; the lidar includes a first lidar and a second lidar, which are arranged symmetrically along the transverse side of the drone frame and are respectively mounted on both sides of the middle part of the drone frame via the first lidar mounting bracket and the second lidar mounting bracket.

7. The laser-operated device according to claim 1, characterized in that, It also includes an onboard computer, which is mounted on the UAV frame and is connected to the camera to receive image data collected by the camera. The onboard computer is connected to the horizontal servo, the first reel motor, the second reel motor, the pitch servo, the laser, the rotor motor, the roll servo, the inner electric actuator, and the outer electric actuator to send control commands to each actuator.

8. A method for inter-plant weeding and leaf underside pest control using the laser-based device as described in claim 1, characterized in that, The control unit flies to the target area and then selects the following operating modes to operate: Mode 1, forward-flying inter-plant weeding mode, details are as follows: Step S1: After flying to the target work area, calculate the distance between the working end face of the laser and the surface of the target work object based on the point cloud data collected by the first and second lidars, and adjust the rotor motor speed accordingly to adjust the device to the preset work height and hover. Step S2: The camera captures color images of the plants in the target work area, and the target weeds are identified and located based on the color images; Step S3: Control the first and second reel motors to rotate synchronously according to the position of the target weeds, and adjust the distance between the laser and the target weeds to the optimal working focal length; Step S4: Control the pitch and horizontal servos to work together, adjust the pitch angle and horizontal direction of the laser, and aim the laser beam at the part of the target weed to be burned; Step S5: The laser is turned on, emitting laser light to burn and remove the target weeds; Step S6: Repeat steps S2 to S5 to remove all target weeds in the current inter-plant area in sequence; Mode 2, variable-distance inter-plant pest control mode, details are as follows: Step S1: Based on the point cloud data collected by the first and second lidar, identify individual crops and calculate the plant spacing. Step S2: Based on the plant spacing, control the outer and inner electric actuators to shorten synchronously, driving the flight arm to rotate inward to reduce the flight width; at the same time, control the flip servo to compensate for the rotor rotation plane tilt deviation caused by the flight arm rotation in real time, so that the rotor rotation plane is parallel to the horizontal plane; then adjust the rotor motor speed and speed difference to make the device move between plants; when the camera identifies the target pest or insect eggs, hover. Step S3: The camera captures images of the roots and stems of the crop plants to identify and locate target pests or insect eggs. Step S4: Based on the location of the target pest or eggs, control the reel motor to adjust the laser focal length, and control the horizontal and vertical servos to adjust the laser beam to align with the target; Step S5: The laser is turned on, emitting laser light to kill the target pests or eggs; Step S6: Repeat steps S3 to S5 to kill all target pests or eggs in the current inter-plant area in sequence; Step S7: Fly to the next target work area and repeat steps S1 to S6 until all areas are completed; Mode 3, variable-pitch flipping flight mode for insect removal on the underside of leaves, details are as follows: Step S1: Identify the outline of the target plant canopy based on the point cloud data collected by the lidar. After determining that the airspace above the target plant has been reached, control the flip servo to drive the rotor assembly to rotate synchronously by 180 degrees, so that the retractable laser operation mechanism is facing upwards and then hovers. Step S2: Identify individual crops and calculate plant spacing based on point cloud data collected by lidar; Step S3: Control the flight arm to rotate inward to reduce the flight width according to the plant spacing, and control the tilt servo to compensate for the tilt deviation in real time to achieve variable pitch flight in the tilt state; then adjust the rotor motor speed and speed difference to make the device travel under the crop canopy. The camera hovers when it detects a target pest or insect egg on the underside of a leaf. Step S4: The camera captures images of the back of crop leaves to identify and locate target pests or insect eggs. Step S5: Based on the location of the target pest or eggs, control the reel motor to adjust the laser focal length, and control the horizontal and vertical servos to adjust the laser beam to align with the target on the back of the blade. Step S6: The laser is turned on and emits laser light to kill the target pests or eggs; repeat steps S4 to S6 to kill all target pests or eggs in the current inter-plant area in turn. Step S7: Fly to the next target work area and repeat steps S1 to S6 until all areas are completed; Mode 4, Task Completion and Return, details are as follows: Step S1: After all operations are completed, control the reel motor to synchronously reverse and retract the reel, raising the reel telescopic laser operation mechanism to a safe storage height; Step S2: Control the outer electric actuator and the inner electric actuator to extend synchronously, drive the flight arm to rotate outward to return to the unfolded state, and at the same time retract the winding line; Step S3: During the deployment of the flight arm, control the tilt servo to compensate for tilt deviation in real time. After deployment, adjust the rotor motor speed and speed difference, and control the device to fly to the return area and land. Step S4: When storage is required, control the electric actuator to drive the flight arm to switch to the folded state.

Images