Active wind deviation resistance pesticide spraying method of unmanned aerial vehicle

Abstract

The present application provides a kind of unmanned aerial vehicle active wind deviation pesticide application method, to solve the existing plant protection unmanned aerial vehicle spraying process, pesticide mist is susceptible to external side wind and occurs drift, uneven deposition of liquid pesticide, low spraying precision and traditional wind sent spray structure is difficult to stabilize the problems such as constraint of pesticide mist.The unmanned aerial vehicle active wind deviation pesticide application method, the pesticide application channel on the unmanned aerial vehicle is sprayed out of pesticide mist by nozzle opening, to form the pneumatic constraint layer for the constraint of pesticide mist diffusion around pesticide application channel coaxial with pesticide application channel as center Ring airflow channel outer ring;Air pump is sprayed out of airflow by ring airflow channel outer ring, and the airflow forms the pneumatic constraint layer for the constraint of pesticide mist diffusion around pesticide mist sprayed out of nozzle opening.

Description

Technical Field

[0001] This invention relates to the field of agricultural and forestry plant protection spraying technology, and in particular to a coaxial airflow-assisted active wind-resistant vector spraying device applied to a drone spraying system. Background Technology

[0002] With the widespread use of agricultural drones, spraying has become an important method of pesticide application. However, due to the susceptibility of drones to natural lateral winds, drone downwash, and airflow disturbances caused by complex terrain during operation, the sprayed pesticide particles are prone to drift and diffusion, resulting in uneven pesticide deposition, reduced pesticide utilization, and environmental pollution.

[0003] Existing technologies often employ methods such as increasing droplet size, reducing flight altitude, or using wind-driven spraying to reduce pesticide drift. However, most of these solutions are passive anti-drift technologies, which are difficult to dynamically compensate for changes in the external wind field in real time, and are prone to secondary diffusion of the pesticide mist. They also result in a large overall structural volume, which is not conducive to the integration of lightweight UAV platforms.

[0004] Therefore, there is an urgent need for a new type of drug application device that can actively compensate for external wind fields in real time and simultaneously conduct directional and constrained transport of drug mist, so as to improve the spray deposition accuracy and anti-drift capability in complex wind field environments. Summary of the Invention

[0005] The purpose of this invention is to provide an active wind-resistant pesticide application method for drones, in order to solve the problems of pesticide mist drifting due to external crosswinds, uneven pesticide deposition, low spraying accuracy, and the difficulty of traditional wind-driven spray structures in stabilizing and constraining pesticide mist during the spraying process of existing agricultural drones.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0007] The method for active anti-wind deflection pesticide application by drones involves a pesticide application channel 51 set on the drone spraying pesticide mist through a nozzle 55, and an outer ring 52 of an annular airflow channel coaxially arranged around the pesticide application channel 51; an air pump 31 sprays airflow through the outer ring 52 of the annular airflow channel, and the airflow forms an aerodynamic constraint layer around the pesticide mist sprayed from the nozzle 55 to constrain the diffusion of the pesticide mist.

[0008] In the above-mentioned active anti-wind-deviation pesticide application method for drones, the composite nozzle 5 formed by the pesticide application channel 51 and the outer ring 52 of the annular airflow channel can swing up and down and left and right relative to the drone.

[0009] In the above-mentioned active wind-resistant pesticide application method for drones, the composite nozzle 5 is directly or indirectly installed on the drone through the two-axis adjustment mechanism 2. The two-axis adjustment mechanism 2 drives the composite nozzle 5 to swing up and down and left and right relative to the drone.

[0010] In the above-mentioned active wind-resistant pesticide application method for drones, the composite nozzle 5 is connected to the main control housing 3 via a two-axis adjustment mechanism 2, and the main control housing 3 is fixed to the drone; the two-axis adjustment mechanism 2 drives the composite nozzle 5 to swing up and down and left and right relative to the main control housing 3.

[0011] The aforementioned method for active wind-resistant pesticide application by a drone includes a two-axis adjustment mechanism 2 comprising a roll servo motor 201, a pitch servo motor 202, a left support arm 203, a right support arm 204, a first drive gear 205, a second drive gear 206, and an L-shaped support cantilever 207. The front ends of the left support arm 203 and / or the right support arm 204 are rotatably mounted on the control main housing 3 around the pitch axis. The rear ends of the left support arm 203 and the right support arm 204 are connected as one unit. The upper end of the vertical section of the L-shaped support cantilever 207 is rotatably mounted on the left support arm 203 around the roll axis. 03 and / or the rear end of the right support arm 204, the horizontal section of the L-shaped support cantilever 207 extends forward to below the control main housing 3, and the composite nozzle 5 is disposed on the horizontal section of the L-shaped support cantilever 207; the pitch power device for driving the left support arm 203 and the right support arm 204 to swing up and down relative to the control main housing 3 about the pitch axis includes a pitch servo motor 202; the roll power device for driving the L-shaped support cantilever 207 to swing left and right relative to the left support arm 203 or the right support arm 204 about the roll axis includes a pitch roll servo motor 201.

[0012] The aforementioned UAV active anti-wind-deviation pesticide application method further includes a second drive gear 206 in the lateral rolling power device. The second drive gear 206 is fixed on the vertical section of the L-shaped support cantilever 207, and the housing of the lateral rolling servo motor 201 is fixed on the left support arm 203 or the right support arm 204. The output shaft of the lateral rolling servo motor 201 is a gear shaft that meshes with the second drive gear 206. The axis of the second drive gear 206 is the axis of the lateral rolling axis. The lateral rolling servo motor 201 drives the L-shaped support cantilever 207 to swing around the lateral rolling axis through the second drive gear 206.

[0013] The aforementioned active wind-resistant spraying method for drones includes a pitch power device that further includes a drive gear 205. The drive gear 205 is fixed to the left support arm 203 or the right support arm 204. The housing of the pitch servo motor 202 is fixed to the left support arm 203 or the right support arm 204. The output shaft of the pitch servo motor 202 is a gear shaft that meshes with the drive gear 205. The axis of the drive gear 205 is the pitch axis. The pitch servo motor 202 drives the left support arm 203, the right support arm 204, the L-shaped support cantilever 207, and the composite nozzle 5 to swing around the pitch axis via the drive gear 205.

[0014] In the above-mentioned active anti-wind-deviation pesticide application method for drones, an air pump 31 is installed inside the control main housing 3. The air pump 31 draws in outside air through the air intake grille channel 32 on the control main housing 3 and delivers airflow to the outer ring 52 of the annular airflow channel through the flexible airflow pipe 54.

[0015] The above-mentioned active anti-wind-deviation pesticide application method for drones includes a wind speed sensor 4 installed on the top of the main control housing 3 to detect external environmental airflow parameters; a control circuit board is installed on the main control housing 3, which is electrically connected to the wind speed sensor 4, the roll servo motor 201, the pitch servo motor 202 and the air pump 31 respectively.

[0016] The above-mentioned drone-based active wind-resistant pesticide application method has a connection base 1 on the main control box 3 for connecting with the agricultural drone.

[0017] The present invention also provides an active wind-resistant vector spraying device, which is mainly composed of a connecting base 1, a two-axis adjustment mechanism 2, a control main box 3, a wind speed sensor 4, and a composite nozzle 5.

[0018] The connecting base 1 is used to fix and connect with mobile carriers such as agricultural drones to achieve overall mounting of the device.

[0019] The two-axis adjustment mechanism 2 is used to achieve decoupled spatial attitude adjustment of the composite nozzle 5. The two-axis adjustment mechanism 2 includes a roll servo motor 201, a pitch servo motor 202, a left support arm 203, a right support arm 204, a first drive gear 205, a second drive gear 206, and an L-shaped support cantilever 207. The output shaft of the roll servo motor 201 drives the L-shaped support cantilever 207 to rotate around the roll axis via the second drive gear 206, thereby achieving lateral deflection of the composite nozzle 5. The L-shaped support cantilever 207 extends upward and is fixedly connected to the left support arm 203 and the right support arm 204 respectively. The pitch servo motor 202 is fixedly mounted on the control main housing 3 and drives the composite nozzle 5 to rotate around the pitch axis via the first drive gear 205 fixed on the left support arm 203. A movable bearing is provided on the inner side of the right support arm 204 and is hinged to the control main housing 3. Thus, the roll direction and pitch direction are decoupled, enabling the composite nozzle 5 to have a two-degree-of-freedom spatial vector adjustment capability.

[0020] The main control housing 3 serves as the control and power hub of this device. An embedded wind speed sensor 4 is installed on the top of the main control housing 3's outer shell to detect external airflow parameters. The main control housing 3 integrates a control circuit board and a miniature air pump 31. The miniature air pump 31 draws in external air through the air intake grille channel 32 on the back of the main control housing 3, pressurizes the air, and delivers it to the composite nozzle 5. The control circuit board is electrically connected to the embedded wind speed sensor 4, the roll servo motor 201, the pitch servo motor 202, and the miniature air pump 31.

[0021] The composite nozzle 5 is fixed directly below the control main housing 3. A drug application channel 51 is located at the center of the composite nozzle 5, which is connected to an external medicine tank via a flexible liquid medicine pipe 53. A nozzle opening 55 is located at the lower end of the drug application channel 51 for spraying liquid medicine droplets. An annular airflow channel outer ring 52 is coaxially arranged around the drug application channel 51, and this annular airflow channel outer ring 52 is connected to a micro air pump 31 via a flexible airflow pipe 54.

[0022] As a further improved technical solution of the present invention, the outer ring 52 of the annular airflow channel is arranged coaxially around the drug application channel 51, so that the spray direction of the annular airflow is coaxial with the spray direction of the central drug mist, thereby forming an annular enveloping airflow around the drug mist.

[0023] As a further improved technical solution of the present invention, the high-speed airflow ejected from the outer ring 52 of the annular airflow channel forms a stable axisymmetric aerodynamic constraint layer around the drug application channel 51. The axisymmetric aerodynamic constraint layer is distributed around the central drug mist and reduces the disturbance of the external lateral airflow to the drug mist particles through entrainment and boundary constraint.

[0024] As a further improvement of the present invention, the micro air pump 31 can start or stop or adjust the output intensity according to the ambient airflow intensity detected by the embedded wind speed sensor 4, so as to change the airflow intensity ejected from the outer ring 52 of the annular airflow channel.

[0025] As a further improvement of the present invention, the composite nozzle 5 adopts an integrated structure of the central drug application channel 51 and the outer ring 52 of the peripheral annular airflow channel, so that the drug spraying and airflow assistance can be completed simultaneously in the same nozzle.

[0026] As a further improved technical solution of the present invention, the two-axis adjustment mechanism 2 is used in conjunction with the composite nozzle 5. The composite nozzle 5 is driven to deflect in space by the roll servo motor 201 and the pitch servo motor 202 to change the direction of the drug mist spray, thereby compensating for the influence of the external crosswind on the trajectory of the drug mist spray.

[0027] As a further improvement of the present invention, the nozzle opening 55 at the lower end of the composite nozzle 5 is located in the central region of the outer ring 52 of the annular airflow channel, so that the liquid droplets can be sprayed out from the center of the annular airflow and be covered and transported by the outer annular airflow.

[0028] In this invention, a dual-axis adjustment mechanism is used for spatial attitude adjustment of the composite nozzle in the roll and pitch directions, achieving active deflection of the spray direction. The main control housing contains a control circuit board and an air pump. The composite nozzle includes a central application channel and an outer ring of coaxially arranged annular airflow channels. High-speed airflow generated by the air pump is ejected through the outer ring of the annular airflow channels, forming an axisymmetric aerodynamic constraint layer around the spray mist, thus enveloping, transporting, and constraining the central spray mist. By combining active nozzle deflection with coaxial airflow assistance, the influence of ambient crosswinds on the spray mist trajectory can be reduced, improving the axial concentration and deposition stability of the spray mist.

[0029] The invention has a compact overall structure. The main control box 3 integrates a control circuit board and a micro air pump 31, and the composite nozzle 5 integrates a pesticide application channel and an annular airflow channel. It is suitable for installation on lightweight mobile platforms such as plant protection drones, which can improve the continuity, stability and pesticide utilization rate of plant protection operations. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the device structure;

[0031] Figure 2 This is a schematic diagram of the two-axis adjustment mechanism.

[0032] Figure 3 A schematic diagram of the main control box structure;

[0033] Figure 4 This is a schematic diagram of the composite nozzle structure;

[0034] Figure 5 This is a cross-sectional schematic diagram of the composite nozzle. Detailed Implementation

[0035] like Figure 1 The active wind-resistant vector spraying device shown is mainly composed of a connecting base 1, a two-axis adjustment mechanism 2, a control main box 3, an embedded wind speed sensor 4, and a composite nozzle 5.

[0036] The connecting base 1 is used to fix and connect with mobile carriers such as agricultural drones to achieve overall mounting of the device;

[0037] like Figure 2As shown, the two-axis adjustment mechanism 2 is used to realize the spatial attitude decoupling adjustment of the composite nozzle 5. It includes a roll servo motor 201, a pitch servo motor 202, a left support arm 203, a right support arm 204, a drive gear 1 205, a drive gear 2 206, and an L-shaped support cantilever 207.

[0038] Among them, the output shaft of the roll servo motor 201 drives the L-shaped support cantilever 207 to rotate around the roll axis through the drive gear 206, thereby realizing the lateral deflection of the composite nozzle 5.

[0039] The L-shaped support cantilever 207 extends upward and forms a rotatable connection with the rear ends of the left support arm 203 and the right support arm 204, respectively. The pitch servo motor 202 is fixedly mounted on the control main housing 3 and drives the left support arm 203, the right support arm 204, the L-shaped support cantilever 207, and the composite nozzle 5 to rotate around the pitch axis through a drive gear 205 fixed inside the left support arm 203. A movable bearing is provided on the inner side of the right support arm 204 and is hinged to the control main housing 3. The movable bearing is coaxial with the drive gear 205. The roll direction and the pitch direction are decoupled from each other, thereby enabling the composite nozzle 5 to have a two-degree-of-freedom spatial vector adjustment capability.

[0040] like Figure 3 As shown, the main control housing 3 is the control and power hub of this device. An embedded wind speed sensor 4 is located on the top of the housing 3's outer shell, used to capture the wind speed and direction of the external environment in real time. The main housing 3 integrates a control circuit board and a miniature air pump 31. The miniature air pump 31 draws in external air through the air intake grille channel 32 on the back of the main housing 3 and pumps it into the nozzle.

[0041] The control circuit board is electrically connected to the wind speed sensor 4, the roll servo motor 201, the pitch servo motor 202, and the miniature air pump 31, respectively.

[0042] like Figure 4 and Figure 5 As shown, the composite nozzle 5 is located directly below the control main box 3. The center of the composite nozzle 5 is provided with a drug application channel 51, which is connected to the external drug tank through a drug liquid pipeline 53. The bottom is provided with a nozzle port 55 for spraying drug liquid droplets. A ring-shaped airflow channel outer ring 52 is coaxially arranged around the drug application channel 51.

[0043] The outer ring 52 of the annular airflow channel is connected to the micro air pump 31 through the airflow pipe 54. When the micro air pump 31 is working, the high-speed airflow is ejected from the outer ring 52 of the annular airflow channel and forms a stable axisymmetric aerodynamic constraint layer around the drug delivery channel 51.

[0044] The axisymmetric aerodynamic confinement layer is distributed around the central drug mist and reduces the disturbance of the drug mist particles by the external lateral airflow through entrainment and boundary confinement, thereby improving the axial transport stability of the drug mist. At the same time, since the annular airflow is coaxial with the drug mist injection direction, a stable airflow boundary can be formed around the drug mist, so that the drug mist maintains a high axial concentration during the fall, improving the stability of drug deposition.

[0045] One specific embodiment of this device operates as follows: When the device is mounted on a drone (external machinery) to perform spraying operations, if it encounters external crosswind interference, the embedded wind speed sensor 4 acquires environmental data in real time and transmits it to the control circuit board inside the main housing 3. The control circuit board quickly calculates the compensation angle required to counteract the wind force and issues commands to drive the roll servo motor 201 and the pitch servo motor 202, causing the composite nozzle 5 to actively adjust and change its angle, so that the sprayed water mist counteracts the wind force.

[0046] Simultaneously, the miniature air pump 31 inside the main housing 3 dynamically activates based on the measured wind speed, drawing in and pressurizing air from the rear of the housing. The high-pressure gas is then sent into the outer ring 52 of the coaxial airflow channel and ejected at high speed. Based on the entrainment effect in fluid dynamics, the high-speed ejected annular airflow forms a stable annular airflow confinement layer (air curtain) in front of the composite nozzle 5. This air curtain firmly encloses the centrally ejected drug mist within the central low-pressure zone, preventing interference from the external environment and improving the axial transport stability of the drug mist.

[0047] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, methods, modifications, or improvements that are readily conceived by those skilled in the art shall fall within the scope of protection of this invention.

Claims

1. A method for actively resisting wind deflection of a UAV, a pesticide spraying channel (51) provided on the UAV sprays pesticide mist through a nozzle opening (55), characterized in that, An annular airflow channel outer ring (52) is coaxially arranged around the drug application channel (51); the air pump (31) sprays airflow through the annular airflow channel outer ring (52), and the airflow forms an aerodynamic constraint layer around the drug mist sprayed from the nozzle (55) to constrain the diffusion of the drug mist.

2. The method for active wind-resistant pesticide application by a drone as described in claim 1, characterized in that, The composite nozzle (5) formed by the drug application channel (51) and the outer ring of the annular airflow channel (52) can swing up and down and left and right relative to the drone.

3. The method for active wind-resistant pesticide application by unmanned aerial vehicles as described in claim 2, characterized in that, The composite nozzle (5) is directly or indirectly mounted on the UAV via a two-axis adjustment mechanism (2). The two-axis adjustment mechanism (2) drives the composite nozzle (5) to swing up and down and left and right relative to the UAV.

4. The method for active wind-resistant pesticide application by unmanned aerial vehicles as described in claim 2, characterized in that, The composite nozzle (5) is connected to the control main box (3) through the two-axis adjustment mechanism (2), and the control main box (3) is fixed on the UAV; the two-axis adjustment mechanism (2) drives the composite nozzle (5) to swing up and down and left and right relative to the control main box (3).

5. The method for active wind-resistant pesticide application by unmanned aerial vehicles according to claim 4, characterized in that: The two-axis adjustment mechanism (2) includes a roll servo motor (201), a pitch servo motor (202), a left support arm (203), a right support arm (204), a drive gear one (205), a drive gear two (206), and an L-shaped support cantilever (207). The front ends of the left support arm (203) and / or the right support arm (204) are rotatably mounted on the control main housing (3) around the pitch axis. The rear ends of the left support arm (203) and the right support arm (204) are connected as one unit. The upper end of the vertical section of the L-shaped support cantilever (207) is rotatably mounted on the left support arm (203) and / or the right support arm (204) around the roll axis. At the rear end of the right support arm (204), the horizontal section of the L-shaped support cantilever (207) extends forward to below the control main housing (3), and the composite nozzle (5) is set on the horizontal section of the L-shaped support cantilever (207); the pitch power device for driving the left support arm (203) and the right support arm (204) to swing up and down relative to the control main housing (3) around the pitch axis includes a pitch servo motor (202); the rolling power device for driving the L-shaped support cantilever (207) to swing left and right relative to the left support arm (203) or the right support arm (204) around the roll axis includes a pitch roll servo motor (201).

6. The method for active wind-resistant pesticide application by unmanned aerial vehicles according to claim 5, characterized in that: The rolling motion device also includes a second drive gear (206); the second drive gear (206) is fixed on the vertical section of the L-shaped support cantilever (207), and the housing of the rolling servo motor (201) is fixed on the left support arm (203) or the right support arm (204). The output shaft of the rolling servo motor (201) is a gear shaft that meshes with the second drive gear (206); the axis of the second drive gear (206) is the axis of the rolling shaft; the rolling servo motor (201) drives the L-shaped support cantilever (207) to swing around the rolling shaft through the second drive gear (206).

7. The method for active wind-resistant pesticide application by unmanned aerial vehicles according to claim 5, characterized in that: The pitch power unit also includes a drive gear (205); the drive gear (205) is fixed on the left support arm (203) or the right support arm (204), and the housing of the pitch servo motor (202) is fixed on the left support arm (203) or the right support arm (204). The output shaft of the pitch servo motor (202) is a gear shaft that meshes with the drive gear (205); the axis of the drive gear (205) is the pitch axis; the pitch servo motor (202) drives the left support arm (203), the right support arm (204), the L-shaped support cantilever (207) and the composite nozzle (5) to swing around the pitch axis through the drive gear (205).

8. The method for active wind-resistant pesticide application by a drone according to claim 5, characterized in that: The control main housing (3) is equipped with an air pump (31). The air pump (31) draws in outside air through the air intake grille channel (32) on the control main housing (3) and delivers airflow to the outer ring (52) of the annular airflow channel through the flexible airflow pipe (54).

9. The method for active wind-resistant pesticide application by a drone according to claim 5, characterized in that: A wind speed sensor (4) is installed on the top of the main control box (3) to detect the airflow parameters of the external environment; a control circuit board is installed on the main control box (3), and the control circuit board is electrically connected to the wind speed sensor (4), the roll servo motor (201), the pitch servo motor (202) and the air pump (31).

10. The method for active wind-resistant pesticide application by a drone according to claim 5, characterized in that: The main control box (3) has a connection base (1) for connecting with the agricultural drone.

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