Intelligent precise control device for aviation pesticide spraying

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an intelligent accurate control device for aviation pesticide spraying. Comprising an unmanned aerial vehicle body, a gripper mechanism, a spraying mechanism and a plurality of pesticide boxes. The unmanned aerial vehicle main body comprises a chassis, a plurality of propellers mounted on the chassis and a plurality of brackets mounted on the chassis; a through hole is formed in the upper end of the pesticide box. A fixing frame is arranged on the side of the pesticide box. The gripper mechanism and the spraying mechanism are both mounted on the case, and the gripper mechanism is used for gripping or loosening the pesticide box. The unmanned aerial vehicle can realize the functions of automatically unloading and loading the pesticide box and automatically replacing the pesticide box, so that the pesticide spraying efficiency of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an intelligent and precise control device for aerial pesticide spraying. Background Art

[0002] With the development of society and the advancement of science and technology, in the process of agricultural planting, large-scale spraying of pesticides and fertilization in farmland are gradually completed by unmanned aerial vehicles, which greatly saves the labor intensity of growers and improves planting efficiency.

[0003] In the prior art, using drones to carry medicine boxes for spraying can greatly improve the efficiency of spraying. However, when drones are spraying large-scale planting areas, due to the small capacity of the medicine box (usually about 20L), the medicine box needs to be frequently refilled with liquid medicine. There are two common ways to add liquid medicine: 1. The drone flies back to the take-off area to add liquid medicine. This method makes the drone fly a long distance, wastes time and reduces the drone's endurance; 2. When the drone's liquid medicine is about to be sprayed, the position of the drone is predicted, and the operator waits under the drone with the liquid medicine manually. However, this operation method exposes the operator to the lower position of the spraying area, and the sprayed pesticides can easily get on the skin and clothes of the staff, which can easily cause poisoning. Utility Model Content

[0004] The utility model aims to solve the problems existing in the background technology and propose an intelligent and precise control device for aerial pesticide spraying.

[0005] The technical solution of the utility model is an intelligent and precise control device for aerial pesticide spraying, comprising:

[0006] The drone body includes a chassis, a plurality of propellers mounted on the chassis, and a plurality of brackets mounted on the chassis;

[0007] A plurality of medicine boxes, each having a through hole at its upper end and a fixed frame at its side;

[0008] A gripper mechanism is mounted on the chassis and is used to grab or release the medicine box;

[0009] A spraying mechanism is mounted on the chassis.

[0010] Preferably, the gripper mechanism includes a lifting frame, a servo motor, a transmission shaft, four groups of clamping members, two gears and multiple linear drive mechanisms. The lifting frame is arranged above the chassis, and the multiple linear drive mechanisms are installed on the chassis and their output shafts are connected to the lifting frame. The four groups of clamping members are respectively arranged around the lifting frame, and each group of clamping members includes a U-shaped hook and a rack. The U-shaped hook is slidably installed on the lifting frame, and the rack is connected to the upper end of the U-shaped hook. The transmission shaft is rotatably installed on the lifting frame, and the two gears are installed on the transmission shaft, wherein the gear at the upper end is meshed with the two racks on the left and right sides, and the gear at the lower end is meshed with the two racks on the front and rear sides. The servo motor is installed on the lifting frame and its output shaft is connected to the transmission shaft.

[0011] Preferably, the spraying mechanism includes a nozzle, a water pump, a suction tube and an output pipe. The water pump and the nozzle are respectively installed on the inner and outer sides of the chassis. The input end of the water pump is connected to the suction tube extending from the bottom of the nozzle, and the output end of the water pump is connected to the nozzle with an output pipe.

[0012] Preferably, a stirring member is installed on the chassis, and the stirring member includes a driving motor, a stirring blade and a stirring shaft. The stirring shaft is rotatably installed at the bottom end of the chassis, the pipette is installed on the stirring shaft, and the driving motor is installed on the inner side of the chassis and its output shaft is connected to the stirring shaft.

[0013] Preferably, a liquid level sensor is installed at the bottom end of the chassis.

[0014] Preferably, a sealing ring is installed at the bottom end of the chassis, and the diameter of the sealing ring is larger than the diameter of the through hole.

[0015] Preferably, a plurality of cameras are installed on the chassis.

[0016] Compared with the prior art, the utility model has the following beneficial technical effects: in the utility model, the main body of the UAV and the medicine box are detachably connected, so that the medicine box can be replaced. When the UAV is working for a long time, a plurality of medicine boxes are placed in advance on the road surface along the flight path below the UAV. When the medicine liquid in the medicine box carried by the UAV is used up, the UAV flies to the nearest medicine box, disassembles the medicine box and automatically replaces it with a new one, thereby improving the working efficiency of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model.

[0018] Figure 2 It is an exploded view of the utility model.

[0019] Figure 3 It is a top sectional view of the chassis in the utility model.

[0020] Figure 4It is a structural schematic diagram of the connection relationship of multiple U-shaped hooks in the utility model.

[0021] Figure 5 for Figure 4 Schematic diagram of the local enlarged structure at point A.

[0022] Figure numerals: 1. chassis; 2. propeller; 3. bracket; 4. medicine box; 401, through hole; 5. lifting frame; 6. nozzle; 7. servo motor; 8. stirring blade; 9. pipette; 10. liquid level sensor; 11. sealing ring; 12. U-shaped hook; 13. linear drive mechanism; 14. camera; 15. water pump; 16. drive motor; 17. output pipe; 18. rack; 19. gear; 20. transmission shaft; 21. stirring shaft; 22. fixed frame. DETAILED DESCRIPTION

[0023] Embodiment 1

[0024] like Figure 1-Figure 5 As shown, the present embodiment proposes an intelligent precision control device for aerial pesticide spraying, including a drone body, a gripper mechanism, a spraying mechanism and a plurality of medicine boxes 4.

[0025] The main body of the UAV includes a chassis 1, a plurality of propellers 2 installed on the chassis 1, and a plurality of brackets 3 installed on the chassis 1; a liquid level sensor 10 is installed at the bottom end of the chassis 1, and the set liquid level sensor 10 can realize the monitoring of the liquid level height inside the medicine box 4, so as to monitor the remaining amount of liquid medicine inside the medicine box 4; a through hole 401 is opened at the upper end of the medicine box 4, and a sealing ring 11 is installed at the bottom end of the chassis 1. The diameter of the sealing ring 11 is larger than the diameter of the through hole 401. The set sealing ring 11 can prevent the liquid medicine inside the medicine box 4 from flowing out through the through hole 401, and a fixed frame 22 is arranged on the side of the medicine box 4; a plurality of cameras 14 are installed on the chassis 1, and the plurality of cameras 14 can be distributed around the chassis 1 and the bottom end of the chassis 1. The cameras 14 around are used to shoot the surrounding flight environment, and the camera 14 arranged at the bottom is used to shoot the medicine box 4 under the UAV, so as to assist the positioning of the UAV and the medicine box 4.

[0026] The gripping mechanism is installed on the chassis 1, and the gripping mechanism is used to grab or release the medicine box 4. The gripping mechanism includes a lifting frame 5, a servo motor 7, a transmission shaft 20, four groups of clamping members, two gears 19 and multiple linear drive mechanisms 13. The lifting frame 5 is arranged above the chassis 1, and multiple linear drive mechanisms 13 are all installed on the chassis 1 and their output shafts are connected to the lifting frame 5. The four groups of clamping members are respectively arranged around the lifting frame 5, and each group of clamping members includes a U-shaped hook 12 and a rack 18. The U-shaped hook 12 is slidably installed on the lifting frame 5, and the rack 18 is connected to the upper end of the U-shaped hook 12. The transmission shaft 20 is rotatably installed on the lifting frame 5, and the two gears 19 are installed on the transmission shaft 20, wherein the upper end gear 19 is meshed with the two racks 18 on the left and right sides, and the lower end gear 19 is meshed with the front and rear sides. The two racks 18 are meshed, and the servo motor 7 is installed on the lifting frame 5 and its output shaft is connected to the transmission shaft 20. When unloading the medicine box 4, the servo motor 7 works to drive the two gears 19 to rotate, thereby driving the four racks 18 to move, and the racks 18 drive the U-shaped hooks 12 to move, so that the four U-shaped hooks 12 are synchronously moved away from the center of the lifting frame 5. At this time, the installed medicine box 4 is loosened and falls to the ground. The operation process of installing and replacing a new medicine box 4 is: the four U-shaped hooks 12 are driven downward by the set linear drive mechanism 13, and then the four U-shaped hooks 12 are driven to move toward the center of the lifting frame 5 at the same time to achieve clamping of the medicine box 4, and finally the linear drive mechanism 13 is started again to drive the U-shaped hooks 12 to move upward, and the ends of the U-shaped hooks 12 are stuck at the bottom of the fixed frame 22.

[0027] The spraying mechanism is installed on the chassis 1, and the spraying mechanism includes a nozzle 6, a water pump 15, a suction pipe 9 and an output pipe 17. The water pump 15 and the nozzle 6 are respectively installed on the inner and outer sides of the chassis 1. The input end of the water pump 15 is connected to the suction pipe 9 extending out from the bottom end of the nozzle 6, and the output end of the water pump 15 is connected to the nozzle 6 with the output pipe 17.

[0028] In this embodiment, during operation, a plurality of medicine boxes 4 filled with liquid medicine are placed along the route below the flight path of the drone. When the liquid medicine in the medicine box 4 carried by the drone is consumed, the drone flies to the nearest medicine box 4, and the controller installed in the drone controls the servo motor 7 to drive the two gears 19 to rotate, thereby driving the four racks 18 to move, and the racks 18 in turn drive the U-shaped hooks 12 to move, so that the four U-shaped hooks 12 are synchronously moved away from the center of the lifting frame 5. At this time, the installed medicine box 4 is released and falls to the ground, and then the medicine box 4 filled with liquid medicine is photographed by the provided camera 14, and the drone is operated to align it with the medicine box 4, and the linear drive mechanism 13 is provided to drive the lifting frame 5. The four U-shaped hooks 12 are moved downward, and then the four U-shaped hooks 12 are driven to move toward the center of the lifting frame 5 at the same time to clamp the medicine box 4. Finally, the linear drive mechanism 13 is started again to drive the U-shaped hooks 12 to move upward, and the ends of the U-shaped hooks 12 are stuck at the bottom end of the fixed frame 22, thereby driving the medicine box 4 to move upward until the pipette 9 is inserted into the bottom position of the through hole 401; in summary, the medicine box 4 carried by the drone in the utility model can be disassembled and assembled, thereby realizing the function of automatically replacing the medicine box. When the drone is in a long-term working state, a plurality of medicine boxes 4 can be placed in advance on the road surface along the flight path below the drone, thereby improving the working efficiency of the drone.

[0029] Embodiment 2

[0030] like Figure 2 and Figure 3 As shown, the present embodiment proposes an intelligent and precise control device for aerial pesticide spraying. Compared with the first embodiment, in the present embodiment, a stirring member is installed on the chassis 1, and the stirring member includes a driving motor 16, a stirring blade 8 and a stirring shaft 21. The stirring shaft 21 is rotatably installed at the bottom end of the chassis 1, and the pipette 9 is installed on the stirring shaft 21. The driving motor 16 is installed on the inner side of the chassis 1 and its output shaft is connected to the stirring shaft 21; in the process of lifting the medicine box 4 upward, the stirring shaft 21 gradually extends into the inner side of the medicine box 4 through the through hole 401, and the driving motor 16 is started to drive the stirring shaft 21 to rotate. The rotation of the stirring shaft 21 can drive the stirring blade 8 to rotate, and the stirring blade 8 can achieve mixing and stirring of the medicine liquid during the rotation process.

[0031] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. An intelligent and precise control device for aerial pesticide spraying, characterized in that: include: A drone body, the drone body comprising a chassis (1), a plurality of propellers (2) mounted on the chassis (1), and a plurality of brackets (3) mounted on the chassis (1); A plurality of medicine boxes (4), wherein a through hole (401) is provided at the upper end of each medicine box (4), and a fixing frame (22) is provided at the side of each medicine box (4); A gripper mechanism, which is mounted on the chassis (1), and is used to grip or release the medicine box (4); The spraying mechanism is mounted on the casing (1).

2. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: The gripper mechanism comprises a lifting frame (5), a servo motor (7), a transmission shaft (20), four groups of clamping members, two gears (19) and a plurality of linear drive mechanisms (13); the lifting frame (5) is arranged above a chassis (1); the plurality of linear drive mechanisms (13) are all mounted on the chassis (1) and their output shafts are connected to the lifting frame (5); the four groups of clamping members are respectively arranged around the lifting frame (5); each group of clamping members comprises a U-shaped hook member (12) and a rack (18); the U-shaped hook member (12) is a plurality of linear drive mechanisms (13) arranged on the chassis (1) and the output shafts thereof are connected to the lifting frame (5); 2) is slidably mounted on the lifting frame (5), the rack (18) is connected to the upper end of the U-shaped hook (12), the transmission shaft (20) is rotatably mounted on the lifting frame (5), and the two gears (19) are both mounted on the transmission shaft (20), wherein the upper gear (19) is meshed with the two racks (18) on the left and right sides, and the lower gear (19) is meshed with the two racks (18) on the front and rear sides, and the servo motor (7) is mounted on the lifting frame (5) and its output shaft is connected to the transmission shaft (20).

3. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: The spraying mechanism comprises a nozzle (6), a water pump (15), a liquid suction pipe (9) and an output pipe (17). The water pump (15) and the nozzle (6) are respectively mounted on the inner and outer sides of the chassis (1). The input end of the water pump (15) is connected to the liquid suction pipe (9) extending from the bottom end of the nozzle (6). The output end of the water pump (15) is connected to the nozzle (6) via the output pipe (17).

4. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: A stirring member is installed on the chassis (1), and the stirring member comprises a driving motor (16), a stirring blade (8) and a stirring shaft (21). The stirring shaft (21) is rotatably installed at the bottom end of the chassis (1), and the liquid pipette (9) is installed on the stirring shaft (21). The driving motor (16) is installed on the inner side of the chassis (1) and its output shaft is connected to the stirring shaft (21).

5. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: A liquid level sensor (10) is installed at the bottom end of the chassis (1).

6. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: A sealing ring (11) is installed at the bottom end of the chassis (1), and the diameter of the sealing ring (11) is larger than the diameter of the through hole (401).

7. The intelligent precision control device for aerial pesticide spraying according to claim 1, characterized in that: A plurality of cameras (14) are installed on the chassis (1).

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