Plant protection unmanned aerial vehicle profiling spraying device

Abstract

The utility model discloses a profiling spraying device of a plant protection unmanned aerial vehicle. The profiling spraying device comprises an unmanned aerial vehicle body and a profiling spraying mechanism, a working platform is arranged below the unmanned aerial vehicle body; the profiling spraying mechanism comprises a pesticide box, a spraying assembly and an adjusting structure; at least two pairs of spraying assemblies are arranged, and each spraying assembly comprises at least two nozzles and at least two spraying rods; one end of one spraying rod is horizontally hinged to the working platform and is communicated with the pesticide box through a hose; the hinging center between the spraying rod and the working platform vertically extends; every two adjacent spraying rods are connected through a hose. The adjusting structure comprises a horizontal telescopic adjusting structure used for driving the same pair of spraying assemblies to be close to or away from each other around respective hinge centers and a vertical bending adjusting structure used for driving the spraying rods which are not connected with the working platform to swing up and down. According to the profiling spraying device, three-dimensional multi-directional profiling can be achieved, spraying operation can be rapidly completed, and the working efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to a spray device, in particular to a contour spray device for a plant protection unmanned aerial vehicle. Background Art

[0002] The plant protection drone spraying system plays a vital role in today's agricultural production. Compared with traditional manual spraying operations, plant protection drones have the advantages of high pesticide utilization rate, safety and reliability, easy operation and saving labor costs. At the same time, the large-scale application of plant protection drones has also improved the output and quality of various agricultural products, effectively improving the agricultural productivity of various agricultural products.

[0003] At present, when performing spraying operations, plant protection drones often use set route planning and pre-generated prescription maps to plan plant protection operations in the planting area. Generally, when executing these plans, plant protection drones only cover the entire operation area on a two-dimensional plane. Since plant protection drones rely on their rotor wind field to disperse the droplet particles to a farther place after releasing the liquid medicine particles, when performing plant protection unmanned operations on plants of different numbers, shapes or different growth periods, traditional drones often find it difficult to achieve all-round drug spraying, so they need to imitate the plant shape. , a mechanical structure that changes in real time according to the growth characteristics of plants is used to perform spraying operations. For example, the invention patent application with application publication number CN108244084A discloses a forest sprayer contour arm, which includes a first side telescopic arm, a second side telescopic arm and a main arm. The first side telescopic arm and the second side telescopic arm have the same structure and are both unidirectional telescopic structures. The main arm is a bidirectional telescopic structure. Spray mechanisms are provided on the first side telescopic arm, the second side telescopic arm and the main arm. The two ends of the main arm are respectively hinged to the first side telescopic arm and the second side telescopic arm.

[0004] The above-mentioned contoured arms of the forest sprayer can adapt to the spraying requirements of different plant heights and widths, fruit tree shapes and field widths, but the following problems still exist:

[0005] The above-mentioned contouring machine arm of the forest sprayer can only be bent and contoured on a vertical plane to achieve contouring on a two-dimensional plane, and horizontal rotation is required to complete the spraying of three-dimensional crops, so the work efficiency needs to be improved. Utility Model Content

[0006] The purpose of the utility model is to overcome the above-mentioned problems and provide a plant protection UAV profiling spray device, which can realize three-dimensional multi-directional profiling, can quickly complete the spraying operation, and is conducive to improving work efficiency.

[0007] The purpose of the utility model is achieved through the following technical solutions:

[0008] A plant protection UAV contour spray device, comprising a UAV body and a contour spray mechanism arranged on the UAV body;

[0009] A working platform is provided below the drone body;

[0010] The contour spray mechanism comprises a medicine box, a spray assembly and an adjustment structure;

[0011] The spray assembly is provided with at least two pairs, each group of the spray assembly includes at least two nozzles and at least two spray bars; the nozzles are respectively arranged on the spray bars; one end of one of the spray bars is horizontally hinged to the working platform and is connected to the medicine box through a hose; when the drone body is in an upright state, the hinge center between the spray bar and the working platform extends vertically; two adjacent spray bars are connected by a hose;

[0012] The adjustment structure includes a horizontal telescopic adjustment structure for driving the same pair of spray assemblies to move closer to or farther from each other around their respective hinge centers and a vertical bending adjustment structure for driving a spray rod not connected to the working platform to swing up and down.

[0013] The working principle of the above-mentioned plant protection drone contour spray device is as follows:

[0014] During non-spraying operations, the spray components are in a retracted state, at which time the outer distance between the spray components of the same pair is the smallest, which can reduce the occupied space, reduce wind resistance and reduce the risk of interference with other objects.

[0015] When spraying operations are required, the drone body is equipped with a contour-profiling spray mechanism to fly above the crops. The drone body uses the laser radar and depth camera carried on the fuselage to scan parameters such as the tree shape, plant height, and canopy density of the fruit trees to analyze the current tree shape. According to the current tree shape, the horizontal telescopic adjustment structure drives each spray component to extend and cover the top of the crops, and the vertical bending adjustment structure drives the spray rod that is not connected to the work platform to swing downward, thereby surrounding the outside of the crops. Finally, it presents a shape similar to an "umbrella skeleton" to cover the crops. When the contour-profiling structure is adjusted, the controller mainboard controls the water pump to start spraying the pesticide.

[0016] After spraying is completed, the horizontal telescopic adjustment structure and the vertical bending adjustment structure drive each spray component to reset, and then turn to the next target crop until all spraying operations are completed and return.

[0017] In a preferred embodiment of the present invention, two symmetrically arranged landing gears are provided at the bottom of the working platform;

[0018] With the symmetry plane of the landing gear as the boundary, at least one pair of the spray assemblies are arranged on both sides of the symmetry plane. In this way, when the spraying operation is not in progress, the spray assemblies on both sides are in a folded state and form a "one" shape, which has good stability.

[0019] Furthermore, the number of the horizontal telescopic adjustment structures is the same as the logarithm of the spray assembly;

[0020] The horizontal telescopic adjustment structure includes a horizontal telescopic drive mechanism and a horizontal telescopic swing arm; two horizontal telescopic swing arms are provided and symmetrically arranged between the corresponding same pair of spray assemblies, one end of the two horizontal telescopic swing arms are respectively hinged to the spray rods of the two groups of spray assemblies connected to the working platform, and the other ends of the two horizontal telescopic swing arms are hinged to the driving end of the horizontal telescopic drive mechanism; the driving direction of the horizontal telescopic drive mechanism is perpendicular to the symmetry plane of the landing gear.

[0021] Furthermore, at least two pairs of the spray assemblies are provided on both sides of the symmetry plane of the landing gear;

[0022] The spray assemblies of the same pair located on the same side are symmetrically arranged; the symmetry planes of all the spray assemblies located on the same side are the same.

[0023] Through the above structure, it is equivalent to arranging the spray components in a sandwich manner, which can drive the same pair of spray components to extend or contract at the same time. More importantly, different pairs of spray components can be gathered in the same position in a similar posture, thereby minimizing the occupied space and reducing resistance as much as possible.

[0024] Furthermore, the horizontal telescopic drive mechanism includes a horizontal telescopic drive motor and a horizontal telescopic transmission assembly, the horizontal telescopic transmission assembly includes a screw and a screw nut, the axis of the screw is perpendicular to the symmetry plane of the landing gear; the other ends of the two horizontal telescopic rocker arms are respectively hinged on the corresponding screw nuts.

[0025] Furthermore, the horizontal telescopic drive mechanisms located on the same side are arranged to overlap vertically.

[0026] A preferred embodiment of the utility model is that there are multiple vertical bending adjustment structures, and each vertical bending adjustment structure includes a vertical bending drive servo and a mounting member, wherein the mounting member is fixed to the end of one of two adjacent spray bars, and the vertical bending drive servo is arranged on the mounting member, and the output shaft of the vertical bending drive servo is connected to the end of the other one of the two adjacent spray bars.

[0027] In a preferred solution of the utility model, one group of spray components includes three spray bars, and two vertical bending adjustment structures are provided on the one group of spray components.

[0028] Compared with the prior art, the utility model has the following beneficial effects:

[0029] The plant protection UAV profiling spray device of the utility model is provided with a horizontal telescopic adjustment structure and a vertical bending adjustment structure. According to the shape of the crop, the horizontal telescopic adjustment structure drives each spray component to extend to cover the top of the crop, and the vertical bending adjustment structure drives the spray rod that is not connected to the working platform to swing downward, so as to surround the outside of the crop, thereby realizing three-dimensional multi-directional profiling, being able to quickly complete the spraying operation, and being conducive to improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the contour spray device of the plant protection UAV of the utility model in a folded state.

[0031] Figure 2 It is a schematic diagram of the three-dimensional structure of the contour spray device of the plant protection UAV of the utility model in the unfolded state.

[0032] Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure of the drone body is hidden.

[0033] Figure 4 for Figure 3 Magnified view of the X in .

[0034] Figure 5 for Figure 3 Enlarged view of Y in . DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0036] See also Figure 1-3The plant protection UAV contour spray device of this embodiment comprises a UAV body 1 and a contour spray mechanism arranged on the UAV body 1; a working platform 2 is arranged below the UAV body 1; the contour spray mechanism comprises a medicine box 3, a spray assembly and an adjustment structure; the spray assembly is provided with at least two pairs, each group of spray assemblies comprises at least two nozzles 4 and at least two spray bars 5; the nozzles 4 are respectively arranged on the spray bars 5; one end of one of the spray bars 5 is horizontally hinged to the working platform 2 and is connected to the medicine box 3 through a hose; when the UAV body 1 is in an upright state, the hinge center between the spray bar 5 and the working platform 2 extends vertically; two adjacent spray bars 5 are connected by a hose; the adjustment structure comprises a horizontal telescopic adjustment structure for driving the spray assemblies of the same pair to move closer to or farther away from each other around their respective hinge centers and a vertical bending adjustment structure for driving the spray bars 5 not connected to the working platform 2 to swing up and down.

[0037] See also Figure 1-3 The bottom of the working platform 2 is provided with two symmetrically arranged landing gears 6; with the symmetry plane of the landing gear 6 as the boundary, at least two pairs of spray assemblies are provided on both sides of the symmetry plane. In this way, when not spraying, the spray assemblies on both sides are in a retracted state and form a "one" shape, which has good stability.

[0038] See also Figure 3-4 The number of the horizontal telescopic adjustment structures is the same as the number of pairs of spray assemblies; the horizontal telescopic adjustment structure includes a horizontal telescopic driving mechanism and a horizontal telescopic swing rod 7; two horizontal telescopic swing rods 7 are provided and symmetrically arranged between the corresponding same pair of spray assemblies, one end of the two horizontal telescopic swing rods 7 is respectively hinged to the spray rods 5 of the two groups of spray assemblies connected to the working platform 2, and the other end of the two horizontal telescopic swing rods 7 is hinged to the driving end of the horizontal telescopic driving mechanism; the driving direction of the horizontal telescopic driving mechanism is perpendicular to the symmetry plane of the landing gear 6.

[0039] Furthermore, the spray assemblies of the same pair located on the same side are symmetrically arranged; and the symmetry planes of all the spray assemblies located on the same side are the same.

[0040] Through the above structure, it is equivalent to arranging the spray components in a sandwich manner, which can drive the same pair of spray components to extend or contract at the same time. More importantly, different pairs of spray components can be gathered in the same position in a similar posture, thereby minimizing the occupied space and reducing resistance as much as possible.

[0041] See also Figure 3-4The horizontal telescopic drive mechanism includes a horizontal telescopic drive motor 8 and a horizontal telescopic transmission assembly. The horizontal telescopic transmission assembly includes a screw rod 9 and a screw nut 10. The axis of the screw rod 9 is perpendicular to the symmetry plane of the landing gear 6; the other ends of the two horizontal telescopic rocker arms 7 are respectively hinged on the corresponding screw nuts 10.

[0042] Furthermore, the horizontal telescopic drive mechanisms located on the same side are arranged to overlap vertically.

[0043] See also Figure 5 There are multiple vertical bending adjustment structures, and each vertical bending adjustment structure includes a vertical bending drive servo 11 and a mounting member 12. The mounting member 12 is fixed to the end of one of the two adjacent spray bars 5. The vertical bending drive servo 11 is arranged on the mounting member 12, and the output shaft of the vertical bending drive servo 11 is connected to the end of the other one of the two adjacent spray bars 5.

[0044] See also Figure 3 The same spray assembly includes three spray bars 5, and the same spray assembly is provided with two vertical bending adjustment structures.

[0045] See also Figure 1-3 The working principle of the plant protection UAV contour spray device of this embodiment is:

[0046] During non-spraying operations, the spray components are in a retracted state, at which time the outer distance between the spray components of the same pair is the smallest, which can reduce the occupied space, reduce wind resistance and reduce the risk of interference with other objects.

[0047] When spraying is required, the drone body 1 is equipped with a contour spray mechanism to fly above the crops, and the parameters such as the tree shape, plant height and canopy density of the fruit trees are scanned by the laser radar and depth camera carried by the fuselage to analyze the current tree shape; according to the current tree shape, the horizontal telescopic adjustment structure is used to drive each spray component to extend and cover the top of the crops, and the vertical bending adjustment structure is used to drive the spray rod 5 not connected to the working platform 2 to swing downward, so as to surround the outside of the crops; finally, a shape similar to an "umbrella frame" is presented to cover the crops. When the contour structure is adjusted, the controller mainboard controls the water pump to start spraying the pesticide.

[0048] After spraying is completed, the horizontal telescopic adjustment structure and the vertical bending adjustment structure drive each spray component to reset, and then turn to the next target crop until all spraying operations are completed and return.

[0049] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A plant protection drone contour spray device, comprising a drone body and a contour spray mechanism arranged on the drone body; characterized in that: A working platform is provided below the drone body; The contour spray mechanism comprises a medicine box, a spray assembly and an adjustment structure; The spray assembly is provided with at least two pairs, each group of the spray assembly includes at least two nozzles and at least two spray bars; the nozzles are respectively arranged on the spray bars; one end of one of the spray bars is horizontally hinged to the working platform and is connected to the medicine box through a hose; when the drone body is in an upright state, the hinge center between the spray bar and the working platform extends vertically; two adjacent spray bars are connected by a hose; The adjustment structure includes a horizontal telescopic adjustment structure for driving the same pair of spray assemblies to move closer to or farther from each other around their respective hinge centers and a vertical bending adjustment structure for driving a spray rod not connected to the working platform to swing up and down.

2. The plant protection drone contour spray device according to claim 1, characterized in that: The bottom of the working platform is provided with two symmetrically arranged landing gears; Taking the symmetry plane of the landing gear as the boundary, at least one pair of the spray assemblies is provided on both sides of the symmetry plane.

3. The plant protection drone contour spray device according to claim 2, characterized in that: The number of the horizontal telescopic adjustment structures is the same as the number of the spray assemblies; The horizontal telescopic adjustment structure includes a horizontal telescopic drive mechanism and a horizontal telescopic swing arm; two horizontal telescopic swing arms are provided and symmetrically arranged between the corresponding same pair of spray assemblies, one end of the two horizontal telescopic swing arms are respectively hinged to the spray rods of the two groups of spray assemblies connected to the working platform, and the other ends of the two horizontal telescopic swing arms are hinged to the driving end of the horizontal telescopic drive mechanism; the driving direction of the horizontal telescopic drive mechanism is perpendicular to the symmetry plane of the landing gear.

4. The plant protection UAV contour spray device according to claim 3, characterized in that: At least two pairs of the spray assemblies are provided on both sides of the symmetry plane of the landing gear; The spray assemblies of the same pair located on the same side are symmetrically arranged; the symmetry planes of all the spray assemblies located on the same side are the same.

5. The plant protection drone contour spraying device according to claim 4, characterized in that: The horizontal telescopic drive mechanism includes a horizontal telescopic drive motor and a horizontal telescopic transmission assembly, the horizontal telescopic transmission assembly includes a screw and a screw nut, the axis of the screw is perpendicular to the symmetry plane of the landing gear; the other ends of the two horizontal telescopic rocker arms are respectively hinged on the corresponding screw nuts.

6. The plant protection UAV contour spray device according to claim 5, characterized in that: The horizontal telescopic driving mechanisms located on the same side are arranged to overlap vertically.

7. The plant protection drone contour spraying device according to claim 1, characterized in that: There are multiple vertical bending adjustment structures, and each vertical bending adjustment structure includes a vertical bending drive servo and a mounting member, wherein the mounting member is fixed to the end of one of two adjacent spray booms, and the vertical bending drive servo is arranged on the mounting member, and the output shaft of the vertical bending drive servo is connected to the end of the other one of the two adjacent spray booms.

8. The plant protection drone contour spraying device according to claim 1, characterized in that: The same spray assembly includes three spray bars, and the same spray assembly is provided with two vertical bending adjustment structures.

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