Unmanned aerial vehicle for precise pesticide application of crops

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for precise pesticide application of crops, a displacement structure is arranged below a vehicle arm, the displacement structure is connected with a spray head on the vehicle arm, and the spray head displaces in the length direction of the vehicle arm through the displacement structure. A liquid storage box is arranged on the unmanned aerial vehicle host, the bottom of the liquid storage box is connected with a telescopic pipeline structure, and the bottom end of the telescopic pipeline structure is connected with a nozzle. The telescopic pipeline structure comprises a hose, a pull rope and a driving structure, the hose is a telescopic pipeline made of flexible materials, the top of the hose is communicated with the liquid storage box, the bottom of the hose is communicated with the sprayer and connected with one end of the pull rope, the other end of the pull rope is connected with the driving structure, and the driving structure is located at the top of the hose. The pull rope moves vertically through the driving structure, and the hose stretches out and draws back vertically through the pull rope. The technical problem that the spraying range, the spraying height and the spraying angle of the unmanned aerial vehicle can be adjusted is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, and more specifically, to an unmanned aerial vehicle for precise crop application. Background Art

[0002] An unmanned aerial vehicle for crop application is an agricultural unmanned aerial vehicle used for spraying crop inputs such as pesticides and fertilizers. This kind of unmanned aerial vehicle is usually equipped with a container loaded with pesticides or fertilizers, and a spraying system that can evenly spray the inputs on the crops. Unmanned aerial vehicle application has many advantages, such as improving spraying accuracy, reducing waste of pesticides and fertilizers, improving operation efficiency, and reducing labor costs.

[0003] Existing unmanned aerial vehicles for crop application are generally designed to improve operation efficiency, so they all adopt large-area and rapid spraying for application. The application speed is fast, but for crops with a large planting interval or a dense planting area, pesticides will be sprayed onto the ground without crops or onto the top leaves of the crops during spraying, and the utilization efficiency of pesticides is relatively low.

[0004] The Chinese utility model patent with the patent name of "An unmanned aerial vehicle for applying pesticides to high-stalk crops" and the announcement number of CN208016761 has been publicly disclosed. This patent includes an unmanned aerial vehicle body. Four support feet are arranged at the lower part of the unmanned aerial vehicle body. One end of a spraying through pipe is fixedly connected to the middle part of the unmanned aerial vehicle body. Arc-shaped sliding grooves are symmetrically arranged outside the spraying through pipe. One end of an arc-shaped sliding block is fitted into the arc-shaped sliding groove, and the other end of the arc-shaped sliding block is fixedly connected to an extension sleeve column. The extension sleeve column is a hollow structure and is located below the spraying through pipe. This device increases the vertical application range and is convenient for applying pesticides to high-stalk crops.

[0005] Although this device can apply pesticides to tall crops, its application range still cannot be adjusted, and it cannot perform precise pesticide application on crops, so there are certain limitations. Summary of the Utility Model

[0006] The purpose of this application is to provide an unmanned aerial vehicle for precise crop application, which solves the technical problems of adjustable spraying range, spraying height and angle of the unmanned aerial vehicle.

[0007] To solve the above technical problems, the solution adopted in this application is as follows:

[0008] An unmanned aerial vehicle for precise crop application includes an unmanned aerial vehicle main body. Landing gears are arranged at the bottom of the unmanned aerial vehicle main body. An arm is arranged at each of the four ends of the unmanned aerial vehicle main body. A wing paddle assembly and a nozzle are arranged at the end of the arm.

[0009] Preferably, a displacement structure is arranged below the arm. The displacement structure is connected to the nozzle on the arm, and the nozzle is displaced along the length direction of the arm through the displacement structure.

[0010] Preferably, a liquid storage box is provided on the main body of the drone, and the bottom of the liquid storage box is connected to a telescopic pipeline structure, and the bottom end of the telescopic pipeline structure is connected to a nozzle.

[0011] Preferably, the telescopic pipeline structure includes a flexible hose, a pull rope and a driving structure. The flexible hose is a telescopic pipeline made of flexible material. The top of the flexible hose communicates with the liquid storage box, the bottom of the flexible hose communicates with the nozzle, one end of the pull rope is connected to the bottom of the flexible hose, the other end of the pull rope is connected to the driving structure, the driving structure is located at the top of the flexible hose, and the flexible hose vertically expands and contracts through the pull rope.

[0012] Preferably, the displacement structure includes a slider, the slider is slidably arranged in a chute, the chute is located on the bottom surface of the arm, and a nozzle is arranged on the slider.

[0013] Preferably, the slider is rotatably connected to one end of a pull rod, the other end of the pull rod is eccentrically rotatably connected to a rotating plate, the center of the rotating plate is fixed on the driving shaft of a first motor, and the first motor is fixed to the bottom of the main body of the drone.

[0014] Preferably, there is a nozzle and a pull rod corresponding to the bottom of each of the four arms. The four pull rods are evenly and eccentrically arranged on the rotating plate along the circumferential direction with the driving shaft of the first motor as the center.

[0015] Preferably, the telescopic pipeline structure includes a protective tube, the protective tube is fixedly arranged at the bottom of the main body of the drone, a support plate is fixedly connected to the lower part of the protective tube, and a landing gear is fixedly connected to the bottom of the support plate.

[0016] Preferably, the protective tube is vertically arranged on the bottom surface of the main body of the drone, and a flexible hose and a spring tube are arranged inside the protective tube.

[0017] Preferably, a fixing plate is arranged at the bottom of the flexible hose, a spring tube is sleeved outside the flexible hose, one end of the spring tube is fixedly connected to the fixing plate, and the other end is fixedly connected to the bottom surface of the liquid storage box.

[0018] Preferably, connecting columns are arranged on both sides of the fixing plate, the connecting columns are fixedly connected to one end of the pull rope, and the pull ropes on both sides of the fixing plate are symmetrically arranged on both sides of the flexible hose.

[0019] Preferably, the other end of the pull rope is wound around a roller, the roller is arranged on the support plate, the roller is fixedly connected to the driving shaft of a second motor, the second motor is fixed to the support plate, the number of the second motors corresponds to the number of the pull ropes, and the second motors are symmetrically distributed on both sides of the flexible hose.

[0020] Preferably, the roller and the second motor constitute the driving structure.

[0021] The technical solution of the present application has at least the following advantages and beneficial effects:

[0022] In the present utility model, by providing a displacement structure, the spray head located on the drone arm can be displaced horizontally, so as to change the spraying range of the drone, thereby being applicable to the precise application of pesticides for different planting intervals and different sizes of crops, and reducing the waste of pesticides.

[0023] In the present utility model, by providing a telescopic pipeline structure and using a telescopic fabric hose, the vertical height of the spray head is extended, so as to precisely apply pesticides to tall-stemmed crops and crops with a relatively high planting density. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present utility model.

[0025] Figure 2 is a front view structural schematic diagram of the present utility model.

[0026] Figure 3 is a sectional structural schematic diagram of the displacement structure in the present utility model.

[0027] Figure 4 is a front view structural schematic diagram of the present utility model when no pesticide is sprayed.

[0028] Figure 5 is a sectional structural schematic diagram of the telescopic pipeline structure in the present utility model.

[0029] Figure 6 is a left view structural schematic diagram of the present utility model.

[0030] In the figure: 1 - drone main body, 2 - arm, 3 - wing paddle assembly, 4 - liquid storage box, 5 - displacement structure, 501 - chute, 502 - slider, 503 - pull rod, 504 - rotating plate, 505 - first motor, 6 - spray head, 7 - telescopic pipeline structure, 701 - protective pipe, 702 - support plate, 703 - hose, 704 - spring pipe, 705 - fixing plate, 706 - connecting column, 707 - pull rope, 708 - roller, 709 - second motor, 8 - landing gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0032] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. If terms such as "center", "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. This is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application. It should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] Embodiment

[0034] Please refer to Figures 1-6 , the present utility model provides a crop precision spraying drone, including a drone main body 1, an arm 2, a wing paddle assembly 3, a liquid storage box 4, a displacement structure 5, a nozzle 6, a telescopic pipeline structure 7, and a landing gear 8.

[0035] In the prior art, drones for spraying pesticides on various crops generally include a drone main body 1. A camera device and a sensor are arranged on the drone main body 1 to analyze and determine the position of the crops; a landing gear 8 is arranged at the bottom of the drone main body 1 to support and protect the takeoff and landing process of the drone; an arm 2 is respectively arranged at the four ends of the drone main body 1, and a wing paddle assembly 3 and a nozzle 6 are arranged at the end of the arm 2. The wing paddle assembly 3 can rotate to provide lift for the drone and drive its movement; a liquid storage box 4 is arranged on the drone main body 1, and the liquid storage box 4 is communicated with the nozzle 6 through a pipeline, and the nozzle 6 pressurizes to spray pesticides onto the crops.

[0036] In this embodiment, by arranging a displacement structure 5 in the drone to drive the nozzles 6 on each arm 2 to move, thereby changing the horizontal spraying range of the pesticides; by arranging a telescopic pipeline structure 7 at the bottom of the drone and a nozzle 6 communicated with the liquid storage box 4 to drive the nozzle 6 at the bottom to move vertically, thereby changing the vertical spraying height of the pesticides, so as to realize the adjustable precision spraying function of the drone.

[0037] Further, a displacement structure 5 is provided below the robotic arm 2. The displacement structure 5 is connected to the nozzle 6 on the robotic arm 2. The nozzle 6 can be displaced along the length direction of the robotic arm 2 through the displacement structure 5, thereby changing the lateral spraying position of the nozzle 6.

[0038] The displacement mechanism includes a chute 501, a slider 502, a pull rod 503, a rotating plate 504, and a first motor 505.

[0039] Specifically, a chute 501 is provided on the bottom surface of each robotic arm 2. The slider 502 is slidably disposed in the chute 501, and the sliding direction is the length direction of the robotic arm 2. The nozzle 6 is provided on the slider 502, and the pipeline connecting the nozzle 6 and the liquid storage box 4 is laid inside the robotic arm 2 and can move together with the nozzle 6.

[0040] The slider 502 is rotatably connected to one end of the pull rod 503. The other end of the pull rod 503 is eccentrically rotatably connected to the rotating plate 504. The center of the rotating plate 504 is fixed on the drive shaft of the first motor 505. The first motor 505 is fixed to the bottom of the UAV main body 1.

[0041] When the drive shaft of the first motor 505 rotates, it will pull one end of the pull rod 503. The movement of the pull rod 503 will drive the slider 502 to slide on the chute 501, thereby realizing the displacement of the nozzle 6 on the slider 502.

[0042] There is a nozzle 6 and a pull rod 503 corresponding to the bottom of each of the four robotic arms 2 on the UAV. The four pull rods 503 are evenly and eccentrically arranged on the rotating plate 504 along the circumferential direction with the drive shaft of the first motor 505 as the center, which is convenient for keeping the adjustment range of the nozzle 6 on each robotic arm 2 consistent.

[0043] There is a bend in the middle of the pull rod 503, which is convenient for providing clearance for the telescopic pipeline structure 7 also provided at the bottom of the UAV main body 1.

[0044] Preferably, when the interval between the crops to be sprayed is large and the occupied area of the crops themselves is small, in order to save pesticides, the displacement structure 5 can be used to drive the nozzle 6 to move towards the center of the UAV, reducing the spraying range of the nozzle 6 on the robotic arm 2, so that the sprayed pesticides only accurately cover the crops, thereby improving the precise pesticide application.

[0045] Further, the bottom of the liquid storage box 4 is connected to the telescopic pipeline structure 7. The bottom end of the telescopic pipeline structure 7 is connected with a nozzle 6. The nozzle 6 can be vertically displaced through the telescopic pipeline structure 7, thereby changing the vertical spraying position of the nozzle 6.

[0046] The telescopic pipeline structure 7 includes a protective pipe 701, a support plate 702, a hose 703, a spring pipe 704, a fixing plate 705, a connecting column 706, a pull rope 707, a roller 708, and a second motor 709.

[0047] Specifically, the protective tube 701 is fixedly arranged at the bottom of the UAV main body 1. A support plate 702 is fixedly connected to the lower part of the protective tube 701, and a landing gear 8 is fixedly connected to the bottom of the support plate 702. A space is left between the protective tube 701 and the support plate 702 for placing each component of the displacement structure 5.

[0048] The protective tube 701 is vertically arranged on the bottom surface of the UAV main body 1. A flexible tube 703 and a spring tube 704 are arranged inside the protective tube 701. The pipeline of the protective tube 701 is not easily deformed and is used to protect the easily damaged flexible tube 703 and spring tube 704 inside it.

[0049] Among them, the flexible tube 703 is a telescopic pipeline made of flexible material, preferably nylon fabric, which has a waterproof function and can ensure that pesticides will not leak when being transported in the flexible tube 703.

[0050] The top of the flexible tube 703 is communicated with the liquid storage box 4, and the bottom of the flexible tube 703 is communicated with the nozzle 6. Pesticides are transported to the nozzle 6 through the flexible tube 703 for spraying.

[0051] A fixing plate 705 is arranged at the bottom of the flexible tube 703. A spring tube 704 is sleeved outside the flexible tube 703. One end of the spring tube 704 is fixedly connected to the fixing plate 705, and the other end is fixedly connected to the bottom surface of the liquid storage box 4.

[0052] The normal elastic expansion amount of the spring tube 704 is the length when the flexible tube 703 is fully straightened. The spring tube 704 can provide elastic force for the bottom end of the flexible tube 703 to ensure that the flexible tube 703 can be fully straightened.

[0053] Connecting columns 706 are also arranged on both sides of the fixing plate 705. One end of a pull rope 707 is fixedly connected to the connecting column 706. The other end of the pull rope 707 is wound around a roller 708. The roller 708 is arranged on the support plate 702. The roller 708 is fixedly connected to the driving shaft of a second motor 709. The second motor 709 is fixed on the support plate 702.

[0054] When the second motor 709 is started, the roller 708 winds the pull rope 707, and the upper pull rope 707 will pull one end of the spring tube 704 on the lower fixing plate 705, so that the spring tube 704 is subjected to an upward pulling force and undergoes elastic expansion.

[0055] The pull ropes 707 on both sides of the fixing plate 705 are symmetrically arranged on both sides of the flexible tube 703. The number of the second motors 709 also corresponds to the number of the pull ropes 707 and is symmetrically distributed on both sides of the flexible tube 703.

[0056] Therefore, when the second motors 709 on both sides of the hose 703 work simultaneously, the corresponding pull ropes 707 will pull both sides of the bellows tube 704 at the same time. The pulling forces on both sides interact, causing the bellows tube 704 to only receive a vertical pulling force, thereby undergoing vertical contraction without bending. The bellows tube 704 will also drive the connected hose 703 to contract synchronously, thus changing the vertical height of the nozzle 6 at the bottom of the hose 703.

[0057] After the vertical displacement of the nozzle 6 is completed, the motor on one side of the hose 703 stops working, while the other motor continues to work. At this time, the bellows tube 704 only receives a pulling force on one side, causing one end of the bellows tube 704 to bend towards the pulling side, and the fixing plate 705 to tilt towards that side, thereby changing the spraying angle of the nozzle 6 on the hose 703 so that it does not spray only in one direction.

[0058] When no pesticide is being sprayed, the second motor 709 winds up the pull rope 707, pulling the bellows tube 704 and the hose 703 together to contract until they are retracted into the protective tube 701 for shrinkage protection, preventing the hose 703 from resting on the ground or being wound around the components of the drone before takeoff, which could damage the hose 703 or the drone components.

[0059] Preferably, when the crops to be treated with pesticides are relatively tall or the planting area is relatively dense, in order to spray the pesticides onto the ground at the roots of the crops, the telescopic pipe structure 7 can be used to pass the nozzle 6 through the top leaves of the crops and extend it to the root position below the crops for precise and effective pesticide application. The spraying angle of the nozzle 6 can also be adjusted to cope with the spraying height positions of different tall crops (such as spraying insect repellents on the stems of tall-stemmed crops). The bellows tube 704 and the taut pull ropes 707 outside the hose 703 can provide a certain rigidity to the entire hose 703, preventing the hose 703 for transporting pesticides from deflecting due to the obstruction of the leaves of the external crops.

[0060] So far, the embodiments of the present invention have been described in detail. To avoid obscuring the concept of the present invention, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions of the present invention based on the above description. The scope of the present invention is defined by the appended claims.

Claims

1. A drone for precise crop pesticide application, comprising a drone host (1), a landing gear (8) being arranged at the bottom of the drone host (1), a machine arm (2) being arranged at each of the four ends of the drone host (1), a propeller assembly (3) and a spray head (6) being arranged at the end of the machine arm (2), and characterized in that ； A displacement structure (5) is provided below the machine arm (2), the displacement structure (5) is connected to a nozzle (6) on the machine arm (2), and the nozzle (6) is displaced along the length direction of the machine arm (2) through the displacement structure (5); The drone host (1) is provided with a liquid storage box (4), the bottom of the liquid storage box (4) is connected to a telescopic pipe structure (7), and the bottom end of the telescopic pipe structure (7) is connected to a nozzle (6); The telescopic pipe structure (7) comprises a hose (703), a pull rope (707) and a driving structure, wherein the hose (703) is a telescopic pipe made of a flexible material, the top of the hose (703) is connected to the liquid storage box (4), the bottom of the hose (703) is connected to the nozzle (6), the bottom of the hose (703) is connected to one end of the pull rope (707), and the other end of the pull rope (707) is connected to the driving structure, the driving structure is located at the top of the hose (703), the pull rope (707) is vertically displaced by the driving structure, and the hose (703) is vertically telescoped by the pull rope (707).

2. According to the drone for precise crop pesticide application as described in claim 1, it is characterized in that: The displacement structure (5) comprises a slider (502), the slider (502) is slidably arranged in a slide groove (501), the slide groove (501) is located on the bottom surface of the machine arm (2), and a nozzle (6) is arranged on the slider (502); The slider (502) is rotatably connected to one end of the pull rod (503), and the other end of the pull rod (503) is eccentrically rotatably connected to the rotating plate (504). The center of the rotating plate (504) is fixed on the driving shaft of the first motor (505), and the first motor (505) is fixed on the bottom of the drone host (1); The bottom of each of the four machine arms (2) corresponds to a nozzle (6) and a pull rod (503). The four pull rods (503) are arranged uniformly and eccentrically on the rotating plate (504) along the circumferential direction with the driving shaft of the first motor (505) as the axis.

3. According to the drone for precise crop pesticide application as described in claim 1, it is characterized in that: The telescopic pipe structure (7) comprises a protective pipe (701), which is fixedly arranged at the bottom of the drone mainframe (1), the lower part of the protective pipe (701) is fixedly connected to a support plate (702), and the bottom of the support plate (702) is fixedly connected to a landing gear (8).

4. The drone for precise crop pesticide application according to claim 3, characterized in that: The protective tube (701) is vertically arranged on the bottom surface of the drone mainframe (1), and a hose (703) and a spring tube (704) are arranged inside the protective tube (701).

5. The drone for precise crop pesticide application according to claim 4, characterized in that: A fixing plate (705) is provided at the bottom of the hose (703), and a spring tube (704) is provided on the outer sleeve of the hose (703). One end of the spring tube (704) is fixedly connected to the fixing plate (705), and the other end is fixedly connected to the bottom surface of the liquid storage box (4).

6. The drone for precise crop pesticide application according to claim 5, characterized in that: Connecting columns (706) are arranged on both sides of the fixing plate (705), and the connecting columns (706) are fixedly connected to one end of a pull rope (707). The pull ropes (707) on both sides of the fixing plate (705) are symmetrically arranged on both sides of the hose (703); The other end of the pull rope (707) is wound on a roller (708), which is arranged on a support plate (702). The roller (708) is fixedly connected to a driving shaft of a second motor (709), which is fixed on the support plate (702). The number of the second motors (709) corresponds to the number of the pull ropes (707), and the second motors (709) are symmetrically distributed on both sides of the hose (703); The roller (708) and the second motor (709) constitute a driving structure.

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