Bionic agricultural pesticide spraying aircraft

Abstract

The utility model belongs to the technical field of agricultural unmanned aerial vehicles, and particularly relates to a bionic agricultural pesticide spraying aircraft. Comprising a fuselage and n supporting legs evenly distributed around the fuselage, n is an even number larger than or equal to 4, and each supporting leg is provided with a set of propellers driven by a motor; a plurality of independent pesticide bins are arranged in the machine body, an outlet of each pesticide bin is connected with a mixing box in the machine body through a water path, a metering pump is connected into the water path, a stirring device is arranged in the mixing box, a plurality of nozzles are evenly distributed on the periphery of the machine body, an outlet pipeline of the mixing box is divided into branches with the same number as the nozzles, and the branches are connected with the nozzles in a one-to-one mode. A booster pump is mounted on the branch; depth cameras are distributed outside the fuselage and used for acquiring environment images, and the aircraft controls a flight path according to the environment images; the unmanned aerial vehicle adopts a partitioned pesticide bin and octopus bionic eight-rotor design, and has high pesticide mixing capacity and stable flight control performance.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural drone technology, specifically relating to a biomimetic agricultural spraying aircraft. Background Technology

[0002] Spraying often results in most pesticides entering the soil, negatively impacting soil, water, and organisms. Low-volume spraying methods, such as agricultural drones, can achieve pesticide utilization rates of up to 60%, making them an effective way to reduce pesticide use.

[0003] However, existing agricultural plant protection drones have the following technical shortcomings:

[0004] 1. Limited variety of pesticides: Currently available drones can only spray one type of pesticide at a time, but crop pests and diseases are often not limited to one type of pesticide, so they cannot meet all needs;

[0005] 2. Fixed pesticide concentration: The concentration of pesticides needs to be adjusted according to different crops and pests, but currently drones can only spray pesticides at fixed concentrations.

[0006] 3. Insufficient sowing precision: Frequent double sowing and missed sowing lead to uneven crop growth and increased later management costs;

[0007] 4. Insufficient intelligence: It lacks functions such as high-precision positioning and intelligent route planning, making it difficult to adapt to complex terrain and operating environments.

[0008] These problems severely restrict the application effectiveness and promotion scope of agricultural drones. Therefore, developing a multifunctional agricultural plant protection drone that can solve the above problems has significant practical significance and application value. Utility Model Content

[0009] This invention aims to address the problems of existing agricultural plant protection drones being unable to automatically adjust the type and concentration of pesticides sprayed, as well as the issues of repeated and missed spraying, and insufficient level of intelligence.

[0010] This utility model provides the following technical solution: a biomimetic agricultural spraying aircraft, comprising a fuselage and n legs evenly distributed around the fuselage, where n is an even number ≥ 4, and each leg is equipped with a set of propellers driven by an electric motor.

[0011] The machine body contains several independent medicine chambers. The outlet of each medicine chamber is connected to the mixing tank inside the machine body via a water channel. A metering pump is connected to the water channel. The mixing tank is equipped with a stirring device. Several nozzles are evenly distributed around the outside of the machine body. The outlet pipeline of the mixing tank is divided into branches equal to the number of nozzles. Each branch is connected to a nozzle and a booster pump is installed on the branch.

[0012] Depth cameras are distributed around the fuselage. These cameras are used to acquire environmental images, and the aircraft controls its flight path based on these images.

[0013] Furthermore, several medicine compartments are evenly distributed around the longitudinal axis of the fuselage.

[0014] Furthermore, the fuselage includes a lower base and an upper casing, with outriggers connected to the base. Motors and propellers are mounted at the ends of the outriggers, which bend upwards until the propellers are above the center of gravity of the fuselage. The medicine tank is located inside the casing, and the nozzles are located on the casing.

[0015] Furthermore, the mixing chamber is located below the medicine compartment.

[0016] Furthermore, the casing is spherical.

[0017] Furthermore, the outriggers are fixed to the base with bolts.

[0018] Furthermore, the base is equipped with support legs.

[0019] Furthermore, the machine body is connected to eight support legs, with the nozzle located between two support legs.

[0020] Compared with the prior art, the advantages of this utility model are:

[0021] This invention provides a biomimetic agricultural spraying aircraft, employing an eight-propeller layout. The eight propellers are mounted on the tops of eight supporting legs, mimicking the movement of an octopus, providing efficient flight power and stable attitude control. This design allows the aircraft to fly stably in complex terrain and precisely control its flight path. The multi-rotor design also enhances the aircraft's payload capacity, ensuring ample power margin while carrying pesticides and water.

[0022] The aircraft features three independent pesticide storage compartments on its top for storing different types of pesticides. Each compartment is connected to a water pump, which delivers the pesticide solution or water to a mixing tank for rapid mixing. The mixing tank has a built-in agitator to ensure uniform mixing. The water pump's speed is adjustable, allowing control of the mixing ratio and spraying speed to ensure precise application according to different operational needs. Attached Figure Description

[0023] Figure 1 A 3D view of a biomimetic agricultural spraying drone;

[0024] Figure 2 An exploded view of a biomimetic agricultural spraying drone;

[0025] Figure 3 This is a cross-sectional view of the casing;

[0026] Figure 4 This is a schematic diagram of the support legs.

[0027] In the diagram: 1-body; 1.1-base; 1.2-casing; 1.3-support leg; 2-support leg; 3-nozzle; 4-motor; 5-propeller; 6-medicine tank; 7-mixing box; 8-stirring device. Detailed Implementation

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] like Figures 1-4 As shown: A biomimetic agricultural spraying aircraft includes a fuselage 1 and n evenly distributed legs 2 around the fuselage 1, where n is an even number ≥ 4. Each leg 2 is equipped with a set of propellers 5 driven by a motor 4. Several independent pesticide tanks 6 are arranged inside the fuselage 1, each storing a different pesticide solution. The outlet of each pesticide tank 6 is connected to a mixing tank 7 inside the fuselage 1 via a water channel. A metering pump is connected to the water channel, which pumps a metered amount of pesticide solution from the pesticide tank 6 into the mixing tank 7 to achieve different pesticide solution ratios. The mixing tank 7 is equipped with... There is a stirring device 8, which mixes the medicine in the mixing tank 7 evenly. If it is necessary to adjust the concentration of the medicine, water is stored in one of the medicine compartments in advance, and the water and medicine are mixed in the mixing tank 7 to change the concentration of the medicine. Several nozzles 3 are evenly distributed around the outside of the machine body 1. The outlet pipe of the mixing tank 7 is divided into branches equal to the number of nozzles 3. Each branch is connected to a nozzle 3. A booster pump is installed on the branch. The booster pump pressurizes the medicine and pumps it to the nozzles 3. The opening and closing of each nozzle 3 can be independently controlled by the booster pump.

[0030] Depth cameras are distributed on the outside of the fuselage 1. The depth cameras are used to acquire environmental images, and the aircraft controls its flight path based on the environmental images.

[0031] Several medicine compartments 6 are evenly distributed around the longitudinal axis of the fuselage 1.

[0032] The fuselage 1 includes a lower base 1.1 and an upper shell 1.2. The legs 2 are connected to the base 1.1. The motor 4 and the propeller 5 are installed at the ends of the legs 2. The legs 2 are bent upwards until the propeller 5 is above the center of gravity of the fuselage 1. The shell 1.2 is spherical, and the aircraft is shaped like an octopus. The medicine tank 6 is located inside the shell 1.2, and the nozzle 3 is located on the shell 1.2.

[0033] The mixing box 7 is located below the medicine chamber 6. The medicine liquid in the medicine chamber 6 flows naturally into the mixing box 7 to prevent medicine liquid residue in the medicine chamber 6.

[0034] The fuselage 1 is connected to eight outriggers 2, with nozzles 3 located between two outriggers 2. Multiple evenly distributed nozzles 3 are designed to adapt to the layout of the eight rotors, maximizing the spray coverage area. The nozzles 3 are supplied with liquid by independent booster pumps, which can control the start and stop of spraying in real time in response to commands from the host computer, ensuring that no pesticides are wasted when switching work areas.

[0035] The outrigger 2 is bolted to the base 1.1. The outrigger 2 and the base 1.1 are connected by a detachable structure, which facilitates the removal of the outrigger 2 during transportation and reduces the overall size of the aircraft. Support feet 1.3 are located at the bottom of the base 1.1. The propeller 5 is made of carbon fiber, providing sufficient strength and rigidity while maintaining a lightweight design.

[0036] Eight depth cameras are evenly distributed around the fuselage. These eight depth cameras generate high-precision 3D point cloud data in real time by running the FAST-LIO2 algorithm. By combining the strong coupling effect of the aircraft's IMU (Inertial Measurement Unit) and GPS, and making full use of the approximate position information provided by the Global Positioning System (GPS) and the acceleration and angular velocity information measured by the Inertial Measurement Unit (IMU), deep data fusion with the depth cameras is achieved.

[0037] The control method for the aircraft is as follows:

[0038] Point-to-point operations are performed on the host computer to input the task of spraying targeted farmland. First, the 3D point cloud data acquired by the depth camera is preprocessed to remove abnormal data points caused by sensor noise, environmental interference, and other factors. Then, a deep learning-based target detection algorithm is used to identify and extract farmland features from the 3D point cloud data, including distinctive features such as field ridges and crop boundaries. A local map of the farmland environment is constructed using these features and matched with a global map to accurately locate the aircraft's current position and the target point.

[0039] Next, based on the current position of the aircraft and the position of the target point, and taking into account the actual situation such as the undulating terrain of the farmland and the density of crop distribution, the Dijkstra algorithm is used to plan a safe and efficient flight path, which can not only avoid collisions with obstacles in the farmland, but also maximize the coverage and uniformity requirements of plant protection operations.

[0040] During flight along the planned path, the aircraft continuously utilizes real-time fused positioning data from IMU and GPS to monitor and adjust its position and attitude. If the aircraft deviates from the preset path, a feedback control mechanism automatically adjusts its flight parameters to ensure it accurately follows the planned point-to-point path, efficiently completing agricultural plant protection operations.

[0041] Data interaction between the aircraft and the host computer is achieved through a 5G communication module. The aircraft integrates 5G functionality, encapsulating pre-processed (noise removal, data compression) depth camera data into 5G protocol data frames for uploading. The 5G network, with its high speed, low latency, and large capacity, establishes a reliable link. The host computer's 5G module receives, decapsulates, verifies, and publishes the data to the corresponding topic in the ROS2 system. The ROS2 system receives and processes the data using a shared topic mechanism. The computing module performs real-time point-to-point calculations, such as path planning, and then encapsulates the results into instruction frames, feeding them back to the aircraft. The aircraft then executes the commands. Simultaneously, through the ROS2 shared topic design, topics such as ` / point_cloud_data` are defined to transmit different types of data, clarifying the message types for each topic and standardizing the publish and subscribe behavior between the aircraft and the host computer's ROS2 nodes.

[0042] To ensure efficient, stable, and secure data transmission, a series of measures are implemented. Regarding 5G communication optimization, QoS parameters are set based on data characteristics, prioritizing flight commands with high priority and low latency, and point cloud data with lower priority and high throughput. Point cloud data compression algorithms, such as wavelet transform, are used to reduce transmission volume. Transmission rates and modulation methods are dynamically adjusted according to 5G network conditions. In terms of security design, symmetric encryption algorithms (such as AES) are used to encrypt transmitted data. Identity authentication is performed when establishing a connection between the host computer and the aircraft using a pre-shared key. Different user permissions are set on the host computer to implement access control for command sending and data viewing, preventing data leakage and unauthorized operations.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural pesticide spraying drone, comprising a fuselage (1) and n legs (2) evenly distributed around the fuselage (1), n is an even number greater than or equal to 4, a set of propellers (5) driven by motors (4) are installed on each leg (2); characterized in that A plurality of independent pesticide bins (6) are arranged in the fuselage (1), the outlet of each pesticide bin (6) is connected to a mixing tank (7) in the fuselage (1) through a waterway, a metering pump is connected to the waterway, a stirring device (8) is arranged in the mixing tank (7), a plurality of spray heads (3) are evenly distributed around the fuselage (1), the outlet pipeline of the mixing tank (7) is divided into branches equal to the number of spray heads (3), each branch is connected to a spray head (3), and a booster pump is installed on each branch; A depth camera is arranged on the fuselage (1), the depth camera is used to obtain an environment image, and the flight path of the drone is controlled according to the environment image.

2. The bionic agricultural unmanned aerial vehicle of claim 1, wherein: A plurality of pesticide bins (6) are evenly distributed around the longitudinal axis of the fuselage (1).

3. The bionic agricultural unmanned aerial vehicle of claim 1, wherein: The fuselage (1) comprises a lower base (1.1) and an upper casing (1.2), the legs (2) are connected to the base (1.1), the motors (4) and the propellers (5) are installed at the ends of the legs (2), the legs (2) are bent upwards so that the propellers (5) are located above the center of gravity of the fuselage (1), the pesticide bins (6) are located in the casing (1.2), and the spray heads (3) are located on the casing (1.2).

4. The bionic agricultural unmanned aerial vehicle of claim 2, wherein: The mixing tank (7) is located below the pesticide bin (6).

5. The bionic agricultural unmanned aerial vehicle of claim 3, wherein: The casing (1.2) is spherical.

6. The bionic agricultural unmanned aerial vehicle of claim 3, wherein: The legs (2) are fixed to the base (1.1) by bolts.

7. The bionic agricultural unmanned aerial vehicle of claim 6, wherein: The bottom of the base (1.1) is provided with a support leg (1.3).

8. The bionic agricultural unmanned aerial vehicle of claim 1, wherein: Eight legs (2) are connected to the fuselage (1), and the spray heads (3) are located between two legs (2).

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