An agricultural unmanned aerial vehicle suitable for spraying operations

Abstract

The utility model provides an agricultural unmanned plane suitable for spraying operation relates to agricultural unmanned plane field, the agricultural unmanned plane suitable for spraying operation, including fuselage, the bottom fixed mounting of fuselage has the storage medicine case, the bottom of storage medicine case is provided with atomizing nozzle, the front fixed mounting of fuselage has binocular camera and laser sensor, the top fixed mounting of fuselage has laser radar, the bottom fixed mounting of fuselage has GPS module, and the middle part of fuselage is provided with flight control unit. The agricultural unmanned plane suitable for spraying operation, through setting up by utilizing binocular camera to gather image in the process of flying, can be used for providing the auxiliary to laser radar and light flow sensor positioning, can gather ground information for the adjustment of flight route simultaneously, through setting up laser sensor and binocular camera, the perception of the flight front end article is carried out, is used for the reasonable planning flight path, thereby can be used for the optimization of flight path and improve the precision of flight path.

Description

Technical Field

[0001] This utility model relates to the field of agricultural drone technology, specifically to an agricultural drone suitable for spraying operations. Background Technology

[0002] Agricultural drones are autonomous or remotely controlled aircraft with broad application prospects in agriculture. These drones are typically equipped with cameras, sensors, and other measuring devices, enabling them to perform various tasks to improve agricultural production efficiency and quality. In agriculture, drones' high-resolution imaging technology can capture detailed crop growth conditions, while multispectral and thermal imaging technologies can assess crop moisture and health. By collecting and analyzing this data, farmers can develop personalized fertilization and irrigation plans, achieving precision agriculture management. In farmland information monitoring, drones, equipped with multispectral cameras, infrared sensors, and other remote sensing equipment, can conduct comprehensive surveys of farmland, monitoring crop growth, pest and disease occurrence, and nutritional status in real time, providing farmers with scientific planting plans. Furthermore, drones show great potential in pesticide spraying. Drones equipped with spraying equipment can perform precise spraying according to preset plans, improving pesticide use efficiency and reducing environmental impact.

[0003] Existing methods for drone pesticide spraying typically rely on GPS positioning for path planning, allowing drones to move back and forth within the designated spraying area. However, the flight environment in farmland is not simply a flat plane. Factors such as cables passing over the farmland, tree branches obstructing the edges, and even birds flying above the farmland limit the flight path. Therefore, it is necessary to collect data on the farmland flight environment to reasonably avoid obstructions and improve flight efficiency. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an agricultural drone suitable for spraying operations, solving the problem of limited flight path planning and information collection mentioned in the background technology.

[0005] Technical solution

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: an agricultural drone suitable for spraying operations, comprising a fuselage, a medicine storage tank fixedly installed at the bottom of the fuselage, an atomizing nozzle provided at the bottom of the medicine storage tank, a binocular camera and a laser sensor fixedly installed at the front of the fuselage, a lidar fixedly installed at the top of the fuselage, a GPS module fixedly installed at the bottom of the fuselage, and a flight control unit provided in the middle of the fuselage.

[0007] Furthermore, an optical flow sensor is fixedly installed at the bottom of the device to replace the GPS module or increase the positioning accuracy of the GPS module.

[0008] Furthermore, the fuselage includes a cabin, on which at least four arms are fixedly mounted in a radial ring on the side. A brushless motor is fixedly mounted at the end of the arm furthest from the cabin, and a propeller is fixedly mounted at the output end of the brushless motor. Landing gears are fixedly mounted on both sides below the cabin, and a battery compartment is located at the bottom of the cabin.

[0009] Furthermore, a support frame is fixedly installed at the bottom of the cabin, and the medicine storage box is fixedly installed in the middle of the support frame.

[0010] Furthermore, the landing gear has an "L" shaped cross-section, including a landing gear that connects to the cabin. The bottom end of the landing gear has a horizontal section, and the outer surface of the horizontal section is covered with shock-absorbing foot sleeves.

[0011] Furthermore, a semi-circular mesh-like protective blade is fixedly installed at the end of the arm away from the cabin, wrapping around the outer surface of the propeller.

[0012] Furthermore, the laser sensor is a TFmin laser sensor, and the lidar is a mid lidar.

[0013] Furthermore, the cabin interior is equipped with a Jetson Nano computer, receiver, power distribution board, nano bay, PM-PCBA, and is electrically connected to the flight control unit.

[0014] The beneficial effects of this utility model are as follows:

[0015] 1. This agricultural drone, suitable for spraying operations, uses a binocular camera to collect images during flight, which can assist in positioning with lidar and optical flow sensors. It can also collect ground information for adjusting the flight path. By using a lidar sensor and a binocular camera to perceive objects in front of the drone, it can rationally plan the flight path, thereby optimizing the flight path and improving its accuracy.

[0016] 2. This agricultural drone suitable for spraying operations has an "L"-shaped landing gear, which includes legs that connect to the cabin. The bottom of the legs has a horizontal section, and the outer surface of the horizontal section is covered with shock-absorbing foot covers. This design can be used for shock absorption during takeoff and landing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram showing the distribution of the brushless motor of this utility model;

[0019] Figure 3 This is a side view of the present invention;

[0020] Figure 4 This is a front view of the present utility model.

[0021] The components include: 1. Cabin; 2. Flight control unit; 3. Arm; 4. Landing gear; 5. Propeller; 6. Propeller guard; 7. Shock-absorbing foot covers; 8. Battery compartment; 9. Brushless motor; 10. Binocular camera; 11. GPS module; 12. LiDAR; 13. Laser sensor; 14. Medicine tank; 15. Support frame; 16. Atomizing nozzle; 17. Optical flow sensor; 18. Landing gear; 901. Brushless motor one; 902. Brushless motor two; 903. Brushless motor three; 904. Brushless motor four. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] See Figures 1-4 An agricultural drone suitable for spraying operations includes a fuselage, a pesticide storage tank 14 fixedly mounted at the bottom of the fuselage, and an atomizing nozzle 16 at the bottom of the pesticide storage tank 14; a binocular camera 10 and a laser sensor 13 fixedly mounted at the front of the fuselage; a lidar 12 fixedly mounted at the top of the fuselage; and a GPS module 11 fixedly mounted at the bottom of the fuselage, capable of returning flight altitude and latitude / longitude information as a basis for aerial photography. A flight control unit 2 is located in the middle of the fuselage.

[0024] An optical flow sensor 17 is fixedly installed at the bottom of the device to replace the GPS module 11 or increase the positioning accuracy of the GPS module 11. This configuration can improve the positioning accuracy of the device.

[0025] The fuselage includes a cabin 1. At least four arms 3 are fixedly installed on the side of the cabin 1 and are arranged in a radial ring. A brushless motor 9 is fixedly installed at the end of the arm 3 away from the cabin 1. A propeller 5 is fixedly installed at the output end of the brushless motor 9. Landing gears 18 are fixedly installed on both sides below the cabin 1. A battery compartment 8 is provided at the bottom of the cabin 1.

[0026] A support frame 15 is fixedly installed at the bottom of the cabin 1, and the medicine storage box 14 is fixedly installed in the middle of the support frame 15. Since the medicine storage box 14 is large in size, it is easy to fall off if it is simply connected to the cabin 1 by bolts. Therefore, the support frame 15 is set to improve the stability of the connection between the cabin 1 and the medicine storage box 14.

[0027] The landing gear 18 has an "L" shaped cross section, including a landing gear 4 that connects to the cabin 1. The bottom of the landing gear 4 has a horizontal section, and the outer surface of the horizontal section is covered with a shock-absorbing foot cover 7. This configuration can be used for shock absorption during takeoff and landing.

[0028] A semi-circular mesh-like protective rotor 6 is fixedly installed at the end of the arm 3 away from the cabin 1, which wraps around the outer surface of the rotor 5. This arrangement can protect the rotor 5 and prevent foreign objects from entering the rotor 5's rotation radius, thus avoiding a crash.

[0029] Laser sensor 13 is a TFmin laser sensor, and lidar 12 is a mid360 lidar. This configuration can enhance the drone's perception capabilities during flight.

[0030] The interior of cabin 1 is equipped with a Jetson Nano computer, receiver, power distribution board, nano compartment, PM07-PCBA, and is electrically connected to flight control unit 2. This configuration enables the Jetson Nano computer to perform functions such as image recognition, target detection, and voice recognition, despite its small size.

[0031] For example, in drone flight, controlling takeoff and landing actions involves vertical ascent or descent. Assuming the drone's nose is along the X-axis, the speed of brushless motor 9 is adjusted to generate lift. When the lift exceeds the drone's own weight, takeoff is completed; when the lift is less than its own weight, landing is completed. The key to control is to ensure that the speed of the four brushless motors 9 is the same, otherwise the drone's stability will be disrupted.

[0032] Pitch and backward maneuvers: This involves moving forward or backward in the air. Adjust the speed of the brushless motor 9 to keep the force on the drone equal in the longitudinal direction. The four brushless motors 9 are numbered clockwise as brushless motor 1 901, brushless motor 2 902, brushless motor 3 903, and brushless motor 4 904. When the speed of brushless motor 1 901 and brushless motor 2 902 is increased at the same time, the speed of brushless motor 3 903 and brushless motor 4 904 is decreased or increased. The drone's nose will then rise or fall, thus completing the pitch or backward maneuver.

[0033] The tumbling action involves adjusting the speed of brushless motor 9 to maintain equal forces acting on the drone in the longitudinal direction. Simultaneously, by increasing or decreasing the speeds of brushless motors 901 and 904, while decreasing or increasing the speeds of brushless motors 902 and 903, the drone will tumble around the X-axis, thus completing the tumbling action.

[0034] The yaw action involves simultaneously increasing or decreasing the speed of brushless motor 901 and brushless motor 903. Due to the torque from the opposite direction, the drone will rotate in the opposite direction or in the forward direction around the Z-axis, thus completing the yaw action.

[0035] In use, by acquiring images using the binocular camera 10 during flight, it can assist in the positioning of the lidar 12 and optical flow sensor 17. At the same time, it can collect ground information for adjusting the flight path. By setting the laser sensor 13 and the binocular camera 10 to perceive objects at the front of the flight, it can rationally plan the flight path, thereby optimizing the flight path and improving the accuracy of the flight path.

[0036] It should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An agricultural drone suitable for spraying operations, comprising a fuselage, characterized in that: A medicine storage tank (14) is fixedly installed at the bottom of the machine body, and an atomizing nozzle (16) is provided at the bottom of the medicine storage tank (14); A binocular camera (10) and a laser sensor (13) are fixedly installed at the front of the fuselage, a lidar (12) is fixedly installed at the top of the fuselage, a GPS module (11) is fixedly installed at the bottom of the fuselage, and a flight control unit (2) is located in the middle of the fuselage.

2. An agricultural drone suitable for spraying operations according to claim 1, characterized in that: An optical flow sensor (17) is fixedly installed at the bottom of the fuselage to replace the GPS module (11) or increase the positioning accuracy of the GPS module (11).

3. An agricultural drone suitable for spraying operations according to claim 2, characterized in that: The fuselage includes a cabin (1), at least four arms (3) are fixedly installed on the side of the cabin (1) and arranged in a radial ring. A brushless motor (9) is fixedly installed at the end of the arm (3) away from the cabin (1). A propeller (5) is fixedly installed at the output end of the brushless motor (9). Landing gear (18) is fixedly installed on both sides below the cabin (1). A battery compartment (8) is provided at the bottom of the cabin (1).

4. An agricultural drone suitable for spraying operations according to claim 3, characterized in that: A support frame (15) is fixedly installed at the bottom of the cabin (1), and a medicine storage box (14) is fixedly installed in the middle of the support frame (15).

5. An agricultural drone suitable for spraying operations according to claim 3, characterized in that: The landing gear (18) has an "L" shaped cross section, including a landing gear (4) connected to the cabin (1). The bottom end of the landing gear (4) is provided with a horizontal part, and the outer surface of the horizontal part is covered with a shock-absorbing foot cover (7).

6. An agricultural drone suitable for spraying operations according to claim 4 or 5, characterized in that: The end of the arm (3) away from the cabin (1) is fixedly equipped with a semi-circular mesh-like protective propeller (6) that wraps around the outer surface of the propeller (5).

7. An agricultural drone suitable for spraying operations according to claim 6, characterized in that: The laser sensor (13) is a TFmin laser sensor, and the lidar (12) is a mid360 lidar.

8. An agricultural drone suitable for spraying operations according to claim 7, characterized in that: The cabin (1) is equipped with a Jetson Nano computer, receiver, power distribution board, nano compartment, PM07-PCBA, and is electrically connected to the flight control unit (2).

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