CN209834010U - Plant protection unmanned aerial vehicle medical kit liquid level automated inspection, supply system - Google Patents
Plant protection unmanned aerial vehicle medical kit liquid level automated inspection, supply system Download PDFInfo
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- CN209834010U CN209834010U CN201920110642.5U CN201920110642U CN209834010U CN 209834010 U CN209834010 U CN 209834010U CN 201920110642 U CN201920110642 U CN 201920110642U CN 209834010 U CN209834010 U CN 209834010U
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Abstract
The utility model discloses an automatic detection and supply system for the liquid level of a pesticide box of a plant protection unmanned aerial vehicle, which comprises a pesticide box liquid level detection subsystem, an unmanned aerial vehicle flight control subsystem and a pesticide mixing subsystem; the medicine box liquid level detection subsystem comprises an unmanned aerial vehicle medicine box, a liquid level detection module and a data transmission module I; the unmanned aerial vehicle flight control subsystem comprises an unmanned aerial vehicle flight control module and a remote control display module; the medicine mixing subsystem comprises a medicine mixing box and a data transmission module II. The utility model discloses an establish the system that detects, mixes medicine, supply trinity, realize a communication of mixing medicine case and many unmanned aerial vehicle within a definite time, realize in time mixing medicine, quick supply.
Description
Technical Field
The utility model relates to an agricultural information technology field, in particular to plant protection unmanned aerial vehicle medical kit liquid level automated inspection, supply system.
Background
With the development of precision agriculture aviation, the application of plant protection unmanned aerial vehicle in agriculture, forestry production is more and more extensive. The plant protection unmanned aerial vehicle is adopted for flight defense operation, so that the harm of pesticide to human health can be avoided, and the burden of operators is reduced; the utilization rate of the pesticide can be greatly improved, and the use amount of the fertilizer and the pesticide can be reduced; can improve the efficiency of agricultural production and improve the agricultural modernization level of China.
At present, the plant protection unmanned aerial vehicle has the problems of relatively small load and short endurance time. Meanwhile, when most unmanned aerial vehicles fly to prevent operation, the situation of the liquid medicine in the medicine box is judged by the experience and visual inspection of flight control personnel, and inaccuracy is inevitable. Therefore, the real-time detection and the advance forecast of the liquid medicine amount of the unmanned aerial vehicle medicine chest have important significance for improving the flying defense operation efficiency.
Some present mix the medicine device and only have the function of mixing the medicine, do not possess the data transmission function, can not get up with the unmanned aerial vehicle medical kit liquid level information correlation of job site, constitute the LAN, can't accomplish in time mix the medicine, quick supply.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome prior art's shortcoming and not enough, provide a plant protection unmanned aerial vehicle medical kit liquid level automated inspection, supply system, this system can realize automatic accurate measurement unmanned aerial vehicle medical kit liquid level height, calculates plant protection unmanned aerial vehicle medical kit liquid medicine volume, establishes unmanned aerial vehicle medical kit liquid level automated inspection and mixes the automatic communication of mixing between the medicine of medicine case, can in time mix the medicine, quick supply, and reduce time cost improves economic benefits.
The utility model discloses a following technical scheme realizes: a plant protection unmanned aerial vehicle medicine box liquid level automatic detection and supply system comprises a medicine box liquid level detection subsystem, an unmanned aerial vehicle flight control subsystem and a medicine mixing subsystem; the liquid level detection subsystem of the medicine chest comprises an unmanned aerial vehicle medicine chest, a liquid level detection module and a first data transmission module, wherein the liquid level detection module comprises a microcontroller, at least two ultrasonic sensors and an alarm device; the ultrasonic sensor, the alarm device and the first data module are all connected with the microcontroller, the microcontroller controls the operation of the medicine box liquid level detection subsystem, and the alarm information is judged and sent by comparing the liquid level height of the unmanned aerial vehicle medicine box detected by the ultrasonic sensor; not only can the system reliability be increased; when the ultrasonic sensor detects that the height difference is not large, the measurement precision can be improved by averaging;
the unmanned aerial vehicle flight control subsystem comprises an unmanned aerial vehicle flight control module and a remote control display module;
the medicine mixing subsystem comprises a medicine mixing box and a data transmission module II;
a first data transmission module of the medicine box liquid level detection subsystem is respectively connected with the wireless flight control subsystem and a second data transmission module; the first data transmission module and the second data transmission module are connected in a wireless mode.
During plant protection unmanned aerial vehicle operation, the liquid level detection module detects plant protection unmanned aerial vehicle medical kit liquid level condition: when the liquid quantity of the medicine box is lower than a set threshold value, the liquid level detection module sends medicine box liquid medicine alarm information to the unmanned aerial vehicle flight control subsystem and the medicine mixing subsystem respectively, and the medicine mixing subsystem starts medicine mixing operation after receiving the alarm information; after the unmanned aerial vehicle flight control subsystem receives the liquid level alarm information, the unmanned aerial vehicle is controlled to return to the air or return to the air under manual operation for supply.
Preferably, a medicine inlet, a medicine outlet and detection ports matched with the number of the sensors are formed in the top of the unmanned aerial vehicle medicine box; ultrasonic sensor launches ultrasonic detection liquid level information in to the unmanned aerial vehicle medical kit from detecting the mouth. The medicine inlet is connected with a pipe of a medicine feeding port on the unmanned aerial vehicle, and medicine is fed into the medicine box through the medicine feeding port on the unmanned aerial vehicle; the medicine outlet is connected with a pipe of a medicine pump on the unmanned aerial vehicle.
Still further, unmanned aerial vehicle medical kit case both sides are equipped with the draw-in groove, and fix the unmanned aerial vehicle medical kit in the unmanned aerial vehicle bottom with the cassette cooperation of unmanned aerial vehicle support both sides installation, after aim at the draw-in groove with the medical kit and adorn unmanned aerial vehicle, detect the mouth and just in time aim at ultrasonic sensor.
Still further, the inside vertical division board that is equipped with of unmanned aerial vehicle medical kit, division board upper portion and unmanned aerial vehicle medical kit top fixed connection, the lower part and unmanned aerial vehicle medical kit contactless make the unmanned aerial vehicle medical kit separate into first region and second region by the division board, first region space is greater than the second region, and first region communicates each other through the bottom with the second region, guarantees that liquid level height is unanimous all the time.
Furthermore, be equipped with the reflecting plate of taking the hole in unmanned aerial vehicle medical kit space second region, it is the same with the transversal size in the second region that medical kit inner wall and division board are constituteed, guarantee that reflecting plate and medical kit contact all the time. Through the reflecting plate, the liquid level sloshing of the liquid medicine in the area can be reduced, and the reflection signal of ultrasonic wave can be enhanced. Because the liquid level of regional liquid medicine in medical kit left side receives the vibrations influence accessible reflecting plate that brings when unmanned aerial vehicle flies to attenuate, the event carries out simple two point measurement to the regional liquid level in its left side, alright in order to obtain comparatively accurate medical kit liquid level height.
Still further, the unmanned aerial vehicle medical kit stretches into to the incasement from the case top has a medicine way, and the liquid medicine is through a medicine way by unmanned aerial vehicle medicine pump suction, need not additionally stretch into the medical kit bottom with going out the pencil, makes things convenient for the dismantlement of medical kit.
Preferably, the first data transmission module sends low liquid level alarm information detected by the medicine box liquid level detection module and a ground medicine mixing box position instruction inquired by the unmanned aerial vehicle flight control subsystem to the medicine mixing subsystem; and the corresponding geographical position information of the medicine mixing subsystem is forwarded to the unmanned aerial vehicle flight control subsystem.
The unmanned aerial vehicle flight control subsystem controls the plant protection unmanned aerial vehicle to fly, receives liquid level data and alarm information sent by the medicine box liquid level detection module, and sends the data to the remote control display module; meanwhile, an instruction is sent to the medicine mixing subsystem through the data transmission module, and the position information of the medicine mixing box is inquired.
Furthermore, the medicine mixing box receives alarm information sent by the liquid level detection subsystem; automatically dispensing medicines after analyzing the alarm information; meanwhile, the medicine mixing box has a positioning function, and after receiving an instruction for inquiring the position information of the medicine mixing box sent by the unmanned aerial vehicle, the position information is automatically reported.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model discloses a mode that detects unmanned aerial vehicle medical kit liquid level reflection signal measures unmanned aerial vehicle medical kit liquid level height, calculates plant protection unmanned aerial vehicle medical kit liquid medicine volume, and system reliability is strong.
2. The utility model discloses a set up the reflecting plate in the medical kit, reduce this regional liquid medicine liquid level and rock, reinforcing ultrasonic wave reflected signal further improves and detects the precision.
3. The utility model discloses but install the data transmission module of network deployment on unmanned aerial vehicle medical kit liquid level detection subsystem and ground mix the medicine subsystem, can realize a communication of mixing medicine kit and many unmanned aerial vehicles within a definite time, realize in time mixing the medicine, quick supply, the reduce time cost improves economic benefits.
4. The utility model discloses the positioning module and the number of passing module of ground mixed medicine subsystem can fly to control the subsystem to unmanned aerial vehicle and send location and liquid medicine data, and unmanned aerial vehicle automatic planning flight route in view of the above realizes unmanned aerial vehicle independently supply liquid medicine, and the data transmission of number of passing module need not to realize communication in the local area network with the help of the basic station between the subsystem.
5. The utility model discloses a supply is accomplished the back, and unmanned aerial vehicle flies back to the initial point of returning to the air of supreme one time, continues the operation, reduces the dosage of spraying of returning to the air point, practices thrift the dose, improves the pesticide utilization ratio, lowers economic cost.
Drawings
Fig. 1 is the utility model relates to a plant protection unmanned aerial vehicle medical kit liquid level automated inspection, supply system structure picture.
Fig. 2 is an interface circuit diagram of the liquid level detection subsystem, the flight control subsystem and the data transmission module according to the embodiment of the present invention.
Fig. 3 is a circuit diagram of the communication interface between the chemical mixing subsystem and the data transmission module according to the embodiment of the present invention.
Fig. 4 is the utility model discloses plant protection unmanned aerial vehicle medical kit whole outward appearance structure chart.
Fig. 5 is the utility model discloses plant protection unmanned aerial vehicle medical kit top view.
Fig. 6 is the utility model discloses plant protection unmanned aerial vehicle medical kit section view A-A of 5.
Fig. 7 is the utility model discloses plant protection unmanned aerial vehicle medical kit left side view.
Fig. 8 is the utility model discloses plant protection unmanned aerial vehicle medical kit 7 sectional view B-B.
Fig. 9 is the utility model discloses plant protection unmanned aerial vehicle and whole sketch map of medical kit.
Wherein: 1-detection port; 2-a medicine inlet; 3, a medicine outlet; 4, a clamping groove; 5, a separation plate; 6-a reflector plate; 7-medicine outlet channel; 8-pore space; 9-a cassette; u15-microcontroller of medicine mixing subsystem; u16-data transmission module II; u19-data transmission module I; U20-SP 3485 chip; u21-unmanned plane flight control subsystem; u22 — level detection module microcontroller.
Detailed Description
For better understanding of the technical solutions of the present invention, the following embodiments of the present invention are described in detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1, an automatic detection and replenishment system for liquid level of a pesticide box of a plant protection unmanned aerial vehicle comprises a pesticide box liquid level detection subsystem, an unmanned aerial vehicle flight control subsystem U21 and a ground pesticide mixing subsystem; the medicine box liquid level detection subsystem comprises an unmanned aerial vehicle medicine box, a liquid level detection module and a data transmission module I; this liquid level detection module includes STM32F103ZET6 microcontroller U22, two shanxi M18 ultrasonic sensor, warning indicator, and microcontroller carries on STM32F103ZET6 minimum system board, and minimum system board includes STM32F103ZET6 chip, clock circuit, reset circuit, power supply circuit, JTAG debug interface circuit. The power supply circuit adopts an LM2596 DC-DC adjustable voltage reduction and stabilization power supply module board, the main control chip of the module is LM2596S-ADJ, the chip has good voltage stabilization performance, and a 12V or 24V direct-current power supply can be stabilized to 5V for a peripheral circuit to use. Meanwhile, the AMS 117-3.3 chip is used for converting the voltage of 5V into 3.3V for the microcontroller to use. The ultrasonic sensor, the alarm indicator lamp and the first data module are connected with the microcontroller, the microcontroller controls the operation of the liquid level detection subsystem, and the alarm information is judged and sent by comparing the liquid level height of the unmanned aerial vehicle medicine box detected by the ultrasonic sensor, so that the reliability of the system is improved; johnxi M18 is the integrative ultrasonic sensor of receiving and dispatching, and this sensor has the little characteristics of blind area, and only 50mm, as long as guarantee that ultrasonic sensor's probe is greater than 50mm to the highest position of medical kit liquid level, resolution ratio height reaches 1mm simultaneously. When the two ultrasonic sensors detect that the height difference is not large, the measurement precision can be improved by averaging; when two ultrasonic sensor detect the difference in height great, can judge unmanned aerial vehicle's flight gesture condition, make things convenient for the plant protection operation personnel to in time adjust flight parameter, the better spraying operation that carries on according to unmanned aerial vehicle's flight gesture.
The medicine mixing subsystem comprises a medicine mixing box and a data transmission module II U16;
a first data transmission module of the medicine box liquid level detection subsystem is respectively connected with the unmanned aerial vehicle flight control subsystem and a second data transmission module; the first data transmission module and the second data transmission module are connected in a wireless mode.
As shown in fig. 2, the liquid level detection module and the flight control subsystem are connected to the first data transmission module through an SP3485 chip, and data transmission between different devices can be realized through the first data transmission module by adding a Modbus protocol when data transmission is performed. The first data transmission module sends data detected by the medicine box liquid level detection module to the medicine mixing subsystem, and forwards geographical position data uploaded by the medicine mixing subsystem to the unmanned aerial vehicle flight control subsystem.
As shown in fig. 3, the mixing box and the data transmission module are in communication interface circuit diagram. And the data transmission module II is connected with a serial port II of the microcontroller on the medicine mixing box.
The top of the unmanned aerial vehicle medicine box is provided with a detection port 1, a medicine inlet 2 and a medicine outlet 3 which are matched with the two sensors in number. Ultrasonic sensor launches ultrasonic detection liquid level information in to the unmanned aerial vehicle medical kit from detecting the mouth. The medicine inlet is connected with a pipe of the medicine adding port on the unmanned aerial vehicle, and medicine can be added into the medicine box through the medicine adding port on the unmanned aerial vehicle. When the unmanned aerial vehicle medical kit takes off from unmanned aerial vehicle, also can add medicine to the medical kit from the medicine inlet of medical kit. The medicine outlet is connected with a pipe of a medicine pump on the unmanned aerial vehicle.
Unmanned aerial vehicle medical kit case both sides are equipped with draw-in groove 4, and fix the unmanned aerial vehicle medical kit in the unmanned aerial vehicle bottom with the cassette cooperation of unmanned aerial vehicle both sides installation, after aim at the draw-in groove with the medical kit and adorn unmanned aerial vehicle, detect the mouth and just in time aim at ultrasonic sensor.
The inside vertical division board 5 that is equipped with of unmanned aerial vehicle medical kit, division board upper portion and unmanned aerial vehicle fixed connection, the lower part and unmanned aerial vehicle medical kit contactless make the unmanned aerial vehicle medical kit separate into first region and second region by the division board, first region space is greater than the second region, and first region communicates each other through the bottom with the second region, guarantees that liquid level height is unanimous all the time.
Horizontal being equipped with reflecting plate 6 in the unmanned aerial vehicle medical kit space second region, evenly distributed hole 8 on the reflecting plate, the reflecting plate is the same with the transversal size in the second region that medical kit inner wall and division board are constituteed, guarantees that reflecting plate and medical kit contact all the time. Through the reflecting plate, the liquid level sloshing of the liquid medicine in the area can be reduced, and the reflection signal of ultrasonic wave can be enhanced. Because the liquid level of regional liquid medicine in medical kit left side receives the vibrations influence accessible reflecting plate that brings when unmanned aerial vehicle flies to attenuate, the event carries out simple two point measurement to the regional liquid level in its left side, alright in order to obtain comparatively accurate medical kit liquid level height.
Unmanned aerial vehicle medical kit stretches into to the incasement from the case top has out the medicine way, and the liquid medicine is through going out the medicine way by unmanned aerial vehicle medicine pump suction, need not additionally stretch into the medical kit bottom with going out the pencil, makes things convenient for the dismantlement of medical kit.
The unmanned aerial vehicle flight control subsystem controls the plant protection unmanned aerial vehicle to fly, can receive data and sends the data to the remote control display module; an instruction can be sent to the medicine mixing box to inquire the position information of the medicine mixing box.
The first data module and the second data module both adopt LoRa modules, and the specific model is ATK-LORA-01. LoRa is a low-power consumption local area network wireless standard established by semtech corporation, and has the greatest characteristic that the distance of transmission is longer than that of other wireless modes under the same power consumption condition, the unification of low power consumption and long distance is realized, and the networking function is realized. ATK-LORA-01 is a long-distance LoRa wireless serial port module which is provided by ALIENTEK and has small volume, micropower, low power consumption and high performance.
The mixing box has data processing and positioning functions. The medicine mixing box can receive the alarm information sent by the liquid level detection module. Through the analysis to alarm information, can realize the automatic operation of dispensing of medical kit. Meanwhile, the medicine mixing box has a positioning function, and when the unmanned aerial vehicle needs to inquire the position information of the medicine mixing box, the medicine mixing box can automatically report the position information of the medicine mixing box.
During plant protection unmanned aerial vehicle operation, the liquid level detection module detects plant protection unmanned aerial vehicle medical kit liquid level condition: when the liquid quantity of the medicine box is lower than a set threshold value, the liquid level detection module sends medicine box liquid medicine alarm information to the unmanned aerial vehicle flight control subsystem and the ground medicine mixing subsystem respectively, and the medicine mixing subsystem starts medicine mixing operation after receiving the alarm information; after the unmanned aerial vehicle flight control subsystem receives the liquid level alarm information, the unmanned aerial vehicle is controlled to return to the air or return to the air under manual operation for supply.
A liquid medicine replenishing method for a plant protection unmanned aerial vehicle is based on the automatic liquid level detection and replenishment system for the pesticide box of the plant protection unmanned aerial vehicle, and comprises the following steps:
s1, transmitting ultrasonic waves to the inside of the unmanned aerial vehicle medicine box from the detection port by an ultrasonic sensor of the liquid level detection module to detect the height from the ultrasonic probe to the liquid level, and when the height detected by the two ultrasonic sensors is not large in difference, obtaining the liquid level height by averaging, and calculating the residual liquid medicine amount;
the specific calculation method for detecting the liquid level height of the unmanned aerial vehicle pesticide box by comparing the ultrasonic sensors comprises the following steps:
in the formula: l is the liquid level of the medicine chest; l is0The distance between the ultrasonic sensor probe and the bottom of the medicine box; v is the propagation velocity of the ultrasonic wave in the medium; t is ultrasonic back-and-forth propagationTime;
the residual medicine amount of the medicine chest can be obtained by multiplying the liquid level height of the medicine chest by the bottom area of the medicine chest;
s2, setting the pesticide box of the plant protection unmanned aerial vehicle to be 10L, and setting the alarm threshold value to be 2L;
when the residual liquid medicine amount is more than 2L, continuing the plant protection operation;
when the residual liquid medicine amount is less than 2L, information is sent to the medicine mixing box and the unmanned aerial vehicle flight control subsystem through the data transmission module, and the plant protection unmanned aerial vehicle continues plant protection operation;
s3, after receiving the liquid level alarm information of the pesticide box of the plant protection unmanned aerial vehicle, the pesticide mixing box starts to mix pesticide, and after the pesticide box of the plant protection unmanned aerial vehicle is sprayed, the pesticide box needs to finish preparation for return voyage;
s4, the plant protection unmanned aerial vehicle inquires and acquires the position information of the medicine mixing box through the instruction;
s5, planning a return route by the plant protection unmanned aerial vehicle according to the position information of the mixed pesticide box, and landing beside the mixed pesticide box according to the return route;
s6, completing butt joint of the medicine outlet of the medicine mixing box and the medicine inlet of the unmanned aerial vehicle medicine box, and starting replenishment operation;
and S7, completing the replenishment, and enabling the unmanned aerial vehicle to fly back to the original point position of the last return journey to continue plant protection operation.
The utility model discloses can automated inspection plant protection unmanned aerial vehicle medical kit liquid level height, calculate plant protection unmanned aerial vehicle medical kit liquid medicine volume. When plant protection unmanned aerial vehicle medical kit liquid medicine is not enough, can give the mixed medicine case on ground and send information. After the medicine mixing box receives the information sent by the plant protection unmanned aerial vehicle, the medicine mixing operation is started, and when the unmanned aerial vehicle is waited to go back to the air, the pesticide is prepared and can be directly supplied. Simultaneously, the device can be with plant protection unmanned aerial vehicle medical kit liquid level height, and the liquid medicine volume sends the flight control module for on the plant protection unmanned aerial vehicle, and the flight control module can return to the journey or return to the journey through manual control by oneself and carry out the liquid medicine supply according to the liquid medicine volume. In addition, plant protection unmanned aerial vehicle controls personnel and also can control the unmanned aerial vehicle according to unmanned aerial vehicle medical kit liquid level information manual work and descend to the side of the mixed medicine case that locating information shows and carry out the supply operation.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (6)
1. A plant protection unmanned aerial vehicle medicine box liquid level automatic detection and supply system is characterized by comprising a medicine box liquid level detection subsystem, an unmanned aerial vehicle flight control subsystem and a medicine mixing subsystem;
the liquid level detection subsystem of the medicine chest comprises an unmanned aerial vehicle medicine chest, a liquid level detection module and a first data transmission module, wherein the liquid level detection module comprises a microcontroller, at least two ultrasonic sensors and an alarm device; the ultrasonic sensor, the alarm device and the first data transmission module are all connected with the microcontroller, and the microcontroller controls the operation of the medicine box liquid level detection subsystem;
the unmanned aerial vehicle flight control subsystem comprises an unmanned aerial vehicle flight control module and a remote control display module;
the medicine mixing subsystem comprises a medicine mixing box and a data transmission module II;
a first data transmission module of the medicine box liquid level detection subsystem is respectively connected with the unmanned aerial vehicle flight control subsystem and a second data transmission module; the first data transmission module and the second data transmission module are connected in a wireless mode.
2. The automatic liquid level detection and supply system for the pesticide box of the plant protection unmanned aerial vehicle according to claim 1, wherein a pesticide inlet, a pesticide outlet and detection ports matched with the number of sensors are arranged at the top of the pesticide box of the unmanned aerial vehicle; ultrasonic sensor launches ultrasonic detection liquid level information in to the unmanned aerial vehicle medical kit from detecting the mouth.
3. The automatic liquid level detection and supply system for the pesticide box of the plant protection unmanned aerial vehicle according to claim 2, wherein a partition board is vertically arranged in the pesticide box of the unmanned aerial vehicle, the upper part of the partition board is fixedly connected with the top of the pesticide box of the unmanned aerial vehicle, and the lower part of the partition board is not in contact with the pesticide box of the unmanned aerial vehicle, so that the pesticide box of the unmanned aerial vehicle is partitioned into a first area and a second area by the partition board, the space of the first area is larger than that of the second area, and the first area and the second area are communicated with.
4. The automatic liquid level detection and supply system for the pesticide box of the plant protection unmanned aerial vehicle according to claim 3, wherein a reflecting plate with a hole is arranged in the second area of the space of the pesticide box of the unmanned aerial vehicle, and the size of the second area is the same as the cross section of the second area formed by the inner wall of the pesticide box and the partition plate.
5. The automatic liquid level detection and supply system for the pesticide box of the plant protection unmanned aerial vehicle according to claim 2, wherein clamping grooves are formed in two sides of the pesticide box of the unmanned aerial vehicle and are matched with clamping seats arranged on two sides of a bracket of the unmanned aerial vehicle to fix the pesticide box of the unmanned aerial vehicle at the bottom of the unmanned aerial vehicle, and when the pesticide box is aligned with the clamping grooves and the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, a detection port is just aligned with the ultrasonic sensor; the unmanned aerial vehicle medical kit stretches into from the case top to the incasement and has a medicine outlet channel.
6. The automatic plant protection unmanned aerial vehicle medicine box liquid level detection and replenishment system of claim 1, wherein the medicine mixing box has a positioning function.
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