WO2020113445A1

WO2020113445A1 - Agricultural unmanned aerial vehicle

Info

Publication number: WO2020113445A1
Application number: PCT/CN2018/119238
Authority: WO
Inventors: 吴晓龙; 周乐; 周万仁
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2020-06-11
Also published as: CN111278734A

Abstract

An agricultural unmanned aerial vehicle (10), comprising a base frame (11), a plurality of nozzle assemblies (13), a plurality of water pumps (14), a water tank (15) and a controller (16). The base frame comprises a central body (111) and a vehicle arm (112). The plurality of nozzle assemblies are distributed on two sides of the base frame in a roll axial direction of the agricultural unmanned aerial vehicle below the vehicle arm, and the nozzle assembly comprises a plurality of nozzles (131). The plurality of water pumps are in communication with the plurality of nozzle assemblies respectively and configured to transport a liquid flow to the nozzles and spray the same therethrough. The plurality of water pumps are in communication with the water tank. The controller is electrically connected to the water pump and can selectively control the plurality of water pumps to perform spraying by means of the nozzle assembly in communication with the selected water pump. The vehicle arm comprises a left arm (112a) and a right arm (112b) in the roll axial direction of the agricultural unmanned aerial vehicle, each of the left arm and the right arm corresponds to at least one nozzle assembly respectively, and each nozzle assembly share one water pump. The agricultural unmanned aerial vehicle can realize accurate controlled spraying.

Description

Agricultural unmanned aerial vehicle

Technical field

The invention relates to an unmanned aerial vehicle, in particular to an agricultural unmanned aerial vehicle.

Background technique

At present, the multi-rotor agricultural unmanned aerial vehicles on the market generally use a single water pump to connect the pipeline, and the pipeline is connected to the sprinkler, thereby forming a spray liquid path. This method simply realizes the on-off of the liquid circuit system, and cannot accurately control the spraying of the agricultural unmanned aerial vehicle.

Summary of the invention

An object of the present invention is to provide an agricultural unmanned aerial vehicle capable of accurately controlling spraying.

An agricultural unmanned aerial vehicle includes:

A frame, including a center body and a plurality of arms extending from the center body;

A plurality of spray head groups are distributed on both sides of the frame in the direction of the rolling axis of the agricultural unmanned aerial vehicle, and the spray head group is installed below the arm, and the spray head group includes multiple spray heads;

A plurality of water pumps, which are respectively connected to the plurality of spray head groups, are used to transfer the liquid flow to the spray head, and spray out through the spray head;

A water tank for containing liquid, and a plurality of the water pumps communicate with the water tank; and

A controller is electrically connected to the water pump, and the controller can selectively control a plurality of the water pumps to spray through the selected nozzle group connected to the water pump;

The arm is divided into a left arm and a right arm in the direction of the rolling axis of the agricultural unmanned aerial vehicle, and each of the left arm and the right arm corresponds to at least one For the head group, each of the head groups share one water pump.

The above-mentioned agricultural unmanned aerial vehicle selectively controls a plurality of nozzle groups. Each spray head group includes multiple spray heads, which can increase the spray surface of the spray head group and improve the spray effect. The controller controls each sprinkler group and the individual sprinklers in the sprinkler group to spray, so as to be able to more precisely control the spray area or spray effect, thereby improving the precision of spraying.

BRIEF DESCRIPTION

FIG. 1 is a schematic diagram of a three-dimensional structure of an agricultural unmanned aerial vehicle according to an embodiment of the present disclosure;

2 is a control principle diagram of the controller of the agricultural unmanned aerial vehicle shown in FIG. 1;

3 is a schematic diagram of an agricultural unmanned aerial vehicle according to an embodiment of the present disclosure;

4 is a top view of the agricultural unmanned aerial vehicle shown in FIG. 1;

5 is an exploded schematic view of the agricultural unmanned aerial vehicle shown in FIG. 1;

6 is a control schematic diagram of the controller of the agricultural unmanned aerial vehicle shown in FIG. 1;

7 is a control principle diagram of a controller of an agricultural unmanned aerial vehicle according to another embodiment.

Reference numerals are described as follows: 10, agricultural unmanned aerial vehicle; 11, frame; 111, center body; 112, aircraft arm; 112a left arm; 112b, right arm; 112c, first arm; 112d, tail Arm; 113, landing tripod; 12, flight power unit; 13, 134, 135, 136, 137, nozzle group; 131, nozzle; 132, control valve; 13a, left nozzle group; 13b, right nozzle group ; 138, head direction nozzle group; 139, tail direction nozzle group; 14, water pump; 141, drive motor; 15, water tank; 16, controller; 161, aircraft controller; 162, ESC; 17, connecting rod ; 171, branch; 172, rod body.

detailed description

Although the present invention can be easily expressed as different forms of implementations, only some of the specific implementations are shown in the drawings and detailed in this specification, and it is understood that this specification should be regarded as this An exemplary description of the principles of the invention is not intended to limit the invention to what is described herein.

Thus, one feature indicated in this specification will be used to describe one of the features of one embodiment of the present invention, rather than implying that each embodiment of the present invention must have the described feature. In addition, it should be noted that this specification describes many features. Although certain features can be combined to show possible system designs, these features can also be used in other combinations that are not explicitly described. Thus, unless stated otherwise, the combinations described are not intended to be limiting.

In the embodiments shown in the drawings, indications of directions (such as up, down, left, right, front, and back) are used to explain that the structures and movements of various elements of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indication of these directions also changes accordingly.

The preferred embodiments of the present invention will be further elaborated below in conjunction with the drawings of this specification.

Referring to FIG. 1, the present invention provides an agricultural unmanned aerial vehicle for use in the present invention, which is provided with a plurality of nozzle groups, and each nozzle group includes a plurality of nozzles. The spray head is used to spray pesticides, water and other liquids. According to different conditions, by selecting different positions of the spray head, the corresponding spray effect is achieved, thereby improving the spray accuracy.

In one embodiment, the sprinkler adapted to the position is selected according to the flight direction of the agricultural unmanned aerial vehicle. For example, if the penetration force of the spray needs to be increased, when the agricultural unmanned aerial vehicle is flying toward the nose, select The spray head in the direction of the nose causes the sprayed droplets to accelerate toward the downward direction under the action of the airflow generated by the flying power device of the UAV. If in order to avoid the droplets sprayed by the nozzle from being affected by the airflow, when the agricultural unmanned aerial vehicle is flying toward the nose, select the nozzle in the tail direction, so that the sprayed droplets are affected by the airflow generated by the unmanned aerial vehicle's flight power device Impact.

In some of these embodiments, a sprinkler adapted to the position is selected according to the wind direction of the operating environment of the agricultural unmanned aerial vehicle, for example, if the agricultural unmanned aerial vehicle flies upwind, the nozzle in the direction of the nose is selected to minimize spray mist The error caused by the drift of the drops. If the agricultural unmanned aerial vehicle is flying downwind, choose the nozzle in the direction of the tail of the aircraft to minimize the error caused by the drift of the sprayed droplets.

In some of these embodiments, a sprinkler adapted to the position is selected according to the orientation of the agricultural unmanned aerial vehicle compared to the working area, for example, if the agricultural unmanned aerial vehicle sprays clockwise along the boundary of the working area, then select The spray head on the right side of the agricultural unmanned aerial vehicle to avoid excessive spraying to the outside of the working area. If the agricultural unmanned aerial vehicle is sprayed counterclockwise along the boundary of the working area, the sprinkler on the left side of the agricultural unmanned aerial vehicle is selected to avoid excessive spraying to the outside of the working area.

In some of these embodiments, the agricultural unmanned aerial vehicle may automatically select the nozzle at the corresponding position according to preset conditions. Alternatively, the agricultural unmanned aerial vehicle can select the sprinkler in the corresponding position according to the input information of the user, and the user can select according to the conditions at that time.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

Please refer to FIGS. 1 and 2. The agricultural unmanned aerial vehicle 10 according to the first embodiment of the present invention includes a frame 11, a flight power device 12, a plurality of spray head groups 13, a plurality of water pumps 14, a water tank 15 and a controller 16.

Please refer to FIG. 1, the structure of the rack 11 can be designed according to different requirements. For example, in the illustrated embodiment, the frame 11 includes a center body 111, an arm 112, and a landing stand 113. The arm 112 extends from the center body 111 and is connected to the center body 111. The arm 112 is used to support the flight power unit 12. In other embodiments, the arm 112 may also be a folding arm to facilitate folding and storage of the agricultural unmanned aerial vehicle 10 described above. The landing stand 113 is connected to the center body 111 or the arm 112.

The flight power device 12 is installed on the arm 112 of the frame 11 for providing flight power. The flight power device 12 may be an electric power device or an electric power device. Specifically in the illustrated embodiment, the flight power device 12 includes a propeller and a motor that drives the propeller to rotate.

Please refer to FIG. 3, which shows the direction of the roll axis and the pitch axis of the agricultural unmanned aerial vehicle. The plurality of spray head groups 13 are distributed on both sides of the frame in the rolling axis direction of the agricultural unmanned aerial vehicle. A plurality of head groups 13 are installed below the arm 112. The arm 112 can be divided into a left arm 112a and a right arm 112b in the direction of the rolling axis of the agricultural drone. Each left arm and right arm correspond to at least one nozzle group 13. The left arm 112a corresponds to the left nozzle group 13a, and the right arm 112b corresponds to the right nozzle group 13b.

It can be understood that a plurality of spray head groups 13 may also be provided on the left arm 112a and the right arm 112b. The multiple spray head groups 13 are distributed on the left arm 112a or the right arm 112b, which can increase the spraying area of the agricultural unmanned aerial vehicle and enhance the spraying effect of the agricultural unmanned aerial vehicle.

Referring to FIG. 4, the arm 112 further includes a head arm 112 c at the head position and a tail arm 112 d at the tail position. The head arm 112 c and the tail arm 112 d do not correspond to the spray head group. When an agricultural unmanned aerial vehicle moves forward or backward along the direction of its roll axis, if a spray head is installed at the nose or tail to spray the spray, the spray will inevitably be affected by the airflow and interfere with the spray of other nozzles, affecting agricultural The spraying effect of the human aircraft. Therefore, the nozzle group is not provided in the first arm 112c and the tail arm 112d, so that the spray of the nozzle group can meet the control requirements, and it is convenient for the agricultural unmanned aerial vehicle to control the spraying effect well.

Specifically in this embodiment, six arms are provided around the center of the agricultural unmanned aerial vehicle. Among them, the arms include: two left arms 112a, two right arms 112b, and a head arm 112c located at the nose, and a tail wing 112d located at the tail.

The head group 13 is installed below the arm 112. The head group 13 is located directly below or obliquely below the arm 112. Specifically in the illustrated embodiment, the head group 13 is located directly below the arm 12. Then, the spray width generated by the agricultural unmanned aerial vehicle is the distance between the left and right nozzle groups 13. The spray head group 13 is provided with the end of the arm 12, and the spray width of the agricultural unmanned aerial vehicle is the distance between the ends of the arm 12 on the left and right sides. If it is necessary to adjust the spray amplitude generated by the agricultural unmanned aerial vehicle, the position of the spray head group 13 on the arm 12 can be directly adjusted, so as to achieve the purpose of adjusting the spray amplitude.

Moreover, when a plurality of spray head groups 13 are installed on the arm 112, and the spray head groups 13 are located directly under the flight power device 12, the air flow generated by the flight power device 12 will accelerate the spray sprayed by the spray head 131, which is more conducive to improving the spray head Group 13 sprayed penetration.

Please refer to FIG. 1 again. Specifically, in this embodiment, the shower head group 13 is installed and connected to the arm 12 through the connecting rod 17. One end of the link 17 is connected to the arm 12, and the other end is provided with a plurality of branch portions 171. Each head group 13 includes a plurality of heads 131. Each branch portion 171 is provided with a spray head 131 to facilitate spraying of the spray head 131 and avoid mutual interference between the spray heads 131.

One end of the connecting rod 17 is detachably connected to the arm 12. When the spray head group 13 needs to be replaced or needs maintenance, the connecting rod 17 can be directly detached from the arm 12 and another connecting rod 17 installed with the spray head group 13 can be replaced. Specifically, the connecting rod 17 can be detachably connected to the arm 12 by screwing or snapping.

In addition, the spray head 131 may be detachably provided on the branch portion 171 of the link 17. When one of the nozzles 131 is clogged or the model of one of the nozzles needs to be replaced, the nozzles can also be removed and replaced directly from the branch portion 171, which is convenient for maintenance and use. Specifically, in this embodiment, the branch portion 171 of the connecting rod 17 is provided with a knob, and the nozzle is pressed against the branch portion 171 by tightening the knob. When it is necessary to disassemble the spray head, as long as the knob is released, the spray head can be disassembled to realize the detachable connection of the spray head.

Specifically in the present embodiment, the connecting rod 17 is provided with two branch portions 171 and is U-shaped. The head group 13 includes two heads 131. Each branch portion 171 is provided with a head, and the heads will not interfere with each other. The nozzles 131 of each nozzle group 13 may be arranged parallel to the extending direction of the arm 12. Alternatively, the nozzles 131 of each nozzle group may also be arranged in a direction parallel to the pitch axis of the agricultural unmanned aerial vehicle 10.

When the spray heads 131 of each spray head group are arranged parallel to the extending direction of the arm 12, the multiple spray heads 131 in the same spray head group have the same spray angle. Therefore, the spray head group 13 can realize a large-flow concentrated spray, which is convenient for control.

When the nozzles 131 of each nozzle group 13 are arranged in a direction parallel to the pitch axis of the agricultural unmanned aerial vehicle 10, the corresponding spray nozzle pair of the nozzle group 13 is maximized, so that the spray pair of the agricultural unmanned aerial vehicle 10 is increased , To ensure the spraying efficiency of the agricultural unmanned aerial vehicle 10.

Therefore, the link 17 and the arm 12 are rotatably connected. The connecting rod 17 adjusts the arrangement direction of the spray heads 131 on the connecting rod 17 by adjusting the connection angle with the arm 12. Alternatively, the link 17 includes a rod body 172 and a branch 171. The rod body 172 is connected to the arm 12, and the branch portion 171 is rotatably connected to the rod body 172, so that the arrangement direction between the plurality of nozzles 131 on the branch portion 171 can also be achieved. As long as the nozzle group 13 and the arm 12 are rotatably connected, the arrangement direction of each nozzle 131 of the nozzle group 13 can be adjusted by rotation. Therefore, the above-mentioned agricultural unmanned aerial vehicle 10 can adjust the arrangement direction of each spray head 131 of the spray head group 13 according to spraying requirements, so as to better implement the spraying operation.

It can be understood that the connecting rod 17 can also be omitted, and each spray head 131 of the spray head group 13 can also be directly disposed on the arm 12.

Specifically in this embodiment, the plurality of spray head groups 13 are respectively arranged symmetrically with respect to the roll axis of the agricultural unmanned aerial vehicle. Specifically, the head group installed under the left arm 112a is the left head group 13a, and the head group installed under the right arm 112b is the right head group 13b. The head group 131 mounted below the head arm 112c is the head head group 13c, and the head group mounted below the tail arm 112d is the tail head group 13d. Among them, the left-hand head group 13a includes

head groups

134 and 136. The right head group 13b includes

head groups

135 and 137. The multiple spray head groups 13 are symmetrically distributed on the frame 11, which can ensure the uniform spraying effect of the multiple spray heads of the agricultural unmanned aerial vehicle.

The plurality of water pumps 14 are respectively communicated with the spray heads 131 of the plurality of spray head groups 13, and are used to send the liquid flow to the spray head groups 13 and spray out through the spray heads 131. Specifically in this embodiment, the shower head 131 is a pressure-type shower head. Therefore, the spraying of the spray head 131 can be controlled by controlling the pressure of the liquid flowing through the spray head 131.

The plurality of water pumps 14 are respectively communicated with the plurality of spray head groups 13 and are used to send the liquid flow to the spray head 131 and spray out through the spray head 131. The water pump 14 is used to pressurize the transported liquid, and a liquid flow with a certain pressure is sprayed through the spray head 131. The water pump 14 may be a diaphragm pump, a rotor pump, a vane pump, a centrifugal pump, an axial flow pump, a mixed flow pump, a vortex pump, a jet pump, or the like.

Among them, the water pump 14 includes a driving motor 141. The driving motor 141 operates to pressurize the liquid. Specifically, the driving motor 141 may be a brushed DC motor or a brushless DC motor. The motor may be an external rotor motor or an internal rotor motor.

Please refer to FIG. 5. Specifically, in this embodiment, there are four water pumps 14, and the

nozzle groups

134, 135, 136 and 137 respectively correspond to one water pump 14, and the nozzles 131 located in the same nozzle group communicate with the same water pump 14. The water tank 15 is used to contain liquid, and a plurality of water pumps 14 communicate with the water tank 15. The water tank 15 may communicate with the water pump 14 through pipes. The water pump 14 communicates with the head group 13 through a pipe. After the water pump 14 extracts the liquid in the water tank 15, it is transported to the nozzle group 13 through the pipeline, and sprayed out through the nozzles 131 of the nozzle group 13.

The water tank 15 can contain liquids such as pesticides and water. The water tank 15 may be installed below the center body 111 of the rack 11. Specifically, the water tank 15 may be fixedly connected to the center body 111 of the frame 11 or the water tank 15 may be fixedly connected to the landing leg 113 of the frame 11.

The controller 16 can selectively control a plurality of spray heads to spray. The controller 16 controls the spraying of the agricultural unmanned aerial vehicle by controlling the spray head 131. The controller 16 controls the corresponding spray head 131 according to different usage environments and spray requirements, and controls the spray amount, spray angle, and spray area of the agricultural unmanned aerial vehicle.

Specifically in this embodiment, the controller 16 is electrically connected to the water pump 14. Among them, the controller 16 can selectively control the plurality of water pumps 14 to spray through the selected nozzle group 13 connected to the water pumps 14. By selectively controlling multiple water pumps 14. The corresponding spray head group 13 is selected for spraying, so as to control the spraying area or spraying effect, and thus improve the precision of spraying.

Please refer to FIG. 6, the specific structure of the controller 16 can also be designed according to different requirements. Specifically, in the illustrated embodiment, the controller 16 includes an aircraft controller 161 and a plurality of electronic controllers 162. The aircraft controller 16 is used to control the flying attitude of the agricultural unmanned aerial vehicle 10. A plurality of ESCs 162 are in communication with the flight controller 16. Each ESC 162 is electrically connected to a driving motor 141 of a water pump 14 for controlling the working state of the driving motor 141.

Specifically in the illustrated embodiment, the driving motor 141 is a brushless DC motor, and the ESC 162 starts the driving motor 141 through a PWM wave modulation method. By changing the value of the brushless ESC PWM, the speed of the water pump 14 is controlled to change the output pressure of the water pump 14, and the flow rate of the nozzle group 13 is controlled, thereby further improving the accuracy of spraying.

Because each nozzle group 13 shares a water pump 14. The controller 16 can control a plurality of spray heads 131 of the entire spray head group 13 corresponding to the water pump 14 by controlling one water pump 14.

Referring to FIG. 7, in other embodiments, the spray head group 13 is further provided with a control valve 132, and each spray head is correspondingly provided with a control valve 32. The controller 16 is electrically connected to the control valve 132, and the controller 16 controls each nozzle 131 by controlling the control valve 132. The control of the control valve 132 by the controller 16 makes the spraying of the agricultural unmanned aerial vehicle 10 of the present embodiment more accurate, and can achieve more precise control of the spraying angle and spraying amount.

In another embodiment, the head 131 of the head group 13 may also be a centrifugal head. A control valve may be provided between the head group 13 and the water pump 14. By controlling the control valve to control the flow velocity and flow rate of the liquid flow in the pipeline, the nozzles 131 of the same nozzle group 13 are controlled.

Referring to FIG. 5, the plurality of nozzle groups 13 are located at different positions on the arm 112 of the agricultural unmanned aerial vehicle. For example, in the illustrated embodiment, the plurality of nozzle groups 13 are located directly below the plurality of flight power devices 12. The plurality of head groups 13 includes a head direction head group 138 and a tail direction head group 139. The nose direction nozzle group 138 is set close to the nose of the agricultural UAV, and the tail direction nozzle group 139 is set close to the nose of the agricultural UAV.

There may be a plurality of nozzle head groups 138 in the head direction. A plurality of head-direction nozzle groups 138 are located on both sides of the frame 11 respectively. There may be multiple nozzle groups 139 in the tail direction. A plurality of tail direction nozzle groups 139 are located on both sides of the frame 11 respectively. Specifically, the head direction nozzle group 138 includes two

nozzle groups

134 and 135. The nozzle group in the tail direction includes two

nozzle groups

136 and 137.

Among them, a plurality of head direction spray head groups 138 are communicated through the same water pump 14. The tail direction spray head group 139 is connected through the same water pump 14, so that it is convenient to control the opening or closing of the head direction spray head group 138 or the tail direction spray head group 139 by controlling the two water pumps 14, respectively.

When the agricultural unmanned aerial vehicle 10 sprays pesticides on fruit trees and grapes, when large flow and large spraying are required, the full spray working mode in which multiple water pumps 14 all work is adopted, and each spray head of the multiple spray head groups 13 Spray all. That is, all the head groups 13 are turned on.

Or, when the agricultural unmanned aerial vehicle 10 sprays pesticides on rice, wheat, etc., and when a small flow rate and a small spray are required, the agricultural unmanned aerial vehicle 10 flies forward, and the water pump 14 corresponding to the nozzle head group 138 In operation, the water pump 14 corresponding to the nozzle group 139 in the rear direction of the machine stops operating, so that the nozzle group 138 in the direction of the machine head is all sprayed. That is, the

head groups

134 and 135 are turned on, and the

head groups

136 and 137 are turned off.

If it is necessary to increase the penetration force of the spray, when the agricultural unmanned aerial vehicle 10 is flying toward the nose direction, select the nose direction nozzle group 138 so that the sprayed droplets pass through the airflow generated by the unmanned aerial vehicle's flight power device 12 Under the action, the acceleration spouts downward. If in order to avoid the droplets sprayed by the nozzle group 13 being affected by the airflow, when the agricultural unmanned aerial vehicle 10 is flying toward the nose direction, the nozzle group 139 in the tail direction is selected so that the sprayed droplets are subject to the flying power of the unmanned aerial vehicle The effect of the airflow generated by the device 12.

During the backward flight of the agricultural unmanned aerial vehicle, the water pump 14 corresponding to the nozzle group 139 in the aft direction works, and the water pump corresponding to the nozzle group 138 in the nose direction stops working, so that all the nozzle groups 139 in the aft direction are sprayed. That is, the

head groups

136 and 137 are turned on, and the

head groups

134 and 135 are turned off.

The specific positions of the plurality of spray head groups 13 can also be designed according to different needs. For example, the plurality of spray head groups 13 are respectively arranged symmetrically compared to the roll axis of the agricultural unmanned aerial vehicle 10, or the multiple spray head groups 13 are respectively compared to The pitch axis of the agricultural unmanned aerial vehicle 10 is arranged symmetrically.

When a plurality of nozzle groups 13 are arranged symmetrically with respect to the roll axis of the agricultural unmanned aerial vehicle 10, it is convenient to control the nozzle groups 13 on the left and right sides of the agricultural unmanned aerial vehicle 10 to spray, for example, if the agricultural unmanned aerial vehicle 10 is along When spraying along the boundary of the working area in a clockwise direction, the spray head group 13 on the right side of the agricultural unmanned aerial vehicle 10 can be controlled and sprayed. That is, the

head groups

135 and 137 are turned on, and the

head groups

134 and 136 are turned off.

If the agricultural unmanned aerial vehicle 10 sprays along the counterclockwise direction along the boundary of the working area, the left side of the agricultural unmanned aerial vehicle 10 may be controlled to spray. That is, the

head groups

134 and 136 are turned on, and the

head groups

135 and 137 are turned off.

Each water pump 14 simultaneously communicates with a plurality of head groups 13. For example, there are a plurality of nozzle groups 13 on each side of the roll axis of the agricultural unmanned aerial vehicle 10, and a water pump 14 is commonly connected. That is, the plurality of left-side head groups 13a communicate with one water pump 14 in common. A plurality of right side shower head groups 13b communicate with one water pump 14 in common. Alternatively, there are a plurality of nozzle groups 13 on each side of the pitch axis of the agricultural unmanned aerial vehicle 10, and a water pump 14 is commonly connected. That is, a plurality of head direction nozzle groups 138 communicate with one water pump 14 in common. A plurality of tail direction spray head groups 139 communicate with one water pump 14 in common.

Since the nozzle groups 13 located in the same area are connected to the same water pump 14 at the same time, it is convenient to control the nozzle groups 13 in the same area to spray, for example, one water pump 14 is used to control a plurality of corresponding sides of the roll axis of the agricultural UAV 10 The spray head group 13 performs spraying, or a plurality of spray head groups 13 on the corresponding side of the pitch axis of the agricultural unmanned aerial vehicle 10 are controlled by one water pump 14.

Although the present invention has been described with reference to several exemplary embodiments, it should be understood that the terminology used is illustrative and exemplary rather than limiting. Since the present invention can be embodied in various forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be widely interpreted within the spirit and scope defined by the appended claims Therefore, all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

An agricultural unmanned aerial vehicle is characterized by comprising:

A frame, including a center body and a plurality of arms extending from the center body;

A plurality of spray head groups are distributed on both sides of the frame in the direction of the rolling axis of the agricultural unmanned aerial vehicle, and the spray head group is installed below the arm, and the spray head group includes multiple spray heads;

A plurality of water pumps, which are respectively connected to the plurality of spray head groups, are used to transfer the liquid flow to the spray head, and spray out through the spray head;

A water tank for containing liquid, and a plurality of the water pumps communicate with the water tank; and

A controller is electrically connected to the water pump, and the controller can selectively control a plurality of the water pumps to spray through the selected nozzle group connected to the water pump;

The arm is divided into a left arm and a right arm in the direction of the rolling axis of the agricultural unmanned aerial vehicle, and each of the left arm and the right arm corresponds to at least one For the head group, each of the head groups share one water pump.
The agricultural unmanned aerial vehicle according to claim 1, wherein the nozzles of each nozzle group are arranged parallel to the extending direction of the arm.
The agricultural unmanned aerial vehicle according to claim 1, wherein the nozzles of each of the nozzle groups are arranged in a direction parallel to the pitch axis of the agricultural unmanned aerial vehicle.
The agricultural unmanned aerial vehicle according to claim 1, wherein each of the nozzle groups is rotatably connected to the aircraft arm.
The agricultural unmanned aerial vehicle according to claim 1, further comprising a connecting rod, the connecting rod includes a plurality of branch portions, the spray heads are respectively disposed on the branch portions, and the spray head group passes through the The connecting rod is connected with the machine arm.
The agricultural unmanned aerial vehicle according to claim 5, wherein the connecting rod is detachably connected to the arm.
The agricultural unmanned aerial vehicle according to claim 5, wherein the spray head is detachably connected to the branch part.
The agricultural unmanned aerial vehicle according to claim 1, wherein a plurality of the nozzle groups are arranged symmetrically with respect to the roll axis of the agricultural unmanned aerial vehicle.
The agricultural unmanned aerial vehicle according to claim 1, wherein the controller automatically selects and controls a plurality of the water pumps according to a preset condition, and the preset condition includes at least one of the following:

The flight direction of the agricultural unmanned aerial vehicle and the wind direction of the working environment are compared to the direction of the working area of the agricultural unmanned aerial vehicle.
The agricultural unmanned aerial vehicle according to claim 1, wherein the plurality of nozzle groups include a nose direction nozzle group and a tail direction nozzle group, the nose direction nozzle group close to the agricultural unmanned aerial vehicle Aircraft head setting, the tail direction spray head group is located near the tail of the agricultural unmanned aerial vehicle;

When the agricultural unmanned aerial vehicle faces the nose direction, the controller selects and controls the water pump connected to the nose direction nozzle group or the tail direction nozzle group to pass through the nose direction nozzle group or all Spray the nozzle group in the direction of the tail.
The agricultural unmanned aerial vehicle according to claim 10, characterized in that when the agricultural unmanned aerial vehicle is oriented toward the tail of the aircraft, the controller selects to control the nozzle group of the nose direction or the nozzle group of the aircraft direction to communicate The water pump is sprayed through the head direction spray head group or the tail direction spray head group.
The agricultural unmanned aerial vehicle according to claim 10, wherein there are a plurality of nozzle groups in the direction of the nose.
The agricultural unmanned aerial vehicle according to claim 12, wherein a plurality of the head-direction nozzle groups are connected to the same water pump.
The agricultural unmanned aerial vehicle according to claim 10, wherein there are a plurality of nozzle groups in the tail direction.
The agricultural unmanned aerial vehicle according to claim 14, characterized in that a plurality of the nozzle groups in the stern direction are connected to the same water pump.
The agricultural unmanned aerial vehicle according to claim 1, wherein the controller selects and controls the water pump communicating with the sprinkler on one side of the roll axis of the agricultural unmanned aerial vehicle, or the agricultural unmanned aerial vehicle A water pump connected to the spray head on the other side of the roll axis of the aircraft.
The agricultural unmanned aerial vehicle according to claim 1, characterized in that there are a plurality of spray heads on each side of the rolling axis of the agricultural unmanned aerial vehicle, and one water pump is commonly connected to each other.
The agricultural unmanned aerial vehicle according to claim 1, characterized in that a plurality of the nozzles are respectively arranged symmetrically with respect to the pitch axis of the agricultural unmanned aerial vehicle.
The agricultural unmanned aerial vehicle according to claim 18, wherein the controller selects and controls the water pump connected to the sprinkler on one side of the pitch axis of the agricultural unmanned aerial vehicle, or the agricultural unmanned aerial vehicle The other side of the pitch axis is connected to the water pump by the nozzle group.
The agricultural unmanned aerial vehicle according to claim 18, characterized in that there are a plurality of nozzle groups on each side of the pitch axis of the agricultural unmanned aerial vehicle, and one water pump is connected in common.
The agricultural unmanned aerial vehicle according to claim 1, wherein each of the water pumps simultaneously communicates with a plurality of the spray head groups.
The agricultural unmanned aerial vehicle according to claim 1, further comprising a flight power device, the flight power device is provided at the end of the arm.
The agricultural unmanned aerial vehicle according to claim 22, wherein the nozzle group is located directly below or obliquely below the flight power device.
The agricultural unmanned aerial vehicle according to claim 1, wherein the frame further includes a landing tripod, and the landing tripod is connected to the central body.
The agricultural unmanned aerial vehicle according to claim 1, wherein the controller comprises:

An aircraft controller for controlling the flying attitude of the agricultural unmanned aerial vehicle;

Multiple ESCs, which are in communication with the flight controller;

Wherein, the water pump includes a driving motor, and each of the ESCs is electrically connected to the motor of one of the water pumps, for controlling the working state of the motor.
The agricultural unmanned aerial vehicle according to claim 25, wherein the motor is a brushless DC motor, and the ESC drives the motor by PWM wave modulation.
The agricultural unmanned aerial vehicle according to claim 1, wherein the nozzle is a pressure nozzle.