CN104875888A - Detachable ring-pillar type hollow unmanned aerial vehicle and operation method thereof - Google Patents

Abstract

The invention discloses a detachable ring column hollow unmanned aerial vehicle and its operation method. The unmanned aerial vehicle includes a frame, a power and control mechanism, and a central fastening device. The frame includes a fixed plate and at least two machine tools. Arm, the fixed plate is a double-layer, detachable, hollow structure, the starting end of each arm is fixed on the fixed plate, and is symmetrically distributed along the disassembly line on the fixed plate; the power and control mechanism includes the upper paddle rotor, the upper paddle motor, the upper The paddle electronic governor and the flight control module, the upper paddle rotor is set at the end of the arm, the upper paddle rotor is driven by the upper paddle motor, and the rotation generates downward wind force, and the flight control module controls the upper paddle motor through the upper paddle electronic governor The rotation of the drone; the central fastening device is used to fasten the UAV to the working tree trunk when the upper paddle rotor stops rotating. In the invention, the fixed disc is set on the outer diameter of the working tree trunk for operation, and after reaching a specified height, the fastening device fastens the drone to the working tree trunk, which has the advantage of energy saving.

Description

A detachable ring column hollow unmanned aerial vehicle and its operation method

technical field

The invention relates to the field of forestry machinery equipment research, in particular to a detachable ring-column hollow unmanned aerial vehicle and an operating method thereof.

Background technique

Trees with tall and straight trunks are ubiquitous in our country. Taking the common king coconut in tropical areas as an example, its tree height can reach 20 meters and its trunk is straight. It is a world-renowned tropical tree species, usually used as street trees or group planted as green spaces landscape tree. Because the canopy of leaves is too high, it is impossible to use ground machinery or manual spraying to prevent and control pests and diseases. If small drones are used for aerial spraying operations, there will be a problem that the density of trees will be high, which will limit the flying space of aircraft. At the same time, it is not suitable to use Large aircraft, so the drug loading capacity is small. In addition, the aircraft generally flies in the upper part of the canopy, so the lower part of the leaf surface cannot be effectively sprayed.

At present, in the field of agriculture, UAVs used in various operations generally have the characteristics of unlimited movement space, but when they hover in the air, the rotor must rotate to provide a lift that overcomes gravity, thereby ensuring the hovering of the UAV in the air. Or flight attitude, which produces a lot of energy consumption, which will inevitably reduce the payload. In addition, an expensive attitude control system must be used to ensure the balance of the body during operation. At the same time, the control method of variable operation must be satisfied. The control method is complicated and the effect is not good.

In order to overcome the above shortcomings and take advantage of the characteristics of tall and straight tree trunks, it is an important aspect for the current agricultural aviation application to find a UAV that can fly to the lower part of the trunk canopy and stagnate at the height of the tree trunk in a way that does not consume energy and perform related operations. A useful addition to technology.

Contents of the invention

An object of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a detachable ring-column hollow drone, which flies on the outer diameter of the trunk and can be fastened to the trunk when the rotor stops rotating. It has the advantages of simple operation, low cost and energy saving.

Another object of the present invention is to provide an operation method of the above-mentioned detachable ring-column hollow UAV, which does not require complex control algorithms and is easy to operate, especially suitable for operations on tall and straight tree trunks.

The purpose of the present invention is achieved through the following technical solutions: a detachable ring-column hollow UAV, including a frame, a power and control mechanism, and a central fastening device, and the frame includes a fixed plate and at least two The machine arm, the fixed plate is a double-layer, detachable, hollow structure, the starting end of each machine arm is fixed on the fixed plate, and is symmetrically distributed along the disassembly line on the fixed plate; the power and control mechanism includes an upper paddle rotor, The paddle-up motor, the paddle-up electronic governor and the flight control module, the paddle-up rotor is arranged at the end of the arm, the paddle-up rotor is driven by the paddle-up motor, and the rotation generates downward wind force, and the flight control module passes the paddle-up electronic The speed governor controls the rotation of the paddle-up motor; the central fastening device is arranged on the fixed disk, including a fastening device for fastening the UAV to the working tree trunk when the paddle-up rotor stops rotating. The fixed plate in the present invention is detachable and hollow, so that the fixed plate can be set on the outer diameter of the working tree trunk to work, and the lift flight is generated by the rotation of the upper paddle rotor. After reaching the specified height, the upper paddle rotor stops rotating, and the fastening device will be free The man-machine is fastened to the working tree trunk to achieve the purpose of stabilizing the UAV at the height of the tree trunk, avoiding the power consumption continuously provided to the propeller, and has the advantage of energy saving.

Preferably, the fastening device includes several inflatable and deflated airbags, an inflatable and deflated airbag, and an inflatable and deflated airbag. The inflation and deflation pumps are connected, and the inflation and deflation pumps, the inflation and deflation controllers, and the flight control module are connected in sequence; the inner diameter of the similar ring formed by the inflatable and deflated airbags after being inflated is smaller than the outer diameter of the working tree trunk. In this way, the trunk can be squeezed after inflating, and enough friction can be generated to ensure that the UAV remains stagnant at the height of the trunk after losing lift.

As a preferred mode, the drone also includes several spraying operation actuators, each spraying operation actuator includes a spray pipe, a nozzle, a water pump, a connecting hose, a spray operation controller and a medicine box, and the top of the spray pipe is installed There is a nozzle, the bottom is connected to the upper plate of the fixed plate, and the upper plate is provided with a through hole through which the spray pipe is connected to the water pump; one end of the connecting hose is connected to the water pump, and the other end is connected to the medicine box; the flight control module passes through the The spray operation controller controls the operation of the water pump. The medicine box can be a medicine box placed on the ground or an airborne medicine box of an ordinary UAV, which can be freely selected according to the amount of spray required in actual application and the degree of portability. In this way, the unmanned aerial vehicle of the present invention can be used for spraying operations. Since the unmanned aerial vehicle is set on the trunk, the medicinal liquid is sprayed from bottom to top, so the lower part of the leaf surface can be effectively sprayed to overcome the Solved the problem that the original spraying equipment can only spray from top to bottom.

Further, the UAV also includes several spray drive devices, each spray drive device includes a lower paddle rotor, a lower paddle motor, a lower paddle electronic speed controller, and the lower paddle rotor is arranged on the machine arm; The paddle rotor is driven by the paddle motor, and the rotation generates upward wind; the flight control module controls the rotation of the paddle motor through the electronic governor of the paddle; The nozzle is above the lower blade rotor. After the liquid medicine is sprayed from the nozzle, the lower paddle rotor located below the nozzle rotates to generate an upward wind force that diffuses the droplets, thereby improving the penetration and diffusion of the droplets and improving the spraying effect on the back of the leaves.

As another preferred mode, the UAV also includes a manipulator operation execution mechanism, including several manipulators and manipulator control devices. Connect with flight control module. In this way, the unmanned aerial vehicle of the present invention can be used for picking operations, and the fruit of trees can be picked from below, which is more convenient to operate.

As another preferred manner, the UAV also includes a shooting operation execution mechanism, including a camera and a camera controller, the camera is arranged above the fixed plate, and the camera controller is connected to the flight control module. In this way, the drone of the present invention can be used for shooting operations, which is convenient for observing the growth of trees and judging whether there is a disease or not.

Preferably, the inner diameter and outer diameter of the fixed disk are circular, and the inner diameter is slightly larger than the maximum diameter of the working trunk; the fixed disk is divided into an upper disk and a lower disk, and the disassembly lines of the upper disk and the lower disk are respectively provided with connecting holes. The fastening screws assemble the fixed plate into a whole through the connecting holes; there is a supporting aluminum column between the upper plate and the lower plate, a part of the supporting aluminum column is distributed along the outer diameter of the inflatable and deflated airbag, and a part of the supporting aluminum column The column is arranged at the position corresponding to the removal line of the inner diameter of the fixed plate. The purpose of distributing the supporting aluminum columns along the outer diameter of the inflatable and deflated airbags is to limit the extrusion space of the inflatable and deflated airbags. The purpose of setting the supporting aluminum columns at the position corresponding to the disassembly line in the inner diameter of the fixed disk is to firmly fix the two-layer structure of the fixed disk. .

Furthermore, the objects placed inside the fixed disk are evenly distributed along the center of the circle, and the center of gravity of the entire drone is at the center of the circle of the fixed disk. This makes the UAV more stable when flying and avoids lateral friction as much as possible.

Preferably, a foot support column is further provided under the fixed plate. Thereby, the aircraft can be supported, the disassembly operation of the body is convenient, and it is also convenient to take.

An operation method for the above-mentioned detachable ring-column type hollow drone, comprising the following steps:

(1) Disassemble the fixed plate, then put it on the outer diameter of the trunk to be operated, and then assemble the fixed plate into a whole;

(2) Start the propeller, and the UAV rises to the height that needs to be operated and keeps hovering;

(3) The fastening device fastens the UAV to the working tree trunk;

(4) The propeller stops rotating; the UAV loses the lift of the rotor, and relies on the friction or shear force generated by the fastening device and the trunk to keep it stable at the working height without consuming power battery energy.

(5) The operation actuator installed on the UAV performs the corresponding operation;

(6) After the operation is completed, start the upper blade rotor again, and then the fastening device loosens the working trunk;

(7) The drone descends to the ground, then disassembles the fixed plate and takes it out from the outer diameter of the trunk.

Preferably, in the step (3), the inflation and deflation controller in the fastening device controls the inflation and deflation pump to inflate the inflatable and deflated airbag, and the inflatable and deflated airbag squeezes the working tree trunk to generate sufficient friction after inflation. Thereby can still guarantee that unmanned aerial vehicle stagnates at the height of tree trunk after step (4) paddle rotor stops rotating.

Preferably, in the step (5), the work execution mechanism is at least one of the spraying work execution mechanism for spraying, the manipulator work execution mechanism for picking, and the photographing work execution mechanism for photographing.

Furthermore, when the spraying operation actuator executes the spraying operation, the spray is ejected from the spray head, and the lower paddle rotor is started at the same time, and the lower paddle rotor provides the wind force for the upward diffusion of the droplets. After the operation is completed, the spray operation actuator Stop the operation, stop the down rotor at the same time, and then start the up rotor again.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) The present invention adopts a detachable hollow frame structure to achieve the purpose of operating the UAV on the outer diameter of the trunk, and adopts a simple control system to meet the safe attitude flight of the UAV, without worrying that the UAV will roll over or Drift makes UAVs free from complex flight controls, greatly reduces UAV production costs, and ensures flight safety.

(2) The present invention achieves the purpose of stabilizing the UAV at the height of the trunk by inflating and extruding the trunk with the inflatable and deflatable airbag to generate friction, avoiding the power consumption continuously provided to the main rotor, and greatly reducing the UAV. The weight of the power battery carried, and this mechanical fastening structure is far more stable than the rotor rotation and hovering, which can effectively improve the operation effect. At the same time, the airbag is a flexible structure, and the extrusion of the trunk will not cause direct damage to the trees.

(3) The present invention produces the lift flight by the rotation of the upper paddle rotor (positive paddle), and generates upward wind force that makes the mist diffuse by the rotation of the lower paddle rotor (reverse paddle), improves the penetration and diffusion ability of the mist drop, and improves the leaves Back spray job.

(4) The unmanned aerial vehicle described in the present invention can carry out photographing operation or manipulator operation to the bottom of the tree canopy, and has a wide range of application occasions.

Description of drawings

FIG. 1 is a schematic diagram of the appearance and structure of Embodiment 1.

FIG. 2 is a schematic diagram of the structure of the fixed disk in Embodiment 1 after it is disassembled.

Fig. 3 is the schematic diagram in application in embodiment 1.

FIG. 4 is a schematic cross-sectional structure diagram of FIG. 3 .

Fig. 5 is a schematic diagram of the operation of carrying the on-board medicine box in embodiment 2.

Fig. 6 is a schematic structural view of the carrying manipulator operation implementing mechanism in Embodiment 3.

In the figure: 11—fixed plate, 12—machine arm, 13—foot support column, 21—up paddle rotor, 22—up paddle motor, 23—up paddle electronic governor, 24—down paddle rotor, 25—down paddle Motor, 26—Electronic governor for propeller down, 27—Power battery, 28—Flight control module, 31—Nozzle, 32—Spray head, 33—Water pump, 34—Connecting hose, 35—Spray operation controller, 36— Medicine box, 41—inflatable and deflated air bag, 42—charge and deflate pump, 43—charge and deflate controller, 39—manipulator.

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example 1

The structure of a detachable ring-column hollow UAV described in this embodiment is shown in Figure 1, including a frame, a power and control mechanism, a spraying operation actuator, and a central fastening device. section for specific descriptions.

The frame includes a fixed plate 11 , a machine arm 12 and a foot support column 13 . Described fixed disk 11 is double-layer, detachable, hollow structure, can contain various size apertures, inner diameter and outer diameter are circular, and inner diameter is slightly larger than the maximum diameter of working tree trunk. The fixed plate is divided into an upper plate and a lower plate. There are supporting aluminum columns between the upper plate and the lower plate. A part of the supporting aluminum columns is distributed along the outer diameter of the inflatable and deflated airbag, and a part of the supporting aluminum columns is arranged on the inner diameter of the fixed plate. line position. The starting end of each machine arm 12 is fixed on the fixed plate 11, symmetrically distributed along the removal line on the fixed plate 11, and the upper surface of the machine arm 12 and the fixed plate 11 is basically kept horizontal. The foot support column 13 is connected with the lower plate of the fixed plate 11 for supporting the unmanned aerial vehicle. When in use, the fixed plate 11 is assembled into a whole by fastening screws. The weight of the objects placed inside the fixed disk 11 is evenly distributed along the center of the circle, and the center of gravity of the entire drone is at the center of the circle.

Referring to Figures 1 and 2, the power and control mechanism includes a paddle-up rotor 21, a paddle-up motor 22, a paddle-up electronic governor 23 and a flight control module 28, and the paddle-up rotor 21 is arranged at the end of the arm 12, The paddle-up rotor 21 is driven by the paddle-up motor 22 and rotates to generate downward wind force. The flight control module 28 controls the rotation of the paddle-up motor 22 through the paddle-up electronic speed controller 23 . Above-mentioned power and control mechanism are all powered by power battery 27. The paddle up electronic governor 23 is bound to the arm 12 where the paddle up rotor 21 is located, and the power battery 27 and the flight control module 28 are distributed inside the fixed disk 11 .

The unmanned aerial vehicle described in this embodiment is applied to the spraying operation, so several spraying operation executing agencies are provided on the unmanned aerial vehicle, and each spraying operation executing agency includes a nozzle pipe 31, a nozzle 32, a water pump 33, a connecting hose 34, Spray operation controller 35 and medicine box 36, spray nozzle 32 is installed on the top of spray pipe 31, and the bottom is connected with the upper plate of fixed plate 11, and the upper plate is provided with through hole, and spray pipe 31 is connected with water pump 33 by this through hole. The water pump 33 is connected to the bottom of the spray pipe 31 and the upper end of the connecting hose 34 , and the water pump 33 is placed above the upper plate of the fixed plate 11 . The other end of the connection hose 34 is connected to the medicine box 36 . In this embodiment, in order to save the weight of the drone, the medicine box 36 is placed on the ground, referring to Fig. 3, the connecting hose 34 is long enough, after the drone is fixed on the corresponding position of the trunk, the water pump 33 passes through the connecting hose 34 the medicinal liquid in the medicine box 36 is sucked to above. In this embodiment, the medicinal solution is sprayed from bottom to top, so the lower part of the leaf surface can be effectively sprayed.

In order to improve the penetrability and diffusion ability of the droplets and improve the effect of the spraying operation on the back of the leaves, the present embodiment proposes to set several spray driving devices, each spray driving device includes a lower paddle rotor 24, a lower paddle motor 25, a lower paddle motor, and a lower paddle motor. The electronic governor 26, in the present embodiment, the lower paddle rotor 24 and the lower paddle motor 25 are arranged vertically with the upper paddle rotor 21 and the upper paddle motor 22 respectively, and are connected with the end of the machine arm 12, and the lower paddle electronic governor 26 Bound on the arm 12 where the rotor 24 with the lower paddle is located. The body of the spray pipe 31 is straight and maintains a certain inclination angle with the fixed plate 11 so that the spray head 32 is above the lower blade rotor 24 . After the liquid medicine is sprayed from the nozzle, the lower paddle rotor located under the nozzle rotates to generate an upward wind force that diffuses the droplets, thereby improving the penetration and diffusion capabilities of the droplets.

The machine arm 12 described in this embodiment has at least two, and the upper paddle rotor 21 and the lower paddle rotor 24 installed at the end of each machine arm 12 have at least one pair, and the machine arm 12 can also be made into a telescopic or folding type. architecture. The upper-pitch rotor 21 and the lower-pitch rotor 24 can be fixed-pitch blades or variable-pitch propeller mechanisms. In practical applications, the lower blade rotor 24 can also be installed next to the upper blade rotor above the corresponding arm or other positions that do not affect the normal flight of the aircraft, as long as it can be guaranteed that the reverse blade can be used to keep the upward blowing wind.

The central fastening device described in this embodiment is arranged on the fixed plate, and includes two sections of inflatable and deflated airbags 41, two inflatable and deflated airbags 42, and an inflatable and deflated airbag controller 43. The two sections of inflatable and deflated airbags 41 It is symmetrically fixed on the inside of the fixed plate 11 along the split line, and the inflation and deflation pump 42 communicates with the interior of the inflation and deflation air bag 41. The two inflation and deflation pumps 42 are respectively placed under the lower layer of the fixed plate 11. The inflation and deflation control The device 43 is connected with the inflation and deflation air pump 42 and is electrically connected with the flight control module 28 . The inflatable and deflated air bag 41 is made of thick PVC material, and the inner diameter of the similar ring formed after being filled with air is less than the outer diameter of the operation tree trunk.

The detachable ring-column type hollow UAV operation method includes the following steps:

a. Disassemble the double-layer hollow fixed disk 11, put it on the outer diameter of the trunk to be operated, and assemble the fixed disk 11 to make it a whole;

b. The flight control module 28 activates the upper paddle rotor 21 to provide the lift required for the UAV to rise, and the UAV rises to the height required for operation and keeps hovering;

c. The inflation and deflation controller 43 controls the inflation and deflation pump 42 to start to inflate the inflatable and deflated airbag 41, so that it can squeeze the trunk to generate sufficient friction;

d. The flight control module 28 stops propeller 21, and the UAV loses the lift of the rotor, and relies on the friction generated by the inflatable airbag 41 and the tree trunk to maintain the operating height stably without consuming power battery energy;

e, the spraying operation controller 35 controls the spraying operation actuator to start spraying, and the flight control module 28 starts the lower paddle rotor 24 at the same time to provide the wind force for the upward diffusion of the droplets;

f. After the operation is completed, the spraying operation actuator stops operating, and the flight control module 28 controls the lower blade rotor 24 to stop rotating;

g. The flight control module 28 starts the propeller 21 again to provide the lift required for the hovering of the UAV;

h. The inflation and deflation controller 43 controls the inflation and deflation pump 42 to deflate the inflatable and deflated airbag 41, so that the friction force generated by squeezing the trunk disappears;

i, the flight control module 28 controls the unmanned aerial vehicle to descend to the ground;

j. Disassemble the fixed disc 11 and take it out from the outer diameter of the trunk.

Example 2

Present embodiment except following feature other structures are with embodiment 1:

As shown in Figure 5, the medicine box in the spraying operation executive mechanism 3 is to comprise common UAV airborne medicine box 38, and described UAV airborne medicine box 38 is suspended below the body, when the UAV flies upwards, Fly together to the tree trunk to spray. This embodiment can reduce the length of the connecting hose and the pressure of the water pump.

Example 3

Present embodiment except following feature other structures are with embodiment 1:

Referring to Fig. 6, the operation implementing mechanism described in the present embodiment is a manipulator operation executing mechanism that performs picking operations, and it includes several manipulators 39 and manipulator control devices. Connection, the manipulator control device is connected with the flight control module. The flight control module receives external operation instructions and controls the manipulator to complete picking and other actions.

Example 4

Present embodiment except following feature other structures are with embodiment 1:

The operation implementing mechanism described in this embodiment is a shooting operation executing mechanism for performing shooting operations, including a camera and a camera controller, the camera is arranged above the fixed plate, and the camera controller is connected to the flight control module. In this way, the drone of the present invention can be used for shooting operations, which is convenient for observing the growth of trees and judging whether there is a disease or not.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (10)

1. a detachable annulated column formula hollow unmanned plane, it is characterized in that, comprise frame, power and control mechanism, center fastener device, described frame comprises a reaction plate and at least two horns, described reaction plate is double-deck, detachable, hollow structure, each horn initiating terminal is fixed on reaction plate, symmetrical along the dismounting line on reaction plate; Described power and control mechanism comprise oar rotor, upper oar motor, upper oar electronic governor and fly to control module, described upper oar rotor is arranged on the end of horn, upper oar rotor is driven by upper oar motor, rotate and produce downward wind-force, fly to control module controls upper oar motor rotation by upper oar electronic governor; Described center fastener device is arranged on reaction plate, comprises one for unmanned plane being fastened on when upper oar rotor stops operating the securing device on operation trunk.

2. detachable annulated column formula hollow unmanned plane according to claim 1, it is characterized in that, described securing device comprises several can inflation/deflation air bag, inflation pump and inflation/deflation controller, can all be arranged on inside the reaction plate of hollow by inflation/deflation air bag, eachly can be connected with inflation pump respectively by inflation/deflation air bag, inflation pump, inflation/deflation controller, to fly control module three and connect successively; The external diameter of operation trunk can be less than by the internal diameter of similar annulus that forms after being full of gas of inflation/deflation air bag.

3. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described unmanned plane also comprises several spraying operation actuating units, each spraying operation actuating unit comprises jet pipe, shower nozzle, water pump, connecting hose, spraying operation controller and medicine-chest, jet pipe top is provided with shower nozzle, bottom is connected with the upper layer disc of reaction plate, and upper layer disc is provided with through hole, and jet pipe is connected with water pump by this through hole; Described connecting hose one end connects water pump, and the other end connects medicine-chest; Fly control module and control water pump operation by spraying operation controller.

4. detachable annulated column formula hollow unmanned plane according to claim 3, it is characterized in that, described unmanned plane also comprises several spraying actuating devices, and each spraying actuating device comprises lower oar rotor, lower oar motor, lower oar electronic governor, and described lower oar rotor is arranged on horn; Lower oar rotor is driven by lower oar motor, rotates the wind-force produced upwards; Fly to control module controls lower oar motor rotation by lower oar electronic governor; Described jet pipe body is linear pattern, and keeps certain inclination angle to make described shower nozzle be in the top of lower oar rotor with reaction plate.

5. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described unmanned plane also comprises a manipulator Job execution mechanism, comprise several manipulators, manipulator controller, described manipulator is distributed in reaction plate top or bottom, be connected with manipulator controller respectively, manipulator controller with fly to control model calling;

Described unmanned plane also comprises a shooting Job execution mechanism, and comprise camera and camera controller, described camera is arranged at above reaction plate, camera controller with fly to control module and be connected.

6. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described reaction plate internal diameter and external diameter are circle, and internal diameter is slightly larger than operation trunk maximum gauge; Reaction plate is divided into upper layer disc and lower floor's dish, and the dismounting line place of upper layer disc and lower floor's dish is respectively equipped with connecting bore, and reaction plate is assembled into an entirety by described connecting bore by holding screw; Be provided with between described upper layer disc and lower floor's dish and support aluminium post, a part supports aluminium post and can distribute by inflation/deflation air bag external diameter along described, and a part supports aluminium post and is arranged on reaction plate internal diameter correspondence dismounting line position;

Pin pillar stiffener is also provided with below described reaction plate.

7. an operational method for detachable annulated column formula hollow unmanned plane according to claim 1, is characterized in that, comprise the following steps:

(1) reaction plate is split, be then enclosed within and treat, on operation trunk external diameter, then reaction plate to be assembled into an entirety;

(2) oar rotor in startup, unmanned plane rises to needs the height of operation to keep hovering;

(3) unmanned plane is fastened on operation trunk by securing device;

(4) upper oar rotor stops operating;

(5) the Job execution mechanism be arranged on unmanned plane performs corresponding operation;

(6) operation is complete, and again start upper oar rotor, then securing device unclamps operation trunk;

(7) unmanned plane drops to ground, then splits reaction plate, it is taken out from trunk external diameter.

8. operational method according to claim 7, it is characterized in that, in described step (3), the inflation/deflation controller in securing device controls inflation pump to inflating by inflation/deflation air bag, can produce enough friction force by the rear squeeze job trunk of inflation/deflation air bag inflation.

9. operational method according to claim 7, it is characterized in that, in described step (5), Job execution mechanism be perform spray medicine operation spraying operation actuating unit, perform at least one in the manipulator Job execution mechanism winning operation, the shooting Job execution mechanism three performing shooting operation.

10. operational method according to claim 9, it is characterized in that, when described spraying operation actuating unit performs spray medicine operation, described spraying sprays from shower nozzle, starts lower oar rotor, the wind-force that lower oar rotor provides droplet upwards to spread simultaneously, after operation, spraying operation actuating unit stops operation, and stops lower oar rotor simultaneously, and then starts upper oar rotor.