CN113511336A

CN113511336A - Unmanned aerial vehicle inspection device for planting crops in large scale

Info

Publication number: CN113511336A
Application number: CN202110957292.8A
Authority: CN
Inventors: 苏子林; 张蕊; 李武斌; 赵万胜; 王程骏
Original assignee: Ludong University
Current assignee: Ludong University
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-10-19
Anticipated expiration: 2041-08-20
Also published as: CN113511336B

Abstract

The invention relates to an unmanned aerial vehicle inspection device for large-scale crop planting, belongs to the technical field of unmanned aerial vehicles, and comprises an unmanned aerial vehicle and a resident seat, wherein the unmanned aerial vehicle and the resident seat are in wireless communication with a digital agricultural system, and under the unified management and control and scheduling of the unmanned aerial vehicle, autonomous inspection, return charging and monitoring are performed, so that the efficiency is improved, the cost is reduced, and the agricultural production level is improved. The unmanned aerial vehicle takes off from the resident seat and performs autonomous patrol aiming at the large-scale planted crops; when the electric quantity is insufficient, returning to the resident seat for charging; and after the patrol is finished, the mobile terminal stays in the staying seat for monitoring. Unmanned aerial vehicle passes through the pendant with the mode of hanging, descends and resides in and stay the seat. The resident seat is arranged on the upright post or the outer vertical surface of the building, bears the impact of the unmanned aerial vehicle during landing through the hanging rod, provides shaking damping and stable balance, and consumes shaking energy; under the guiding and driving of the hanging rod and the guide rod, the pendant of the unmanned aerial vehicle is inserted into the sleeve seat and locked; the landing at fixed point can be realized without strictly controlling the landing point, and the safety, stability and reliability of the landing process are improved.

Description

Unmanned aerial vehicle inspection device for planting crops in large scale

Technical Field

The invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle inspection device, and belongs to the technical field of unmanned aerial vehicles.

Background

In recent years, with the integration of urban and rural areas and the acceleration of the circulation of cultivated land, the large-scale planting industry is gradually developed, and more fruit trees and other crops which are planted in large scale for more than thousands of mu appear. In order to effectively perform fertilizer and water management and pest control, patrol is required. In order to rapidly patrol large-area large-scale crops, improve the patrol efficiency and reduce the cost, an unmanned aerial vehicle is adopted at present. For example, utility model patent application No. 201520918776.1 discloses a farm unmanned aerial vehicle system of patrolling, including unmanned aerial vehicle platform, control station, transfer station, meteorological station and remote control terminal, realize not enough under the condition of going out of home, through control station or remote control terminal equipment, control unmanned aerial vehicle patrols the farm, has improved the efficiency of patrolling, has reduced the cost.

With the development and application of new generation information technologies such as internet of things, cloud computing, artificial intelligence and big data, unmanned aerial vehicles have been developed in the aspect of crop inspection. The invention patent with application number 202011384808.6 discloses an unmanned automatic farm land patrol method, which comprises the steps of basic surveying and mapping, land boundary determination, unmanned plane hangar installation, land patrol strategy setting and agricultural condition data acquisition, and has the advantages of high efficiency, no humanization, completeness, no damage and accuracy. The invention patent with the application number of 202011494688.5 discloses a crop growth whole-process digital assessment method based on unmanned aerial vehicle vision, wherein an unmanned aerial vehicle operation area is rasterized, an unmanned aerial vehicle shoots five-view-angle images of each grid, plant segmentation and three-dimensional reconstruction are carried out, correction, reconstruction, calculation and assessment are carried out, whole-process digital assessment is provided, and the method has a guiding effect on agricultural production. The invention patent with application number 201710649474.2 discloses a crop disease and insect pest monitoring method, which utilizes an unmanned aerial vehicle to shoot field crop image data, and sends out early warning of crop disease and insect pest in time through cloud computing analysis and comparison to guide disease and insect pest prevention and control, thereby improving the agricultural production level.

With the development and application of new generation information technology, a digital agricultural system appears based on unmanned aerial vehicle inspection. The invention patent with application number 201910528344.2 discloses an agricultural information industrialization system based on the internet, which comprises an information acquisition module, a planting management module, an intelligent management module, an information display module and an agricultural product supply chain module; through the cloud server, data are identified and stored, agricultural information is effectively monitored and fed back in real time, and effective industrialization of a supply chain mode is achieved through the Internet. The invention patent with the application number of 201910899173.4 discloses a field panorama generating method, a device, a system, a server and a storage medium, which can generate a high-quality and high-resolution field panorama in real time, provide an important image data source for field pest detection, crop growth detection, field crop identification and pesticide spraying, and provide data guarantee for field agricultural condition accurate management. The invention patent with application number 202010523956.5 discloses an intelligent agricultural plant protection operation control system based on big data internet of things, which comprises a region image acquisition module, an image preprocessing module, a planting region division module, a crop resource database, a region area counting module, a region plant density analysis module, a GPS tracking and positioning module, an unmanned aerial vehicle control terminal, a data management server and an operation height detection module, wherein each crop planting sub-region is divided, pesticide spraying amount of each crop planting sub-region is counted, pesticide spraying is effectively carried out, and the technical level of plant protection work is improved.

Aiming at large-area large-scale planting of crops, the unmanned aerial vehicle can improve the patrol efficiency, reduce the cost and have absolute advantages compared with manual work and robot patrol which walk on the ground. However, unmanned aerial vehicle has the problem that duration is short, security and stability are not enough, when the electric quantity is not enough, need charge or change the battery. Aiming at the problems of cruising and communication relay of the unmanned aerial vehicle, a charging platform, a docking station, a transfer station or a nest are generally adopted at present and are often combined with a street lamp. The invention patent with application number 201910071628.3 discloses a charging pile for an unmanned aerial vehicle, which is convenient for protecting a battery, and comprises a pile body, a connecting groove and an adjusting gear, wherein a charger and a battery protector are installed, the charging pile is convenient to arrange at the periphery of a farm, the unmanned aerial vehicle can conveniently stop, change the battery or charge, and the cruising ability of the plant protection unmanned aerial vehicle is improved. The invention patent with application number 202011398378.3 discloses an intelligent street lamp with an unmanned aerial vehicle stopping platform, which comprises a base and a photosensitive sensor, wherein the unmanned aerial vehicle stopping platform is arranged on the left side of a lamp pole, and the deceleration operation can be performed on the unmanned aerial vehicle by arranging a deceleration strip to prevent the unmanned aerial vehicle from being impacted. The invention patent with application number 202010563154.7 discloses an unmanned aerial vehicle and a smart street lamp system thereof, which comprises a plurality of smart street lamps and a plurality of unmanned aerial vehicles, wherein the smart street lamps comprise unmanned aerial vehicle take-off and landing platforms arranged on lamp poles, and visual targets used for guiding the unmanned aerial vehicles to land are arranged, so that the smart street lamps have the advantages of expanding the functions of the unmanned aerial vehicles, improving the landing efficiency and the like.

The existing unmanned aerial vehicle lands on a horizontal table top through a landing gear; impact and vibration are generated in the landing process, and the landing point needs to be controlled; the problems of out-of-control, falling or explosion can occur, and the safety, stability and reliability are insufficient. Aiming at the problem of fixed-point landing of an unmanned aerial vehicle, the invention patent with application number 202110374371.6 discloses an active grabbing auxiliary landing device for an unmanned aerial vehicle apron. The invention patent with application number 201910236732.3 discloses a UAV relative pose estimation method of a fixed-point landing mark, which comprises the steps of designing the fixed-point landing mark, detecting feature points of the mark based on vision, estimating the pose of the UAV relative to the mark and providing a basis for autonomous landing. The utility model with application number 202021926496.2 discloses a mobile nest for automatically replacing batteries of a small unmanned aerial vehicle and an apron thereof, which comprises a mobile nest and a control unit; the moving nest comprises a bottom plate, an apron and a mechanical clamping jaw; the utility model provides a platform that can accurate descending and fasten can charge for unmanned aerial vehicle.

The field has obstacles such as trees, shrubs, electric wires, towers, buildings and the like, and also has dangerous factors such as lakes, rivers, hills, steep slopes, monuments and the like, and uncertain gusts affect the flight safety, especially in the taking off and landing process of the unmanned aerial vehicle. Unmanned aerial vehicle's the process of taking off and land causes violent near ground air current, can raise dust, grit and branch and leaf, causes pollution and injury, and life-span is reduced also brings the safety risk. In order to promote the application and development of a new generation of information technology in agricultural production, improve the agricultural production level and promote the digitization, the precision, the intellectualization and the unmanned aerial vehicle thereof; aiming at the unmanned aerial vehicle patrol for planting crops in large scale, the safety, stability and reliability of the unmanned aerial vehicle are improved, the patrol efficiency is improved, the cost is reduced, and further research and improvement are needed.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle inspection device aiming at large-scale crop planting, which improves the structure and the landing mode of an unmanned aerial vehicle, realizes fixed-point landing and improves the safety, the stability and the reliability; the autonomous patrol is realized, the patrol efficiency is improved, and the cost is reduced; promotes the application and development of new generation information technology in agricultural production, further improves the agricultural production level, and promotes the digitization, the precision, the intellectualization and the unmanned. The direction described in the specification is based on an unmanned aerial vehicle for patrolling, the traveling direction of the patrolling is front, and otherwise, the traveling direction is rear; the front-back direction is longitudinal, and so on. In fig. 1, the closer to the reader is the front and the farther away is the back. The specific technical scheme of the invention is as follows.

Unmanned aerial vehicle inspection device to scale planting crops contains unmanned aerial vehicle 1 and resides the seat. The unmanned aerial vehicle 1 and the resident seat are in wireless communication with the digital agricultural system, at least obtain a patrol task, a patrol area, geographic information and a scheduling instruction from the digital agricultural system, and upload a position, a patrol graphic image, a monitoring image, a geographic position, a state and other information.

Unmanned aerial vehicle 1 contains at least and hangs seat 2 and pendant 3, through pendant 3 to the mode of hanging, descend and reside in stay the seat. The unmanned aerial vehicle 1 is resided in the residence seat in a suspension mode, so that the gravity center can be lowered, and stable balance is realized; charging and monitoring for field, equipment and agricultural facilities can be performed. Hang seat 2 and connect unmanned aerial vehicle 1 and pendant 3 can improve unmanned aerial vehicle 1 is in the descending security, stability and the reliability of seat of residing can for unmanned aerial vehicle 1 is rotatory, makes unmanned aerial vehicle 1 reside in can adjust the position appearance when residing the seat, enlarge monitoring range.

Resident seat fixed mounting contains guide arm 4, cover seat 5, peg 6, frame seat 7 and control box 8 in the outer facade of stand or building, as shown in fig. 1, through peg 6 bears unmanned aerial vehicle 1 striking and gravity when descending, do unmanned aerial vehicle 1 provides and rocks damping and stable balance, consumes and rocks the energy, and under guide and the drive of guide arm 4 and peg 6, will unmanned aerial vehicle 1's pendant 3 inserts cover seat 5 to the locking gets into quiescent condition rapidly, realizes the fixed point and descends, improves the security, stability and the reliability of descending process, effectively avoids out of control of descending process, falls quick-witted and exploder. The upright post at least comprises a lamp post of a street lamp, a telegraph pole, a vertical rod or shed of a pole tower, and a post of a house and frame.

The unmanned aerial vehicle 1 can take off from the residence seat, lay the pendant 3 flat and carry out autonomous patrol aiming at the large-scale planted crops; when the electric quantity is insufficient, the electric quantity can return to the resident seat for charging; after the patrol is finished, the mobile terminal can reside in the resident seat to monitor the fields, equipment and agricultural facilities. The unmanned aerial vehicle 1 makes autonomous decision under the unified management and control and scheduling of the digital agricultural system, performs autonomous patrol, return charging and monitoring aiming at the large-scale planted crops, and does not need manual intervention. The unmanned aerial vehicle 1 is combined with the resident seat, unmanned autonomous inspection operation aiming at large-scale crop planting can be realized, inspection efficiency is greatly improved, and cost is reduced; providing graphic images of fields and crops for the digital agricultural system, assisting VR (virtual reality) modeling to obtain crop growth, plant diseases and insect pests, spraying pesticide and fertilizer and water management information, assisting to realize the digitalization, the precision, the intellectualization and the unmanned of agriculture, promoting the application and the development of a new generation of information technology in agricultural production, and further improving the agricultural production level.

Unmanned aerial vehicle 1 contains fuselage, undercarriage, rotor, inspection equipment at least, hangs seat 2 and pendant 3, as shown in fig. 1, can pass through pendant 3 descend and reside in the seat of residing charges and carries out the control to field, equipment and agricultural facility, also can follow the seat of residing takes off, carries out the autonomic inspection to the scale planting crops.

The body is of a curved surface box structure, the sensor and the camera are arranged on the outer surface of the body, the battery slot, the antenna and the mainboard are fixedly arranged in the body, and the battery is inserted into the battery slot. The mainboard has communication module, control module, navigation module, data processing module and power module at least, makes unmanned aerial vehicle 1 with seat, digital agriculture system and remote controller wireless communication reside in, independently decide, plan the flight route to the navigation carries out the autonomic inspection, returns to charge and control to the crop is planted in scale. The remote controller for digital agriculture system has the priority, can take over unmanned aerial vehicle 1's control right controls unmanned aerial vehicle 1 descends in ground, carries out maintenance, test and experiment.

The communication module of the unmanned aerial vehicle 1 wirelessly communicates with the resident seat, the digital agricultural system and the remote controller, receives patrol tasks, patrol areas, geographic information and scheduling instructions, and sends patrol graphic images, monitoring images, states, geographic positions and other information. Unmanned aerial vehicle 1's control module has accelerometer, gyroscope and compass, controls rotor, hangs seat 2 and pendant 3, carries out real-time adjustment to flight attitude and motion parameter. The navigation module is provided with a satellite positioning module and is used for acquiring flight route information in real time. The data processing module of the unmanned aerial vehicle 1 stores and processes graphic image data from the inspection equipment, geographic information and inspection tasks from the digital agricultural system, and also processes data from a camera and a sensor of the body, makes a decision autonomously, and plans a flight path. The power module is connected with the battery, performs voltage conversion, and supplies power to other modules of the mainboard, the sensor, the camera and the patrol equipment.

The undercarriage with the left and right sides fixed connection of fuselage lower surface is located the fuselage below the left and right sides of inspection equipment can protect inspection equipment absorbs unmanned aerial vehicle 1 is descending the impact energy when in ground, makes unmanned aerial vehicle 1 can descend safely in ground. The rotor is rectangular shape structure, keeps away from the one end of fuselage has flight motor and paddle, through the rotation of flight motor drive paddle obtains aerodynamic, produces the flight drive power, makes unmanned aerial vehicle 1 can take off, fly and descend, independently patrol, return and charge and control.

The inspection equipment is installed in the lower surface of fuselage is located between the undercarriage, can obtain the protection of undercarriage. The patrol equipment at least comprises a digital camera, a video camera, a thermal infrared imager, a laser measuring instrument and a laser radar, and can enable the digital agricultural system to obtain the graphic images of crops and fields, assist VR modeling to obtain crop growth, plant diseases and insect pests, spray medicine and fertilizer and water management information, assist in realizing the digitalization, the precision, the intellectualization and the unmanned of agriculture, promote the application and the development of a new generation of information technology in agricultural production, and further improve the agricultural production level.

Hang seat 2 and be flat box structure, have upper surface, lower surface and side, through its lower surface laminating install in the upper surface of fuselage, can for the fuselage is rotatory, makes unmanned aerial vehicle 1 reside in can adjust the position appearance when residing the seat, enlarge monitoring range.

Further, the hanging seat 2 has a motor and a horizontal driving shaft inside, and the driving shaft is driven to rotate by the motor. The driving shaft is exposed out of the side surface of the hanging seat 2 and is fixedly connected with the hanging piece 3, so that the hanging seat 2 is connected with the hanging piece 3 on the side surface, and the hanging piece 3 can rotate relative to the hanging seat 2 in a vertical plane; therefore, when the unmanned aerial vehicle 1 flies or lands on the ground, the pendant 3 can be flatly placed on the body, the air resistance is reduced, the gravity center is lowered, and the safety, the stability and the reliability are improved; also make unmanned aerial vehicle 1 is in when the seat of staying descends, can with pendant 3 is upright, with the last surface vertical of hanging seat 2, the edgewise striking hang the peg 6 of the seat of staying, and hang in peg 6 obtains to rock damping and stable balance, consumes and rocks the energy, gets into quiescent condition rapidly, improves the security, stability and the reliability of descending process.

Furthermore, the hanging seat 2 is provided with a guide groove 21 on the opposite side surface of the connecting position of the hanging piece 3, so that when the unmanned aerial vehicle 1 lands on the staying seat, the unmanned aerial vehicle 1 can be clamped into the guide groove 21 through the guide rod 4 of the staying seat, the pose of the unmanned aerial vehicle 1 is adjusted and limited, the unmanned aerial vehicle 1 is guided to smoothly insert the hanging piece 3 into the sleeve seat 5, fixed-point landing is realized, and the safety, stability and reliability of the landing process are improved; also make unmanned aerial vehicle 1 when residing in when the seat, can balance unmanned aerial vehicle 1 is to the effort of pendant 3 avoids drive shaft and pendant 3 warp and damage, improve life-span.

The guide groove 21 is located the 3 offside of pendant hang 2 sides, to the inside of side is sunken, and the rear end is open, and the cross section size is by preceding backward crescent, presents the horn mouth shape towards the rear, is convenient for the guide arm 4 of residing the seat blocks into from the rear end guide groove 21, adjusts and prescribes the position appearance of unmanned aerial vehicle 1, guides unmanned aerial vehicle 1 smoothly inserts its pendant 3 into cover seat 5, can improve unmanned aerial vehicle 1 is in the security, stability and the reliability of the landing process of residing the seat.

The hanging piece 3 is of a hook-shaped curved rod structure and comprises a hanging arm 31, a hook 32, a plug 33 and a slot 34, as shown in fig. 3, the hanging arm 31 is connected with the hanging seat 2, the hook 32 is hung on the hanging rod 6 of the staying seat, the plug 33 is inserted into the sleeve seat 5 of the staying seat, and the slot 34 is electrically connected with the sleeve seat 5 of the staying seat for charging.

The hanging arm 31 is a straight pipe structure, and an electric wire penetrates through the hanging arm, so that the slot 34 is electrically connected with the power module of the unmanned aerial vehicle 1, and charging can be performed. The hanging arm 31 is fixedly connected with the driving shaft of the hanging seat 2 at the lower end, so that the hanging piece 3 is connected with the hanging seat 2 and can rotate relatively. The hook 32 is a hook-shaped structure with a downward opening, presents a shape with a downward enlarged opening, one end of the hook is fixedly connected with the upper end of the hanging arm 31, and the other end of the hook inclines towards the opposite side of the hanging arm 31, so that the hook 32 is smoothly suspended on the hanging rod 6 of the staying seat, and the safety, stability and reliability of the landing process on the staying seat are improved.

The plug 33 is of an inverted U-shaped bent plate structure, is fixedly connected with the hook 32 at the front end, is reduced in size at the rear end, is in a longitudinal wedge shape, and is convenient to insert into the sleeve seat 5 of the residing seat from front to back, so that the inserting process is smooth, and the guiding effect is achieved. The insertion grooves 34 are formed at the left and right sides of the rear portion of the outer surface of the plug 33, are recessed into the plug 33 to form a groove having a side surface and a groove bottom, and have a conductor at the groove bottom, and are electrically connected to the socket 5 of the docking station through the conductor, so that charging can be performed. The conductor with other positions of plug 33 are insulating, through the wire with unmanned aerial vehicle 1's power module electricity is connected, can charge.

Guide arm 4 is crooked shaft-like structure, contains connecting plate 41, crooked pole 42 and horizontal pole 43, through horizontal pole 43 card is gone into hang the guide way 21 of seat 2, works as unmanned aerial vehicle 1 is in when the seat of residing descends, the adjustment is injectd unmanned aerial vehicle 1's position appearance, the guide unmanned aerial vehicle 1 smoothly realizes the fixed point and descends, works as unmanned aerial vehicle 1 reside in during the seat of residing, can balance unmanned aerial vehicle 1 is right the effort of pendant 3 improves life-span.

The connecting plate 41 is a right-angle bent plate and comprises a horizontal plate and a vertical plate, the horizontal plate is fixedly connected with the sleeve seat 5, and the vertical plate is fixedly connected with the bent rod 42, so that the guide rod 4 is fixedly arranged on the sleeve seat 5 to be fixed and supported. The bending rod 42 is fixedly connected with the connecting plate 41 and the cross rod 43 and is provided with a longitudinal bending part and a transverse bending part so as to adjust the longitudinal position and the transverse position of the cross rod 43 relative to the sleeve seat 5, so that the cross rod 43 can be smoothly clamped into the guide groove 21 of the hanging seat 2, the pose of the unmanned aerial vehicle 1 is adjusted and limited, and the acting force of the unmanned aerial vehicle 1 on the hanging piece 3 is balanced.

The cross rod 43 is a horizontal transverse straight rod, one end of the cross rod is fixedly connected with the bent rod 42, and the other end of the cross rod is a free end; when the unmanned aerial vehicle 1 lands on the staying seat, the cross rod 43 can be smoothly clamped into the guide groove 21 of the hanging seat 2, the pose of the unmanned aerial vehicle 1 is adjusted and limited, the unmanned aerial vehicle 1 is guided to smoothly insert the pendant 3 into the sleeve seat 5, fixed-point landing is realized, and the safety, stability and reliability of the landing process are improved; when unmanned aerial vehicle 1 resides in when residing the seat, horizontal pole 43 is located hang in the guide way 21 of seat 2, can balance unmanned aerial vehicle 1 is to the effort of pendant 3 avoids drive shaft and pendant 3 warp and damage, improve life-span.

The sleeve seat 5 is of a semicircular curved tubular structure and comprises a sleeve 51, a guide wheel 52, a socket 53, a contact 54 and a cable 55, as shown in fig. 2 and 4; the hanging rod 6 and the cable 55 are accommodated through the sleeve 51, and the hanging rod 6 is clamped and sleeved through the guide wheel 52, so that the hanging rod 6 can move smoothly relative to the sleeve seat 5, and the hanging rod 6 and the cable 55 are limited and supported; the socket 53 is inserted into the plug 33 of the pendant 3, so that the contact 54 is elastically abutted with the slot 34 of the pendant 3 to obtain electric connection, and fixed-point falling and charging are realized.

The sleeve 51 has a segmented curved tubular structure, and the hanging rod 6 and the cable 55 are inserted through the sleeve, as shown in fig. 4, and have pipe members, and are connected to each other through the pipe members, so as to provide a position limitation and a support for the hanging rod 6 and the cable 55. In the embodiment shown in fig. 2, the sleeve 51 is divided into two sections, which are connected by tubing. In the embodiment shown in fig. 4, the cross-section of the sleeve 51 is a rounded rectangular structure, and comprises two inner cavities, namely an upper cavity 56 and a lower cavity 57; the upper cavity 56 penetrates through the hanging rod 6; the cable 55 passes through the lower cavity 57, so that the hanging rod 6 is prevented from moving and interfering with the cable 55, and the cable 55 is prevented from being damaged.

The guide wheel 52 is composed of two pulleys close to each other, is fixedly installed in the sleeve 51, the pipe fitting or the frame seat 7, clamps the hanging rod 6, limits the relative position of the hanging rod 6, enables the hanging rod 6 to move smoothly relative to the frame seat 5, reduces friction and improves efficiency.

Socket 53 is fore-and-aft short tubular structure, has axial through-hole at the center, the rear end with sleeve pipe 51 is at the terminal surface fixed connection of one end, and makes peg 6 passes the through-hole, guides and promotes unmanned aerial vehicle 1's plug 33 inserts from the front end socket 53 makes unmanned aerial vehicle 1 descends and resides in the seat of residence realizes the fixed point and descends. Socket 53's through-hole with plug 33 cooperation, along the preceding its cross sectional dimension crescent of axial, present the horn mouth shape towards the place ahead, so that the guide plug 33 inserts from the front end socket 53 improves unmanned aerial vehicle 1 descend in the security, stability and the reliability of residing the seat effectively avoid descending failure, out of control, fall the machine and explode the machine. The socket 53 is fixedly connected with the guide rod 4 on the horizontal plate of the connecting plate 41 on the lower surface, so that the guide rod 4 is fixedly arranged on the sleeve seat 5 and is fixed and supported.

The contact 54 protrudes from the inner wall of the through hole of the socket 53, can elastically stretch and contract, and is insulated relative to the inner wall of the through hole; when the plug 33 of the pendant 3 is inserted into the socket 53, the plug 33 is matched with the socket 53, the contact 54 is elastically abutted to the conductor of the slot 34 at the bottom of the slot, and reliable electric connection is obtained, so that the parking seat can charge the unmanned aerial vehicle 1.

The cable 55 passes through the sleeve 51, so that the control box 8 is electrically connected with the contact 54, and the contact 54 is elastically abutted with the conductor of the slot 34 by inserting the plug 33 of the pendant 3 into the socket 53, so that the electrical connection is obtained; and through the electric wire that pendant 3 passed in its string of arm 31 inside for control box 8 with unmanned aerial vehicle 1's power module electricity is connected, makes the seat of residing can be for unmanned aerial vehicle 1 charges.

The round curved bar of peg 6 for keeping flat contains guide bar 61, push pedal 62 and actuating lever 63 the downside of guide bar 61 and actuating lever 63 all has tooth 65, as shown in fig. 2, through tooth 65 drive peg 6 for the movement of cover seat 5, and through push pedal 62 promotes the plug 33 of pendant 3 inserts socket 53 to locking realizes unmanned aerial vehicle 1 is in the fixed point of staying the seat is descended and is stayed.

The guide rod 61 is a flat inferior arc-shaped solid curved rod, a buffer layer 66 is arranged outside the guide rod, a vertical reinforcing plate 67 is arranged inside the guide rod, and teeth 65 are arranged on the lower side of the guide rod, as shown in fig. 5, the buffer layer 66 bears the impact of the unmanned aerial vehicle 1 during landing to generate shaking damping, so that the unmanned aerial vehicle 1 obtains shaking damping and stable balance, consumes shaking energy, and enables the unmanned aerial vehicle 1 to rapidly enter a static state; through reinforcing plate 67 bears unmanned aerial vehicle 1's impact force and gravity make unmanned aerial vehicle 1 can pass through pendant 3 reliably hang in guide rod 61 avoids producing plastic deformation and excessive elastic deformation, avoids arousing the unstability.

The buffer layer 66 wraps the reinforcing plate 67, is made of damping materials, and can generate shaking damping when the guide rod 61 is impacted so as to consume shaking energy. Reinforcing plate 67 is for keeping flat the strip shaped plate of erectting of bad arc, has sufficient intensity and elasticity, can bear unmanned aerial vehicle 1's impact force and gravity avoid producing plastic deformation and excessive elastic deformation, avoid arousing the unstability. In the embodiment shown in fig. 5, the reinforcing plate 67 is exposed from the buffer layer 66 at the lower edge, has teeth 65, and has a through hole in the middle to reduce the weight, and increase the adhesion of the buffer layer 66 on the surface of the reinforcing plate 67 to prevent peeling from the surface of the reinforcing plate 67.

The push plate 62 is positioned between the guide rod 61 and the driving rod 63, the surface of the push plate 62 is perpendicular to the axis of the guide rod 61, and the surface size is larger than the cross-sectional size of the guide rod 61, so that the push plate 62 protrudes out of the guide rod 61; when the unmanned aerial vehicle 1 lands on the staying seat, the hook 32 of the pendant 3 is hung on the guide rod 61, so that the push plate 62 can push the pendant 3 to move due to the relative motion of the hanging rod 6, and the plug 33 of the pendant 3 is pushed and guided to be inserted into the socket 53, thereby realizing fixed-point landing; when the unmanned aerial vehicle 1 takes off from the parking seat, the push plate 62 releases the plug 33 of the pendant 3 due to the reverse motion of the hanging rod 6, so that the unmanned aerial vehicle 1 can fly away from the parking seat under the driving of the rotor wing of the unmanned aerial vehicle.

The driving rod 63 is a flat-laid curved rod with a superior arc shape, and has teeth 65 on the lower side, as shown in fig. 4, both ends of the driving rod are fixedly connected with the guide rod 61, and the driving rod and the guide rod 61 together form the circular hanging rod 6. In the embodiment shown in fig. 2, the driving rod 63 is fixedly connected at both ends thereof to the guide rod 61 by rivets 64. The driving rod 63 is of a rigid structure, and can be clamped in the sleeve seat 5 through the guide wheel 52, so that the guide rod 61 can smoothly move relative to the sleeve seat 5, and the relative position of the guide rod 61 is limited, so that the guide rod 61 can bear the impact force caused by collision when the unmanned aerial vehicle 1 lands, and instability is avoided.

The frame base 7 comprises a rod frame, a base 74, a driving mechanism 75, a locking mechanism 76 and a fastener 77, the resident base is fixedly mounted on an upright post or an outer facade of a building through the fastener 77, the hanging rod 6 is driven to move relative to the sleeve base 5 through the driving mechanism 75, the plug 33 of the pendant 3 is kept in a matching state with the socket 53 through the locking mechanism 76, and the locking of the plug 33 in the socket 53 is realized, as shown in fig. 1 and 2.

The rod frame is of a truss structure and supports and fastens the parking seat. In the embodiment shown in fig. 1 and 2, the bar frame is composed of a main bar 71, a cross bar 72 and a pull bar 73, which together with the fastening member 77, fixedly attach the socket 5 to a column or a facade of a building. The main rod 71 is fixedly connected with the two ends of the sleeve 51 of the sleeve seat 5 at the left end and the right end respectively, and is fixedly connected with the cross rod 72 and the pull rod 73 at the middle part respectively through pipe fittings; the cross rod 72 is transversely connected with the main rod 71 and the sleeve 51 through a pipe fitting, and is fixedly connected with the pull rod 73 in the middle through a pipe fitting; the two pull rods 73 are connected with the fastening member 77 at one end and the main rod 71 and the cross rod 72 at the other end through pipe fittings respectively to bear pulling force.

The base 74 is a flat box structure and has a bottom plate, a top plate and side plates, and the side plates have through holes, penetrate through the sleeve 51 of the sleeve seat 5 through the through holes, and are fixedly connected with the sleeve 51. The base 74 has fixedly mounted on its floor a drive mechanism 75, a locking mechanism 76 and a guide wheel 52 to provide a fixed and supporting function. The base 74 fixedly mounts the control box 8 above its top plate, providing a fixing and supporting function for the control box 8.

The driving mechanism 75 at least comprises a motor, a coupler and a gear, and the gear is meshed with the teeth 65 of the hanging rod 6 to drive the hanging rod 6 to move relative to the sleeve seat 5 under the control of the control box 8. The shaft coupling is connected with a main shaft of the motor and the gear, so that the motor can drive the gear to rotate to drive the hanging rod 6 to move relatively.

The locking mechanism 76 is abutted against the hanging rod 6 under the control of the control box 8 to generate friction force, so that the hanging rod 6 is prevented from moving relative to the sleeve seat 5, the locking of the hanging rod 6 is realized, the matching state of the plug 33 of the pendant 3 and the socket 53 is maintained, the locking of the plug 33 in the socket 53 is realized, and the locking of the pendant 3 in the staying seat is realized. In the embodiment shown in fig. 2, the locking mechanism 76 comprises an electric push rod and a friction plate, and the friction plate is driven by the electric push rod to abut against the hanging rod 6 to generate friction force so as to prevent the hanging rod 6 from moving relative to the sleeve seat 5.

The fasteners 77 at least comprise connecting plates, corner fittings, hoops and threaded fasteners, and the base 74 and the bar frame are fixedly arranged on the vertical columns or the outer facades of the building. In the embodiment shown in fig. 1 and 2, the fastener 77 comprises a bolt and two hoops, and is mounted on the upright; one hoop is fixedly connected with the base 74, and the other hoop is connected with the pull rod 73.

The control box 8 is a flat box structure, is mounted above the top plate of the base 74, and is internally and fixedly mounted with a circuit board. The circuit board at least comprises a communication module, an execution module, a storage module, a power supply module and a master control module, and is provided with a relay, the circuit board is in wireless communication with the unmanned aerial vehicle 1 and the digital agricultural system through the communication module, at least obtains a data unloading task, a data uploading task and a scheduling instruction from the digital agricultural system, and uploads logs, inspection graphic images, monitoring images and state information to the digital agricultural system in a time-sharing manner; and receiving the landing, takeoff, charging and data transfer requests of the unmanned aerial vehicle 1, generating control instructions for the driving mechanism 75, the locking mechanism 76 and the relay through an execution module, and matching the unmanned aerial vehicle 1 to complete the landing, takeoff, charging and data transfer.

The execution module stores the inspection graphic image, the monitoring image and the log data of the unmanned aerial vehicle 1 in the storage module according to the data unloading request obtained by the communication module; and transmitting the stored patrol graphic image, the monitoring image and the log data to the digital agricultural system in a time-sharing manner. In addition, the execution module generates control instructions for the driving mechanism 75, the locking mechanism 76 and the relay according to the landing, takeoff and charging requests of the unmanned aerial vehicle 1 obtained by the communication module, and cooperates with the unmanned aerial vehicle 1 to complete landing, takeoff and charging. The storage module is provided with a memory to store the patrol graphic image, the monitoring image and the log data. The power module is connected with the mains supply, the driving mechanism 75 and the locking mechanism 76, is connected with the relay and other modules, and is also connected with the cable 55 through the relay to perform voltage conversion so as to supply power for the driving mechanism 75, the locking mechanism 76 and other modules. The master control module comprises a microprocessor and a memory, and is communicated with other modules of the circuit board to carry out task scheduling.

Digital agriculture system is for being located the software system in high in the clouds, and geographical information in storage field, the graphic image of scale planting crops, the graphic image in field, VR model, surveillance image and plant protection information are saved unmanned aerial vehicle 1 and the information of residing the seat, with unmanned aerial vehicle 1 and the wireless communication of residing the seat acquire in real time unmanned aerial vehicle 1's geographical position and status information also send scheduling instruction. In addition, the plant protection information at least comprises crop growth, plant diseases and insect pests, pesticide spraying and fertilizer and water management information. Digital agricultural system can generate patrol task, data unloading, data upload and patrol regional information, and send for unmanned aerial vehicle 1 or resident seat acquire in real time unmanned aerial vehicle 1's geographical position and state information, the timesharing is followed crop figure image, field figure image and log data that unmanned aerial vehicle 1 or resident seat receipt patrol obtained, the timesharing is followed resident seat receives unmanned aerial vehicle 1's monitoring image.

Supplementary explanation: (1) the residing seat can only reside one unmanned aerial vehicle 1 at a certain moment, and can reside different unmanned aerial vehicles 1. The digital agriculture system uniformly controls and dispatches a plurality of unmanned aerial vehicles 1 to carry out unmanned autonomous inspection aiming at large-scale planted crops, so that inspection efficiency can be greatly improved, and cost is reduced. The title of the unmanned aerial vehicle 1, the resident seat and the digital agriculture system is not necessarily the same, and at least comprises owners, cooperative agencies, plant protection service enterprises, agricultural machinery operation enterprises or other enterprises, groups and individuals of the large-scale planting industry. Therefore, the invention can assist in realizing the digitalization, the precision, the intellectualization and the unmanned of agriculture, promote the application and the development of a new generation of information technology in agricultural production and further improve the agricultural production level.

(2) The resident seat is fixedly arranged on an upright post or an outer vertical surface of a building; the upright post at least comprises a lamp post of a street lamp, a telegraph pole, a vertical rod or shed of a pole tower, and a post of a house and frame. Public roads are all located in fields, generally provided with street lamps, traffic signs and road monitoring and all need to be powered; therefore, it is preferable that the docking station is fixedly installed on the post for street lamp, traffic sign and road monitoring. One upright may be fitted with one or more of the docking stations.

(3) The unmanned aerial vehicle 1 can take off from the residence seat to carry out autonomous patrol aiming at the large-scale planted crops; can also be lowered and parked in the docking station, charged and monitored for field, equipment and agricultural facilities. Thus, the docking station can be used as a charging station, a cell and a communication base station; unmanned aerial vehicle 1 can independently make a decision, carries out the autonomic inspection to the scale planting crops, returns to charge, also can carry out the control to field, equipment and agricultural facility, can function uninterruptedly in all weather.

(4) The guide rod 61 is externally provided with a buffer layer 66, and the unmanned aerial vehicle 1 is hung on the hanging rod 6 through the buffer layer 66 abutting against the hook 32 of the pendant 3. Therefore, preferably couple 32 with buffer layer 66 interference fit makes peg 6 is through its buffer layer 66, for unmanned aerial vehicle 1 provides and shakes the damping, consumes and shakes the energy, gets into quiescent condition fast.

When the plug 33 of the pendant 3 is inserted into the socket 53 of the sleeve 5, since the plug 33 is wedge-shaped along the longitudinal direction, the through hole of the socket 53 is in a bell mouth shape facing forward, so as to guide the plug 33 to be inserted from the front end; as the insertion process proceeds, it is preferable that the position of the plug 33 is gradually raised and gradually separated from the buffer layer 66 of the guide rod 61, so that friction with the buffer layer 66 can be reduced, the efficiency of the insertion operation can be improved, the buffer layer 66 can be prevented from being damaged, and the life can be prolonged.

(5) The guide groove 21 is located on the side face, opposite to the pendant 3, of the hanging seat 2, and presents a horn mouth shape facing backwards, so that the guide rod 4 of the residing seat is clamped into the guide groove 21 from the rear end, the pose of the unmanned aerial vehicle 1 is adjusted and limited, and the unmanned aerial vehicle 1 is guided to smoothly insert the pendant 3 into the sleeve seat 5. When the unmanned aerial vehicle 1 resides in the residence seat, the plug 33 of the pendant 3 is inserted into the socket 53 of the sleeve seat 5 and is matched with the socket 53; the crossbar 43 of the guide bar 4 is snapped into the guide groove 21. Therefore, in order to reliably balance the acting force of the unmanned aerial vehicle 1 on the pendant 3, it is preferable that the guide groove 21 is inclined downward at the rear end thereof, so that the guide rod 4 and the pendant 3 are stressed in a balanced manner, the pendant 3 is prevented from being stressed on one side, the drive shaft and the pendant 3 are prevented from being deformed and damaged, and the service life is prolonged.

The invention has the following beneficial effects: (1) the unmanned aerial vehicle 1 can take off from the resident seat, flatly arrange the pendant 3 of the unmanned aerial vehicle, and perform autonomous patrol aiming at large-scale planted crops; when the electric quantity is insufficient, the electric quantity can return to the resident seat for charging; after the patrol is finished, the mobile terminal can reside in the resident seat to monitor the fields, equipment and agricultural facilities. The unmanned aerial vehicle 1 makes independent decisions under the unified management and control and scheduling of the digital agricultural system, performs independent patrol, return charging and monitoring aiming at the large-scale planted crops, does not need manual intervention, and can play a role in all weather uninterruptedly.

Compared with the existing unmanned aerial vehicle inspection, the unmanned aerial vehicle 1 is combined with the resident seat, so that unmanned autonomous inspection operation aiming at large-scale crop planting can be realized, the inspection efficiency is greatly improved, and the cost is reduced; providing graphic images of fields and crops for the digital agricultural system, assisting VR modeling to obtain crop growth, plant diseases and insect pests, spraying pesticide and fertilizer and water management information, assisting to realize digitalization, accuracy, intellectualization and unmanned aerial vehicle of agriculture, promoting application and development of new generation information technology in agricultural production, and further improving the agricultural production level. In addition, the charging station, the airframe and the communication base station are integrated in the resident seat, and the patrol and monitoring functions are integrated, so that the unmanned aerial vehicle can be used fully, and the development of the unmanned aerial vehicle technology is promoted.

(2) The unmanned aerial vehicle 1 comprises a pendant 3; the resident seat is fixedly arranged on the outer vertical surface of the upright post or the building and comprises a guide rod 4, a sleeve seat 5, a hanging rod 6, a frame seat 7 and a control box 8. The unmanned aerial vehicle 1 collides and is suspended on the hanging rod 6 through the pendant 3, and the buffer layer 66 of the hanging rod 6 outside the guide rod 61 bears the impact of the unmanned aerial vehicle 1 when landing to generate shaking damping, so that the unmanned aerial vehicle 1 obtains shaking damping and stable balance, consumes shaking energy and enables the unmanned aerial vehicle 1 to rapidly enter a static state; through peg 6 bears at the inside reinforcing plate 67 of its guide bar 61 unmanned aerial vehicle 1's impact force and gravity make unmanned aerial vehicle 1 can pass through pendant 3 reliably hang in guide bar 61 avoids producing plastic deformation and excessive elastic deformation, avoids arousing the unstability.

The driving mechanism 75 of the frame base 7 is meshed with the teeth 65 of the hanging rod 6 through the gear thereof, and under the control of the control box 8, the hanging rod 6 is driven to move relative to the sleeve base 5, so that the hanging piece 3 hung on the hanging rod 6 is caused to move relatively, and the plug 33 of the hanging piece 3 is gradually close to the socket 53; the plug 33 is inserted into the socket 53 under the pushing of the push plate 62; the locking mechanism 76 is abutted against the hanging rod 6, so that the hanging rod 6 is locked, the matching state of the plug 33 of the hanger 3 and the socket 53 is kept, and the plug 33 is locked in the socket 53.

The existing unmanned aerial vehicle lands on a horizontal table top through a landing gear; impact and vibration are generated in the landing process, and the landing point needs to be controlled; the problems of out-of-control, falling or explosion can occur, and the safety, stability and reliability are insufficient. Unmanned aerial vehicle fixed point is the target of constantly pursuing, also is important research topic. In addition, the field has obstacles such as trees, shrubs, electric wires, towers, buildings and the like, and also has dangerous factors such as lakes, rivers, hills, steep slopes, tombstones and the like, and uncertain gusts affect flight safety, especially in the taking off and landing process of the unmanned aerial vehicle. Unmanned aerial vehicle's the process of taking off and land causes violent near ground air current, can raise dust, grit and branch and leaf, causes pollution and injury, and life-span is reduced also brings the safety risk.

Therefore, compared with the structure and landing mode of the existing unmanned aerial vehicle, the resident seat can bear the impact of the unmanned aerial vehicle 1 during landing and the impact force generated by the impact, provide shaking damping and stable balance, consume shaking energy and promote the unmanned aerial vehicle 1 to rapidly enter a static state; unmanned aerial vehicle 1 is in under the guide and the drive of peg 6 and guide arm 4 to the fixed point descending is realized to the mode of hanging, has improved the security, stability and the reliability of descending process greatly, can effectively avoid descending failure, out of control, break machine and explode the machine. Compared with the platform landing mode of the existing unmanned aerial vehicle, the unmanned aerial vehicle 1 can impact the hanging rod 6 from the side surface, so that sudden position change in the vertical direction is avoided, and shaking damping and stable balance are obtained; can effectively avoid current unmanned aerial vehicle to arouse because of its weight and vertical position sudden change to the striking of platform, alleviateed the impact and the vibration of descending process greatly, improve the security, the stability and the reliability of descending process, also improve the life-span.

In addition, the unmanned aerial vehicle 1 of the present invention lands by hitting the guide rod 61 of the peg 6; since the guide rod 61 is a flat inferior arc-shaped solid curved rod, fixed-point landing can be achieved without strictly controlling the impact direction and the impact point. Compared with the existing unmanned aerial vehicle fixed-point landing technology, the landing mode of the invention can realize fixed-point landing without strictly controlling the landing point; the influence of outdoor gust is less, and the safety, the stability and the reliability are higher; the method can be more suitable for field patrol operation aiming at large-scale crop planting, especially in mountainous areas or hilly areas.

(3) The guide rod 4 is fixedly arranged below the socket 53 of the sleeve seat 5 by the resident seat; the guide rod 4 is snapped into the guide groove 21 of the holder 2 by means of its cross-bar 43. The guide groove 21 is positioned on the side surface of the hanging seat 2 opposite to the hanging piece 3 and is in a horn mouth shape facing to the rear; when unmanned aerial vehicle 1 is in when the seat of staying descends, be convenient for guide arm 4 of staying the seat blocks into from the rear end guide slot 21, the adjustment is injectd unmanned aerial vehicle 1's position appearance, the guide unmanned aerial vehicle 1 smoothly inserts its pendant 3 into the socket 53 of cover seat 5, the guide unmanned aerial vehicle 1 realizes the fixed point and descends.

Therefore, compared with the structure and the landing mode of the existing unmanned aerial vehicle, the unmanned aerial vehicle 1 guides the landing process in a mode that the guide rod 4 is clamped into the guide groove 21 when the staying seat lands; the wind resistance is stronger, and the safety, the stability and the reliability are higher. In addition, when the unmanned aerial vehicle 1 resides in when residing the seat, the horizontal pole 43 is located hang in the guide slot 21 of seat 2, and preferably guide slot 21 is the downward sloping at its rear end, makes guide arm 4 and pendant 3 atress balanced, avoids pendant 3 unilateral atress, avoids drive shaft and pendant 3 warp and damage, improves the life-span.

(4) The slots 34 are positioned at the left side and the right side of the rear part of the outer surface of the plug 33 of the pendant 3, and conductors are arranged at the bottoms of the slots and are electrically connected with the power module of the unmanned aerial vehicle 1; the contact 54 of the sleeve seat 5 can elastically stretch and contract and is insulated relative to the inner wall of the through hole of the socket 53; when the plug 33 of the hanger 3 is inserted into the socket 53 and mated with the socket 53, the contact 54 elastically abuts against the conductor of the slot 34, and reliable electrical connection is obtained. The power module of the control box 8 is connected to the mains supply, the relay and other modules, through the relay connection cable 55. The cable 55 passes through the sleeve 51 so that the control box 8 is electrically connected to the contact 54. When unmanned aerial vehicle 1 is descending and is resided in when staying the seat, make it is in to stay the seat under the control of control box 8, can be for unmanned aerial vehicle 1 charges.

After the unmanned aerial vehicle 1 lands on the residing seat, the unmanned aerial vehicle 1 and the residing seat can be electrically connected in a wired manner; under the control of the control box 8, the parking seat can charge the unmanned aerial vehicle 1. Therefore, compared with the existing charging mode of the unmanned aerial vehicle, the invention integrates the landing and electric connection obtaining processes of the unmanned aerial vehicle 1, and has high efficiency and simple structure; and reliable wired connection is adopted, so that the charging power can be improved, the charging efficiency is greatly improved, and the charging time is reduced. In addition, the unmanned aerial vehicle 1 lands and resides in the residence seat in a plug-in mode, the control precision of the relative position is high, wireless charging is convenient to realize, and application and development of a wireless charging technology can be promoted.

(5) Unmanned aerial vehicle 1 with the control box 8 wireless communication of residing the seat makes it can cooperate to reside the seat unmanned aerial vehicle 1 accomplishes descending, takes off and charges. The unmanned aerial vehicle 1 sends a data unloading request to the control box 8 of the resident seat, and stores the patrol graphic image, the monitoring image and the log data of the unmanned aerial vehicle 1 in a storage module of the control box 8; the control box 8 of the resident seat uploads the stored patrol graphic images, monitoring images and log data to the digital agricultural system in a time-sharing manner.

The unmanned aerial vehicle 1 and the resident seat are in wireless communication with the digital agricultural system; the digital agricultural system uniformly controls and dispatches a plurality of unmanned aerial vehicles 1 and resident seats, and performs autonomous inspection, return charging and monitoring on the crops planted in large scale; the geographical position and the state information of the unmanned aerial vehicle 1 are acquired in real time, the unmanned aerial vehicle 1 or the residing seat receives the crop graphic image, the field graphic image and the log data acquired by patrol in a time-sharing manner, and the residing seat receives the monitoring image of the unmanned aerial vehicle 1 in a time-sharing manner.

Under the unified management and control and scheduling of the digital agricultural system, the data is transferred and stored through the resident seat and uploaded to the digital agricultural system in a time-sharing manner. Therefore, the invention can improve the data transferring and uploading efficiency, ensure the data safety, reasonably distribute the communication tasks and reduce the communication burden of the digital agricultural system; the existing digital agricultural system is convenient to expand, the distributed agricultural database located at the cloud end is established by utilizing big data, the application and the development of a new generation of information technology in agricultural production are promoted, and the agricultural production level is further improved. In addition, the unmanned aerial vehicle 1 does not need to carry a large-capacity data storage device, the load capacity is reduced, communication tasks can be reasonably distributed, and the data safety and the utilization efficiency are improved.

Drawings

Fig. 1 is a schematic view of the general structure of the unmanned aerial vehicle 1 and a docking station;

fig. 2 is a top view of the drone 1 and the docking station in the position of fig. 1;

FIG. 3 is that of FIG. 1AZooming in on the view;

FIG. 4 is a view of FIG. 2B—BA cross-sectional view as shown;

FIG. 5 is a view of FIG. 2C—CShown in cross-section.

Description of reference numerals: the unmanned aerial vehicle comprises a unmanned aerial vehicle 1, a hanging seat 2, a guide groove 21, a hanging part 3, a hanging arm 31, a hook 32, a plug 33, a slot 34, a guide rod 4, a connecting plate 41, a bending rod 42, a cross rod 43, a sleeve seat 5, a sleeve 51, a guide wheel 52, a socket 53, a contact 54, a cable 55, an upper cavity 56, a lower cavity 57, a hanging rod 6, a guide rod 61, a push plate 62, a driving rod 63, a rivet 64, teeth 65, a buffer layer 66, a reinforcing plate 67, a frame seat 7, a main rod 71, a cross rod 72, a pull rod 73, a base 74, a driving mechanism 75, a locking mechanism 76, a fastener 77 and a control box 8.

Detailed Description

The technical scheme of the invention is explained in detail in the following with the accompanying drawings and the specific embodiments:

fig. 1 is a schematic view of the general structure of the unmanned aerial vehicle 1 and a docking station; fig. 2 is a top view of the drone 1 and the docking station in the position of fig. 1. Unmanned aerial vehicle 1 contains fuselage, undercarriage, rotor, inspection equipment at least, hangs seat 2 and pendant 3. The body is of a curved surface box structure, the sensor and the camera are arranged on the outer surface of the body, the battery slot, the antenna and the mainboard are fixedly arranged in the body, and the battery is inserted into the battery slot. The fuselage, battery slot, antenna and mainboard all prefer the material and the technology processing manufacturing of current unmanned aerial vehicle. The battery is preferably a known lithium battery product. The mainboard has communication module, control module, navigation module, data processing module and power module at least, prefers the research and development technology development manufacturing of current unmanned aerial vehicle control system. The undercarriage and the rotor wing are made of materials, parts and processes of existing unmanned aerial vehicle undercarriage and rotor wing. The inspection equipment at least comprises a digital camera, a video camera, a thermal infrared imager, a laser measuring instrument and a laser radar, and the known digital camera, the video camera, the thermal infrared imager, the laser measuring instrument and the laser radar product are preferably selected.

The hanging seat 2 is of a flat box body structure, and preferably an aluminum alloy material is formed through die casting. The hanging seat 2 is arranged on the upper surface of the machine body and can rotate relative to the machine body; preferably, a driving mechanism comprising a motor and a driving wheel is arranged in the machine body, so that the installation, the relative rotation and the control of the hanging seat 2 are realized. The hanging seat 2 is internally provided with a motor and a horizontal driving shaft, preferably an existing motor product, and the driving shaft is preferably made of aluminum alloy bar stock through forging forming. The side surface of the hanging seat 2 opposite to the connecting position of the hanging piece 3 is provided with a guide groove 21; the guide groove 21 has a flared shape facing rearward, and is preferably formed simultaneously with the die-casting of the hanger 2.

FIG. 3 is that of FIG. 1AThe partial enlarged view expresses the structures of the hanging part 3 and the guide rod 4; the hanger 3 is of a hook-shaped curved bar structure and comprises a hanging arm 31, a hook 32, a plug 33 and a slot 34; the hanging arm 31 is of a straight pipe structure, and preferably an aluminum alloy pipe is formed through cutting processing. The lower end of the hanging arm 31 is fixedly connected with a driving shaft of the hanging seat 2, preferably, a flat key and a locking nut are connected. The hook 32 is a hook-shaped structure with a downward opening, and takes a shape with a downward opening expanded, and preferably an aluminum alloy bar is forged and formed; the hook 32 is fixedly connected, preferably welded, at one end to the upper end of the hanging arm 31.

The plug 33 is of an inverted U-shaped bent plate structure, presents a wedge shape along the longitudinal direction, and is fixedly connected at the front end to the hook 32, preferably formed simultaneously in the forging process of the hook 32. The insertion grooves 34 are formed at the left and right sides of the rear portion of the outer surface of the plug 33, and are recessed inward to form grooves, preferably formed by cutting. The slot 34 is provided with a conductor, preferably a copper plate, at the bottom of the slot, and is manufactured by adopting the existing socket production process, so that the slot is insulated from other parts of the plug 33 and is electrically connected with the power module of the unmanned aerial vehicle 1.

The guide rod 4 is a bent rod-shaped structure and comprises a connecting plate 41, a bent rod 42 and a cross rod 43; the connecting plate 41 is a right-angle bent plate and comprises a horizontal plate and a vertical plate, and preferably an aluminum alloy plate is bent and formed; the horizontal plate is fixedly connected with the sleeve seat 5, preferably connected with a fastener, so that the guide rod 4 can be conveniently maintained and replaced. The bending rod 42 has a longitudinal bending portion and a transverse bending portion, and is preferably made of alloy steel bar stock, and is formed integrally with the cross rod 43 by bending processing. The curved bar 42 is fixedly connected to the vertical plate, preferably by fasteners, for ease of maintenance and replacement. The guide rod 4 and the structure thereof can also be formed by processing carbon fiber or other composite materials through corresponding processes.

FIG. 4 is a view of FIG. 2B—BA sectional view is shown, which shows the cross-sectional structure of the sleeve holder 5 and the drive rod 63; the sleeve seat 5 is of a semicircular curved tubular structure and comprises a sleeve 51, a guide wheel 52, a socket 53, a contact 54 and a cable 55. The sleeve 51 is a segmented curved tubular structure, preferably an aluminum alloy profile that is machined. The pipe with which the sleeve 51 is provided is preferably a known pipe product, and may be formed by forging using an aluminum alloy material. The guide wheel 52 consists of two pulleys, preferably existing pulley products, which are close to each other and preferably connected by fasteners, fixedly mounted in the sleeve 51, the pipe or the frame 7.

The socket 53 is of a longitudinal short-pipe-shaped structure, an axial through hole is formed in the center, and preferably, an aluminum alloy material is forged; the socket 53 is fixedly connected, preferably welded, at the rear end to one end of the sleeve 51. The contact 54 protrudes from the socket 53 at the inner wall of the through hole thereof, is elastically stretchable, and is insulated from the inner wall of the through hole, and is preferably manufactured by material and process of the conventional contact switch. The cable 55 is passed through the sleeve 51 so that the control box 8 is electrically connected to the contacts 54, preferably of the known cable type.

The hanging rod 6 is a horizontally-placed round curved rod and comprises a guide rod 61, a push plate 62 and a driving rod 63; the driving rod 63 is a flat-laid excellent-arc-shaped bent rod, adopts a rigid structure, is provided with teeth 65 at the lower side, and is preferably formed by forging and processing an aluminum alloy section. The push plate 62 is located between the guide rod 61 and the drive rod 63, has a surface perpendicular to the axis of the guide rod 61, has a surface dimension greater than the cross-sectional dimension of the guide rod 61, and is preferably formed simultaneously with the forging process of the drive rod 63.

FIG. 5 is a view of FIG. 2C—CA cross-sectional view is shown, which shows the cross-sectional structure of the guide rod 61; the guide rod 61 is a flat inferior arc-shaped solid curved rod, the outer part of the guide rod is provided with a buffer layer 66, the inner part of the guide rod is provided with a vertical reinforcing plate 67, and the lower side of the guide rod is provided with teeth 65; the buffer layer 66 wraps the reinforcing plate 67, is made of damping materials, and can generate shaking damping when the guide rod 61 is impacted so as to consume shaking energy. The damping material is preferably a polyurethane material, a synthetic rubber or a silicone rubber material. Reinforcing plate 67 is for keeping flat the strip shaped plate of erecting of poor curved, preferably exposes at the lower limb buffer layer 66 to have tooth 65, preferred alloy spring steel sheet material is through machining shaping, has sufficient intensity and elasticity, can bear unmanned aerial vehicle 1's impact force and gravity, avoid producing plastic deformation and excessive elastic deformation. The fixed connection of the driving rod 63 to the guide rod 61 is preferably riveted at both ends thereof by rivets 64.

The frame base 7 comprises a rod frame, a base 74, a driving mechanism 75, a locking mechanism 76 and a fastener 77; the rod frame is of a truss structure, supports and fastens the parking seat, and preferably, an aluminum alloy section is machined and formed. In the embodiment shown in fig. 1 and 2, the mast is constituted by a main mast 71, a cross mast 72 and a tie rod 73; the main rod 71, the cross rod 72 and the pull rod 73 are all preferably machined from aluminum alloy tubing.

The base 74 is a flat box structure with a bottom plate, a top plate and side plates, and preferably an aluminum alloy plate is formed by stamping; the fixed connection of the base 74 to the sleeve 51 is preferably a fastener connection. The fixed mounting of the drive mechanism 75, locking mechanism 76, guide wheel 52 and control box 8 to the base 74 is preferably by fasteners for ease of maintenance and replacement. The driving mechanism 75 at least comprises a motor, a coupler and a gear, and the existing motor, coupler and gear products are preferred. In the embodiment shown in fig. 2, the locking mechanism 76 comprises an electric push rod and a friction plate, both of which are preferably existing electric push rod and friction plate products. The fasteners 77 include at least one of webs, corner fittings, anchor ears, and threaded fasteners, all preferably of the prior art.

The control box 8 is a flat box structure, and preferably an aluminum alloy plate is formed by stamping; the control box 8 is internally and fixedly provided with a circuit board; the circuit board at least comprises a communication module, an execution module, a storage module, a power supply module and a master control module, is provided with a relay, preferably selects the existing module, module and electronic element, and is designed and developed by adopting an embedded development technology; the relay is preferably an existing relay product.

Digital agriculture system is for being located the software system in high in the clouds, and geographical information in storage field, the graphic image of scale planting crops, the graphic image in field, VR model, surveillance image and plant protection information are saved unmanned aerial vehicle 1 and the information of residing the seat, with unmanned aerial vehicle 1 and the wireless communication of residing the seat acquire in real time unmanned aerial vehicle 1's geographical position and status information also send scheduling instruction. Digital agricultural system can generate patrol task, data unloading, data upload and patrol regional information, and send for unmanned aerial vehicle 1 or resident seat acquire in real time unmanned aerial vehicle 1's geographical position and state information, the timesharing is followed crop figure image, field figure image and log data that unmanned aerial vehicle 1 or resident seat receipt patrol obtained, the timesharing is followed resident seat receives unmanned aerial vehicle 1's monitoring image. The digital agriculture system and the functions thereof are developed by adopting the existing software development system based on cloud computing, coded by adopting a known programming language and operated on the existing commercial cloud platform.

The above embodiments are merely preferred embodiments of the present invention, and are not to be construed as limiting the present invention. It is within the scope of the present invention to modify the materials and fabrication processes while still meeting the structural and performance requirements of the present invention.

Claims

1. Unmanned aerial vehicle inspection device to scale planting crops contains unmanned aerial vehicle (1) and resides the seat, its characterized in that: the unmanned aerial vehicle (1) and the resident seat are in wireless communication with the digital agricultural system, at least a patrol task, a patrol area and a scheduling instruction are obtained from the digital agricultural system, and a position, a patrol graphic image, a monitoring image and a state are uploaded;

the unmanned aerial vehicle (1) comprises a hanging piece (3), and the unmanned aerial vehicle lands and resides in the residence seat in a hanging mode through the hanging piece (3); the pendant (3) comprises a plug (33);

the unmanned aerial vehicle (1) is resided in the residence seat in a suspension mode, so that stable balance is realized, and charging and monitoring can be performed;

the resident seat is fixedly arranged on an upright post or the outer vertical surface of a building and comprises a guide rod (4), a sleeve seat (5), a hanging rod (6), a frame seat (7) and a control box (8); the sleeve seat (5) comprises a socket (53);

the resident seat bears the impact of the unmanned aerial vehicle (1) during landing through the hanging rod (6), provides shaking damping and stable balance for the unmanned aerial vehicle (1), consumes shaking energy, inserts the pendant (3) of the unmanned aerial vehicle (1) into the sleeve seat (5) under the guiding and driving of the guide rod (4) and the hanging rod (6), and locks to realize fixed-point landing, thereby improving the safety, stability and reliability of the landing process;

the unmanned aerial vehicle (1) can take off from the resident seat, flatly place the pendant (3) of the unmanned aerial vehicle, and perform autonomous patrol aiming at large-scale planted crops; when the electric quantity is insufficient, the electric quantity can return to the resident seat for charging; after the patrol is finished, the mobile terminal can reside in the resident seat for monitoring;

the unmanned aerial vehicle (1) makes an autonomous decision under the unified management and control and scheduling of the digital agricultural system, and performs patrol, return charging and monitoring without manual intervention;

the unmanned aerial vehicle (1) is combined with the resident seat, so that the autonomous patrol aiming at the large-scale planted crops is realized, the patrol efficiency is improved, and the cost is reduced; and providing a graphic image for the digital agricultural system, acquiring crop growth vigor, plant diseases and insect pests, pesticide spraying and fertilizer and water management information, and improving the agricultural production level.

2. The unmanned aerial vehicle inspection device for scale-planting of crops according to claim 1, wherein: the unmanned aerial vehicle (1) at least comprises a body, an undercarriage, a rotor wing, patrol equipment and a hanging seat (2);

a battery slot and a mainboard are fixedly arranged in the machine body, and a battery is inserted through the battery slot;

the main board enables the unmanned aerial vehicle (1) to wirelessly communicate with the resident seat and the digital agricultural system, autonomously make a decision, plan a flight route, navigate and perform autonomous patrol, return charging and monitoring aiming at the large-scale planted crops;

the undercarriage is fixedly connected with the lower surface of the body and can protect the inspection equipment, so that the unmanned aerial vehicle (1) can safely land on the ground;

the rotor wing is provided with a flight motor and blades, and the flight motor drives the blades to rotate to generate flight driving force, so that the unmanned aerial vehicle (1) can take off, fly and land;

the hanging seat (2) is of a flat box structure, is provided with a side face, is installed on the upper surface of the machine body, and can rotate relative to the machine body, so that the pose of the unmanned aerial vehicle (1) can be adjusted when the unmanned aerial vehicle resides in the residing seat, and the monitoring range is expanded;

the hanging seat (2) is connected with the hanging piece (3) on the side surface, and the hanging piece (3) can rotate relative to the hanging seat (2);

when the unmanned aerial vehicle (1) flies or lands on the ground, the pendant (3) can be laid flat, and safety, stability and reliability are improved;

also make unmanned aerial vehicle (1) when the seat of residing descends, can stand with pendant (3), from the side striking hang rod (6) of the seat of residing to hang in hang rod (6), obtain and rock damping and stable balance.

3. The unmanned aerial vehicle inspection device for scale-planting of crops according to claim 2, wherein: the hanging seat (2) is provided with a guide groove (21) on the side surface opposite to the connecting position of the hanging piece (3);

the guiding groove (21) is inwards sunken, presents towards the horn mouth shape of rear, is convenient for adjust and inject unmanned aerial vehicle (1)'s position appearance, guide unmanned aerial vehicle (1) inserts its pendant (3), improves unmanned aerial vehicle (1) is in the security, stability and the reliability of the landing process of the seat of residing.

4. Unmanned aerial vehicle inspection device for scale planting of crops according to claim 1 or 2, characterized in that: the hanger (3) is of a hook-shaped crank rod structure and comprises a hanging arm (31) and a hook (32);

the hanging arm (31) is of a straight tube structure, and an electric wire penetrates through the hanging arm;

the lower end of the hanging arm (31) is connected with the hanging seat (2), so that the hanging piece (3) is connected with the hanging seat (2) and can rotate relatively;

the hook (32) is of a hook-shaped structure with a downward opening and takes a shape with a downward enlarged opening;

one end of the hook (32) is fixedly connected with the hanging arm (31), and the other end of the hook inclines towards the opposite side of the hanging arm (31) to guide the hook (32) to be hung on the hanging rod (6), so that the safety, stability and reliability of the landing process are improved;

the plug (33) is of a bent plate structure, is fixedly connected with the hook (32), presents a wedge shape along the longitudinal direction, is convenient to insert into the sleeve seat (5), and has a guiding function.

5. The unmanned aerial vehicle inspection device for scale-up crop planting according to claim 1 or 3, wherein: the guide rod (4) is of a bent rod-shaped structure and comprises a connecting plate (41), a bent rod (42) and a cross rod (43);

the connecting plate (41) is a right-angle bent plate and is fixedly connected with the sleeve seat (5), so that the guide rod (4) is fixedly arranged on the sleeve seat (5);

the bending rod (42) is fixedly connected with the connecting plate (41) and the cross rod (43), and the position of the cross rod (43) is adjusted, so that the cross rod (43) can be smoothly clamped into the guide groove (21) of the hanging seat (2);

the cross rod (43) is a transverse straight rod, and one end of the cross rod is a free end;

when the unmanned aerial vehicle (1) lands on the staying seat, the cross rod (43) can be clamped into the guide groove (21) of the hanging seat (2), the pose of the unmanned aerial vehicle (1) is adjusted and limited, the unmanned aerial vehicle (1) is guided to smoothly insert the pendant (3) of the unmanned aerial vehicle into the sleeve seat (5), fixed-point landing is realized, and the safety, stability and reliability of the landing process are improved;

when unmanned aerial vehicle (1) reside in when residing the seat, horizontal pole (43) are located hang in guide way (21) of seat (2), can balance unmanned aerial vehicle (1) is to the effort of pendant (3), avoid warping and damaging, improve the life-span.

6. The unmanned aerial vehicle inspection device for scale-planting of crops according to claim 1, wherein: the sleeve seat (5) is of a curved tubular structure and comprises a sleeve (51), a guide wheel (52), a contact (54) and a cable (55);

the sleeve (51) is of a segmented curved tubular structure, penetrates through the hanging rod (6) and the cable (55) in the sleeve, is provided with pipe fittings, is connected with each other through the pipe fittings, and provides limiting and supporting for the hanging rod (6) and the cable (55);

the guide wheel (52) is fixedly arranged in the sleeve (51), the pipe fitting or the frame seat (7), and is used for clamping the hanging rod (6) in a sleeving manner, so that the hanging rod (6) can move, friction is reduced, and efficiency is improved;

the socket (53) is provided with an axial through hole and is fixedly connected with the sleeve (51), the hanging rod (6) penetrates through the through hole, and a plug (33) of the unmanned aerial vehicle (1) is guided and pushed to be inserted into the socket (53), so that the unmanned aerial vehicle (1) is descended and stayed in the staying seat to realize fixed-point descent;

the through hole of the socket (53) is in a horn mouth shape facing the front, so that the plug (33) is guided to be inserted into the socket (53), and the safety, stability and reliability of the unmanned aerial vehicle (1) landing on the parking seat are improved;

the hanger (3) comprises a slot (34); the slot (34) is positioned on the outer surface of the plug (33), is recessed inwards to form a groove and is provided with a conductor;

the contact (54) protrudes out of the inner wall of the socket (53) and can elastically stretch out and draw back;

when a plug (33) of the pendant (3) is inserted into the socket (53), the plug (33) is matched with the socket (53), and the contact (54) is elastically abutted with a conductor of the slot (34) to obtain electric connection, so that the residing seat can charge the unmanned aerial vehicle (1);

the cable (55) electrically connects the control box (8) with the contact (54).

7. The unmanned aerial vehicle inspection device for scale-planting of crops according to claim 1, wherein: the hanging rod (6) is a horizontally-placed round curved rod and comprises a guide rod (61), a push plate (62) and a driving rod (63), and teeth (65) are arranged on the lower sides of the guide rod (61) and the driving rod (63);

the guide rod (61) is a flat inferior arc-shaped solid curved rod, the outer part of the guide rod is provided with a buffer layer (66), and the inner part of the guide rod is provided with a reinforcing plate (67);

the buffer layer (66) wraps the reinforcing plate (67), and generates shaking damping to consume shaking energy when being impacted;

the reinforcing plate (67) is a strip-shaped plate and can bear the impact force of the unmanned aerial vehicle (1);

the push plate (62) is positioned between the guide rod (61) and the driving rod (63); the push plate (62) protrudes from the guide rod (61);

when the unmanned aerial vehicle (1) lands on the staying seat, the push plate (62) can push the pendant (3) to move due to the movement of the hanging rod (6), and a plug (33) of the pendant (3) is pushed and guided to be inserted into the socket (53);

when the unmanned aerial vehicle (1) takes off from the parking seat, the push plate (62) can release the plug (33) due to the reverse motion of the hanging rod (6), so that the unmanned aerial vehicle (1) can fly off from the parking seat;

the driving rod (63) is a flat-laid excellent-arc-shaped bent rod, and both ends of the driving rod are fixedly connected with the guide rod (61);

the driving rod (63) is of a rigid structure and is sleeved in the sleeve seat (5) in a sleeved mode, so that the guide rod (61) moves, and the relative position of the guide rod (61) is defined.

8. Unmanned aerial vehicle inspection device for scale planting of crops according to claim 1 or 6 or 7, characterized in that: the frame base (7) comprises a rod frame, a base (74), a driving mechanism (75), a locking mechanism (76) and a fastener (77);

the rod frame is of a truss structure and supports and fastens the parking seat;

the base (74) is of a horizontal box body structure and is provided with a bottom plate, a top plate and side plates, and the side plates are fixedly connected with the sleeve (51);

the base (74) is fixedly provided with a driving mechanism (75), a locking mechanism (76) and a guide wheel (52) on the bottom plate thereof, and the fixing and supporting functions are provided;

the base (74) is fixedly provided with a control box (8) above the top plate thereof, and provides fixing and supporting functions;

the driving mechanism (75) at least comprises a motor and a gear, and the gear is meshed with the teeth (65) of the hanging rod (6) to drive the hanging rod (6) to move under the control of the control box (8);

the locking mechanism (76) is abutted against the hanging rod (6) under the control of the control box (8) to prevent the hanging rod (6) from moving, so that the hanging piece (3) is locked on the staying seat;

the fasteners (77) at least comprise hoops and threaded fasteners, and the base (74) and the bar frame are fixedly arranged on the vertical columns or the outer facades of the buildings.

9. The unmanned aerial vehicle inspection device for scale-planting of crops according to claim 1 or 6, wherein: the control box (8) is of a box body structure, and a circuit board is fixedly arranged in the control box;

the circuit board is provided with a relay; the relay is connected with the cable (55);

the circuit board is in wireless communication with the unmanned aerial vehicle (1) and the digital agricultural system, and uploads logs, inspection graphic images, monitoring images and state information to the digital agricultural system in a time-sharing manner;

the circuit board receives the request of the unmanned aerial vehicle (1), generates a control instruction, and is matched with the unmanned aerial vehicle (1) to finish landing, taking off, charging and data transfer.