CN113741545A - Control method for agriculture and forestry spraying low-altitude flight of large-scale cargo unmanned aerial vehicle - Google Patents

Abstract

A control method for agricultural and forestry spraying low-altitude flight of a large-scale cargo unmanned aerial vehicle is characterized in that agricultural and forestry spraying is realized by controlling an unmanned aerial vehicle and a liquid storage tank, the unmanned aerial vehicle comprises an unmanned aerial vehicle shell, the periphery of the unmanned aerial vehicle shell is fixedly connected with a rotor rod, the bottom end of the rotor rod is rotatably connected with a spray pipe, the top end of the spray pipe is communicated with the rotor rod, the bottom end of the spray pipe is provided with spray holes, the inside of each spray hole is rotatably connected with a ball, the spray pipe is arranged in a hollow structure, the top end of the spray pipe is communicated with the rotor rod, the unmanned aerial vehicle belongs to the technical field of unmanned aerial vehicles, the spray pipe is rotatably connected with the unmanned aerial vehicle, the sprayed liquid medicine can be thrown out by the centrifugal force generated by high-speed rotation of the spray pipe, the spray range of the spray liquid is accordingly improved, the spray area of the unmanned aerial vehicle is enhanced, and meanwhile, the probability that the spray liquid flows down can be effectively reduced by the centrifugal force generated by rotating the spray pipe, the uniformity of spraying liquid is effectively enhanced.

Description

Control method for agriculture and forestry spraying low-altitude flight of large-scale cargo unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for agricultural and forestry spraying low-altitude flight of a large-scale cargo unmanned aerial vehicle.

Background

Unmanned aerial vehicle obtains extensive use in agriculture and forestry, utilizes unmanned aerial vehicle to carry out the liquid medicine to agriculture and forestry and sprays the operation to reach the ability of prevention and cure insect pest, along with agriculture and forestry planting by a large scale, unmanned aerial vehicle carries out agriculture and forestry and sprays and obtain extensive development.

Prior art, wherein publication number is CN213756384U, discloses an unmanned aerial vehicle sprays control system, includes: the unmanned aerial vehicle spraying device, the spraying amount adjusting device and the server are in wireless connection; the spraying amount adjusting device includes: the device comprises an air pressure sensor, a signal adjusting circuit and a first wireless transceiver, wherein the signal adjusting circuit comprises a signal acquisition circuit, a signal amplifying circuit, a shaping filter circuit and a voltage stabilizing output circuit which are sequentially connected; unmanned aerial vehicle sprinkler includes: storage water tank, water pump controller, second wireless transceiver, connecting rod and a plurality of shower nozzle, wherein, on the shower nozzle evenly was fixed in the connecting rod, the connecting rod set up in the unmanned aerial vehicle below, and variable speed water pump's water inlet links to each other with the storage water tank, and variable speed water pump's outlet links to each other with each shower nozzle respectively, and water pump controller links to each other with second wireless transceiver. Adopt the utility model discloses, can realize the volume that unmanned aerial vehicle sprayed pesticide according to unmanned aerial vehicle's airspeed control, make the pesticide that unmanned aerial vehicle sprayed to crops even, however, unmanned aerial vehicle is when carrying out agriculture and forestry and spraying, owing to control unmanned aerial vehicle technical requirement high, the unmanned aerial vehicle that often can appear controlling highly is less than and sprays flight height at the flight in-process flight, thereby lead to unmanned aerial vehicle spray tube and agriculture and forestry plant contact, and then lead to the phenomenon that the liquid tank appears blockking up, be unfavorable for unmanned aerial vehicle to spray the operation to agriculture and forestry, for this reason, a large-scale freight unmanned aerial vehicle agriculture and forestry sprays control method of low-altitude flight is proposed.

Disclosure of Invention

The invention aims to provide a control method for spraying low-altitude flight in agriculture and forestry for a large-scale cargo unmanned aerial vehicle.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a control method that large-scale freight unmanned aerial vehicle agriculture and forestry sprays low-altitude flight, realizes through control unmanned aerial vehicle and liquid reserve tank that agriculture and forestry sprays, unmanned aerial vehicle includes the unmanned aerial vehicle casing, equal fixed connection has the rotor pole all around of unmanned aerial vehicle casing, the bottom of rotor pole is rotated and is connected with the shower, the top and the rotor pole through connection of shower, the bottom of shower has seted up the spray hole, the inside rotation in spray hole is connected with the ball.

As a further scheme of the invention: the shower is hollow structure setting, the top and the rotor pole through connection of shower, the internally mounted of liquid reserve tank has first-class siphunculus, first-class siphunculus extends to the inside of unmanned aerial vehicle casing, with two of one side connect through second siphunculus between the first-class siphunculus, second siphunculus is L shape setting, first-class siphunculus is made for soft rubber, the second siphunculus is made for hard rubber, first-class siphunculus runs through the inside that the rotor pole extended to the shower.

As a still further scheme of the invention: the second circulation pipe is L shape setting, first circulation pipe and the inside wall contactless of shower, the internally mounted of rotor bar has the grip block, first circulation pipe passes through grip block and unmanned aerial vehicle casing and rotor bar joint.

As a still further scheme of the invention: the internally mounted of liquid reserve tank has promotion piece and second axis of rotation, it is connected with the liquid reserve tank rotation through the second axis of rotation to promote the piece.

As a still further scheme of the invention: the top that promotes the piece is the setting of triangle body, the bottom that promotes the piece is the setting of semicircle body, promotes the piece bottom and is the promotion piece that the semicircle body set up for increasing the pouring weight.

As a still further scheme of the invention: including unmanned aerial vehicle flight system, flight system includes control center, plant protection control area and signal database, plant protection control area sprays unit and data analysis unit including navigation control unit, agriculture and forestry.

As a still further scheme of the invention: the control center is in signal connection with a plant protection control area, the control center is in signal connection with a signal database, the plant protection control area is in signal connection with a navigation control unit, an agriculture and forestry spraying unit and a data analysis unit, the signal database is in signal connection with the navigation control unit, the agriculture and forestry spraying unit and the data analysis unit, the navigation control unit is in signal connection with a path planning module, a height adjustment module, an obstacle avoidance module and a curve navigation module, the agriculture and forestry spraying unit is in signal connection with the agriculture and forestry spraying module, a spraying monitoring module and a spraying ending module, the data analysis unit is in signal connection with a spraying drift analysis module, a flight state analysis module and a spraying efficiency analysis module, and the path planning module, the height adjustment module, the obstacle avoidance module and the curve navigation module are in signal connection, the agriculture and forestry sprays the module, sprays monitoring module and finishes spraying between the module signal connection, spray drift analysis module, flight state analysis module and spray between the efficiency analysis module signal connection, signal database with spray drift analysis module, flight state analysis module and spray between the efficiency analysis module signal connection.

As a still further scheme of the invention: the method comprises the following steps:

s1, controlling the height, namely controlling the low-altitude flight height through the strengthened height control;

s2: navigation planning, namely, avoiding the obstacle by low-altitude flight through the navigation planning;

s3: spraying agriculture and forestry, controlling the unmanned aerial vehicle to fly at low altitude, spraying pesticide liquid to the agriculture and forestry on the premise of guaranteeing flight safety, and realizing the plant protection operation of the unmanned aerial vehicle;

s4: the method comprises the following steps of flight monitoring, namely monitoring the agriculture and forestry spraying process in real time through a camera, so that the real-time condition of agriculture and forestry spraying is judged in time, and the liquid outlet condition of a spraying pipe can be observed through the camera;

s5: and (4) low-altitude flight data analysis, namely performing data analysis on the unmanned aerial vehicle which finishes agriculture and forestry spraying through a built-in analysis system to obtain the spraying state of the unmanned aerial vehicle for agriculture and forestry spraying.

As a still further scheme of the invention: wherein the height control and navigation planning are controlled by a navigation control unit, the agriculture and forestry spraying and flight monitoring are controlled by an agriculture and forestry spraying unit, and the low-altitude flight data analysis is controlled by a data analysis unit.

As a still further scheme of the invention: the method specifically comprises the following steps:

s11, controlling the flying height of the unmanned aerial vehicle in the agriculture and forestry spraying process by using a height signal source, selecting different heights to spray liquid medicine by dividing agriculture and forestry, controlling the unmanned aerial vehicle to spray at a position 25CM above vegetation, and controlling the unmanned aerial vehicle to spray at a position 25CM above vegetation, so that the spraying effect of agriculture and forestry spraying by the unmanned aerial vehicle can be guaranteed when the flight safety of the unmanned aerial vehicle is ensured;

s21: navigation planning, wherein the unmanned aerial vehicle is controlled to fly according to the route planned by the path planning module through the navigation planning, the flying height of the unmanned aerial vehicle and a navigation curve are adjusted in real time in the flying process so as to meet the state that the unmanned aerial vehicle sprays liquid medicine, and meanwhile, the obstacle is avoided by low-altitude flight during the navigation planning;

s31: spraying agriculture and forestry, controlling the unmanned aerial vehicle to be in a low-altitude flying state all the time after adjusting the flying state of the unmanned aerial vehicle, spraying pesticide liquid to the agriculture and forestry on the premise of guaranteeing the flying safety, and realizing the plant protection operation of the unmanned aerial vehicle by controlling the flying of the unmanned aerial vehicle and the liquid storage tank;

s41: the method comprises the following steps of flight monitoring, namely monitoring the agriculture and forestry spraying process in real time through a camera, storing the monitored data in a signal database, judging the real-time condition of agriculture and forestry spraying in time, observing the liquid outlet condition of a spray pipe through the camera, and judging the dredging condition of the spray pipe;

s51: the data analysis of low-altitude flight, the data transmission that will fly to monitor to the signal database to the data analysis unit sprays drift state, flight state and sprays efficiency to unmanned aerial vehicle and carries out the analysis, thereby is convenient for to the detection and the adjustment of unmanned aerial vehicle self.

Compared with the prior art, the invention has the beneficial effects that:

1. the spraying pipe is rotationally connected with the unmanned aerial vehicle, the sprayed liquid medicine can be thrown out by centrifugal force generated by high-speed rotation of the spraying pipe, so that the spraying range of the spraying liquid is increased, the spraying area of the unmanned aerial vehicle is enhanced, meanwhile, the probability of the spraying liquid flowing down in a strand flow can be effectively reduced by the centrifugal force generated by rotation of the spraying pipe, the spraying uniformity of the spraying liquid is effectively enhanced, the spraying effect of the unmanned aerial vehicle on spraying agriculture and forestry is further improved, the phenomenon that the agriculture and forestry vegetation is in different growth conditions due to uneven spraying is avoided, meanwhile, the spraying hole of the spraying pipe is internally provided with the ball, the phenomenon that the spraying hole is blocked due to contact of the unmanned aerial vehicle and the vegetation caused by control errors of the unmanned aerial vehicle is solved by utilizing the convex body formed by the angle-free ball, and the blockage in the spraying hole is pushed by the rotation of the ball in the spraying hole, so that the defect that the spraying hole is blocked can be effectively prevented, simultaneously, the centrifugal force that rotates the shower and produce can rotate the ball in-process and produce not hard up plug and throw away to can further promote the spraying effect of shower, solve traditional unmanned aerial vehicle and carried out agriculture and forestry and spray the phenomenon that the jam easily appears in the in-process shower.

2. Through setting up the promotion piece in the inside of liquid reserve tank, when unmanned aerial vehicle flies forward and sprays the liquid medicine, the liquid medicine in the liquid reserve tank promotes the promotion piece in the liquid reserve tank inside under inertial effect, the promotion piece begins to rotate under the effect of liquid medicine, bottom through setting up the promotion piece is the weight increasing piece, therefore, the liquid medicine is after the promotion piece promotes, the focus of promotion piece is controlled to the weight increasing piece that promotes the piece bottom and sets up, thereby promote the piece and resume vertical state under the effect of focus, thereby the liquid medicine promotes the promotion piece once more, when the promotion piece promotes the liquid medicine, can strengthen the mixedness of liquid medicine, thereby homogeneity when promoting the liquid medicine and mixing, simultaneously, when the promotion piece rotates, the bottom of promotion piece can promote the liquid medicine of liquid reserve tank bottom, thereby the effectual settlement rate that reduces the liquid medicine in the liquid reserve tank, thereby reduce the liquid medicine in the liquid reserve tank and cause the probability that the hole appears blockking up that sprays, the unmanned aerial vehicle agriculture and forestry of being convenient for sprays the operation, and the top that promotes the piece is the setting of the triangle body, the hypotenuse through the triangle body can be convenient for the liquid medicine to the promotion effect that promotes the piece top, strengthen the liquid medicine to the promotion dynamics that promotes the piece, and simultaneously, the bottom semicircular in shape that promotes the piece sets up, the circulation of liquid reserve tank bottom liquid medicine can be convenient for to the promotion liquid medicine prevents the effect of subsiding.

3. Through the flight monitoring step, utilize the camera to carry out real-time supervision to the process that agriculture and forestry sprayed, thereby can in time observe the spraying situation that unmanned aerial vehicle carried out agriculture and forestry and sprayed, so that spray in real time to unmanned aerial vehicle agriculture and forestry and adjust, and can in time discover the spraying state of shower through the flight monitoring step, it can't in time discover to have solved traditional shower jam, lead to spraying the problem of inefficiency, control the altitude in the unmanned aerial vehicle flight, thereby when guaranteeing flight safety, guarantee unmanned aerial vehicle's the effect of spraying.

Drawings

Fig. 1 is a perspective view of the drone.

Fig. 2 is a schematic structural diagram of the drone in fig. 1.

Fig. 3 is an enlarged view of a portion a in fig. 2.

Fig. 4 is a schematic cross-sectional structure diagram of the unmanned aerial vehicle.

Fig. 5 is a schematic structural view of the shower pipe.

Fig. 6 is a side perspective view of fig. 5.

Fig. 7 is a step diagram of a control method for agricultural and forestry spraying low-altitude flight of a large cargo unmanned aerial vehicle.

Fig. 8 is a block diagram of a control method for agricultural and forestry spraying low-altitude flight of a large cargo unmanned aerial vehicle.

In the figure: 10. an unmanned aerial vehicle housing; 11. a rotor lever; 12. a shower pipe; 121. spraying holes; 122. a ball bearing; 13. a camera; 131. a first rotating shaft; 132. an adjustment shaft; 14. a clamping block; 20. a liquid storage tank; 21. a sealing cover; 22. a first flow pipe; 23. a second flow pipe; 24. a pushing block; 241. a second rotating shaft; 30. a support assembly; 31. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Referring to fig. 1 to 8, in an embodiment of the present invention, a method for controlling an agricultural and forestry spraying low-altitude flight of a large cargo unmanned aerial vehicle includes the following steps:

s1, controlling the height, namely controlling the low-altitude flight height through the strengthened height control;

s2: navigation planning, namely, avoiding the obstacle by low-altitude flight through the navigation planning;

s3: spraying agriculture and forestry, controlling the unmanned aerial vehicle to fly at low altitude, spraying pesticide liquid to the agriculture and forestry on the premise of guaranteeing flight safety, and realizing the plant protection operation of the unmanned aerial vehicle;

s4: the flying monitoring is carried out, the agriculture and forestry spraying process is monitored in real time through the camera 13, so that the real-time condition of agriculture and forestry spraying is judged in time, and the liquid outlet condition of the spraying pipe 12 can be observed through the camera 13;

s5: and (4) low-altitude flight data analysis, namely performing data analysis on the unmanned aerial vehicle which finishes agriculture and forestry spraying through a built-in analysis system to obtain the spraying state of the unmanned aerial vehicle for agriculture and forestry spraying.

A control method for spraying low-altitude flight on agriculture and forestry of a large-scale cargo unmanned aerial vehicle is realized through an unmanned aerial vehicle flight system, the flight system comprises a control center, a plant protection control area and a signal database, wherein height control and navigation planning are controlled through a navigation control unit, agriculture and forestry spraying and flight monitoring are controlled through an agriculture and forestry spraying unit, low-altitude flight data analysis is controlled through a data analysis unit, and the navigation planning unit, the agriculture and forestry spraying unit and the data analysis unit are controlled through the plant protection control area.

The control center is in signal connection with a plant protection control area, the control center is in signal connection with a signal database, the plant protection control area is in signal connection with a navigation control unit, an agriculture and forestry spraying unit and a data analysis unit, the signal database is in signal connection with the navigation control unit, the agriculture and forestry spraying unit and the data analysis unit, the navigation control unit is in signal connection with a path planning module, a height adjustment module, an obstacle avoidance module and a curve navigation module, the agriculture and forestry spraying unit is in signal connection with the agriculture and forestry spraying module, a spraying monitoring module and a spraying ending module, the data analysis unit is in signal connection with a spraying drift analysis module, a flight state analysis module and a spraying efficiency analysis module, and the path planning module, the height adjustment module, the obstacle avoidance module and the curve navigation module are in signal connection, the agriculture and forestry sprays the module, sprays monitoring module and finishes spraying between the module signal connection, spray drift analysis module, flight state analysis module and spray between the efficiency analysis module signal connection, signal database with spray drift analysis module, flight state analysis module and spray between the efficiency analysis module signal connection.

It should be noted that the height signal source of control height mainly comes from sensors such as GPS, radio height, atmospheric pressure height, millimeter wave radar, adopts sensor information fusion's mode, processes a plurality of signal fusion, guarantees the reliability of height signal to realize the altitude control of unmanned aerial vehicle agriculture and forestry spraying in-process.

The method specifically comprises the following steps:

s11, controlling the flying height of the unmanned aerial vehicle in the agriculture and forestry spraying process by using a height signal source, selecting different heights to spray liquid medicine by dividing agriculture and forestry, controlling the unmanned aerial vehicle to spray at a position 25CM above vegetation, and controlling the unmanned aerial vehicle to spray at a position 25CM above vegetation, so that the spraying effect of agriculture and forestry spraying by the unmanned aerial vehicle can be guaranteed when the flight safety of the unmanned aerial vehicle is ensured;

s21: navigation planning, wherein the unmanned aerial vehicle is controlled to fly according to the route planned by the path planning module through the navigation planning, the flying height of the unmanned aerial vehicle and a navigation curve are adjusted in real time in the flying process so as to meet the state that the unmanned aerial vehicle sprays liquid medicine, and meanwhile, the obstacle is avoided by low-altitude flight during the navigation planning;

s31: spraying in agriculture and forestry, after the flight state of the unmanned aerial vehicle is adjusted, controlling the unmanned aerial vehicle to be in a low-altitude flight state all the time, spraying pesticide liquid to agriculture and forestry on the premise of guaranteeing flight safety, and realizing the plant protection operation of the unmanned aerial vehicle by controlling the flight of the unmanned aerial vehicle and the liquid storage tank 20;

s41: the method comprises the following steps of flight monitoring, namely monitoring the agriculture and forestry spraying process in real time through a camera 13, storing the monitored data in a signal database, judging the real-time condition of agriculture and forestry spraying in time, observing the liquid outlet condition of a spray pipe 12 through the camera 13, and judging the dredging condition of the spray pipe 12;

s51: the data analysis of low-altitude flight, the data transmission that will fly to monitor to the signal database to the data analysis unit sprays drift state, flight state and sprays efficiency to unmanned aerial vehicle and carries out the analysis, thereby is convenient for to the detection and the adjustment of unmanned aerial vehicle self.

Through the flight monitoring step, utilize camera 13 to carry out real-time supervision to the process that agriculture and forestry sprayed, thereby can in time observe the spraying situation that unmanned aerial vehicle carried out agriculture and forestry and sprayed, so that spray in real time to unmanned aerial vehicle agriculture and forestry and adjust, and can in time discover the spraying state of shower 12 through the flight monitoring step, it can't in time discover to have solved traditional shower 12 and blockked up, lead to spraying the problem of inefficiency, control the altitude in the unmanned aerial vehicle flight, thereby when guaranteeing flight safety, guarantee unmanned aerial vehicle's the effect of spraying

The unmanned aerial vehicle comprises an unmanned aerial vehicle shell 10, wherein a spraying liquid medicine is filled in a liquid storage tank 20 and used for spraying vegetation in agriculture and forestry, a sealing cover 21 is installed on the side surface of a liquid outlet tank 20, the addition and sealing operation of the spraying liquid in the liquid storage tank are realized by opening and closing the sealing cover 21, a connecting rod 31 is fixedly connected to the top end of the liquid storage tank 20, the liquid storage tank 20 is fixedly connected with the bottom end of the unmanned aerial vehicle shell 10 through the connecting rod 31, supporting components 30 are fixedly connected to both sides of the bottom end of the unmanned aerial vehicle shell 10, the supporting components 30 can support the unmanned aerial vehicle, so that the unmanned aerial vehicle can land conveniently, the stability of the unmanned aerial vehicle when landing is improved, rotor rods 11 are fixedly connected to the periphery of the unmanned aerial vehicle shell 10, a first through pipe 22 is installed in the liquid storage tank 20, and the first through pipe 22 penetrates through the connecting rod 31 and extends to the inside of the unmanned aerial vehicle shell 10, two with the same side connect through second runner pipe 23 between the first runner pipe 22, first runner pipe 22 carries out fixed mounting through the flange with second runner pipe 23, second runner pipe 23 is L shape setting, first runner pipe 22 is made for soft rubber, second runner pipe 23 is made for hard rubber, utilizes the bending nature of soft rubber and hard rubber's stability, uses hard rubber can effectual reduction of buckling the phenomenon that leads to of pipeline circulation reduces in the turning junction, uses soft rubber pipe can effectually avoid unmanned aerial vehicle when receiving the striking in level and vertical direction, the condition that hard rubber pipe is cracked easily, the bottom of rotor lever 11 rotates and is connected with shower 12, first runner pipe 22 runs through rotor lever 11 and extends to the inside of shower 12, first runner pipe 22 does not contact with the inside wall of shower 12, the internally mounted of rotor pole 11 has grip block 14, first circulation pipe 22 passes through grip block 14 and unmanned aerial vehicle casing 10 and the 11 joints of rotor pole, first axis of rotation 131 and camera 13 are installed to unmanned aerial vehicle casing 10's bottom, camera 13 rotates through first axis of rotation 131 and unmanned aerial vehicle casing 10 to be connected, camera 13's both sides are rotated and are connected with regulating spindle 132, camera 13's installation can spray the state to unmanned aerial vehicle and carry out real-time supervision.

The internally mounted of liquid reserve tank 20 has promotion piece 24 and second axis of rotation 241, it rotates with liquid reserve tank 20 through second axis of rotation 241 to promote piece 24 to be connected, the top that promotes piece 24 is the setting of the three horns, the bottom that promotes piece 24 is the setting of semicircle body, promotes the piece 24 bottom and is the promotion piece 24 that the semicircle body set up for increasing the weight, shower 12 is the hollow structure setting, shower 12's top and rotor pole 11 through connection, spray hole 121 has been seted up to shower 12's bottom, the inside rotation that sprays hole 121 is connected with ball 122, ball 122 central point puts and is located the top that sprays hole 121.

By arranging the spraying pipe 12 to be rotationally connected with the rotor rod 11, the centrifugal force generated by the high-speed rotation of the spraying pipe 12 can throw the sprayed liquid medicine out, thereby improving the spraying range of the spraying liquid and strengthening the spraying area of the unmanned aerial vehicle, meanwhile, the centrifugal force generated by the rotation of the spraying pipe 12 can effectively reduce the probability of the spraying liquid flowing down, effectively strengthening the spraying uniformity of the spraying liquid, further improving the spraying effect of the unmanned aerial vehicle on spraying agriculture and forestry, avoiding the phenomenon that the agriculture and forestry are disadvantaged due to uneven spraying, meanwhile, the balls 122 are arranged in the spraying holes 121 of the spraying pipe 12, the convex body is formed by utilizing the characteristic that the balls 122 do not have corners, the phenomenon that the spraying holes 121 are blocked due to the contact between the unmanned aerial vehicle and the vegetation caused by the control error of the unmanned aerial vehicle is solved, and the blockage in the spraying holes 121 is pushed by the rotation of the balls 122, therefore, the defect that the spraying holes 121 are blocked can be effectively prevented, meanwhile, centrifugal force generated by rotating the spraying pipe 12 can throw loose blocking objects generated in the rotating process of the balls 122, so that the spraying effect of the spraying pipe 12 can be further improved, the problem that the spraying pipe 12 is easy to block in the agriculture and forestry spraying process of a traditional unmanned aerial vehicle is solved, meanwhile, the pushing block 24 is arranged inside the liquid storage box 20, when the unmanned aerial vehicle flies forward to spray liquid medicine, the liquid medicine inside the liquid storage box 20 pushes the pushing block 24 inside the liquid storage box 20 under the action of inertia, the pushing block 24 starts to rotate under the action of the liquid medicine, the weight increasing block is arranged at the bottom end of the pushing block 24, therefore, after the liquid medicine is pushed by the pushing block 24, the weight increasing block arranged at the bottom end of the pushing block 24 controls the gravity center of the pushing block 24, and the pushing block 24 is restored to be in a vertical state under the action of the gravity center, thereby facilitating the liquid medicine to push the pushing block 24 again, enhancing the mixing degree of the liquid medicine when the pushing block 24 pushes the liquid medicine, thereby improving the uniformity of the liquid medicine when mixing, and simultaneously, when the pushing block 24 rotates, the bottom end of the pushing block 24 can push the liquid medicine at the bottom of the liquid storage tank 20, thereby effectively reducing the sedimentation rate of the liquid medicine in the liquid storage tank 20, reducing the probability of blockage of the spraying holes 121 caused by the liquid medicine in the liquid storage tank 20, facilitating the agricultural and forestry spraying operation of the unmanned aerial vehicle, arranging the top end of the pushing block 24 in a triangular shape, the bevel edge of the triangular body can facilitate the pushing effect of the liquid medicine on the top end of the pushing block 24, strengthen the pushing force of the liquid medicine on the pushing block 24, meanwhile, the bottom end of the pushing block 24 is semicircular, and the pushing block 24 arranged in a semicircular shape can facilitate the circulation of the liquid medicine at the bottom end of the liquid storage tank 20, so that the effect of preventing the liquid medicine from settling is promoted.

It should be noted that the first circulation pipe 22 in the present application is an application of the prior art, and the shower pipe 12 is an innovative point of the present application, which effectively solves the problem that the liquid medicine spraying is easy to be blocked.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. The utility model provides a control method that large-scale freight unmanned aerial vehicle agriculture and forestry sprayed low-altitude flight, realizes through control unmanned aerial vehicle and liquid reserve tank (20) that agriculture and forestry sprays, unmanned aerial vehicle includes unmanned aerial vehicle casing (10), its characterized in that, equal fixed connection has rotor rod (11) all around of unmanned aerial vehicle casing (10), the bottom of rotor rod (11) is rotated and is connected with shower (12), the top and rotor rod (11) through connection of shower (12), spray hole (121) have been seted up to the bottom of shower (12), the inside rotation of spray hole (121) is connected with ball (122).

2. The control method for the agricultural and forestry spraying low-altitude flight of the large-scale cargo unmanned aerial vehicle according to claim 1, wherein the spraying pipe (12) is arranged in a hollow structure, the top end of the spraying pipe (12) is communicated with the rotor rod (11), a first through pipe (22) is installed inside the liquid storage tank (20), the first through pipe (22) extends to the inside of the unmanned aerial vehicle shell (10), two first through pipes (22) on the same side are connected through a second through pipe (23), the second through pipe (23) is arranged in an L shape, the first through pipe (22) is made of soft rubber, the second through pipe (23) is made of hard rubber, and the first through pipe (22) extends to the inside of the spraying pipe (12) through the rotor rod (11).

3. The control method for the agricultural and forestry spraying low-altitude flight of the large-scale cargo unmanned aerial vehicle according to claim 2, wherein the second through pipe (23) is arranged in an L shape, the first through pipe (22) is not in contact with the inner side wall of the spraying pipe (12), a clamping block (14) is installed inside the rotor rod (11), and the first through pipe (22) is clamped with the unmanned aerial vehicle shell (10) and the rotor rod (11) through the clamping block (14).

4. The control method for the agricultural and forestry spraying low-altitude flight of the large cargo unmanned aerial vehicle according to claim 1, wherein a pushing block (24) and a second rotating shaft (241) are installed inside the liquid storage tank (20), and the pushing block (24) is rotatably connected with the liquid storage tank (20) through the second rotating shaft (241).

5. The control method for the agricultural and forestry spraying low-altitude flight of the large-scale cargo unmanned aerial vehicle according to claim 4, wherein the top of the pushing block (24) is arranged in a triangular shape, the bottom end of the pushing block (24) is arranged in a semicircular shape, and the pushing block (24) arranged in the semicircular shape at the bottom end of the pushing block (24) is a weight increasing block.

6. The control method for the agricultural and forestry spraying low-altitude flight of the large cargo unmanned aerial vehicle comprises an unmanned aerial vehicle flight system, and is characterized in that the flight system comprises a control center, a plant protection control area and a signal database, and the plant protection control area comprises a navigation control unit, an agricultural and forestry spraying unit and a data analysis unit.

7. The method as claimed in claim 6, wherein the control center is in signal connection with a plant protection control area, the control center is in signal connection with a signal database, the plant protection control area is in signal connection with a navigation control unit, an agriculture and forestry spraying unit and a data analysis unit, the signal database is in signal connection with a navigation control unit, an agriculture and forestry spraying unit and a data analysis unit, the navigation control unit is in signal connection with a path planning module, a height adjustment module, an obstacle avoidance module and a curve navigation module, the agriculture and forestry spraying unit is in signal connection with an agriculture and forestry spraying module, a spraying monitoring module and a finished spraying module, the data analysis unit is in signal connection with a spraying drift analysis module, a flight state analysis module and a spraying efficiency analysis module, the system comprises a path planning module, a height adjusting module, an obstacle evading module and a curve navigation module, wherein the path planning module, the height adjusting module, the obstacle evading module and the curve navigation module are in signal connection, the agriculture and forestry spraying module, the spraying monitoring module and the finishing spraying module are in signal connection, the spraying drift analysis module, the flight state analysis module and the spraying efficiency analysis module are in signal connection, and a signal database is in signal connection with the spraying drift analysis module, the flight state analysis module and the spraying efficiency analysis module.

8. The method for controlling the agricultural and forestry spraying low-altitude flight of the large cargo unmanned aerial vehicle according to claim 7, wherein the method comprises the following steps:

s1, controlling the height, namely controlling the low-altitude flight height through the strengthened height control;

s2: navigation planning, namely, avoiding the obstacle by low-altitude flight through the navigation planning;

s3: spraying agriculture and forestry, controlling the unmanned aerial vehicle to fly at low altitude, spraying pesticide liquid to the agriculture and forestry on the premise of guaranteeing flight safety, and realizing the plant protection operation of the unmanned aerial vehicle;

s4: the system comprises a flying monitoring device, a camera (13) is used for monitoring the agriculture and forestry spraying process in real time, so that the real-time condition of agriculture and forestry spraying is judged in time, and the liquid outlet condition of a spraying pipe (12) can be observed through the camera (13);

s5: and (4) low-altitude flight data analysis, namely performing data analysis on the unmanned aerial vehicle which finishes agriculture and forestry spraying through a built-in analysis system to obtain the spraying state of the unmanned aerial vehicle for agriculture and forestry spraying.

9. The method of claim 8, wherein the altitude control and navigation planning are controlled by a navigation control unit, the agriculture and forestry spraying and flight monitoring are controlled by the agriculture and forestry spraying unit, and the low-altitude flight data analysis is controlled by the data analysis unit.

10. The method for controlling the agricultural and forestry spraying low-altitude flight of the large cargo unmanned aerial vehicle according to claim 9, is characterized by comprising the following steps:

s11, controlling the flying height of the unmanned aerial vehicle in the agriculture and forestry spraying process by using a height signal source, selecting different heights to spray liquid medicine by dividing agriculture and forestry, controlling the unmanned aerial vehicle to spray at a CM (25) above vegetation, and controlling the unmanned aerial vehicle to spray at the CM above the vegetation, so that the spraying effect of agriculture and forestry spraying of the unmanned aerial vehicle can be guaranteed when the flight safety of the unmanned aerial vehicle is guaranteed;

s21: navigation planning, wherein the unmanned aerial vehicle is controlled to fly according to the route planned by the path planning module through the navigation planning, the flying height of the unmanned aerial vehicle and a navigation curve are adjusted in real time in the flying process so as to meet the state that the unmanned aerial vehicle sprays liquid medicine, and meanwhile, the obstacle is avoided by low-altitude flight during the navigation planning;

s31: spraying agriculture and forestry, controlling the unmanned aerial vehicle to be in a low-altitude flying state all the time after adjusting the flying state of the unmanned aerial vehicle, spraying pesticide liquid to the agriculture and forestry on the premise of guaranteeing the flying safety, and realizing the plant protection operation of the unmanned aerial vehicle by controlling the flying of the unmanned aerial vehicle and the liquid storage tank (20);

s41: the system comprises a flight monitoring step, wherein the agriculture and forestry spraying process is monitored in real time through a camera (13), a monitored data storage layer is stored in a signal database, the real-time condition of agriculture and forestry spraying can be judged in time, the liquid outlet condition of a spray pipe (12) can be observed through the camera (13), and the dredging condition of the spray pipe (12) is judged;

s51: the data analysis of low-altitude flight, the data transmission that will fly to monitor to the signal database to the data analysis unit sprays drift state, flight state and sprays efficiency to unmanned aerial vehicle and carries out the analysis, thereby is convenient for to the detection and the adjustment of unmanned aerial vehicle self.

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