CN205830867U - For the captive unmanned vehicle sprayed continuously - Google Patents

Abstract

A tethered unmanned aerial vehicle for continuous spraying comprises an unmanned aerial vehicle body (1) and a movable carrying device (2), and the unmanned aerial vehicle body (1) includes a nozzle (3) for spraying and a spraying A control device (4), the movable carrying device (2) is provided with a connecting pipe (5), a power supply (6) and a liquid delivery device (7), for connecting the unmanned aerial vehicle body (1) and the The connecting pipeline (5) of the movable carrying device (2) includes a power transmission pipeline (8) connecting the power supply (6) to the unmanned aerial vehicle body (1) for power supply and connecting the liquid delivery equipment ( 7) to the spray head (3) on the unmanned aerial vehicle body (1) to supply the infusion pipeline (9) of the liquid, the spray control device (4) is connected to the spray head (3) and adjusts the spray head injection pressure.

Description

Tethered Unmanned Aerial Vehicles for Continuous Spraying

technical field

The utility model belongs to the spraying field of unmanned aerial vehicles, in particular to a tethered unmanned aerial vehicle for continuous spraying.

Background technique

With the continuous deepening of the research on agricultural work efficiency and the continuous improvement of agricultural operation level, less and less labor is required per unit area of farmland, and the proportion of auxiliary operations completed by mechanical equipment is increasing. Especially for pesticide spraying, traditional pesticide spraying methods are time-consuming and labor-intensive, and the toxic and side effects of pesticides will penetrate into the body of the staff and cause injury. However, due to the complex situation of farmland, especially in China, there are large-scale, flat fields, and there are also a large number of scattered small fields with small property rights. Therefore, it will take some time to work like the large farm model in developed countries. At the current stage, there is a need for a flexible, precise and controllable spraying range, less manual intervention, and intelligence that will not directly expose people to toxic pesticides. the way of working.

At present, UAVs have been widely used in the field of agricultural plant protection, providing services such as pesticide spraying and aerial fixed-point inspections for crops. Rotor-type drones are widely used in the field of agricultural plant protection, and can be further subdivided into single-rotor and multi-rotor agricultural plant protection drones. Single-rotor agricultural plant protection UAVs usually use aviation fuel-powered engines. When taking off, they carry drone fuel and agricultural plant protection chemicals at the same time, and complete agricultural plant protection tasks within a limited flight time. Multi-rotor agricultural plant protection UAVs often use motors to provide torque for the rotors. When taking off, they need to carry large-capacity batteries and agricultural plant protection chemicals. The flight time and effective plant protection range of crops are limited by the battery capacity carried.

Since the spraying of the unmanned aerial vehicle is far away from the operator, it will not cause toxic and side effects to the operator, and the spraying effect of the unmanned aerial vehicle is more uniform and more economical than artificial spraying; in addition, the rotor type unmanned aerial vehicle can Hovering, and can use its wind power to transfer the medicinal liquid to the roots of the crops, so as to achieve uniform application of pesticides, so the completion of plant protection tasks by unmanned aerial vehicles has become a hot topic at present. A series of production or service entities of plant protection drones represented by Jifei, Zero, and DJI have achieved certain advantages in this field. The development of long-endurance agricultural plant protection drones will be conducive to the large-scale promotion and widespread use of drones in the field of agricultural plant protection.

However, the current mainstream plant protection UAVs adopt wireless remote control to implement control by inertial thinking. Complete the homework, and when a part of the homework is completed, move to the next field to continue to complete the homework. There are many reasons for this way of working, such as scattered farmland property rights, limited endurance of unmanned aerial vehicles, and the need to repeatedly fill the medicine tank with liquid medicine, etc. It can be seen that there are still some problems in the above-mentioned method, such as the increase of operational risk in transition, the energy consumption of recharging the unmanned aerial vehicle back and forth, and the battery becomes the cost of consumables, and the repeated dosing increases the contact risk and so on. Because the traditional unmanned aerial vehicle works by remote control, the power comes entirely from the battery installed on it, so the working range and endurance are limited. The power of the tethered unmanned aerial vehicle is transmitted to the unmanned aerial vehicle through a movable ground station. For a manned aircraft, its power transmission is provided by a wired method, and its flight control can be implemented by either a wired method or a wireless method. In order to complete the task of plant protection, the existing unmanned aerial vehicle needs to install a pressure device on the aircraft to provide pressure to the liquid medicine and spray it out, or install a centrifugal device that uses centrifugal force to throw out the liquid medicine. The manned aerial vehicle sets the spraying liquid and the pressure supply device for plant protection on the mobile station (vehicle or other movable transportation equipment) on the ground, which further reduces the equipment cost and flight load of the unmanned aerial vehicle.

The patent document CN103754368A discloses a land-air combined agricultural spraying device including an aircraft and a transport vehicle; the transport vehicle is equipped with a winch mechanism support rod, a power supply system, a liquid storage tank and a pressure pump, and the upper end of the winch mechanism support rod is fixed with a winch The hoisting mechanism is used to control the retractable length of the connecting pipeline; the internal channel is divided into two parts, the waterway and the circuit. The liquid medicine in the liquid storage tank is pumped into the waterway of the internal channel through the pressure pump, and the output power line of the power supply system enters the internal channel. The internal channel communicates with the connecting pipeline through the inside of the support rod of the hoisting mechanism. The connecting pipeline is composed of a waterway and a circuit to correspond to the waterway and circuit connecting the internal channel. One end of the connecting pipeline is wound on the hoisting mechanism, and the other end of the connecting pipeline Connect the aircraft and deliver power, electricity and medicine to it. This patent can realize aerial spraying with ultra-long dwell time in a limited area, but the patent cannot adjust the width of the spraying track, let alone plan the spraying path according to the area to be sprayed, and its spraying accuracy, spraying efficiency and continuity need to be improved. Furthermore, vehicles that cannot be controlled to move cooperate with unmanned aerial vehicles to spray to improve spraying efficiency.

Patent CN104512551A discloses a spraying device for unmanned aircraft, which includes an aircraft body, a loading vehicle, a medicine barrel fixedly loaded on the loading vehicle, a liquid medicine delivery assembly, and a storage battery. liquid sprayer, the liquid medicine delivery assembly includes a medicine infusion hose, a medicine liquid delivery pump and an automatic hose reel, and a liquid discharge pipe is provided at the bottom of the medicine storage barrel, and the liquid discharge pipe is connected to the liquid medicine delivery The liquid inlet of the pump, the drug delivery hose is coiled on the automatic hose reel, and the two ends of the drug delivery hose can be respectively connected to the pump liquid outlet of the drug liquid delivery pump and the drug liquid spray On the aircraft, the accumulator supplies power to the aircraft body and the liquid medicine delivery pump respectively, and the detachable electrical connection between the accumulator and the aircraft body is provided with a flexible power connection line. This patent can reduce the loading capacity of the aircraft body, and can continue to supply medicine continuously, eliminating the need to load batteries on the aircraft body, reducing the weight of the aircraft, reducing production costs and maintenance costs, but it cannot adjust spraying The width of the trajectory makes it impossible to plan the spraying path according to the area to be sprayed. The spraying accuracy, spraying efficiency and continuity need to be improved. Further, the uncontrollable moving vehicles cooperate with the unmanned aerial vehicle to spray to improve the spraying efficiency.

Therefore, the technical problem urgently needed to be solved in this field is: on the basis of tethered unmanned aerial vehicle spraying, realize adjusting the width of spraying trajectory, accurately and simply determine the predetermined spraying area, and plan the spraying path according to the predetermined spraying area, Improve the spraying accuracy, spraying efficiency and continuity, and further, control the moving vehicles to cooperate with the spraying of unmanned aerial vehicles to further improve the spraying efficiency.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Utility model content

The purpose of this utility model is to be realized through the following technical solutions.

According to the utility model, a tethered unmanned aerial vehicle for continuous spraying comprises an unmanned aerial vehicle body and a movable carrying device, the unmanned aerial vehicle body includes a nozzle for spraying and a spraying control device, and the movable The carrying device is provided with connecting pipes, power supply and liquid delivery equipment, and the connecting pipes for connecting the UAV body and the movable carrying device include power transmission for connecting the power supply to the UAV body for power supply The pipeline and the infusion pipeline connecting the liquid delivery equipment to the spray head on the body of the UAV to supply liquid, the spray control device is connected to the spray head and adjusts the spray pressure of the spray head.

Preferably, the spraying control device includes spray head pressure regulating equipment and GIS equipment.

Preferably, the movable carrying device is a vehicle.

Preferably, the UAV body includes a plurality of nozzles.

Preferably, the movable carrying device is provided with a plurality of UAV bodies.

Preferably, the liquid delivery device includes a liquid preparation device, a liquid storage tank and a pumping device.

Preferably, the spray head is provided with a centrifugal liquid throwing mechanism.

Preferably, the power transmission pipeline is a cable.

Preferably, the power source is a generator or a storage battery.

Preferably, the spray control device is a general purpose processor.

Preferably, the spraying track reciprocates and sprays the predetermined spraying area starting from the boundary of the predetermined spraying area.

Preferably, the spraying trajectory is centered on the movable carrying device, and sprays the predetermined spraying area in a concentric circle expanding outward.

Preferably, when the predetermined spraying area is larger than the movable carrying device as the center and the connecting pipe as the radius range, the spraying control device moves the movable carrying device so that the unmanned aerial vehicle body can spray the predetermined spraying area. The location of the sprayed area.

Preferably, the liquid delivery device includes a liquid preparation device, a liquid storage tank and a pumping device, wherein the liquid prepared via the liquid preparation device is stored in the liquid storage tank, and the pumping device is based on the spraying control device A signal from the reservoir pumps liquid to the spray head at a predetermined pressure which the spray control adjusts to create the desired spray diameter.

Preferably, the spray head is provided with a centrifugal liquid rejection mechanism, and the centrifugal liquid rejection mechanism generates centrifugal force through rotation to spray the liquid.

The above description is only an overview of the technical solution of the utility model, in order to make the technical means of the utility model clearer, to the extent that those skilled in the art can implement it according to the contents of the specification, and in order to make the above and Other purposes, features and advantages can be more obvious and understandable, and the specific implementation manners of the present utility model are used as examples below for illustration.

Description of drawings

Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings in the description are only for the purpose of illustrating preferred embodiments, and are not considered to limit the utility model. Apparently, the drawings described below are only some embodiments of the present utility model, and those skilled in the art can obtain other drawings according to these drawings without creative work. Also throughout the drawings, the same reference numerals are used to denote the same parts. In the attached picture:

Fig. 1 is a schematic structural view of a tethered unmanned aerial vehicle for continuous spraying according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of a tethered unmanned aerial vehicle for continuous spraying according to another embodiment of the present invention.

Below in conjunction with accompanying drawing and embodiment the utility model is further explained.

detailed description

Specific embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. Although specific embodiments of the invention have been shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that they may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" or "comprises" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". The following descriptions in the specification are preferred implementation modes for implementing the present utility model, but the descriptions are for the purpose of the general principles of the specification, and are not intended to limit the scope of the present utility model. The scope of protection of the present utility model should be defined by the appended claims.

In order to facilitate the understanding of the embodiments of the present utility model, the following will further explain and illustrate by taking several specific embodiments as examples in conjunction with the accompanying drawings, and each drawing does not constitute a limitation to the embodiments of the present utility model.

In the embodiment, the unmanned aerial vehicle is referred to as "unmanned aerial vehicle" for short, and the English abbreviation is "UAV" (unmanned aerial vehicle), which is an unmanned aircraft controlled by radio remote control equipment and self-provided program control device. From a technical point of view, it can be divided into: unmanned helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airship, unmanned parawing aircraft, etc.

The preferred unmanned aircraft in the embodiment of the utility model is a tethered multi-rotor unmanned aircraft or multi-rotor aircraft, which can be four-rotor, six-rotor or unmanned aircraft with more than six rotors.

The unmanned aerial vehicle adopted by the technical solution of the utility model mainly refers to a small, miniature multi-rotor unmanned aerial vehicle. This unmanned aerial vehicle has small volume, low cost, good flight stability, and low flight cost. The aircraft used in the utility model is typically represented by a four-axis multi-rotor aircraft.

FIG. 1 is a structural schematic diagram of a tethered unmanned aerial vehicle for continuous spraying according to an embodiment of the present invention. The embodiment of the present invention will be described in detail in conjunction with FIG. 1 .

As shown in Figure 1, one embodiment of the present utility model provides a kind of tethered unmanned aerial vehicle for continuous spraying, tethered unmanned aerial vehicle comprises unmanned aerial vehicle body 1 and movable carrying device 2, described The unmanned aerial vehicle body 1 comprises a spray nozzle 3 and a spray control device 4 for spraying, and the movable carrying device 2 is provided with a connecting pipe 5, a power supply 6 and a liquid delivery device 7 for connecting the unmanned aerial vehicle main body 1 and the spraying control device 4. The connecting pipeline 5 of the movable carrying device 2 includes a power transmission line 8 connecting the power supply 6 to the UAV body 1 for power supply and connecting the liquid delivery device 7 to the UAV body 1 The spray head 3 on the top is provided with an infusion line 9 for supplying liquid, and the spray control device 4 adjusts the spray diameter of the spray head 3, further, controls the unmanned aerial vehicle body 1 to cover with a spray track whose width is the spray diameter Schedule the area to be sprayed.

Preferably in the embodiment of the present utility model, the unmanned aerial vehicle body 1 includes a plurality of nozzles 3 . A plurality of nozzles 3 can be arranged at the bottom of the UAV body 1 as required, for example, a plurality of nozzles 3 can be arranged in multiple rows at the bottom of the UAV body 1, and a plurality of nozzles 3 can also be distributed around the UAV body 1 bottom of. Since power is supplied to the UAV body 1 through the power supply 6, the power supply on the UAV body 1 can be omitted, and theoretically has unlimited endurance, which greatly improves the spraying ability of the sprayed liquid. Preferably in the embodiment of the present utility model, the movable carrying device 2 is a vehicle, and the vehicle can be a car, a tricycle or a wheelbarrow, and the movable carrying device 2 is used to movably carry the power supply 6 and the liquid delivery device 7. In one embodiment, the power source 6 can be a generator or a rechargeable storage battery. The power source 6 can not only provide power to the UAV body 1, but also provide power to the liquid delivery device 7. Furthermore, the movable carrying device 2 is For an electric vehicle, the power supply 6 is the on-board power supply of the electric vehicle, so the power supply 6 can provide power to the electric vehicle, the unmanned aerial vehicle body 1 and the liquid delivery device 7 . In one embodiment, the power transmission line 8 is a cable, the power transmission line 8 and the infusion line 9 are packaged together, the connecting pipe 5 and the infusion line 9 can be plastic tubes, further, the infusion line 9 is a rubber hose. Since the connecting pipe 5 is a flexible pipe, further, the movable carrying device 2 may be provided with a hoist to wind up and unwind the connecting pipe 5 . In another embodiment, the hoist is used to control the retractable length of the connecting pipe 5 .

Preferably in the embodiment of the present utility model, the spraying control device 4 adjusts the spraying diameter of the nozzle 3 by controlling the pressure of the pumped liquid in the liquid delivery device 7 and controls the spraying diameter of the unmanned aerial vehicle body 1 with the width as the spraying diameter. The spraying trajectory covers the planned spraying area. In one embodiment, the spray head 3 is provided with a pressure regulating device, and the spraying control device 4 can also control the pressure regulating device to adjust the spraying pressure.

In one embodiment, the spraying control device 4 can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit ASIC, a field programmable gate array FPGA, an analog circuit, a digital circuit, and a combination thereof, or other known or later developed processor. The spraying control device 4 controls the spraying trajectory to spray the predetermined spraying area reciprocally starting from the boundary of the predetermined spraying area based on the nozzle pressure signal. The so-called reciprocating spraying of the predetermined spraying area may mean that the unmanned aerial vehicle body follows the bow-shaped trajectory and flies back and forth in the predetermined spraying area to complete the spraying. No matter what the area of the plot is, flying with a bow-shaped trajectory can completely cover the area of the plot. Therefore, in a specific operation, the movable carrying device 2 is first moved to the vicinity of the work site, for example, when the ground station is a vehicle-mounted ground, the vehicle is directly driven to the vicinity of the work site. If the length of the connecting pipeline 5 is 50 meters, it means that the tethered UAV can be centered on the movable carrying device 2 and operate around the clock within a radius of 50 meters. At this time, it is assumed that the actual operating area is With the movable carrying device 2 as the center, the predetermined spraying area of the 20*10m working area located in the west direction of the center will automatically complete the spraying operation in a reciprocating bow-shaped manner according to the working area as the working area during actual operation. , during reciprocating bow-shaped operations, the spray width of each operation line is designed according to the flight height of the UAV body 1 and the spray diameter of the nozzle 3, so that it can just complete the full coverage of the work site, and no matter what kind of irregular It can achieve sufficient and non-repetitive coverage in the working range. In actual work, it is likely that the working area is not regular. For example, although it is roughly rectangular, there are irregular protrusions or depressions, but the bow-shaped reciprocating method can effectively solve the above problems. The tethered UAV completes the spraying operation according to the bow-shaped trajectory, stops spraying after flying to the end point, and then flies back to the movable carrying device 2 to wait for the next operation.

In one embodiment, the spraying trajectory takes the movable carrier device 2 as the center, and sprays the predetermined spraying area in a concentric circle expanding outward. For example, in a manner similar to the above, with the movable carrying device 2 as the center, the operation is carried out according to a circular trajectory in an outwardly expanding manner, so that the work site with the movable carrying device 2 as the center can be fully covered. For the working environment where the movable carrying device 2 can move flexibly, such a working method is very flexible. Because the movement of the movable carrying device 2 of the car is also very convenient, the unmanned aerial vehicle centered on the movable carrying device 2 can also work very conveniently. The combination of the two can achieve high work efficiency. When the outer ring of the work is irregular, the spraying operation can be completed as much as possible in the inner ring. For the non-operational area of the outer ring, it will not fly there, but go around the inner ring track of the flying operation area. And in order to avoid repeated spraying, during the detour stage, the spraying control device 4 controls the spraying head 3 to stop spraying.

In one embodiment, when the predetermined spraying area is larger than the radius range centered on the movable carrying device 2 and the connecting pipe 5 is the radius, the spraying control device 4 moves the movable carrying device 2 to the unmanned position. The aircraft body 1 can spray the position of the predetermined spraying area.

In one embodiment, the spray head 3 is provided with a centrifugal liquid rejection mechanism, and the centrifugal liquid rejection mechanism generates centrifugal force through rotation to spray the liquid. The spray control device 4 can control the centrifugal force of the centrifugal liquid rejection mechanism to control the spray diameter.

FIG. 2 is a structural schematic diagram of a tethered unmanned aerial vehicle for continuous spraying according to an embodiment of the present invention. The embodiment of the present invention will be described in detail in conjunction with FIG. 2 .

As shown in Figure 2, one embodiment of the utility model provides a tethered unmanned aerial vehicle for continuous spraying, including an unmanned aerial vehicle body 1 and a movable carrying device 2, and the unmanned aerial vehicle body 1 includes a Spraying nozzle 3 and spraying control device 4, said spraying control device 4 includes nozzle pressure regulating equipment 10 and GIS equipment 11, said movable carrying device 2 is provided with connecting pipeline 5, power supply 6 and liquid delivery equipment 7, used The connecting pipeline 5 for connecting the UAV body 1 and the movable carrying device 2 includes a power transmission line 8 connecting the power supply 6 to the UAV body 1 for power supply and connecting the liquid delivery The device 7 is connected to the spray head 3 on the unmanned aerial vehicle body 1 to supply the infusion line 9 of the liquid. The liquid delivery device 7 includes a liquid preparation device 12, a liquid storage tank 13 and a pumping device 14, wherein, through the liquid preparation The liquid prepared by the equipment 12 is stored in the liquid storage tank 13, and the pumping device 14 pumps the liquid from the liquid storage tank 13 to the spray head 3 at a predetermined pressure based on the signal of the spray control device 4, so The GIS device 11 is based on the spray diameter adjusted by the nozzle pressure adjustment device 10, and the spray control device 4 controls the UAV body 1 to cover a predetermined spray area with a spray trajectory whose width is the spray diameter.

Preferably in this embodiment, the pumping device 14 is an adjustable solenoid valve, and the nozzle pressure regulating device 10 is a solenoid valve regulating device, such as adjusting the opening of the solenoid valve through a voltage signal to control the pumping pressure. The map data of the map enables the user to judge and find the geographic location and operate on the geographic location through the map data. The GIS device 11 can generate a predetermined spraying area on the electronic map according to the user's operation. The GIS device 11 includes a GIS information import and export unit , an information presentation unit and an information maintenance unit, wherein, the GIS information import and export unit is used for the import and export of the information of the GIS equipment 11, and its import and export formats include but not limited to text, XML, CSV, EXCEL, WORD, PDF and other formats; the information display unit is used to display map data information on the GIS map; the information maintenance unit is used to browse, edit and delete data information on the GIS map. In one embodiment, the GIS device 11 displays map data information, provides operations such as planning, selection, and frame selection of map data, and can be used to browse, edit, and delete corresponding data information on the GIS map. After the predetermined spraying area is determined, the spraying control device 4 selects an appropriate spraying diameter as the width of the spraying track, and controls the UAV body 1 to spray the predetermined spraying area.

Preferably in the embodiment of the present utility model, the liquid delivery device 7 includes a liquid preparation device 12, a liquid storage tank 13 and a pumping device 14, wherein the liquid prepared via the liquid preparation device 12 is stored in the liquid storage tank 13, The pumping device 14 pumps liquid from the liquid storage tank 13 to the spray head 3 at a predetermined pressure based on a signal from the spray control device 4 . In one embodiment, for example, in the case of spraying liquid pesticides, due to the limitation of the carrying capacity and flight capacity of the traditional plant protection UAV, the UAV is equipped with a liquid medicine holding mechanism and a liquid medicine spraying mechanism so that the design of the UAV has In order to get rid of the shackles, the UAV is usually designed to bear a load within the range of 8-15 kg, so that the UAV itself has to become larger, and the structure of the power system and the liquid spraying mechanism has to become complicated. Moreover, after the liquid medicine is used up, the drone has to be flown back to the operator to complete the manual replenishment operation, which increases the complexity of the task and increases the possibility of the liquid medicine coming into contact with the human body. However, the designable space of the liquid storage tank 13 and the pumping equipment 14 arranged in the movable carrying device 2 of the present invention is very large, and the power is also very sufficient, which can be properly selected according to actual needs. On the unmanned aerial vehicle body 1 only need to be provided with at least one nozzle 3, and then utilize a connecting pipe 5 to be connected with the liquid storage tank 13 and the pumping equipment 14 in the movable carrying device 2, so that the liquid medicine is pumped to the nozzle 3 and then squirt. Because the utility model can install the spray head 3 with larger volume and weight separately from the unmanned aerial vehicle body 1, it will not bring a burden to the load of the unmanned aerial vehicle. Further, the liquid delivery device 7 is provided with a liquid preparation device 12, and when the liquid medicine is exhausted, the liquid medicine can be prepared now to further improve the continuity of spraying.

Preferably in the embodiment of the present utility model, the spraying control device 4 further includes a memory, which may be a volatile memory or a non-volatile memory. The memory may include one or more read only memory ROM, random access memory RAM, flash memory, electronically erasable programmable read only memory EEPROM, or other types of memory. In one embodiment, the spraying control device 4 can also be provided in the movable carrying device 2 .

In one embodiment, the movable carrying device 2 can be connected with multiple UAV bodies 1 .

Although the embodiments of the present utility model have been described above in conjunction with the accompanying drawings, the present utility model is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative, instructive, and not limiting sexual. Under the enlightenment of this specification and without departing from the protection scope of the claims of the present invention, those skilled in the art can make various forms, which all belong to the protection of the present invention.

Claims (10)

1., for the captive unmanned vehicle sprayed continuously, it includes unmanned vehicle body (1) and removable carrying Device (2), it is characterised in that: described unmanned vehicle body (1) includes the shower nozzle (3) for spraying and sprinkling control device (4), described removable bogey (2) is provided with connection pipeline (5), power supply (6) and equipment for liquid transportation (7), is used for connecting institute The described connection pipeline (5) stating unmanned vehicle body (1) and described removable bogey (2) includes connecting described power supply (6) with the transmission of electricity pipeline (8) of power supply and described equipment for liquid transportation (7) is connected to described to described unmanned vehicle body (1) Shower nozzle (3) on unmanned vehicle body (1) connects institute for the infusion pipeline (9) of liquid, described sprinkling control device (4) State shower nozzle (3) and adjust the expulsion pressure of described shower nozzle.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described sprinkling control Device processed (4) includes sprinkler pressure regulation equipment (10) and GIS device (11).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described removable Bogey (2) is vehicle.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: it is described that nobody flies Row device body (1) includes multiple shower nozzle (3).

5. being used for the continuous captive unmanned vehicle sprayed according to any one of claim 3 or 4, its feature exists In: described removable bogey (2) is provided with multiple unmanned vehicle body (1).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described liquid is defeated Equipment (7) is sent to include liquid formulation equipment (12), fluid reservoir (13) and pumping equipment (14).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described shower nozzle (3) it is provided with centrifugal Shuai Ye mechanism.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described electroduct Road (8) is cable.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described power supply (6) it is electromotor or accumulator.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described sprinkling Controlling device (4) is general processor.