CN210102001U

CN210102001U - Agricultural plant protection unmanned aerial vehicle and set of unmanned aerial vehicle

Info

Publication number: CN210102001U
Application number: CN201920419991.5U
Authority: CN
Inventors: 舒展; 周万仁; 黄稀荻
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-02-21
Anticipated expiration: 2029-03-29

Abstract

The utility model provides an agricultural plant protection's unmanned vehicles and unmanned vehicles's external member, wherein agricultural plant protection's unmanned vehicles, include: a frame; the spraying assembly comprises a liquid driving device and a spraying head assembly communicated with the liquid driving device, the spraying head assembly comprises at least two spraying heads, the at least two spraying heads are arranged along the pitch axis direction of the unmanned aerial vehicle and at least have two opening pressures, and a controller is used for controlling the working speed of the liquid driving device, wherein the controller controls the liquid driving device to work according to the expected working speed of the liquid driving device according to the obtained expected working speed of the liquid driving device so as to adjust the spraying amplitude of the unmanned aerial vehicle. The unmanned vehicles provided by the scheme utilize different liquid hydraulic pressures to open different quantities of spray heads, and change of spray amplitude and flow can be realized in the flight process of the unmanned vehicles.

Description

Agricultural plant protection unmanned aerial vehicle and set of unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned vehicles field particularly, relates to an unmanned vehicles of agricultural plant protection and an unmanned vehicles's of agricultural plant protection external member.

Background

The pressure type spraying system has the advantages of uniform spraying, good droplet settleability, wide spraying range, simple structure and the like, and is widely applied to devices such as plant protection unmanned aerial vehicles in recent years. However, the existing pressure type spraying system has the following defects:

(1) the existing pressure type spraying system can not change the spraying amplitude generally, when the spraying system meets narrow field blocks or turns, the problem of re-spraying or missing spraying can not be avoided, the re-spraying wastes liquid medicine, pollutes the environment, and the missing spraying reduces the spraying effect;

(2) because the quantitative spraying systems are adopted, variable spraying cannot be realized unless the nozzles are replaced;

(3) because the nozzle can be replaced only when the airplane is stopped, the operation efficiency is influenced;

(4) when the nozzle is replaced, the user inevitably contacts with pesticide, so that the problems of potential safety hazard, poor user experience and the like exist.

Along with the popularization of the pressure type spraying system, the variable spraying amplitude spraying can be realized, the nozzles are replaced on line, and the variable spraying appeal can be realized when the airplane flies.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, an object of the present invention is to provide an unmanned aerial vehicle for agricultural plant protection.

Another object of the utility model is to provide an agricultural plant protection's unmanned vehicles's external member.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides an agricultural plant protection unmanned aerial vehicle, including: a frame; the spraying assembly is installed on the rack and comprises a liquid driving device and a spraying head assembly communicated with the liquid driving device, the spraying head assembly comprises at least two spraying heads, the at least two spraying heads are arranged in the direction of the pitching axis of the unmanned aerial vehicle and at least have two opening pressures, and a controller is electrically connected with the liquid driving device and used for controlling the working speed of the liquid driving device, wherein the controller controls the liquid driving device to work at the expected working speed according to the acquired expected working speed of the liquid driving device so as to adjust the spraying amplitude of the unmanned aerial vehicle.

The embodiment of the second aspect of the utility model provides a set of unmanned vehicles for agricultural plant protection, including the unmanned vehicles of any one of the above-mentioned; and the ground control end is in communication connection with the unmanned aerial vehicle, wherein the ground control end determines the expected working speed of the liquid driving device according to the expected spraying amplitude requirement and sends the expected working speed of the liquid driving device to the unmanned aerial vehicle.

In the above technical solution, the ground control terminal includes at least one of the following: the remote controller of the unmanned aerial vehicle, a remote computer, a server and a network base station.

The utility model discloses above-mentioned embodiment provides an unmanned vehicles and external member, through opening or being closed of the pressure control shower nozzle that utilizes liquid, because the opening pressure of shower nozzle is different, so different liquid hydraulic pressure can open the shower nozzle of different quantity, each shower nozzle all has its self scope and flow of spraying, thereby change width of cloth and flow through the shower nozzle quantity that changes simultaneous working, can realize changing width of cloth and flow in real time to the landmass type of difference like this, in time to new topography adjustment when unmanned vehicles flies new topography operation, avoid the condition emergence of heavy spray or hourglass spout, improve unmanned vehicles's flexibility. On the other hand, because the utility model discloses an utilize different liquid hydraulic pressure to realize opening the shower nozzle of different quantity, so can realize changing spray width, flow at unmanned vehicles flight in-process, need not to shut down and change the shower nozzle, saved the time of changing the shower nozzle, improve the operating efficiency, and owing to need not the manual nozzle of changing of user in order to adjust flow, avoid the user to touch the condition emergence of poisonous liquid, improve user's use and experience.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a showerhead assembly in an unmanned aerial vehicle according to an embodiment of the invention;

fig. 3 is a schematic cross-sectional view of a showerhead in an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 and 5 are schematic structural views of two lateral nozzle assemblies in an unmanned aerial vehicle according to an embodiment of the invention;

fig. 6 is a schematic top view of a showerhead assembly in an unmanned aerial vehicle according to an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:

the spray nozzle comprises a spray assembly 10, a spray nozzle assembly 100, a main pipe 110, a branch pipe 120, a spray nozzle 130, a pressure relief valve 131, a sealing valve plate 1311, a guide rod 1312, an elastic piece 1313, a liquid inlet flow channel 132, a liquid outlet flow channel 133, a cover 134, an accommodating cavity 1341, an adjusting piece 1342, a frame 20 and a machine arm 30.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

An unmanned aerial vehicle according to some embodiments of the present invention is described below with reference to fig. 1-6.

As shown in fig. 1, the unmanned aerial vehicle according to the embodiment of the present invention includes: a frame 20; the spraying assembly 10 is installed on the rack 20, the spraying assembly 10 includes a liquid driving device and a spraying head assembly 100 communicated with the liquid driving device, as shown in fig. 2, the spraying head assembly 100 includes at least two spraying heads 130, the at least two spraying heads 130 are arranged along a pitch axis direction of the unmanned aerial vehicle, and the at least two spraying heads 130 have at least two opening pressures, and a controller electrically connected with the liquid driving device and used for controlling a working speed of the liquid driving device, wherein the controller controls the liquid driving device to work at the desired working speed according to the obtained desired working speed of the liquid driving device, so as to adjust a spray amplitude of the unmanned aerial vehicle.

The above embodiment of the present invention provides an unmanned aerial vehicle, the liquid driving device is connected to the nozzle assembly 100, the controller controls the liquid driving device to operate at the desired operating speed according to the desired operating speed, the change of the operating speed of the liquid driving device can make the liquid transported at different hydraulic pressures, the pressure of the liquid is used to control the opening or closing of the nozzles 130, the opening pressures of the nozzles 130 are different, so different liquid hydraulic pressures can open different numbers of the nozzles 130, each nozzle 130 has its own spraying range and flow, the spraying width and flow are changed by changing the number of the nozzles 130 operating simultaneously, so as to change the spraying width and flow in real time for different land types, when the unmanned aerial vehicle flies to a new terrain, the spraying width is adjusted in time for the new terrain, and the occurrence of re-spraying or missing spraying is avoided, the flexibility of the unmanned aerial vehicle is improved. On the other hand, because the utility model discloses an utilize different liquid hydraulic pressure to realize opening the shower nozzle 130 of different quantity, so can realize changing spray width, flow at unmanned vehicles flight in-process, need not to shut down and change shower nozzle 130, saved the time of changing shower nozzle 130, improve the operating efficiency, and owing to need not the manual nozzle of changing of user in order to adjust flow, avoid the user to touch the condition of poisonous liquid and take place, improve user's use and experience.

The expected working speed may be a required spraying width calculated by the user according to the specific situation of the land, the number of the nozzles 130 to be opened is determined according to the spraying width, and the working speed of the liquid driving apparatus, that is, the expected working speed, is determined according to the number of the nozzles 130 to be opened.

As shown in fig. 6, the at least two spray heads 130 are arranged in the pitch axis direction of the unmanned aerial vehicle.

In addition, fig. 4 and 5 show two lateral structures of the showerhead assembly 100, respectively.

In the above embodiment, the nozzle assembly 100 includes a main pipe 110 communicated with the liquid driving device, and two branch pipes 120 communicated with the main pipe 110, wherein liquid enters from the main pipe 110 and is divided into the two branch pipes 120, the two branch pipes 120 are respectively connected with a high-pressure nozzle and a low-pressure nozzle, the high-pressure nozzle is provided with a high-pressure relief valve for controlling whether the high-pressure nozzle sprays, the low-pressure nozzle is provided with a low-pressure relief valve for controlling whether the low-pressure nozzle sprays, and the controller determines the expected operating speed according to an expected spraying amplitude, an opening pressure of the high-pressure relief valve, and an opening pressure of the low-pressure relief valve.

As shown in fig. 1, the utility model discloses a be provided with a plurality of spray assembly 10 among the unmanned vehicles, the person in charge 110 of every spray assembly 10 outwards extends along equidirectional not, for example, set up 4 spray assembly 10, 4 person in charge 110 respectively for the fuselage around the left and right sides set up, every exit end of being responsible for 110 all is provided with two branch pipes 120, two branch pipes 120 set up relatively in order to ensure that the range of spray of every shower nozzle 130 is not overlapped, the shower nozzle 130 that needs to open is confirmed earlier according to expected range of spray to the controller, the shower nozzle 130 that opens as required opening pressure confirms liquid drive arrangement's expected operating speed, the controller can be directed at the accurate operating speed who adjusts liquid drive arrangement of different topography like this.

Preferably, each main pipe 110 is correspondingly provided with a liquid driving device, so as to avoid that one liquid driving device needs to control too many nozzles 130, and the opening pressure of each nozzle 130 is different, which causes damage to the liquid driving device due to too large working speed variation amplitude of the liquid driving device, and on the other hand, each liquid driving device is only responsible for controlling a small number of nozzles 130, for example, 4 main pipes 110 and 4 liquid driving devices are provided, and each main pipe 110 is provided with a low-pressure nozzle and a high-pressure nozzle, so that each liquid driving device is only responsible for controlling one low-pressure nozzle and one high-pressure nozzle, and thus, the types of the nozzles 130 can be effectively reduced.

As shown in fig. 1, in the above embodiment, the rack 20 includes: the aircraft fuselage and install a plurality of horn 30 that arrange along circumference on the aircraft fuselage, spray assembly 10 and correspondingly install the outer end of horn 30, wherein, the controller is according to the expected spray region that obtains confirm the cover spray assembly 10 and spray assembly 10's the width of cloth.

In this scheme, spraying assembly 10 corresponds the outer end of installing at horn 30, and the horn 30 that utilizes the outside extension to set up has enlarged spraying assembly 10's distribution area, has effectively increased unmanned vehicles's the biggest range of spouting, makes unmanned vehicles spout the adjustable scope increase of range, realizes that unmanned vehicles is suitable for the demand of spraying of more topography.

The manner in which the high pressure relief valve and the low pressure valve are defined is described in detail below.

As shown in fig. 3, in the above embodiment, the high pressure nozzle and the low pressure nozzle are both provided with a liquid inlet channel 132 and a liquid outlet channel 133; the high pressure relief valve and the low pressure relief valve include: a sealing valve plate 1311 for sealing the communication between the liquid inlet channel 132 and the liquid outlet channel 133; a guide bar 1312, wherein the guide bar 1312 is used for pressing the sealing valve plate 1311; an elastic member 1313, sleeved on the guide rod 1312, configured to transmit a generated resilient force to the guide rod 1312 after compression, so that the guide rod 1312 drives the sealing valve plate 1311 to close the communication between the liquid inlet channel and the liquid outlet channel, where if the liquid driving device is adjusted to make the liquid pressure greater than the opening pressure, the sealing valve plate 1311 is opened to make the liquid inlet channel 132 and the liquid outlet channel 133 communicate with each other.

In the scheme, the elastic piece 1313 is sleeved on the guide rod 1312 and provides an acting force for the guide rod 1312, the guide rod 1312 abuts against and presses the sealing valve plate 1311, when the liquid pressure exceeds the acting force provided for the guide rod 1312 by the elastic piece 1313, the sealing valve plate 1311 is overturned by the liquid, the liquid flows to the liquid outlet channel 133 from the liquid inlet channel 132 and is sprayed out along the spray head 130, and therefore the purposes that the spray heads 130 with different quantities are opened by changing the liquid pressure and utilizing different liquid pressures are achieved, the spray amplitude and the spray flow rate can be changed in the flight process of the unmanned aerial vehicle, the spray head 130 does not need to be stopped for replacing, the time for replacing the spray head 130 is saved, and the operation efficiency is improved.

Preferably, the elastic member 1313 is a spring.

In the above embodiment, a long elastic member 1313 is disposed in the high-pressure relief valve, a short elastic member 1313 is disposed in the low-pressure relief valve, and different elastic members 1313 have different pre-pressing amounts after being sleeved on the guide rod 1312, so that the opening pressure of the high-pressure relief valve is greater than the opening pressure of the low-pressure relief valve.

In this scheme, under the same or the little prerequisite that differs in relief valve 131 inner space, be provided with long elastic component 1313 in the high pressure relief valve, be provided with short elastic component 1313 in the low pressure relief valve, act on the same power to elastic component 1313, the shorter elastic component 1313 of long elastic component 1313 can produce bigger resilience force, the pre-compaction volume that also is the shorter elastic component 1313 of long elastic component 1313 is bigger, need bigger hydraulic pressure just can push away sealing valve piece 1311, thereby realize through changing liquid hydraulic pressure, utilize different liquid hydraulic pressure to realize opening different quantity's shower nozzle 130, can realize changing the range of spouting in unmanned vehicles flight process, spray the flow, need not to shut down and change shower nozzle 130, the time of changing shower nozzle 130 has been saved, and the operating efficiency is improved.

In the above embodiment, the length of the guide rod 1312 of the high-pressure relief valve is smaller than the length of the guide rod 1312 in the low-pressure relief valve, and the same elastic member 1313 is sleeved on the guide rod 1312 and then has different pre-pressing amounts correspondingly, so that the opening pressure of the high-pressure relief valve is greater than the opening pressure of the low-pressure relief valve.

In this scheme, the length that sets up guide bar 1312 in the high pressure relief valve is less than the length of guide bar 1312 in the low pressure relief valve, like this, when same elastic component 1313 acted on the different guide bar 1312 of length, the effect of compressing tightly of short guide bar 1312 to sealed valve block 1311 is greater than the effect of compressing tightly of long guide bar 1312 to sealed valve block 1311, need bigger hydraulic pressure just can push sealed valve block 1311 open, thereby realize through changing liquid hydraulic pressure, utilize different liquid hydraulic pressure to realize opening different quantity's shower nozzle 130, can realize changing the range in unmanned vehicles flight in-process, spray flow, need not to shut down and change shower nozzle 130, the time of changing shower nozzle 130 has been saved, the operating efficiency is improved.

In the above embodiment, the elastic coefficient of the elastic member 1313 in the high pressure relief valve is greater than the elastic coefficient of the elastic member 1313 in the low pressure relief valve, so that the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.

In the scheme, on the premise that the internal spaces of the pressure relief valves 131 are the same or are not different, the elastic coefficient of the elastic member 1313 in the high-pressure relief valve is set to be larger than that of the elastic member 1313 in the low-pressure relief valve, the same force acts on the elastic member 1313, the elastic member 1313 with the lower elastic coefficient of the elastic member 1313 with the high elastic coefficient can generate larger resilience, that is, the prepressing amount of the elastic member 1313 with the lower elastic coefficient of the elastic member 1313 with the high elastic coefficient is larger, larger hydraulic pressure is needed to push open the sealing valve plate 1311, so that the nozzles 130 with different numbers can be opened by changing the liquid hydraulic pressure and using different liquid hydraulic pressures, the spraying amplitude and the spraying flow can be changed in the flight process of the unmanned aerial vehicle, the nozzle 130 does not need to be stopped to be changed, the time for changing the nozzles.

In the above embodiment, the sealing area in the high-pressure relief valve is larger than the sealing area in the low-pressure relief valve.

In this scheme, the interior sealing area of high pressure relief valve is greater than the sealing area who states in the low pressure relief valve, for example, the aperture through different relief valves 131 changes the interior sealing area of relief valve 131, the big produced pressure of sealing area is big more, guide bar 1312 is just big more as the effort at sealed valve block 1311, need bigger hydraulic pressure just can push open sealed valve block 1311, thereby realize through changing liquid hydraulic pressure, utilize different liquid hydraulic pressure to realize opening the shower nozzle 130 of different quantity, can realize changing the range at unmanned vehicles flight in-process, spray the flow, need not to shut down and change shower nozzle 130, the time of changing shower nozzle 130 has been saved, and the operating efficiency is improved.

As shown in fig. 3, in the above embodiment, a cover 134 is further installed on the nozzle 130, and an accommodating cavity 1341 for accommodating the pressure relief valve 131 is formed in the cover 134; the cover 134 is provided with an adjusting piece 1342, and the size of the accommodating cavity 1341 is adjusted by adjusting the adjusting piece 1342, so that the compression amount of the elastic piece 1313 is increased when the length of the accommodating cavity 1341 of the high-pressure relief valve is reduced, and/or the compression amount of the elastic piece 1313 is reduced when the length of the accommodating cavity 1341 of the low-pressure relief valve is increased, so that the opening pressure of the high-pressure relief valve is greater than the opening pressure of the low-pressure relief valve.

In this scheme, adjust the size of holding chamber 1341 through regulating part 1342, the less its internal pressure is big more the length of holding chamber 1341 to the realization is through changing liquid hydraulic pressure, utilize different liquid hydraulic pressure to realize opening the shower nozzle 130 of different quantity, can realize changing the spray width, spray the flow at unmanned vehicles flight in-process, need not to shut down and change shower nozzle 130, the time of changing shower nozzle 130 has been saved, the operating efficiency is improved.

Meanwhile, the opening pressure of the pressure relief valve 131 can be adjusted through the external adjusting piece 1342, the opening pressure of the pressure relief valve 131 can be changed only by replacing parts in the pressure relief valve 131 by disassembling the pressure relief valve 131, and the operation is more convenient and flexible.

In the above embodiment, the pushing resistance of the guide rod 1312 in the high pressure relief valve is greater than the pushing resistance of the guide rod 1312 in the low pressure relief valve, so that the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.

In this scheme, the guide bar 1312 that sets up in the high pressure relief valve pushes up the resistance and is greater than the guide bar 1312 that the low pressure relief valve pushes up the resistance, for example, the guide bar 1312 has different dynamic friction coefficient, the guide bar 1312 that dynamic friction coefficient is big needs bigger impetus could push up the guide bar 1312, thereby realize through changing liquid hydraulic pressure, utilize different liquid hydraulic pressure to realize opening the shower nozzle 130 of different quantity, can realize changing the range of spouting at unmanned vehicles flight in-process, spray the flow, need not to shut down and change shower nozzle 130, the time of changing shower nozzle 130 has been saved, and the work efficiency is improved.

In any of the above embodiments, the liquid driving device is a water pump; the controller controls the water pump to rotate according to the expected working speed so as to adjust the spraying amplitude of the unmanned aerial vehicle.

In this scheme, liquid drive arrangement is the water pump, and the controller realizes opening and closing of control shower nozzle 130 through the rotational speed of control water pump, and control is more accurate, and the reliability of product is higher.

In a specific embodiment of the present invention, there are 4 nozzle assemblies 100 on the unmanned aerial vehicle, each spray assembly 10 includes two nozzles 130, each nozzle 130 is provided with a relief valve 131 and a nozzle, the relief valve 131 is composed of a sealing valve plate 1311, a spring and a guide rod 1312, the spring is sleeved on the guide rod 1312, the guide rod 1312 abuts against the sealing valve plate 1311 and presses the sealing valve plate 1311, the relief valve 131 is opened when the pressure is higher than the opening pressure and is closed when the pressure is lower than the opening pressure, the two relief valves 131 have different opening pressures, for example, the opening pressure of the low pressure relief valve is set to 0.2MPa, the opening pressure of the high pressure relief valve is set to 0.35MPa, the liquid driving device can be a water pump, when the rotation speed of the water pump is low, when the water pump 1 is opened, the pressure is 0.3MPa, the low pressure relief valve corresponding to the water pump, the spray width is L, when the pressure of the No. 1 water pump is increased to 0.6MPa, the low-pressure relief valve and the high-pressure relief valve corresponding to the No. 1 water pump are opened, the two nozzles 130 spray, the flow rate is 2Q, and the spray width is 2L; open simultaneously when No. 1 water pump and No. 2 water pumps to No. 1 water pump pressure is 0.6MPa, when No. 2 water pump's pressure was 0.3MPa, low pressure relief valve and high pressure relief valve that No. 1 water pump corresponds opened, 3 shower nozzles 130 altogether of low pressure relief valve that No. 2 water pump corresponds sprayed, and the flow is 3Q, and the amplitude of spouting is 3L, … … analogizes with this, and when four water pumps are fully opened, when all shower nozzles 130 were fully opened, the flow was 8Q, and the amplitude of spouting is 8L.

The spray width of each nozzle can be different, so that the adjustable range of the spray width can be expanded by increasing the number of the spray heads 130, changing the types of the nozzles and the like.

According to the utility model discloses an operation method sprays for unmanned vehicles in figure 1, include: acquiring a desired spray amplitude requirement; determining the expected working speed of a liquid driving device of the unmanned aerial vehicle according to the expected spraying amplitude requirement; and controlling the liquid driving device to work according to the expected working speed, and selectively opening different numbers of spray heads of the unmanned aerial vehicle so as to change the spray amplitude of the unmanned aerial vehicle.

In this scheme, according to the anticipated spray width demand, confirm unmanned vehicles's liquid drive arrangement's anticipated operating speed, liquid drive arrangement operating speed's change can make liquid transport with different hydraulic pressure, utilize opening or closing of the pressure control shower nozzle of liquid, because the opening pressure of shower nozzle is different, so different liquid hydraulic pressure can open the shower nozzle of different quantity, each shower nozzle all has its self range and flow of spraying, thereby change spray width and flow through the shower nozzle quantity that changes simultaneous working, can realize changing spray width and flow in real time to different landmass types like this, in time adjust spray width to new topography when unmanned vehicles flies new topography operation, avoid the condition of respraying or leaking to spout to take place, improve unmanned vehicles's flexibility. On the other hand, because the utility model discloses an utilize different liquid hydraulic pressure to realize opening the shower nozzle of different quantity, so can realize changing spray width, flow at unmanned vehicles flight in-process, need not to shut down and change the shower nozzle, saved the time of changing the shower nozzle, improve the operating efficiency, and owing to need not the manual nozzle of changing of user in order to adjust flow, avoid the user to touch the condition emergence of poisonous liquid, improve user's use and experience.

The expected working speed can be the working speed of the liquid driving device, namely the expected working speed, determined according to the number of the nozzles to be opened and the number of the nozzles to be opened.

In any of the above embodiments, determining the desired operating speed of the liquid driving apparatus of the unmanned aerial vehicle according to the desired jet width requirement specifically includes: determining the number of the nozzles to be opened according to the expected spraying amplitude requirement; determining a driving mode according to the number of the nozzles to be opened and a preset driving priority, and determining the expected working speed of each liquid driving device according to the driving mode, wherein the driving mode comprises high-speed driving of the liquid driving devices, low-speed driving of the liquid driving devices, high-speed driving of part of the liquid driving devices and low-speed driving of the other part of the liquid driving devices.

In the scheme, the preset driving priority is preset to determine whether each liquid driving device is driven preferentially by high pressure or driven preferentially by low pressure, different driving devices correspondingly start different spray heads to work preferentially, the spray amplitude selectable range is enlarged, and the flexible setting of the spray amplitude is realized to meet different spraying requirements.

Each is responsible for all corresponding being equipped with a liquid drive arrangement, avoid a liquid drive arrangement to need control too much shower nozzle, the cracking pressure of each shower nozzle is all inequality, lead to liquid drive arrangement's the too big damage that causes liquid drive arrangement's operating speed variation range, on the other hand, because every liquid drive arrangement is only responsible for controlling a small amount of shower nozzle, for example set up 4 and be responsible for and 4 liquid drive arrangement, be equipped with a low pressure shower nozzle and a high pressure nozzle on every is responsible for, it only is responsible for controlling a low pressure shower nozzle and a high pressure nozzle to reach every liquid drive arrangement, can effectual reduction shower nozzle's model like this.

In the above embodiment, the priority of driving is a high-speed priority, the liquid driving device drives a high-pressure nozzle and a low-pressure nozzle respectively during high-speed driving, and drives a low-pressure nozzle during low-speed driving, and the determining of the driving mode according to the number of nozzles and a preset priority of driving specifically includes: if the number of the spray heads is an even number, determining the starting number of the liquid driving device according to the even number, and determining the liquid driving device to be operated according to the coding serial number of the liquid driving device so as to control the liquid driving device to operate in a high-speed driving mode; and if the number of the spray heads is an odd number, determining the starting number of the liquid driving devices according to the odd number, determining the liquid driving devices to be operated according to the coded serial numbers of the liquid driving devices, so as to control the liquid driving devices with the front serial numbers to operate in a high-speed driving mode, and control the liquid driving devices with the last serial numbers to operate in a low-speed driving mode.

In the scheme, the driving priority is high-speed driving priority, for example, 4 spray head assemblies are arranged on the unmanned aerial vehicle, each spray head assembly is provided with a high-pressure spray head and a low-pressure spray head, 8 spray heads can be started to work together when 4 liquid driving devices are driven at high speed, when it is determined that only 4 spray heads are needed to work together, because high-speed driving is preferred, 4 spray heads can be started to work together only by driving 2 liquid driving devices at high speed, each spray head is provided with a spraying area in charge of the spray head, and which liquid driving devices are needed to be driven at high speed and which liquid driving devices are not operated are determined according to specific terrain; when it is determined that only 3 spray heads need to work together, because high-speed driving is preferred, only 1 liquid driving device needs to be driven at a high speed, one liquid driving device is driven at a low speed, 3 spray heads can be started to work together, each spray head is provided with a spraying area which is responsible for the spray head, which liquid driving devices need to be driven at a high speed, which liquid driving devices need to be driven at a low speed and which liquid driving devices do not operate are determined according to specific terrain, and therefore accurate spraying is achieved by starting different spray heads according to the specific terrain.

In the above embodiment, the priority of driving is a low-speed driving priority, and the determining the driving mode according to the number of the nozzles and a preset priority of driving specifically further includes: if the number of the spray heads is less than or equal to that of the spray assemblies, the liquid driving devices with the same number as the spray heads are started according to the coding serial numbers of the liquid driving devices and the preset priority of the inner ring and the outer ring so as to control the liquid driving devices to operate in a low-speed driving mode; if the number of the spray heads is larger than that of the spraying assemblies, all the liquid driving devices are controlled to be started, and the liquid driving devices driven at low speed and the liquid driving devices driven at high speed are respectively determined according to the priorities of the inner ring and the outer ring.

In the scheme, the driving priority is low-speed driving priority, for example, 4 sprayer assemblies are arranged on the unmanned aerial vehicle, each sprayer assembly is provided with a high-pressure sprayer and a low-pressure sprayer, when 4 liquid driving devices are driven at low speed, 4 sprayers can be started to work together, when only 3 sprayers are determined to work together, 3 liquid driving devices are required to be started to drive at low speed due to the fact that low-speed driving is preferred, and therefore 3 low-pressure sprayers are correspondingly started to work, each sprayer is provided with a spraying area which is responsible for the sprayer, and which liquid driving devices are required to be driven at low speed and which liquid driving devices are not operated are determined according to specific terrain; when it is determined that only 5 spray heads need to work together, low-speed driving is preferred, even if all the liquid driving devices work and are driven at low speed, at most, only 4 low-pressure spray heads can be started to work, and the spraying requirements cannot be met.

In the above embodiment, the step of determining the desired spraying area according to the desired spraying width requirement; determining a spray head to be opened which can cover the expected spraying area; and determining the driving pressure of the corresponding liquid driving device to be operated according to the spray head to be opened.

In this scheme, generally speaking, the region of treating to spray will be greater than unmanned vehicles's the biggest range of spouting far away, unmanned vehicles need fly in the field many times just can accomplish the task of spraying, at this moment confirm according to the range demand that expects earlier and expect to spray the region, confirm that unmanned vehicles flies the region of spraying of once confirming according to the range demand that expects, spray the regional shower nozzle that can cover this expectation according to expecting to spray the region confirmation, confirm to open those shower nozzles work, confirm the drive pressure of liquid drive device by the shower nozzle of confirming to open, realize the range of spouting to specific topography adjustment, accurate spraying, effectively avoid the condition of respraying or leaking spouting to take place, improve the reliability of product.

In the above embodiment, the determining the to-be-opened sprayer capable of covering the desired spraying area specifically includes: and if the expected spraying area is detected to be a long strip-shaped area, determining the spray heads positioned at the front side and the rear side as the spray heads to be started.

In this scheme, if it is long strip-shaped region to detect the expectation spraying region, then will be in the shower nozzle of front side and rear side and confirm to open the shower nozzle, also wait to spray the shower nozzle that regional correspondence is confirmed to be waiting to open the shower nozzle, and wait to spray the shower nozzle side that regional correspondence outside the region corresponds and do not open, realize spouting the width of cloth to specific topography adjustment, accurate spraying, effectively avoid the condition emergence of respraying or leaking spouting, improve the reliability of product.

In the above embodiment, the determining the to-be-opened sprayer capable of covering the desired spraying area specifically includes: if the expected spraying area is detected to be a corner-shaped area, the spray head in an included angle area corresponding to the corner-shaped area is determined as the spray head to be started.

In this scheme, when expecting to spray the region and be turning shape region, then be in and turn shape the regional shower nozzle of contained angle in that corresponds of region and determine for treating to open the shower nozzle, realize spouting the width of cloth to specific topography adjustment, accurate spraying effectively avoids the condition emergence of respraying or leaking spouting, improves the reliability of product.

Certainly, the shape of a specific expected spraying area is not limited in the scheme, and a person skilled in the art can set the number of the nozzles to be opened according to the actual shape of the expected spraying area, flexibly adjust the number of the opened nozzles according to any terrain, and realize accurate spraying.

In any of the above embodiments, the desired spray pattern requirements are determined by user input or by calculations at a ground control end in communication with the UAV.

In the scheme, the expected spraying width requirement is determined by user input or calculated by a ground control end which is communicated with the unmanned aerial vehicle, so that the expected spraying width requirement can be changed at any time, the expected spraying width can be changed in the flight process of the unmanned aerial vehicle, the working quantity of the spray heads 130 is controlled, and the product has more flexibility.

According to the utility model discloses an agricultural plant protection's unmanned vehicles's external member, include: the liquid driving device comprises an unmanned aerial vehicle and a ground control end, wherein the ground control end is in communication connection with the unmanned aerial vehicle so as to send a control signal to the unmanned aerial vehicle or receive information collected by the unmanned aerial vehicle, and the ground control end determines the expected working speed of the liquid driving device according to the expected spraying amplitude requirement and sends the expected working speed of the liquid driving device to the unmanned aerial vehicle.

In the above embodiment, the ground control terminal includes at least one of the following: the remote controller of the unmanned aerial vehicle, a remote computer, a server and a network base station.

In summary, the unmanned aerial vehicle and the unmanned aerial vehicle suite provided by the utility model control the liquid driving device to operate at the expected operating speed through the controller according to the expected operating speed, the liquid can be transported at different hydraulic pressures by changing the operating speed of the liquid driving device, the opening or closing of the spray head is controlled by the pressure of the liquid, because the opening pressure of the spray head is different, so different liquid pressures can open different numbers of spray heads, each spray head has its own spraying range and flow rate, the spraying amplitude and the flow rate can be changed by changing the number of the nozzles working simultaneously, so that the spraying amplitude and the flow rate can be changed in real time aiming at different land types, when the unmanned aerial vehicle flies to a new terrain for operation, the spraying amplitude is adjusted in time according to the new terrain, the situation of heavy spraying or missed spraying is avoided, and the flexibility of the unmanned aerial vehicle is improved. On the other hand, because the utility model discloses an utilize different liquid hydraulic pressure to realize opening the shower nozzle of different quantity, so can realize changing spray width, flow at unmanned vehicles flight in-process, need not to shut down and change the shower nozzle, saved the time of changing the shower nozzle, improve the operating efficiency, and owing to need not the manual nozzle of changing of user in order to adjust flow, avoid the user to touch the condition emergence of poisonous liquid, improve user's use and experience.

In the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An agricultural plant protection unmanned aerial vehicle, comprising:

a frame;

the spraying assembly is arranged on the rack and comprises a liquid driving device and a spray head assembly communicated with the liquid driving device, the spray head assembly comprises at least two spray heads, the at least two spray heads are arranged along the pitch axis direction of the unmanned aerial vehicle, and the at least two spray heads have at least two opening pressures,

a controller electrically connected with the liquid driving device and used for controlling the working speed of the liquid driving device,

the controller controls the liquid driving device to work according to the acquired expected working speed of the liquid driving device so as to adjust the jet amplitude of the unmanned aerial vehicle.

2. The unmanned aerial vehicle of claim 1,

the spray head assembly comprises a main pipe communicated with the liquid driving device and two branch pipes communicated with the main pipe, wherein liquid enters from the main pipe and is distributed to the two branch pipes, the two branch pipes are respectively connected with a high-pressure spray head and a low-pressure spray head, the high-pressure spray head is provided with a high-pressure relief valve for controlling whether the high-pressure spray head sprays, the low-pressure spray head is provided with a low-pressure relief valve for controlling whether the low-pressure spray head sprays,

and the controller determines the expected working speed according to the expected spraying amplitude, the opening pressure of the high-pressure relief valve and the opening pressure of the low-pressure relief valve.

3. The unmanned aerial vehicle of claim 2,

the frame includes: the spraying assembly is correspondingly arranged at the outer end of the machine arm,

and the controller determines the covered spraying assembly and the spraying amplitude of the spraying assembly according to the acquired expected spraying area.

4. The unmanned aerial vehicle of claim 2,

a liquid inlet flow passage and a liquid outlet flow passage are formed in the high-pressure spray head and the low-pressure spray head respectively;

the high pressure relief valve and the low pressure relief valve include:

the sealing valve plate is used for sealing the conduction between the liquid inlet flow channel and the liquid outlet flow channel;

the guide rod is used for pressing the sealing valve plate;

the elastic piece is sleeved on the guide rod and used for transmitting the generated resilience force to the guide rod after compression so as to enable the guide rod to drive the sealing valve plate to seal the conduction between the liquid inlet flow passage and the liquid outlet flow passage,

if the liquid pressure is larger than the opening pressure by adjusting the liquid driving device, the sealing valve plate is opened to conduct the liquid inlet flow channel and the liquid outlet flow channel.

5. The unmanned aerial vehicle of claim 4,

the high-pressure relief valve is internally provided with a long elastic part, the low-pressure relief valve is internally provided with a short elastic part, and the elastic parts are sleeved on the guide rod and then correspondingly have different pre-pressing amounts, so that the opening pressure of the high-pressure relief valve is greater than that of the low-pressure relief valve.

6. The unmanned aerial vehicle of claim 4,

the length of the guide rod of the high-pressure relief valve is smaller than that of the guide rod in the low-pressure relief valve, and the elastic piece is sleeved on the guide rod and correspondingly provided with different pre-pressing amounts, so that the opening pressure of the high-pressure relief valve is larger than that of the low-pressure relief valve.

7. The unmanned aerial vehicle of claim 4,

and the elastic coefficient of the elastic part in the high-pressure relief valve is greater than that of the elastic part in the low-pressure relief valve, so that the opening pressure of the high-pressure relief valve is greater than that of the low-pressure relief valve.

8. The unmanned aerial vehicle of claim 4,

the sealing area in the high-pressure relief valve is larger than that in the low-pressure relief valve.

9. The unmanned aerial vehicle of claim 4,

the spray head is also provided with a cover body, and an accommodating cavity for accommodating the pressure release valve is formed in the cover body;

the cover body is provided with an adjusting piece, the size of the containing cavity is adjusted through adjusting the adjusting piece, so that the compression amount of the elastic piece is increased when the length of the containing cavity of the high-pressure relief valve is reduced, and/or the compression amount of the elastic piece is reduced when the length of the containing cavity of the low-pressure relief valve is increased, and the opening pressure of the high-pressure relief valve is larger than the opening pressure of the low-pressure relief valve.

10. The unmanned aerial vehicle of claim 2,

and the pushing resistance of the guide rod in the high-pressure relief valve is greater than that of the guide rod in the low-pressure relief valve, so that the opening pressure of the high-pressure relief valve is greater than that of the low-pressure relief valve.

11. The unmanned aerial vehicle of any one of claims 1 to 10,

the liquid driving device is a water pump;

the controller controls the water pump to rotate according to the expected working speed so as to adjust the spraying amplitude of the unmanned aerial vehicle.

12. A kit for an agricultural plant protection unmanned aerial vehicle, comprising:

the unmanned aerial vehicle of any one of claims 1 to 11;

a ground control terminal which establishes communication connection with the unmanned aerial vehicle,

the ground control end determines the expected working speed of the liquid driving device according to the expected spraying amplitude requirement, and sends the expected working speed of the liquid driving device to the unmanned aerial vehicle.

13. The agricultural plant protection UAV kit of claim 12,

the ground control terminal comprises at least one of the following components: the remote controller of the unmanned aerial vehicle, a remote computer, a server and a network base station.