CN214451859U - A many rotor unmanned aerial vehicle for fruit tree laxative - Google Patents
A many rotor unmanned aerial vehicle for fruit tree laxative Download PDFInfo
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- CN214451859U CN214451859U CN202021991053.1U CN202021991053U CN214451859U CN 214451859 U CN214451859 U CN 214451859U CN 202021991053 U CN202021991053 U CN 202021991053U CN 214451859 U CN214451859 U CN 214451859U
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Abstract
The utility model relates to a many rotor unmanned aerial vehicle for fruit tree laxative, include: organism (1), undercarriage (2), horn (3) and motor (4) and rotor (5), flight control system (6), battery (7), medical kit (8), pump (9), spout medicine arm (10), shower nozzle (11), camera (12) of setting on the horn, spout medicine arm (10) and can change the gesture automatically, stretch out and draw back to the pesticide that adapts to the fruit tree sprays. The utility model discloses be applied to fruit tree plant protection field, improve the effect of giving medicine to poor free of charge.
Description
Technical Field
The utility model relates to an aircraft technical field especially involves an electronic unmanned aerial vehicle of many rotors for fruit tree laxative.
Background
The unmanned aerial vehicle is a general name of the unmanned aerial vehicle, is provided with an automatic pilot, a program control device and other equipment, and can be operated and controlled through a ground station terminal or a remote controller. Compared with manned unmanned aerial vehicles, it has advantages such as small, the cost is low, convenient to use. The aircraft can vertically take off, automatically take off and land, hover and be repeatedly used, and is widely applied to various industry fields.
At present, many rotor unmanned aerial vehicle to mainly used spray operation mainly used farmland crop's plant protection. With the development of unmanned aerial vehicle technology, the development of unmanned aerial vehicles for pesticide spraying on mountain fruit trees is started. The prior pesticide application method still adopts the pesticide application mode of farmland crops, namely spraying pesticide from the upper side to the lower side, and then blowing the atomized pesticide to fruit trees through a strong downward pressing wind field of a propeller.
Spraying medicine downwards is the basic mode of unmanned aerial vehicle plant protection, and its characteristics are that every shower nozzle all installs in the effective wind field region that the screw produced, utilize the powerful wind field that pushes down that the screw produced to send the liquid medicine to the crops of close planting, for example rice, maize etc..
However, the planting situation of the fruit trees is completely different from that of rice, and in order to pick the fruit trees, manual passing channels are generally reserved in fruit tree planting orchards, so that the planting density of the fruit trees is far lower than that of the rice, if a strong wind field is still adopted to spray the pesticide downwards, the pesticide is possibly blown to a part close to the ground by a strong propeller to press a wind field downwards, namely the lower trunk part of the fruit trees and the manual channel part, and pesticide waste is caused. Due to the natural stacking phenomenon of the leaves of the fruit trees (namely, the phenomenon of rain sheltering under the tree), the lower layer of the fruit trees which really need pesticides has less pesticide staying on the leaves, and meanwhile, the pesticide amount attached to the back surface (the backlight surface) of the lower layer of the leaves is not enough, so that the requirements of plant protection are difficult to achieve.
SUMMERY OF THE UTILITY MODEL
In order to overcome the deficiencies of the prior art, the utility model provides a many rotor unmanned aerial vehicle for fruit tree laxative and method of applying pesticides thereof.
The utility model aims at reducing the influence that the wind field pushed down that the screw produced sprayed pesticide, preventing that the pesticide from spraying out the back and being blown to being close the ground part by the wind field that pushes down of screw to the waste of pesticide has been caused.
The utility model discloses a another purpose is to increase the area of spraying of pesticide, finally promotes the plant protection effect of fruit tree.
In order to achieve the purpose of the utility model, the utility model adopts the following technical scheme.
The utility model relates to a many rotor unmanned aerial vehicle for fruit tree laxative, it includes: the fruit tree early warning system comprises a machine body 1, an undercarriage 2, a machine arm 3, a motor 4 and a rotor wing 5 which are arranged on the machine arm, a flight control system 6, a power supply 7, a medicine box 8, a pump 9, a medicine spraying mechanical arm 10, a medicine spraying device 11 and a camera device 12, wherein the camera device (12) is arranged on the machine arm 3 and is used for observing the relative position relation between the camera device and a fruit tree in real time; one end of the pesticide spraying mechanical arm 10 is hinged with the far end of the mechanical arm 3, and the pesticide spraying device 11 is arranged on the pesticide spraying mechanical arm 10; the spraying mechanical arm 10 can change the posture under the control of the flight control system 6 and stretch.
Preferably, the camera device 12 is installed on the lower side of the arm 3 where the spraying mechanical arm 10 is located, so as to observe the relative position relationship between the camera device and the fruit tree in real time.
Preferably, the pesticide spraying mechanical arm 10 comprises a long-stroke electric push rod 13 and a short-stroke electric push rod 14, and the short-stroke electric push rod 14 realizes the posture change of the long-stroke electric push rod 13 and simultaneously changes the posture of the pesticide spraying device 11.
The flight control system 6 controls the extension of the long-stroke electric push rod 13, thereby changing the position of the pesticide spraying device 11.
Preferably, the long-stroke electric push rod 13 is a telescopic multi-stage mechanical arm, a pesticide spraying device 11 is arranged on each stage of mechanical arm, and each stage of mechanical arm can be stretched and contracted under the control of the flight control system 6, so that the position of the pesticide spraying device 11 can be changed.
Preferably, the short-stroke electric push rod 14 is a telescopic multi-stage mechanical arm, one end of the short-stroke electric push rod 14 is hinged to the horn 3, the other end of the short-stroke electric push rod 14 is hinged to the long-stroke electric push rod 13, and the flight control system 6 controls the telescopic movement of the short-stroke electric push rod to change the posture of the long-stroke electric push rod 13 and change the position of the spraying device 11.
Preferably, the flight control means may control the attitude of the spraying means 11 to change the direction and angle of spraying of the medicament.
The pesticide spraying mechanical arm 10 is in a retracted state in a take-off state, so that the ground contact is avoided; after the takeoff reaches a certain height, the flight control system 6 controls the short-stroke electric push rod 14 to extend, so that the posture of the long-stroke electric push rod 13 is changed, and the long-stroke electric push rod 13 is basically in a vertical state. Optionally, the flight control system 6 can control the short-stroke electric push rod 14 to push the long-stroke electric push rod 13 to enable the long-stroke electric push rod to be in multiple postures, so that the unmanned aerial vehicle can spray pesticides at multiple angles.
The pesticide spraying mechanical arm 10 is at least provided with two pesticide spraying devices 11, wherein one pesticide spraying device 11 sprays upwards obliquely and is responsible for the middle part and the upper part of the side surface, and the other pesticide spraying device 11 sprays downwards obliquely and is responsible for the middle part and the lower part.
The utility model discloses a multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying, which adopts a movable pesticide spraying mechanical arm arranged on the arm of a plant protection unmanned aerial vehicle, thereby changing the position of a pesticide spraying device; the multiple spraying devices work together at different spraying angles, so that the spraying area is increased; moreover, the pesticide spraying device is far away from the propeller and is located in a weak downward-pressing wind field area, so that the plant protection effect of the fruit trees is effectively improved.
The utility model discloses an utilize many rotor unmanned aerial vehicle to fruit tree method of applying medicine, it includes:
s1: obtaining an orchard surveying and mapping map, and performing surveying and mapping operation on the upper part of a fruit tree by adopting a surveying and mapping unmanned aerial vehicle to obtain an orchard surveying and mapping image with coordinate information;
s2, determining the turning radius R3 of the unmanned aerial vehicle moving in the horizontal directioniAnd a horizontal movement rotation circle center O when the unmanned aerial vehicle applies the pesticidei；
S3, determining a motion track circle of the unmanned aerial vehicle in the horizontal direction;
s4: adjusting the working height of the unmanned aerial vehicle to ensure that the pesticide spraying device is approximately positioned at the position to be sprayed by each fruit tree;
s5: and controlling the flight track of the unmanned aerial vehicle, adjusting the central position of the unmanned aerial vehicle to a motion track circle in the horizontal direction, and determining the course of the unmanned aerial vehicle to ensure that the spray head is aligned with the fruit tree so as to effectively apply pesticide to the fruit tree.
Wherein, the rotation radius R3 of the unmanned aerial vehicle moving in the horizontal direction is determinediAnd a horizontal movement rotation circle center O when the unmanned aerial vehicle applies the pesticideiThe method comprises the following steps:
(1) determining a minimum circumscribed circle according to the image of each fruit tree during surveying and mapping, wherein the horizontal center position O of the fruit treeiCalculating the radius R1 of the minimum circumcircle as the center of a horizontal movement rotary circle when the unmanned aerial vehicle applies the medicinei；
(2) Determining the distance L between the spraying device and the flight control system in the horizontal radius direction under the condition that the spraying device is unfolded1And a distance H in the height direction1；
(3) Radius R1 of a minimum circumscribed circle determined in accordance with S1iSuperimposing a safety distance L in the horizontal direction2Radius of gyration R2 as spray head movementiAccording to the determined radius of gyration R2 of the movement of the spray headiThe distance L between the overlapped spraying device and the flight control system in the horizontal radius direction1So as to determine the gyration radius R3 of the unmanned aerial vehicle moving in the horizontal directioni。
Wherein, confirm the motion trajectory circle of unmanned aerial vehicle on the horizontal direction includes:
(1) according to horizontal movement rotary centre OiAnd a horizontal movement radius of gyration R3iAnd determining the track circle of the horizontal motion of the unmanned aerial vehicle. The central position of the unmanned aerial vehicle can be positioned at a certain starting point of the trajectory circle;
(2) course of unmanned aerial vehicle is confirmedAiming at ensuring that the spray head is aligned with the fruit tree, namely, the central position of the unmanned aerial vehicle is taken as a first point, and the ray formed by the position of the spray head as a second point points to the horizontal movement rotation circle center Oi。
Wherein, adjustment unmanned aerial vehicle's operation height to ensure that it approximately includes at the position that each fruit tree need spray to spout the medicine device:
(1) the initial height of the drone is determined to ensure that the height of the spraying device is approximately the same as the maximum height of each fruit tree at the time of mapping.
(2) Through the video information that the camera installed in horn downside passback, the operation height of adjustment unmanned aerial vehicle is for guaranteeing to spout the medicine device and be roughly in the position that each fruit tree needs to spray half in the direction of height.
The pesticide application method of the multi-rotor unmanned aerial vehicle is that the unmanned aerial vehicle rotates around the fruit tree to spray pesticide, and is suitable for performing plant protection operation on sparsely planted fruit trees. When the plant protection operation is performed on the densely planted fruit trees, the following application method is required.
S1: obtaining an orchard surveying and mapping map, and performing surveying and mapping operation on the upper part of a fruit tree by adopting a surveying and mapping unmanned aerial vehicle to obtain an orchard surveying and mapping image with coordinate information;
s2: determining a preset route point for the unmanned aerial vehicle to fly on the orchard map according to the position of the manual passage of the fruit tree;
s3, taking the preset waypoint as the motion track of the pesticide spraying device, and translating the preset waypoint in the direction of the manual passage channel to' the relative distance L between the pesticide spraying device and the flight control system in the horizontal radius direction1"as the final waypoint of the unmanned aerial vehicle motion trajectory;
s4: controlling the central position of the unmanned aerial vehicle to fly according to the final waypoint track; the course of the unmanned aerial vehicle in the flight process is determined as follows: the ray determined by taking the central position of the unmanned aerial vehicle as a first point and the pesticide spraying device as a second point is vertical to the preset course;
s5: adjusting the working height of the unmanned aerial vehicle to ensure that the pesticide spraying device is approximately positioned at the position to be sprayed by each fruit tree;
s6: and controlling the flight track of the unmanned aerial vehicle, adjusting the central position of the unmanned aerial vehicle to a motion track circle in the horizontal direction, and determining the course of the unmanned aerial vehicle to ensure that the spray head is aligned with the fruit tree so as to effectively apply pesticide to the fruit tree.
Preferably, a new course is set at the inflection point of each preset route, so that the unmanned aerial vehicle is ensured to move and spray on the preset route point all the time in the moving process.
Preferably, the heading can be controlled and changed in real time according to the change of the center position of the flight.
The beneficial effects of the utility model are that to the strong wind field pesticide application method under the oar of general adoption. Due to the action of the strong downward-pressing wind field, the pesticide is possibly blown to the part close to the ground, namely the lower trunk part of the fruit tree by the strong screw downward-pressing wind field after being sprayed out. The pesticide remained on the fruit tree leaves which really need the pesticide is not much, and the requirement of plant protection cannot be met. The utility model discloses a weak wind field method of giving medicine to poor free of charge, the pesticide after the atomizing is unlikely to be blown to ground by powerful screw wind field, therefore the pesticide can be more stop on the fruit tree leaf, increase the plant protection effect.
Aiming at the commonly adopted under-paddle pesticide application method. Due to the natural stacking phenomenon of the leaves of the fruit trees (namely, the phenomenon of rain sheltering under the tree), the lower layer of the fruit trees which really need pesticides has less pesticide staying on the leaves, and meanwhile, the pesticide amount attached to the back surface (the backlight surface) of the lower layer of the leaves is not enough, so that the requirements of plant protection are difficult to achieve. In terms of surface area only, the traditional under-paddle application method achieves the surface area of the upper half sphere. The lower half part of the ball body on the surface of the fruit tree is difficult to spray the pesticide.
The utility model discloses based on unmanned aerial vehicle is spraying in the air, from the side of fruit tree, cover the side of whole fruit tree, increased the area of spraying, the utility model discloses a pesticide application method can reach whole spheroidal surface area of fruit tree at most, finally promotes the plant protection effect of fruit tree.
Drawings
Fig. 1 is the utility model relates to a spout medicine arm of many rotor unmanned aerial vehicle for fruit tree laxative is in and packs up state stereogram.
Fig. 2 is the utility model relates to a medicine arm is in the main view of packing up the state that spouts of a many rotor unmanned aerial vehicle for fruit tree laxative.
Fig. 3 is the utility model relates to a medicine arm is in operating condition's main view for many rotor unmanned aerial vehicle of fruit tree laxative.
Detailed Description
The principles and features of the present invention are described below in conjunction with the drawings of the specification, the examples given are only for the purpose of explaining the present invention and are not intended to limit the scope of the present invention. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
As shown in fig. 1-2, the utility model relates to a many rotor unmanned aerial vehicle for fruit tree laxative, it includes: the fruit tree early warning system comprises a machine body 1, an undercarriage 2, a machine arm 3, a motor 4 and a rotor wing 5 which are arranged on the machine arm, a flight control system 6, a power supply 7, a medicine box 8, a pump 9, a medicine spraying mechanical arm 10, a spray head 11 and a camera 12, wherein the camera 12 is arranged on the machine arm 3 and is used for observing the relative position relationship between a camera device and a fruit tree in real time; one end of the pesticide spraying mechanical arm 10 is hinged with the far end of the mechanical arm 3, and the pesticide spraying device 11 is arranged on the pesticide spraying mechanical arm 10; the spraying mechanical arm 10 can change the posture under the control of the flight control system 6 and stretch.
The camera 12 is installed at the lower side of the arm 3 where the pesticide spraying mechanical arm 10 is located, so that the relative position relationship between the camera device and the fruit tree can be observed in real time.
The pesticide spraying mechanical arm 10 comprises a long-stroke electric push rod 13 and a short-stroke electric push rod 14, and the short-stroke electric push rod 14 realizes the posture change of the long-stroke electric push rod 13 and changes the posture of the spray head 11.
The flight control system 6 controls the extension of the long-stroke electric push rod 13, thereby changing the position of the spray head 11.
The long-stroke electric push rod 13 is a telescopic multi-stage mechanical arm, each stage of mechanical arm is provided with a spray head 11, and each stage of mechanical arm can be stretched and contracted under the control of the flight control system 6, so that the position of the spray head 11 can be changed.
The short-stroke electric push rod 14 is a telescopic multi-stage mechanical arm, one end of the short-stroke electric push rod 14 is hinged to the machine arm 3, the other end of the short-stroke electric push rod 14 is hinged to the long-stroke electric push rod 13, the flight control system 6 controls the telescopic movement of the short-stroke electric push rod to change the posture of the long-stroke electric push rod 13, and meanwhile, the position of the spray head 11 is changed.
The flight control device may control the attitude of the spray head 11 to change the direction and angle of spraying of the medicine.
The pesticide spraying mechanical arm 10 is in a retracted state in a take-off state, so that the ground contact is avoided; after the takeoff reaches a certain height, the flight control system 6 controls the short-stroke electric push rod 14 to extend, so that the posture of the long-stroke electric push rod 13 is changed, and the long-stroke electric push rod 13 is basically in a vertical state. Optionally, the flight control system 6 can control the short-stroke electric push rod 14 to push the long-stroke electric push rod 13 to enable the long-stroke electric push rod to be in multiple postures, so that the unmanned aerial vehicle can spray pesticides at multiple angles.
Two spray nozzles 11 are arranged on the pesticide spraying mechanical arm 10, wherein one spray nozzle 11 sprays obliquely upwards to be responsible for pesticide application on the middle part and the upper part of the side surface of the fruit tree, and the other spray nozzle 11 sprays obliquely downwards to be responsible for pesticide application on the middle part and the lower part of the fruit tree.
The utility model relates to a many rotor unmanned aerial vehicle's for fruit tree laxative working process as follows.
As shown in fig. 1 and 2, before the unmanned aerial vehicle takes off, the spraying mechanical arm is in a retracted state. When the mechanical arm is in a retracted state, the short-stroke electric push rod 14 is in a minimum extension state; the long stroke electric putter 13 is also in a state of minimum elongation.
As shown in fig. 3, after the unmanned aerial vehicle uploads the planned route, the unmanned aerial vehicle automatically takes off after issuing an operation control command to start operation. Unmanned aerial vehicle arrives the assigned position at the horizontal direction, and after the height rises to certain height, opens and sprays the arm. The specific operation is as follows: the flight control system 6 sends a control signal through one port to control the short-stroke electric push rod 14 to extend; and then sends a control signal through the other port to control the long-stroke electric push rod 13 to extend.
After unmanned aerial vehicle reachd appointed operation position, open the shower nozzle for two shower nozzles spray simultaneously.
According to the planned route requirement, the flight control system controls the unmanned aerial vehicle to fly at a low speed along the route, and simultaneously changes the heading of the machine head to ensure that the spraying direction of the spray head is aligned with the fruit tree. The specific application method is determined according to the planting condition of the fruit orchard.
The utility model discloses a method for utilizing multi-rotor unmanned aerial vehicle to carry out pesticide application to fruit trees, this method is that the weak wind field thinly plants fruit tree generating line gyration medicine spraying method.
The method comprises the steps of carrying out surveying and mapping operation on the upper portion of a fruit tree by adopting a surveying and mapping unmanned aerial vehicle, obtaining a top view from the air to a view angle right below through some conventional 3D modeling processing, and obtaining an orchard surveying and mapping image with coordinate information.
Determining a minimum circumcircle according to the image of each fruit tree during surveying and mapping, and calculating the circle center position OiAnd radius R1i(ii) a The circle center position is used as the horizontal center position of the fruit tree and is used as the horizontal movement rotation circle center O when the unmanned aerial vehicle applies the pesticidei。
And determining the relative position relation of the spray head and the flight control system in the horizontal radius direction and the height direction. Determining a minimum circumscribed circle according to a top view image of each fruit tree during surveying and mapping; determining the relative distance L between the spray head and the central position (namely the position of a flight control system) of the unmanned aerial vehicle in the horizontal radius direction under the condition that the spray head is unfolded1And a relative distance H in the height direction1。
Radius R1 according to a minimum circumscribed circleiSuperposing a horizontal safe pesticide application distance L2Radius of gyration R2 as spray head movementi(＝R1i+L2) According to the determined radius of gyration R2 of the movement of the spray headi(＝R1i+L2) Superimposing a "relative distance L1", thereby determining the turning half of the unmanned aerial vehicle moving in the horizontal directionDiameter R3i(＝R1i+L2+L1)。
Before each fruit tree is applied with pesticide, the central position of the unmanned aerial vehicle is determined according to the following modes:
in the horizontal direction, the circle center O is rotated by the horizontal movementiAnd a horizontal movement radius of gyration R3iAnd determining a track circle of horizontal motion, wherein the central position of the unmanned aerial vehicle is just on a certain starting point of the track circle.
The course of the unmanned aerial vehicle is determined to ensure that the spray head is aligned with the fruit tree, namely, the central position of the unmanned aerial vehicle is a first point, and the position of the spray head is a ray formed by a second point and points to a horizontal movement rotation circle center Oi。
The initial height of the drone is determined to ensure the height of the spray head and the maximum height of each fruit tree at the time of mapping.
The operation height of the unmanned aerial vehicle is adjusted through the camera arranged below the machine arm and the returned video information, so that the height of the spray head is approximately half of the height direction of the part, required to be sprayed, of each fruit tree.
Wherein, unmanned aerial vehicle's flight control process is as follows:
and controlling the central position of the unmanned aerial vehicle to be on the track circle of the horizontal motion determined according to the method.
The course of the track circle moving horizontally in the flying process is determined according to the fact that the spray head is ensured to be aligned with the fruit tree, namely the course needs to be changed in real time according to the change condition of the flying center position.
The utility model discloses a method for utilizing many rotor unmanned aerial vehicle to carry out pesticide application to fruit tree, this method is that the side of the fruit tree is planted densely to weak wind field spouts the medicine method.
The method comprises the steps of carrying out surveying and mapping operation on the upper portion of a fruit tree by adopting a surveying and mapping unmanned aerial vehicle, obtaining a top view from the air to a view angle right below through some conventional 3D modeling processing, and obtaining an orchard surveying and mapping image with coordinate information.
An automatic or manual marking method is adopted in the surveying and mapping overlooking image of the orchard, and a preset route point of the unmanned aerial vehicle flying is determined on a manual passing channel of the fruit tree, namely the flying route of the unmanned aerial vehicle is determined according to a manual walking route on the horizontal position and is a gap between two rows of close-planted fruit trees. This is different from the way point determined by the existing unmanned aerial vehicle, which is basically determined right above the fruit tree, and is the center of the fruit tree in the horizontal position rather than the pedestrian path.
The preset route point of the unmanned aerial vehicle flying determined by the method is used as the movement track of the nozzle; then the preset route point translates towards the direction of the manual passage channel, namely the relative distance L between the spray head and the unmanned aerial vehicle flight control system in the horizontal radius direction1"as the final waypoint of the unmanned aerial vehicle motion trajectory; meanwhile, a new course is set at the inflection point of each preset route, so that the fact that the spray head moves and sprays the medicine on the preset route point all the time in the movement process of the unmanned aerial vehicle is guaranteed.
The height of the unmanned aerial vehicle is determined to ensure that the position of the spray head in the height direction is the middle position in the height direction of the part needing spraying by the leaves on the side of the fruit tree.
The flight control process of the unmanned aerial vehicle is as follows: the central position of the unmanned aerial vehicle carries out track control on the determined final waypoint; the course of the unmanned aerial vehicle in the flight process is determined as follows: the central position of the unmanned aerial vehicle is used as a starting point, the ray determined by the nozzle as a second point is vertical to the preset course, and the course needs to be changed in real time according to the change condition of the central position of the flight.
Claims (9)
1. A many rotor unmanned aerial vehicle for fruit tree laxative, it includes: organism (1), undercarriage (2), horn (3) and motor (4) and rotor (5), flight control system (6), power (7), medical kit (8), pump (9), spout medicine arm (10), spout medicine device (11), its characterized in that of setting on the horn:
the pesticide spraying mechanical arm (10) can change the posture under the control of the flight control system (6) and stretch out and draw back, so that the position and the posture of the pesticide spraying device (11) are changed.
2. A multi-rotor drone for fruit tree insecticide spraying according to claim 1, further comprising a camera device (12), the camera device (12) being mounted on the horn (3).
3. The multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying is characterized in that the camera device (12) is mounted on the lower side of the horn (3) where the pesticide spraying mechanical arm (10) is located, so that the relative position relationship between the camera device and fruit trees can be observed in real time.
4. The multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying is characterized in that the pesticide spraying mechanical arm (10) comprises a long-stroke electric push rod (13) and a short-stroke electric push rod (14), and the short-stroke electric push rod (14) realizes the posture change of the long-stroke electric push rod (13) and simultaneously changes the posture of the pesticide spraying device (11).
5. The multi-rotor unmanned aerial vehicle for fruit tree insecticide spraying according to claim 4, wherein one end of the long-stroke electric push rod (13) is hinged right below the rotor.
6. The multi-rotor unmanned aerial vehicle for fruit tree insecticide spraying according to claim 5, wherein the long-stroke electric push rod (13) is a telescopic multi-stage mechanical arm.
7. The multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying is characterized in that a pesticide spraying device (11) is arranged on each stage of mechanical arm, and each stage of mechanical arm can be stretched and contracted under the control of the flight control system (6) to change the position of the pesticide spraying device (11).
8. The multi-rotor unmanned aerial vehicle for fruit tree insecticide spraying according to claim 4, wherein the short stroke electric push rod (14) is a telescopic multi-stage mechanical arm.
9. The multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying is characterized in that one end of the short-stroke electric push rod (14) is hinged with the horn (3), the other end of the short-stroke electric push rod is hinged with the long-stroke electric push rod (13), and the flight control system (6) controls the extension and retraction of the short-stroke electric push rod so as to change the posture of the long-stroke electric push rod (13) and change the position of the pesticide spraying device (11).
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