WO2020199024A1

WO2020199024A1 - Unmanned aerial vehicle, spray operation method, kit, and readable storage medium

Info

Publication number: WO2020199024A1
Application number: PCT/CN2019/080646
Authority: WO
Inventors: 舒展; 周万仁; 黄稀荻
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-10-08
Also published as: CN111315494B; CN111315494A

Abstract

Provided are an unmanned aerial vehicle, a spray operation method, a kit, and a readable storage medium. The unmanned aerial vehicle comprises: a frame (20); a spray assembly (10), the spray assembly (10) comprising a liquid driving device and a spray head assembly (100) communicated with the liquid driving device, the spray head assembly (100) comprising at least two spray heads (130), the at least two spray heads (130) being arranged along a pitch axis direction of the unmanned aerial vehicle, and the at least two spray heads (130) at least having two open pressures; and a controller configured to control an operating speed of the liquid driving device, the controller controlling, according to an obtained expected operating speed of the liquid driving device, the liquid driving device to operate at the expected operating speed, so as to adjust a spray width of the unmanned aerial vehicle. According to the unmanned aerial vehicle, different numbers of spray heads are opened depending on different liquid pressures, and the spray width and flow rate can be changed during flight of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle, spraying operation method, kit and readable storage medium

Technical field

This application relates to the field of unmanned aerial vehicles, and specifically to an unmanned aerial vehicle, a spraying operation method, an unmanned aerial vehicle kit, and a computer-readable storage medium.

Background technique

The existing pressure spraying system has been widely used in plant protection drones and other devices in recent years due to its advantages such as uniform spraying, good droplet settlement, wide spray range, and simple structure. However, the existing pressure spray system has the following defects:

(1) Existing pressure spray systems generally cannot change the spray range. When encountering narrow fields or turning, the problem of respray or leakage cannot be avoided. Respray wastes chemical liquid, pollutes the environment, and reduces leakage. Spraying effect;

(2) Because they are all quantitative spraying systems, variable spraying cannot be achieved unless the nozzles are replaced;

(3) Since nozzle replacement can only be done when the aircraft is grounded, the operation efficiency is affected;

(4) When replacing nozzles, users will inevitably come into contact with pesticides, and there are problems such as potential safety hazards and poor user experience.

With the popularization of pressure spraying systems, there is a growing demand for variable spraying that can be sprayed with variable spray widths, nozzles can be replaced online, and variable spraying can be achieved during airplane flight.

Application content

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

Another object of the present application is to provide a spraying method.

Another purpose of this application is to provide a kit for unmanned aerial vehicles.

Another object of the present application is to provide a computer-readable storage medium.

In order to achieve the above objective, the embodiment of the first aspect of the present application provides an unmanned aerial vehicle for agricultural plant protection, including: a frame; a spray assembly installed on the frame, the spray assembly including a liquid driving device and The nozzle assembly connected by the liquid driving device, the nozzle assembly includes at least two nozzles, the at least two nozzles are arranged along the pitch axis direction of the UAV, and the at least two nozzles have at least two types The opening pressure, the controller, is electrically connected to the liquid driving device, and is used to control the working speed of the liquid driving device, wherein the controller controls the liquid driving device according to the obtained desired working speed of the liquid driving device. The liquid driving device operates at the desired operating speed to adjust the spray pattern of the UAV.

The spraying operation method provided by the embodiment of the second aspect of the present application is used in an unmanned aerial vehicle for agricultural plant protection. The spraying operation method includes: obtaining a desired spraying frame demand; determining the unmanned aerial vehicle according to the expected spraying frame demand The desired operating speed of the liquid driving device; and controlling the liquid driving device to work according to the desired operating speed, selectively turning on different numbers of nozzles of the UAV to change the spray pattern of the UAV.

The agricultural plant protection unmanned aerial vehicle kit provided by the embodiment of the third aspect of this application includes: the unmanned aerial vehicle described in any one of the above; a ground control terminal, which establishes a communication connection with the unmanned aerial vehicle, wherein the The ground control terminal determines the expected operating speed of the liquid driving device according to the expected spray rate requirements, and sends the expected operating 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: a remote control of an unmanned aerial vehicle, a remote computer, a server, and a network base station.

The computer-readable storage medium provided by the embodiment of the fourth aspect of the present application stores a computer program thereon, and when the computer program is executed by a processor, the steps of the spraying operation method as described in any one of the above are implemented.

The unmanned aerial vehicle, spraying operation method and kit provided in the above-mentioned embodiments of the application control the opening or closing of the nozzles by using the pressure of the liquid. Since the opening pressures of the nozzles are different, different liquid hydraulic pressures can open different numbers of nozzles. A nozzle has its own spraying range and flow rate. By changing the number of nozzles that work at the same time, the spray width and flow rate can be changed. This can realize real-time change of spray width and flow rate for different types of land. When the UAV flies to a new one During terrain operations, adjust the spray pattern in time for the new terrain to avoid respray or missed spray and improve the flexibility of the UAV. On the other hand, because this application uses different liquid hydraulic pressures to realize the opening of different numbers of nozzles, the nozzle width and flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles, which saves the time for nozzle replacement and improves Operation efficiency, and because there is no need for the user to manually replace the nozzle to adjust the flow rate, it prevents the user from touching the toxic liquid and improves the user experience.

The additional aspects and advantages of the present application will become obvious in the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

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

Fig. 2 is a schematic structural diagram of a nozzle assembly in an unmanned aerial vehicle according to an embodiment of the present application;

3 is a schematic cross-sectional structure diagram of a nozzle in an unmanned aerial vehicle according to an embodiment of the present application;

4 and 5 are schematic diagrams of the two lateral nozzle assemblies in the unmanned aerial vehicle according to an embodiment of the present application;

Fig. 6 is a schematic top view of the nozzle assembly in the unmanned aerial vehicle according to an embodiment of the present application;

FIG. 7 is a schematic flowchart of a spraying operation method according to an embodiment of the present application;

FIG. 8 is a schematic flowchart of a spraying operation method according to another embodiment of the present application;

Fig. 9 is a schematic flow chart of a spraying operation method according to another embodiment of the present application;

FIG. 10 is a schematic flowchart of a spraying method according to another embodiment of the present application;

Fig. 11 is a schematic flowchart diagram of a spraying operation method according to another embodiment of the present application.

Among them, the corresponding relationship between the reference signs and component names in Figures 1 to 6 is:

Spray assembly 10, nozzle assembly 100, main pipe 110, branch pipe 120, nozzle 130, pressure relief valve 131, sealing valve plate 1311, guide rod 1312, elastic member 1313, liquid inlet channel 132, liquid outlet channel 133, cover body 134 , Accommodating cavity 1341, adjusting member 1342, frame 20, arm 30.

detailed description

In order to be able to understand the above objectives, features and advantages of the application more clearly, the application will be further described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are set forth in order to fully understand this application. However, this application can also be implemented in other ways different from those described here. Therefore, the scope of protection of this application is not covered by the specific details disclosed below. Limitations of the embodiment.

The following describes an unmanned aerial vehicle according to some embodiments of the present application with reference to FIGS. 1 to 6.

As shown in FIG. 1, the unmanned aerial vehicle according to the embodiment of the present application includes: a frame 20; a spray assembly 10 installed on the frame 20, the spray assembly 10 includes a liquid driving device and is connected to the liquid The nozzle assembly 100 connected by the driving device, as shown in FIG. 2, the nozzle assembly 100 includes at least two nozzles 130, the at least two nozzles 130 are arranged along the pitch axis direction of the UAV, and the at least The two spray heads 130 have at least two opening pressures. The controller is electrically connected to the liquid driving device for controlling the working speed of the liquid driving device, wherein the controller is based on the obtained liquid driving device The liquid driving device is controlled to work at the desired working speed to adjust the spray pattern of the UAV.

In the unmanned aerial vehicle provided by the foregoing embodiment of the present application, the liquid driving device is connected to the nozzle assembly 100, and the controller controls the liquid driving device to run at the desired working speed according to the desired working speed. The working speed of the liquid driving device can be changed to make the liquid operate at different hydraulic pressures. For transportation, use the pressure of the liquid to control the opening or closing of the nozzle 130. Since the opening pressure of the nozzle 130 is different, different liquid hydraulic pressures can open different numbers of nozzles 130, and each nozzle 130 has its own spraying range and flow rate. , By changing the number of nozzles 130 working at the same time to change the spray width and flow rate, so that the spray width and flow rate can be changed in real time for different land types. When the unmanned aerial vehicle flies to a new terrain operation, the spray nozzle can be adjusted in time for the new terrain. Width, avoid re-spray or missed spray, improve the flexibility of UAV. On the other hand, since this application uses different liquid hydraulic pressures to realize the opening of different numbers of nozzles 130, the spray pattern and flow rate can be changed during the flight of the UAV without stopping the machine to replace the nozzles 130, which saves the cost of replacing the nozzles 130. Time, improve work efficiency, and because the user does not need to manually replace the nozzle to adjust the flow, avoid the user touching the toxic liquid, and improve the user experience.

Among them, the expected working speed can be the user's calculation of the required spray width according to the specific conditions of the plot, the number of spray heads 130 that need to be opened according to the spray width, and the working speed of the liquid driving device determined according to the number of spray heads 130 that need to be opened, that is, Expect working speed.

As shown in FIG. 6, the at least two nozzles 130 are arranged along the direction of the pitch axis of the UAV.

In addition, FIGS. 4 and 5 also show two lateral structures of the spray head assembly 100 respectively.

In the above-mentioned embodiment, the spray head assembly 100 includes a main pipe 110 connected with the liquid driving device, and two branch pipes 120 connected with the main pipe 110, wherein the liquid enters from the main pipe 110 and diverges to the two A branch pipe 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 is sprayed, and the low-pressure nozzle is provided with a high-pressure relief valve for controlling the low-pressure nozzle Whether to spray a low-pressure relief valve, wherein the controller determines the desired operating speed according to a desired spray width, 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 unmanned aerial vehicle of the present application is provided with multiple spray assemblies 10, and the main pipe 110 of each spray assembly 10 extends outward in different directions. For example, there are 4 spray assemblies 10 and 4 main pipes. 110 are respectively arranged in front, back, left and right with respect to the fuselage. The outlet end of each main pipe 110 is provided with two branch pipes 120. The two branch pipes 120 are arranged opposite to ensure that the spray patterns of each nozzle 130 do not overlap. First, determine the spray head 130 that needs to be opened, and determine the desired operating speed of the liquid driving device according to the opening pressure of the spray head 130 that needs to be opened, so that the controller can accurately adjust the working speed of the liquid driving device for different terrains.

Preferably, each main pipe 110 is provided with a liquid driving device correspondingly to avoid that one liquid driving device needs to control too many spray heads 130, and the opening pressure of each spray head 130 is different, resulting in a change in the working speed of the liquid driving device. Too much damage to the liquid driving device. On the other hand, since 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 equipped with a low-pressure nozzle With a high-pressure nozzle, each liquid driving device is only responsible for controlling one low-pressure nozzle and one high-pressure nozzle, which can effectively reduce the number of nozzles 130.

As shown in FIG. 1, in the above embodiment, the frame 20 includes a fuselage and a plurality of arms 30 arranged on the fuselage and arranged in the circumferential direction, and the spraying assembly 10 is correspondingly installed on the On the outer end of the arm 30, the controller determines the spraying assembly 10 and the spraying width of the spraying assembly 10 to be covered according to the obtained desired spraying area.

In this solution, the spray assembly 10 is correspondingly installed at the outer end of the arm 30, and the spreading arm 30 is used to expand the distribution area of the spray assembly 10, which effectively increases the maximum spray width of the unmanned aerial vehicle and makes the unmanned The adjustable range of the spray width of the aircraft is increased, realizing the spraying requirements of the unmanned aircraft for more terrain.

The following describes in detail how to limit the high pressure relief valve and the low pressure relief valve.

As shown in Figure 3, in the above-mentioned embodiment, both the high-pressure nozzle and the low-pressure nozzle are provided with an inlet flow passage 132 and an outlet flow passage 133; the high pressure relief valve and the low pressure relief valve include : A sealing valve plate 1311, used to close the conduction between the inlet flow passage 132 and the outlet flow passage 133; a guide rod 1312, the guide rod 1312 used to press the sealing valve plate 1311; The elastic member 1313 is sleeved on the guide rod 1312, and is used to transmit the resilient force generated after compression to the guide rod 1312, so that the guide rod 1312 drives the sealing valve plate 1311 to close the valve, Wherein, if the hydraulic pressure of the liquid is greater than the opening pressure by adjusting the liquid driving device, the sealing valve plate 1311 is opened to make the inlet flow passage 132 and the outlet flow passage 133 communicate.

In this solution, the elastic member 1313 is sleeved on the guide rod 1312 and gives a force to the guide rod 1312. The guide rod 1312 abuts and presses against the sealing valve plate 1311. When the hydraulic pressure exceeds the elastic member 1313, the guide rod 1312 is applied to the guide rod 1312. When the force is applied, the sealing valve plate 1311 is overturned by the liquid, and the liquid flows from the inlet flow passage 132 to the outlet flow passage 133 and sprayed out along the nozzle 130, so as to achieve different openings by changing the liquid hydraulic pressure and using different liquid hydraulic pressures. With a large number of nozzles 130, the spray pattern and spray flow can be changed during the flight of the unmanned aerial vehicle. There is no need to stop the machine to replace the nozzles 130, which saves the time for replacing the nozzles 130 and improves operation efficiency.

Preferably, the elastic member 1313 is a spring.

In the above embodiment, a long elastic member 1313 is provided in the high-pressure relief valve, a short elastic member 1313 is provided in the low-pressure relief valve, and different elastic members 1313 are sleeved on the guide rod 1312. Correspondingly, there are different pre-pressure amounts, 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 solution, under the premise that the internal space of the pressure relief valve 131 is the same or not much different, the high pressure relief valve is provided with a long elastic member 1313, and the low pressure relief valve is provided with a short elastic member 1313 to act on the elastic member 1313. With the same force, the long elastic member 1313 and the shorter elastic member 1313 can generate greater resilience, that is, the long elastic member 1313 and the shorter elastic member 1313 have a greater pre-compression and require greater hydraulic pressure to open the sealing valve. By changing the liquid hydraulic pressure, different numbers of nozzles 130 can be opened by using different liquid hydraulic pressures. During the flight of the UAV, the spray pattern and spraying flow can be changed. There is no need to stop the machine to replace the nozzles 130, saving the replacement of nozzles. 130 hours to improve work efficiency.

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. There are different pre-pressure amounts 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 solution, the length of the guide rod 1312 in the high pressure relief valve is smaller than the length of the guide rod 1312 in the low pressure relief valve. In this way, when the same elastic member 1313 acts on the guide rods 1312 with different lengths, the shorter guide rod The pressing effect of 1312 on the sealing valve plate 1311 is greater than the pressing effect of the long guide rod 1312 on the sealing valve plate 1311. A greater hydraulic pressure is required to push the sealing valve plate 1311 open, so as to realize the use of different liquids by changing the hydraulic pressure of the liquid. Different numbers of nozzles 130 can be opened hydraulically, and the spray width and spraying flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles 130. This saves the time for replacing the nozzles 130 and improves operation efficiency.

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 low pressure relief valve. The opening pressure of the pressure relief valve.

In this solution, under the premise that the internal space of the pressure relief valve 131 is the same or not much different, the elastic coefficient of the elastic member 1313 in the high pressure relief valve is set to be greater than the elastic coefficient of the elastic member 1313 in the low pressure relief valve. The element 1313 acts on the same force, the elastic element 1313 with high elastic coefficient 1313 and the elastic element 1313 with lower elastic coefficient can generate greater resilience, that is, the elastic element 1313 with high elastic coefficient is pre-compressed with the elastic element 1313 with lower elastic coefficient. Larger volume requires greater hydraulic pressure to push open the sealing valve plate 1311, so that by changing the liquid hydraulic pressure and using different liquid hydraulic pressures to open different numbers of nozzles 130, the nozzles 130 can be changed during the flight of the UAV. No need to stop the machine to replace the nozzle 130, save the time of replacing the nozzle 130 and improve the work efficiency.

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 solution, the internal sealing area of the high-pressure relief valve is larger than the sealing area in the low-pressure relief valve. For example, the internal sealing area of the pressure relief valve 131 can be changed by different apertures of the relief valve 131. The larger the sealing area is The greater the pressure, the greater the force of the guide rod 1312 used to seal the valve plate 1311, and more hydraulic pressure is needed to push the sealing valve plate 1311 open, so as to realize the opening by changing the liquid hydraulic pressure and using different liquid hydraulic pressures. With different numbers of nozzles 130, the spray pattern and spraying flow can be changed during the flight of the UAV, without stopping the machine to replace the nozzles 130, which saves the time for replacing the nozzles 130 and improves operation efficiency.

As shown in FIG. 3, in the above embodiment, a cover 134 is also installed on the spray head 130, and an accommodation cavity 1341 for accommodating the pressure relief valve 131 is opened in the cover 134; on the cover 134 An adjusting member 1342 is provided, and the size of the accommodating cavity 1341 is adjusted by adjusting the adjusting member 1342, so as to increase the compression amount of the elastic member 1313 when the length of the accommodating cavity 1341 of the high pressure relief valve decreases, and/or When the length of the accommodating cavity 1341 of the low pressure relief valve increases, the compression amount of the elastic member 1313 is reduced, 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 solution, the size of the accommodating cavity 1341 is adjusted by the adjusting member 1342. The smaller the length of the accommodating cavity 1341, the greater the internal pressure, and the greater the opening pressure of the pressure relief valve 131, so that the use of Different liquid hydraulics enable different numbers of nozzles 130 to be opened, and the spray pattern and spray flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles 130. This saves the time for replacing the nozzles 130 and improves the work efficiency.

At the same time, the opening pressure of the pressure relief valve 131 can be adjusted by the external adjusting member 1342, which avoids the need to disassemble the pressure relief valve 131 to change the opening pressure of the pressure relief valve 131 by replacing the parts in the pressure relief valve 131. 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 low pressure relief valve. The opening pressure of the valve.

In this solution, the push resistance of the guide rod 1312 in the high pressure relief valve is greater than the push resistance of the guide rod 1312 in the low pressure relief valve. For example, the guide rod 1312 has different dynamic friction coefficients, and the guide rod 1312 with a large dynamic friction coefficient has more dynamic friction. The guide rod 1312 with a small coefficient needs more driving force to push the guide rod 1312, so that by changing the liquid hydraulic pressure, different liquid hydraulic pressures can be used to open different numbers of nozzles 130, which can be changed during the flight of the UAV With spray width and spray flow, there is no need to stop the machine to replace the nozzle 130, which saves the time for replacing the nozzle 130 and improves work efficiency.

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 desired operating speed to adjust the spray range of the UAV.

In this solution, the liquid driving device is a water pump, and the controller controls the opening and closing of the spray head 130 by controlling the rotation speed of the water pump. The control is more precise and the product reliability is higher.

In a specific embodiment of the present application, there are four nozzle assemblies 100 on the unmanned aerial vehicle, each spray assembly 10 includes two nozzles 130, and each nozzle 130 is provided with a pressure relief valve 131 and a nozzle. The pressure relief valve 131 is composed of The sealing valve plate 1311 is composed of 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 compresses the sealing valve plate 1311. The pressure relief valve 131 opens when the pressure is higher than the opening pressure , Closed when the pressure is lower than the opening pressure, the two pressure relief valves 131 have different opening pressures. For example, the opening pressure of the low pressure relief valve is set to 0.2MPa, and the opening pressure of the high pressure relief valve is set to 0.35MPa, and the liquid drive The device can be a water pump. When the speed of the water pump is low, when the No. 1 water pump is turned on and the pressure is 0.3 MPa, the low pressure relief valve corresponding to the No. 1 water pump is opened, and a nozzle 130 sprays with a flow rate of Q and a spray width of L. When the pressure of the No. 1 water pump increases to 0.6 MPa, the low pressure relief valve and the high pressure relief valve corresponding to the No. 1 water pump are opened, and the two nozzles 130 spray, the flow rate is 2Q, and the spray range is 2L; when the No. 1 water pump and the No. 2 pump When the pumps are turned on at the same time, and when the pressure of the No. 1 pump is 0.6 MPa and the pressure of the No. 2 pump is 0.3 MPa, the low pressure relief valve and the high pressure relief valve corresponding to the No. 1 pump are opened, and the low pressure relief valve corresponding to the No. 2 pump is a total of Three nozzles 130 spray, the flow is 3Q, the spray width is 3L, ... and so on, when the four water pumps are fully opened and all the nozzles 130 are fully opened, the flow is 8Q and the spray width is 8L.

Among them, the spray width of each nozzle may be different, so as to expand the adjustable range of spray width by increasing the number of nozzles 130, changing the nozzle type, and so on.

As shown in FIG. 7, the spraying operation method according to the embodiment of the present application, applied to the unmanned aerial vehicle in FIG. 1, includes: Step 402: Obtain a desired spray frame demand; Step 404: Determine according to the desired spray frame demand The desired working speed of the liquid driving device of the UAV; and step 406: controlling the liquid driving device to work at the desired working speed, and selectively turning on different numbers of nozzles of the UAV to change the Describe the spray pattern of the unmanned aerial vehicle.

In this solution, determine the expected working speed of the liquid driving device of the UAV according to the desired spray pattern. The change of the working speed of the liquid driving device can make the liquid be transported at different hydraulic pressures, and the pressure of the liquid is used to control the opening of the nozzle Or closed, because the opening pressures of the nozzles are different, different liquid hydraulic pressures can open different numbers of nozzles. Each nozzle has its own spray range and flow rate. By changing the number of nozzles working at the same time, the spray width and flow rate can be changed. In this way, it is possible to change the spray pattern and flow rate in real time for different types of plots. When the UAV flies to a new terrain for operation, the spray pattern can be adjusted to the new terrain in time to avoid re-spraying or missed spraying and improve the unmanned aerial vehicle. Flexibility. On the other hand, because this application uses different liquid hydraulic pressures to realize the opening of different numbers of nozzles, the nozzle width and flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles, which saves the time for nozzle replacement and improves Operation efficiency, and because there is no need for the user to manually replace the nozzle to adjust the flow rate, it prevents the user from touching the toxic liquid and improves the user experience.

Among them, the expected working speed can be calculated by the user according to the specific conditions of the plot, the number of nozzles that need to be turned on is determined according to the nozzle width, and the working speed of the liquid driving device is determined according to the number of nozzles that need to be turned on, that is, the desired work speed.

As shown in FIG. 8, in any of the above embodiments, the determining the expected operating speed of the liquid driving device of the UAV according to the expected spray pattern requirements specifically includes: Step 502: According to the expected spray pattern If required, determine the number of nozzles to be turned on; Step 504: Determine the driving mode according to the number of nozzles to be turned on and the preset driving priority, so as to determine the expected operating speed of each liquid driving device according to the driving mode, Wherein, the driving method includes step 506: high-speed driving of the liquid driving device, step 508: low-speed driving of the liquid driving device, and step 510: high-speed driving of part of the liquid driving device and low-speed driving of the other part.

In this solution, the preset drive priority pre-sets whether each liquid drive device has high pressure drive priority or low pressure drive priority. Different drive priority corresponds to opening different nozzles to increase the range of spray patterns to achieve Flexible settings to meet different spraying needs.

Each main pipe is equipped with a liquid driving device correspondingly to avoid that a liquid driving device needs to control too many nozzles. The opening pressure of each nozzle is different, which causes the working speed of the liquid driving device to change too much. Cause damage. On the other hand, each liquid driving device is only responsible for controlling a small number of nozzles. For example, 4 main pipes and 4 liquid driving devices are set. Each main pipe is equipped with a low pressure nozzle and a high pressure nozzle to reach each liquid. The driving device is only responsible for controlling a low-pressure nozzle and a high-pressure nozzle, which can effectively reduce the number of nozzles.

As shown in FIG. 9, in the above embodiment, step 602: the driving priority is high-speed driving priority. The liquid driving device drives a high-pressure nozzle and a low-pressure nozzle respectively when driving at a high speed, and when driving at a low speed Drive a low-pressure spray head, step 604: the determination of the driving mode according to the number of the spray heads and the preset driving priority specifically includes: step 606: if the number of the spray heads is an even number, determine the liquid drive according to the even number The number of openings of the device, and the liquid drive device to be operated is determined according to the code number of the liquid drive device to control the liquid drive device to operate in a high-speed drive mode; step 608: if the number of nozzles is an odd number, Then the number of openings of the liquid driving device is determined according to the odd number, and the liquid driving device to be operated is determined according to the code number of the liquid driving device, so as to control the liquid driving device of the previous sequence number to drive at a high speed. The liquid drive device with the last serial number runs in a low-speed drive mode.

In this solution, the driving priority is high-speed driving priority. For example, there are 4 nozzle assemblies on the UAV, and each nozzle assembly has a high-pressure nozzle and a low-pressure nozzle. When all 4 liquid driving devices are When driving at high speed, 8 nozzles can be turned on to work together. When it is determined that only 4 nozzles are required to work together, because high-speed driving is the priority, only 2 liquid driving devices are required to drive at high speed to open 4 nozzles to work together. Each nozzle has its own spraying area. According to the specific terrain, determine which liquid driving devices need to be driven at high speed and which liquid driving devices are not running; when it is determined that only 3 nozzles are required to work together, because high-speed driving is preferred, So only one liquid drive device is driven at high speed, and one liquid drive device is driven at low speed, and three nozzles can be turned on to work together. Each nozzle has its own spraying area. Determine which liquid drive devices are needed according to the specific terrain. High-speed driving, which liquid driving devices are driven at low speeds and which liquid driving devices are not running, so that different nozzles are turned on for specific terrain to achieve precise spraying.

As shown in FIG. 10, in the above embodiment, step 702: the driving priority is low-speed driving priority, and step 704: determining the driving mode according to the number of nozzles and the preset driving priority, which specifically further includes: 706: If the number of spray heads is less than or equal to the number of spray components, turn on the liquid driving device with the same number of spray heads according to the coding serial number of the liquid driving device and the preset inner and outer ring priority to Control the liquid driving device to operate in a low-speed driving mode; Step 708: If the number of the nozzles is greater than the number of the spray components, control to turn on all the liquid driving devices, and determine respectively according to the priority of the inner and outer rings The liquid driving device driven at low speed and the liquid driving device driven at high speed.

In this solution, the driving priority is low-speed driving priority. For example, there are 4 nozzle assemblies on the UAV, and each nozzle assembly is equipped with a high-pressure nozzle and a low-pressure nozzle. When all 4 liquid driving devices are When driving at low speed, 4 nozzles can be turned on to work together. When it is determined that only 3 nozzles are required to work together, since low speed driving is the priority, it is necessary to turn on 3 liquid driving devices to drive at low speed, which corresponds to opening 3 low pressure nozzles Work, each nozzle has its own spraying area, according to the specific terrain to determine which liquid driving devices need to be driven at low speed and which liquid driving devices are not running; when it is determined that only 5 nozzles are required to work together, because it is driven at low speed First, even if all the liquid driving devices are working and driven at low speed, only 4 low-pressure nozzles can be turned on at most, which cannot meet the spraying requirements. At this time, some of the liquid driving devices need to be driven at high speed, and only one high-pressure nozzle is turned on. It can meet the spraying needs. Each spray head has its own spray area. According to the specific terrain, determine which liquid driving devices need to be driven at high speed, which liquid driving devices are driven at low speed and which liquid driving devices are not running, so as to target specific terrain Open different nozzles to achieve precise spraying.

As shown in FIG. 11, in the above embodiment, step 810: determine the desired spray area according to the desired spray width requirement; step 820: determine the spray head 130 to be turned on that can cover the desired spray area; step 830: according to the The nozzle 130 to be opened determines the corresponding driving pressure of the liquid driving device to be operated.

In this scheme, generally speaking, the area to be sprayed is much larger than the maximum spray pattern of the UAV. The unmanned aerial vehicle needs to fly several times in the field to complete the spraying task. In this case, it is determined according to the desired spray pattern requirements. Expected spraying area, that is, determining the spraying area determined by the unmanned aerial vehicle for one flight according to the expected spraying requirements, determining the nozzles that can cover the expected spraying area according to the expected spraying area, and determining which nozzles to operate, and the nozzles that are determined to open determine the liquid The driving pressure of the driving device realizes the adjustment of the spray range according to the specific terrain, precise spraying, effectively avoiding the occurrence of respray or missing spray, and improving the reliability of the product.

In the foregoing embodiment, the determining the nozzles to be turned on that can cover the desired spraying area specifically includes: if it is detected that the desired spraying area is a strip-shaped area, determining the nozzles at the front and back sides Is the nozzle to be turned on.

In this solution, if it is detected that the expected spray area is a long strip area, the nozzles at the front and rear sides are determined as the nozzles to be opened, that is, the nozzle corresponding to the area to be sprayed is determined as the nozzles to be opened, and the nozzles to be sprayed The side of the nozzle corresponding to the area outside the area is not turned on, so that the spray range can be adjusted for the specific terrain, and the spray can be accurately sprayed, which effectively avoids the occurrence of respray or missed spray and improves the reliability of the product.

In the foregoing embodiment, the determining the nozzle to be turned on that can cover the desired spraying area specifically includes: if it is detected that the desired spraying area is a corner-shaped area, it is located in an included corner area corresponding to the corner-shaped area The nozzle is determined to be the nozzle to be turned on.

In this solution, when the desired spraying area is a corner area, the nozzles located in the angle area corresponding to the corner area are determined as the nozzles to be turned on, so as to adjust the spray width for specific terrain, spray accurately, and effectively avoid respray or The leakage of spray occurs, which improves the reliability of the product.

Of course, this solution does not limit the shape of the specific desired spray area. Those skilled in the art can set the number of nozzles to be turned on according to the shape of the actual desired spray area. The number of nozzles to be turned on can be flexibly adjusted for any terrain to achieve accuracy. spray.

In any of the foregoing embodiments, the desired spray rate requirement is determined by user input, or calculated and determined by a ground control terminal communicating with the UAV.

In this solution, the desired spray pattern requirement is determined by user input or calculated and determined by the ground control terminal communicating with the UAV. In this way, the desired spray pattern requirement can be changed at any time, thus realizing during the flight of the UAV Change the desired spray pattern and control the number of work of the spray head 130 to make the product more flexible.

The agricultural plant protection unmanned aerial vehicle kit according to the embodiment of the present application includes: an unmanned aerial vehicle and a ground control terminal, wherein the ground control terminal establishes a communication connection with the unmanned aerial vehicle to send control signals to the unmanned aerial vehicle, Or receive information collected by an unmanned aerial vehicle, wherein the ground control terminal determines the expected operating speed of the liquid driving device according to the expected spray rate requirements, and sends the expected operating speed of the liquid driving device to the People flying machine.

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

According to the computer-readable storage medium provided by the embodiment of the present application, a computer program is stored thereon, and when the computer program is executed by a processor, the steps of the spraying operation method as described in any one of the above are realized.

In summary, in the unmanned aerial vehicle, unmanned aerial vehicle kit, and spraying operation method provided in this application, the controller controls the liquid driving device to run at the desired working speed according to the desired working speed, and the change in the working speed of the liquid driving device can make the liquid be different Hydraulic pressure is used to control the opening or closing of the nozzles. Since the opening pressures of the nozzles are different, different liquid hydraulic pressures can open different numbers of nozzles. Each nozzle has its own spraying range and flow rate. The number of sprinklers working at the same time can change the spray pattern and flow rate, which can realize real-time change of spray pattern and flow rate for different types of land. When the UAV flies to new terrain, it can adjust the spray pattern in time for the new terrain to avoid repetition. The occurrence of spraying or missing spraying improves the flexibility of the UAV. On the other hand, because this application uses different liquid hydraulic pressures to realize the opening of different numbers of nozzles, the nozzle width and flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles, which saves the time for nozzle replacement and improves Operation efficiency, and because there is no need for the user to manually replace the nozzle to adjust the flow rate, it prevents the user from touching the toxic liquid and improves the user experience.

In this application, the terms "first", "second" and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or two Above, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the description of this application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front" and "rear" are based on the directions shown in the drawings. The or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the application.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in this application In at least one embodiment or example. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

The above are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

An unmanned aerial vehicle for agricultural plant protection, characterized in that it comprises:

frame;

The spray assembly is installed on the frame. The spray assembly includes a liquid drive device and a spray head assembly communicating with the liquid drive device. The spray head assembly includes at least two spray heads. The pitch axis directions of the unmanned aerial vehicle are arranged, and the at least two nozzles have at least two opening pressures,

A controller, electrically connected to the liquid driving device, for controlling the 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 acquired desired working speed of the liquid driving device to adjust the spray pattern of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 1, wherein:

The nozzle assembly includes a main pipe communicating with the liquid driving device, and two branch pipes communicating with the main pipe, wherein the liquid enters from the main pipe and diverges to the two branch pipes, and 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 is sprayed, and the low-pressure spray head is provided with a low-pressure relief valve for controlling whether the low-pressure spray head sprays,

Wherein, the controller determines the desired operating speed according to a desired spray width, an opening pressure of the high pressure relief valve, and an opening pressure of the low pressure relief valve.
The unmanned aerial vehicle according to claim 2, wherein:

The frame includes a fuselage and a plurality of machine arms arranged on the fuselage and arranged in a circumferential direction, and the spraying assembly is correspondingly installed at the outer end of the machine arm,

Wherein, the controller determines the covered spray assembly and the spray width of the spray assembly according to the acquired desired spray area.
The unmanned aerial vehicle according to claim 2, wherein:

Both the high-pressure nozzle and the low-pressure nozzle are provided with an inlet flow channel and an outlet flow channel;

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

The sealing valve plate is used to close the conduction between the inlet flow channel and the outlet flow channel;

A guide rod, the guide rod is used to press-fit the sealing valve disc;

The elastic member is sleeved on the guide rod and is used to transfer the resilient force generated after compression to the guide rod, so that the guide rod drives the sealing valve plate to close the valve,

Wherein, if the hydraulic pressure of the liquid is greater than the opening pressure by adjusting the liquid driving device, the sealing valve plate is opened to make the liquid inlet flow channel communicate with the liquid outlet flow channel.
The unmanned aerial vehicle of claim 4, wherein:

The high-pressure relief valve is provided with a long elastic member, and the low-pressure relief valve is provided with a short elastic member. After the different elastic members are sheathed on the guide rod, there are correspondingly different pre-pressures to Make the opening pressure of the high pressure relief valve greater than the opening pressure of the low pressure relief valve.
The unmanned aerial vehicle of claim 4, wherein:

The length of the guide rod of the high-pressure relief valve is less than the length of the guide rod in the low-pressure relief valve, and the same elastic member is sleeved on the guide rod to have different pre-pressures to make The opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.
The unmanned aerial vehicle of claim 4, wherein:

The elastic coefficient of the elastic member in the high pressure relief valve is greater than the elastic coefficient of the elastic member 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.
The unmanned aerial vehicle of claim 4, wherein:

The sealing area in the high pressure relief valve is larger than the sealing area in the low pressure relief valve.
The unmanned aerial vehicle of claim 4, wherein:

A cover is also installed on the nozzle, and an accommodation cavity for accommodating the pressure relief valve is opened in the cover;

The cover is provided with an adjusting member, and the size of the accommodating cavity is adjusted by adjusting the adjusting member, so as to increase the compression amount of the elastic member when the length of the accommodating cavity of the high pressure relief valve decreases, and/or When the length of the accommodating cavity of the low pressure relief valve increases, the compression amount of the elastic member is reduced, so that the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.
The unmanned aerial vehicle according to claim 10, wherein:

The pushing resistance of the guide rod in the high pressure relief valve is greater than the pushing resistance of the guide rod 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.
The unmanned aerial vehicle according to any one of claims 1 to 10, wherein:

The liquid driving device is a water pump;

The controller controls the water pump to rotate according to the desired operating speed to adjust the spray width of the UAV.
A spraying operation method of an unmanned aerial vehicle for agricultural plant protection, which is characterized in that it comprises:

Obtain the desired spray fan demand;

Determine the expected operating speed of the liquid driving device of the UAV according to the expected spray rate requirements; and

The liquid driving device is controlled to work at the desired operating speed, and different numbers of nozzles of the unmanned aerial vehicle are selectively turned on to change the spray pattern of the unmanned aerial vehicle.
The spraying operation method according to claim 12, wherein the determining the expected operating speed of the liquid driving device of the unmanned aerial vehicle according to the expected spray rate requirement specifically comprises:

Determine the number of nozzles to be turned on according to the desired spray width requirements;

The driving mode is determined according to the number of nozzles to be turned on and the preset driving priority to determine the expected operating speed of each liquid driving device according to the driving mode, wherein the driving mode includes the liquid driving device Both the high-speed drive and the liquid drive device are driven at a low speed, and part of the liquid drive device is driven at a high speed and the other part is driven at a low speed.
The spraying operation method of claim 13, wherein the driving priority is high-speed driving priority, and the liquid driving device drives a high-pressure nozzle and a low-pressure nozzle respectively when driving at a high speed, and when driving at a low speed Driving a low-pressure nozzle, and determining the driving mode according to the number of the nozzles and the preset driving priority includes:

If the number of nozzles is an even number, the number of openings of the liquid driving device is determined according to the even number, and the liquid driving device to be operated is determined according to the code number of the liquid driving device to control the liquid driving device Run in a high-speed drive mode;

If the number of nozzles is an odd number, the number of openings of the liquid driving device is determined according to the odd number, and the liquid driving device to be operated is determined according to the coding sequence number of the liquid driving device to control all the previous sequence numbers. The liquid driving device operates in a high-speed driving mode, and the liquid driving device with the last serial number operates in a low-speed driving mode.
The spraying operation method according to claim 14, wherein the driving priority is low-speed driving priority, and determining the driving mode according to the number of the nozzles and the preset driving priority, specifically further comprises:

If the number of spray heads is less than or equal to the number of spray components, the liquid driving device with the same number of spray heads is turned on according to the coding sequence number of the liquid driving device and the preset inner and outer ring priority to control all The liquid driving device operates in a low-speed driving mode;

If the number of spray heads is greater than the number of spray components, control to turn on all the liquid driving devices, and determine the low-speed driving liquid driving device and the high-speed driving liquid driving device according to the priority of the inner and outer rings. Liquid drive device.
The spraying operation method according to claim 13, characterized in that it further comprises:

Determine the desired spray area according to the desired spray width requirements;

Determine the nozzle to be turned on that can cover the desired spray area;

The corresponding driving pressure of the liquid driving device to be operated is determined according to the nozzle to be opened.
The spraying operation method according to claim 16, wherein the determining the spray head to be turned on that can cover the desired spraying area specifically comprises:

If it is detected that the desired spray area is a long strip area, the spray heads at the front side and the back side are determined as the spray heads to be turned on.
The spraying operation method according to claim 16, wherein the determining the spray head to be turned on that can cover the desired spraying area specifically comprises:

If it is detected that the desired spraying area is a corner-shaped area, the nozzles located in the angled area corresponding to the corner-shaped area are determined to be the nozzles to be turned on.
The spraying operation method according to any one of claims 12 to 18, further comprising:

The desired spray rate requirement is determined by user input or calculated and determined by the ground control terminal communicating with the UAV.
An unmanned aerial vehicle kit for agricultural plant protection, characterized in that it comprises:

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

The ground control terminal establishes a communication connection with the UAV,

Wherein, the ground control terminal determines the expected operating speed of the liquid driving device according to the expected spray pattern demand, and sends the expected operating speed of the liquid driving device to the unmanned aerial vehicle.
The kit of an unmanned aerial vehicle for agricultural plant protection according to claim 20, wherein:

The ground control terminal includes at least one of the following: a remote control of an unmanned aerial vehicle, a remote computer, a server, and a network base station.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the spraying operation method according to any one of claims 12 to 19 when the computer program is executed by a processor.