WO2020199025A1

WO2020199025A1 - Spray head assembly, spraying device and method using same, control device and unmanned aerial vehicle

Info

Publication number: WO2020199025A1
Application number: PCT/CN2019/080647
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: CN111343863B; CN111343863A

Abstract

Provided is a spray head assembly, comprising a main pipe (110), at least two branch pipes (120) and at least two spray heads (130). A pressure release valve (131) is impacted by the pressure of a liquid, the opening and closing of the pressure release valve (131) is controlled, different numbers of the spray heads can be opened, and the number of the spray heads working simultaneously is changed, such that the flow rate of the spraying is changed without stopping to replace the spray head, the time used for replacing the spray head is saved on, and the operation efficiency is improved, and on the other hand, due to the fact that a user does not need to manually replace the spray head to adjust the flow rate, the situation where the user touches toxic liquid is avoided, such that the usage experience of the user is improved. Further provided is a spraying device, a spraying operation method, a spraying operation control device, an unmanned aerial vehicle, and a computer-readable storage medium.

Description

Nozzle assembly, spraying device and method, control device and unmanned aerial vehicle

Technical field

This application relates to the field of unmanned aerial vehicles, and specifically to a spray head assembly, a spraying device, a spraying operation method, a spraying operation control device, an unmanned aerial vehicle, 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) Since they are all quantitative spraying systems, variable spraying cannot be achieved unless the nozzles are replaced;

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

(3) In addition, 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 an increasing demand for nozzles that can be replaced online and variable spraying can be achieved during airplane flight.

Summary of the invention

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

Another object of the application is to provide a spraying device for unmanned aerial vehicles for agricultural plant protection.

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

Another object of the present application is to provide a spraying operation control device.

Another object of this application is to provide an unmanned aerial vehicle.

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 a sprinkler assembly for an unmanned aerial vehicle for agricultural plant protection. The sprinkler assembly includes: a main pipe for communicating with an external liquid driving device; at least two branch pipes, Are respectively communicated with the main pipe, wherein the liquid enters from the main pipe and diverges to the two branch pipes; and at least two nozzles are respectively communicated with the at least two branch pipes, and a pressure relief valve is provided in the nozzles The pressure relief valve includes a high pressure relief valve and a low pressure relief valve, the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve, wherein if the hydraulic pressure of the liquid entering the main pipe is greater than or equal to The opening pressure of the high-pressure relief valve, the at least two nozzles are opened and sprayed at the same time. If the liquid hydraulic pressure is less than the opening pressure of the high-pressure relief valve and greater than or equal to the opening pressure of the low-pressure relief valve, Then, the spray head provided with the low pressure relief valve starts spraying. If the hydraulic pressure of the liquid is less than the opening pressure of the low pressure relief valve, the at least two spray heads are not opened.

The spraying device provided by the embodiment of the second aspect of the present application is an unmanned aerial vehicle for agricultural plant protection. The spraying device includes: a liquid drive device; a main pipe, one end of the main pipe is connected to the liquid drive device; at least two branch pipes are connected to each The other end of the main pipe is communicated, wherein the liquid enters from the main pipe and diverges to the two branch pipes; and at least two spray heads respectively communicate with the at least two branch pipes, and a pressure relief is provided in the spray head The pressure relief valve includes a high pressure relief valve and a low pressure relief valve. The opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve. The liquid hydraulic pressure of the main pipe, if the liquid hydraulic pressure is greater than or equal to the opening pressure of the high pressure relief valve, the at least two nozzles will start spraying at the same time. If the liquid hydraulic pressure is less than the opening pressure of the high pressure relief valve and greater than Or equal to the opening pressure of the low-pressure relief valve, the nozzle with the low-pressure relief valve is set to start spraying. If the hydraulic pressure of the liquid is less than the opening pressure of the low-pressure relief valve, the at least two nozzles will not open .

The spraying operation method provided by the embodiment of the third aspect of the present application is used for agricultural plant protection unmanned aerial vehicles, and is suitable for the spraying device described in any one of the above. The spraying operation method includes: obtaining a desired spraying flow rate; and according to the desired spraying flow rate , Determine the spray mode of the spray device, wherein the spray device is provided with a high pressure spray head and a low pressure spray head, the opening pressure of the high pressure spray head is greater than the opening pressure of the low pressure spray head, and the spray mode of the spray device includes: Turn on the high-pressure spray head and the low-pressure spray head, turn on only the low-pressure spray head and close the high-pressure spray head and the low-pressure spray head at the same time; and determine the driving pressure of the liquid driving device according to the spray mode.

The spraying operation control device provided by the embodiment of the fourth aspect of the present application is used for agricultural plant protection unmanned aerial vehicles. The spraying operation control device includes: a memory and a processor; the memory is used to store program codes; the processor is used Call the program code to execute: obtain the expected spray flow; determine the spray mode of the spray device according to the expected spray flow, wherein the spray device is provided with a high-pressure spray head and a low-pressure spray head, and the opening pressure of the high-pressure spray head is greater than Regarding the opening pressure of the low-pressure spray head, the spray mode of the spraying device includes: simultaneously turning on the high-pressure spray head and the low-pressure spray head, turning on only the low-pressure spray head, and simultaneously turning off the high-pressure spray head and the low-pressure spray head; and according to the spraying Mode to determine the driving pressure of the liquid driving device.

The unmanned aerial vehicle provided by the embodiment of the fifth aspect of the present application includes: a fuselage; an arm mounted on the fuselage; the spray device according to any one of the above, mounted on the arm or fuselage上; and/or the above-mentioned spraying operation control device.

The computer-readable storage medium provided by the embodiment of the sixth aspect of the present application has a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the spraying operation methods described above are realized.

The nozzle assembly provided by the above-mentioned embodiments of the present application changes the liquid hydraulic pressure. On the one hand, different liquid hydraulic pressures are used to open different numbers of nozzles, so that the spraying flow can be changed during the flight of the UAV without stopping the machine to replace the nozzles, saving The time to replace the nozzle is improved, and the work efficiency is improved. On the other hand, since the user does not need to manually replace the nozzle to adjust the flow rate, the user is prevented from touching the toxic liquid, and the user experience is improved.

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 front view of the structure of a spray head device according to an embodiment of the present application;

2 is a schematic cross-sectional structure diagram of the spray head in the spray head assembly according to an embodiment of the present application;

3 is a schematic diagram of the left side view of the structure of the spray head in the spray head assembly according to an embodiment of the present application;

4 is a schematic diagram of the right side view of the structure of the spray head in the spray head assembly according to an embodiment of the present application;

FIG. 5 is a schematic top view of the structure of the spray head in the spray head assembly according to an embodiment of the present application;

Fig. 6 is a schematic bottom view of the structure of the nozzle in the nozzle assembly according to an embodiment of the present application;

FIG. 7 is a schematic rear view of the structure of the spray head device according to an embodiment of the present application;

FIG. 8 is a schematic diagram of the left side view of the spray head device according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a right side view of the spray head device according to an embodiment of the present application;

FIG. 10 is a schematic top view of the structure of the spray head device according to an embodiment of the present application;

FIG. 11 is a schematic bottom view of the structure of the spray head device according to an embodiment of the present application;

Figure 12 is a schematic flow chart of a spraying operation method according to an embodiment of the present application;

Figure 13 is a schematic flow chart of a spraying method according to an embodiment of the present application;

FIG. 14 is a schematic flowchart of a spraying operation method according to an embodiment of the present application;

15 is a schematic block diagram of a spraying operation control device according to an embodiment of the present application;

Fig. 16 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

Among them, the corresponding relationship between the reference signs and component names in Figures 1 to 16 is:

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, inlet flow channel 132, outlet flow channel 133, cover body 134, containing cavity 1341, adjusting member 1342, nozzle 135, spraying operation control device 300, memory 310, processor 320, body 20, and 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.

Hereinafter, the spray head assembly 100 according to some embodiments of the present application will be described with reference to FIGS. 1 to 11.

Example one

As shown in FIG. 1, the sprinkler assembly 100 according to an embodiment of the present application, an unmanned aerial vehicle used for agricultural plant protection, includes: a main pipe 110 for communicating with an external liquid driving device; at least two branch pipes 120, respectively The main pipe 110 is connected, and the liquid enters from the main pipe 110 and diverges to the two branch pipes 120; and at least two spray heads 130 are respectively connected to the at least two branch pipes 120. The spray head 130 is provided with a pressure relief valve 131 and a pressure relief valve 131 Including a high pressure relief valve and a low pressure relief valve. The opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve. Among them, if the hydraulic pressure of the liquid entering the main pipe 110 is greater than or equal to the opening pressure of the high pressure relief valve, at least two The nozzle 130 starts spraying at the same time. If the liquid hydraulic pressure is less than the opening pressure of the high pressure relief valve and greater than or equal to the opening pressure of the low pressure relief valve, the nozzle 130 with the low pressure relief valve will start spraying. If the liquid hydraulic pressure is less than the low pressure relief valve When the opening pressure is higher, at least two nozzles 130 are not opened.

Specifically, as shown in FIG. 1, two nozzles 130 are set as an example. One nozzle 130 is provided with a high-pressure relief valve, and the other nozzle 130 is provided with a low-pressure relief valve. The pressure-relief valve 131 is controlled by the impact of liquid pressure. The opening and closing of the pressure valve 131 can open different numbers of nozzles 130 and change the number of nozzles 130 working at the same time, thus realizing the change of spraying flow. Compared with the existing pressure spraying system, the variable can only be realized by changing the nozzles 135 of different flow. In terms of spraying, the nozzle assembly 100 provided by this solution uses different liquid hydraulic pressures to open different numbers of nozzles 130. The spraying flow can be changed during the flight of the unmanned aerial vehicle. There is no need to stop and replace the nozzles 130, saving It saves the time to replace the nozzle 130 and improves the work efficiency. On the other hand, there is no need for the user to manually replace the nozzle 135, which prevents the user from touching the toxic liquid and improves the user's experience.

Among them, Fig. 3, Fig. 4 and Fig. 5 also show the outline structure of the pressure relief valve in different directions.

Of course, this solution does not limit the number of nozzles 130, and those skilled in the art can set three, four, five or even more nozzles 130 as needed. The opening pressure of the pressure relief valve 131 provided on each nozzle 130 can be increased in steps, or the opening pressure of some of the pressure relief valves 131 in multiple nozzles 130 can be set to be the same. For example, the nozzle assembly 100 has a total of 6 nozzles. 130, the opening pressure of the pressure relief valve 131 of the two nozzles 130 is 0.2MPa, the opening pressure of the pressure relief valve 131 of the two nozzles 130 is 0.35MPa, and the opening pressure of the pressure relief valve 131 of the two nozzles 130 is 0.5MPa When the input liquid pressure is 0.2MPa, the 2 nozzles 130 are opened, when the liquid pressure is increased to 0.4MPa, the 4 nozzles 130 are opened, and when the liquid pressure is increased to 0.5MPa, the 6 nozzles 130 are opened. It is possible to open multiple spray heads 130 at the same time by changing the liquid hydraulic pressure once, the operation is simple, and the spraying efficiency of the spray head assembly 100 is higher.

The following is a detailed introduction on how to limit the high pressure relief valve and the low pressure relief valve.

In the above embodiment, as shown in Figure 2, the nozzle 130 is provided with an inlet flow channel 132 and an outlet flow channel 133; the pressure relief valve 131 includes: a sealing valve plate 1311 for sealing the inlet flow channel 132 and the outlet flow The conduction between the channels 133; the guide rod 1312, the guide rod 1312 is used to press and seal the valve plate 1311; the elastic member 1313 is sleeved on the guide rod 1312, and is used to transfer the resilient force generated to the guide rod after compression 1312, the guide rod 1312 drives the sealing valve plate 1311 to close, wherein if the hydraulic pressure of the liquid is greater than the opening pressure, the sealing valve plate 1311 opens to make the inlet fluid passage 132 and the outlet fluid 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 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 the work efficiency.

Preferably, the elastic member 1313 is a spring.

Example 1.1

In the above embodiment, as shown in Figure 2, a long elastic member 1313 is provided in the high pressure relief valve, and a short elastic member 1313 is provided in the low pressure relief valve. Different elastic members 1313 are sleeved on the guide rod 1312 and have different To make the opening pressure of the high pressure relief valve 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 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, which has the same effect on the elastic member 1313. The long elastic member 1313 and the shorter elastic member 1313 can produce greater resilience, that is, the long elastic member 1313 and the shorter elastic member 1313 have a greater pre-compression, and a greater hydraulic pressure is required to push open the sealing valve disc 1311, so as to realize that by changing the liquid hydraulic pressure, different numbers of nozzles 130 can be opened by using different liquid hydraulic pressures, and the spraying 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 of replacing the nozzles 130. Improve work efficiency.

Example 1.2

In the above-mentioned embodiment, as shown in FIG. 2, different opening pressures of the pressure relief valve are achieved by setting guide rods of different lengths. 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. The same elastic member 1313 is sleeved on the guide rod 1312 and has different pre-pressure correspondingly, so that the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.

In this 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 spraying 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.

Example 1.3

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

In this solution, on the premise that the internal space of the pressure relief valve 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. 1313 acts on the same force, the elastic element 1313 with a high elastic coefficient 1313 and the elastic element 1313 with a lower elastic coefficient can generate greater resilience, that is, the elastic element 1313 with a high elastic coefficient is the preload of the elastic element 1313 with a lower elastic coefficient Larger, more hydraulic pressure is required to push open the sealing valve plate 1311, so that by changing the liquid hydraulic pressure, using different liquid hydraulic pressures to open different numbers of nozzles 130, the spraying flow 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.

Example 1.4

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 said sealing area in the low-pressure relief valve. For example, the internal sealing area of the pressure relief valve can be changed by different apertures of the pressure relief valve. The larger the sealing area, the pressure will be generated. The larger the size, the greater the force of the guide rod 1312 used for the sealing valve plate 1311, and greater hydraulic pressure is required to push the sealing valve plate 1311 open, so as to achieve different numbers of openings by changing the liquid hydraulic pressure and using different liquid hydraulic pressures. The nozzle 130 can be used to change the spraying flow rate during the flight of the unmanned aerial vehicle. There is no need to stop the machine to replace the nozzle 130, which saves the time for replacing the nozzle 130 and improves operation efficiency.

Example 1.5

In the above embodiment, as shown in FIG. 5, a cover 134 is also installed on the spray head 130. The cover 134 is provided with an accommodation cavity 1341 for accommodating the pressure relief valve 131; the cover 134 is provided with an adjusting member 1342, The adjusting member 1342 adjusts the size of the accommodating cavity 1341, thereby increasing 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 spraying flow can be changed during the flight of the UAV without shutting down to replace the nozzles 130, which saves the time for replacing the nozzles 130 and improves operation 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.

Example 1.6

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

In this 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 The spraying flow does not need to stop the machine to replace the nozzle 130, which saves the time for replacing the nozzle 130 and improves work efficiency.

As shown in FIG. 7, in any of the above embodiments, a detachable nozzle 135 is installed at the outlet of the spray head 130, and the nozzle 135 includes a fan nozzle 135 and a cone nozzle 135.

In this solution, a detachable nozzle 135 is installed at the outlet of the spray head 130. In this way, the replacement of the nozzle 135 can be realized. Among them, the nozzles 135 of the same type or different types can be used among the nozzles 135. Nozzles 135, different types of nozzles 135 have different spray flow rates, which further increases the amount of change in spraying of the spray head 130.

In the foregoing embodiment, a solenoid valve is provided in the nozzle 135 to open the nozzle 135 by controlling the solenoid valve to be energized.

In this solution, the solenoid valve is energized to open the nozzle 135. The solenoid valve is equivalent to the second control switch except the pressure relief valve 131. Only when the solenoid valve is energized to open the nozzle 135, the nozzle 135 can start spraying. When the solenoid valve is not energized, even if the liquid hydraulic pressure exceeds the opening pressure of the pressure relief valve 131, it will be blocked by the solenoid valve. This prevents the nozzle 135 from being sprayed incorrectly due to factors such as liquid hydraulic instability and improves product reliability.

10 and 11 respectively show the top structure and bottom structure of the bracket 140.

In addition, FIG. 9 also shows the relative positional relationship between the main pipe 110, the branch pipe 120, and the bracket 140 from a side perspective.

In a specific embodiment of the present application, the spray assembly includes two spray heads 130. Each spray head 130 is provided with a pressure relief valve 131 and a nozzle 135. The pressure relief valve 131 is composed of a sealing valve plate 1311, a spring and a guide rod 1312, and a spring sleeve Set 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, and closes when the pressure is lower than the opening pressure. Two pressure relief valves 131 It has 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. The liquid driving device can be a water pump. When the pump speed is low, the liquid pressure When the pressure is 0.3MPa, the low pressure relief valve is opened, and one nozzle 130 sprays; when the flow rate is increased, the speed of the water pump is doubled, and the liquid pressure rises, and the high pressure relief valve is also opened. The two nozzles 130 spray at the same time, and the flow rate is reversed. Times. When it is necessary to return to a low flow rate, the pump speed is halved, the liquid pressure is reduced, the high pressure relief valve is automatically closed, the low pressure relief valve remains open, and a nozzle 135 sprays.

Among them, the spraying flow rate of each nozzle 135 may be different, so that the adjustable range of the flow rate can be expanded by increasing the number of nozzles 130, changing the type of nozzles 135, and so on.

Example two

As shown in FIG. 7, the spraying device according to the embodiment of the present application includes: a liquid driving device (not shown in the figure); a main pipe 110, one end of the main pipe 110 is in communication with the liquid driving device; at least two branch pipes 120 are respectively connected to The other end of the main pipe 110 is connected, where the liquid enters from the main pipe 110 and diverges to two branch pipes 120; and at least two spray heads 130 are respectively connected to at least two branch pipes 120. A pressure relief valve 131 is provided in the spray head 130 to discharge The pressure valve 131 includes a high-pressure relief valve and a low-pressure relief valve. The opening pressure of the high-pressure relief valve is greater than the opening pressure of the low-pressure relief valve. Among them, the liquid hydraulic pressure entering the main pipe 110 is adjusted by the liquid driving device. If the opening pressure of the high-pressure relief valve is at least two nozzles 130 open and spray at the same time, if the hydraulic pressure of the liquid is less than the opening pressure of the high-pressure relief valve and greater than or equal to the opening pressure of the low-pressure relief valve, the nozzle of the low-pressure relief valve is set 130 starts spraying. If the hydraulic pressure of the liquid is less than the opening pressure of the low pressure relief valve, at least two spray heads 130 are not opened.

Specifically, two nozzles 130 are set as an example. One nozzle 130 is provided with a high pressure relief valve, and the other nozzle 130 is provided with a low pressure relief valve. The pressure relief valve 131 is used to control the opening and Closed, so as to realize the opening of different numbers of nozzles 130, and to change the number of nozzles 130 working at the same time, so as to realize the change of spraying flow. Compared with the existing pressure spraying system, it can only realize variable spraying by changing nozzles 135 of different flow. The nozzle assembly 100 provided can open different numbers of nozzles 130 by changing the liquid hydraulic pressure and use different liquid hydraulic pressures. The spraying flow can be changed during the flight of the unmanned aerial vehicle. There is no need to stop the machine to replace the nozzle 130, which saves the time for replacing the nozzle 130. , Improve work efficiency. On the other hand, since there is no need for the user to manually replace the spray head 130 to adjust the flow rate, it is avoided that the user touches the toxic liquid, and the user experience is improved.

In the above embodiment, as shown in Figure 2, the nozzle 130 is provided with an inlet flow channel 132 and an outlet flow channel 133; the pressure relief valve 131 includes: a sealing valve plate 1311 for sealing the inlet flow channel 132 and the outlet flow The conduction between the channels 133; the guide rod 1312, the guide rod 1312 is used to press and seal the valve plate 1311; the elastic member 1313 is sleeved on the guide rod 1312, and is used to transmit the resilient force generated to the guide rod after compression 1312. The guide rod 1312 drives the sealing valve plate 1311 to close the valve. If the liquid hydraulic pressure is greater than the opening pressure by adjusting the liquid driving device, the sealing valve plate 1311 opens to make the inlet fluid passage 132 and the outlet fluid passage 133 communicate.

Preferably, the elastic member 1313 is a spring.

Example 2.1

In the above embodiment, a long elastic member 1313 is provided in the high-pressure relief valve, and a short elastic member 1313 is provided in the low-pressure relief valve. Different elastic members 1313 are sleeved on the guide rod 1312 and have different preloads corresponding to Make the opening pressure of the high pressure relief valve greater than the opening pressure of the low pressure relief valve.

Example 2.2

In the above embodiment, as shown in FIG. 8, 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. The same elastic member 1313 is sleeved on the guide rod 1312 and has different Pre-pressure so that the opening pressure of the high pressure relief valve is greater than the opening pressure of the low pressure relief valve.

Example 2.3

Example 2.4

Example 2.5

In the above embodiment, a cover 134 is also installed on the spray head 130, and the cover 134 is provided with an accommodation cavity 1341 for accommodating the pressure relief valve 131; the cover 134 is provided with an adjustment member 1342, and the accommodation is adjusted by the adjustment adjustment member 1342 The size of the cavity 1341 increases the compression of the elastic member 1313 when the length of the accommodating cavity 1341 of the high-pressure relief valve decreases, and/or reduces the compression of the elastic member 1313 when the length of the accommodating cavity 1341 of the low-pressure relief valve increases So that the opening pressure of the high pressure relief valve is greater than that of the low pressure relief valve.

Example 2.6

In any of the foregoing embodiments, a detachable nozzle 135 is installed at the outlet of the spray head 130, and the nozzle 135 includes a fan nozzle 135 and a cone nozzle 135.

Example three

Hereinafter, the spraying operation method using the spraying device of the unmanned aerial vehicle for agricultural plant protection defined in this application will be further described in conjunction with the above-mentioned FIGS. 12 to 14.

As shown in FIG. 12, the spraying operation method according to the embodiment of the present application includes: Step 302: Obtain the desired spraying flow; Step 304: Determine the spraying mode of the spraying device according to the desired spraying flow, wherein the spraying device is provided with a high-pressure nozzle As for the low pressure nozzle, the opening pressure of the high pressure nozzle is greater than the opening pressure of the low pressure nozzle. The spray mode of the spray device includes: Step 306: Turn on the high pressure nozzle and the low pressure nozzle at the same time, Step 308: Turn on only the low pressure nozzle and Step 310: Turn off the high pressure nozzle and Low-pressure spray head; and step 312: Determine the driving pressure of the liquid driving device according to the spray mode.

The expected spraying flow rate is the spraying amount per unit time of the nozzle assembly 100 that the user expects, or the user determines the number of nozzles 130 that need to be turned on according to the calculated spraying flow rate in advance according to the expected spraying flow rate. Take two nozzles 130 as an example. When the desired spray flow rate can be reached by a low-pressure nozzle, control the liquid driving device to drive the liquid so that the hydraulic pressure of the liquid is greater than or equal to the opening pressure of the low-pressure nozzle and the hydraulic pressure is less than the opening pressure of the high-pressure nozzle. At this time, only the low-pressure nozzle is turned on. ; When the desired spraying flow is a low-pressure nozzle and a high-pressure nozzle at the same time, the liquid driving device is controlled to drive the liquid so that the hydraulic pressure of the liquid is greater than or equal to the opening pressure of the high-pressure nozzle. At this time, the low-pressure nozzle and the high-pressure nozzle are simultaneously Start work.

When it is necessary to stop spraying, reduce or stop the driving pressure of the liquid driving device so that the liquid pressure is less than the opening pressure of the low-pressure nozzle or the liquid pressure is 0. At this time, both the high-pressure nozzle and the low-pressure nozzle are closed, thereby stopping the nozzle assembly 100 Spray work.

This solution does not specifically limit the desired spraying flow rate and the number of spray heads 130, and those skilled in the art can determine the desired spraying flow rate and the number of spray heads 130 according to specific requirements.

In this solution, the spraying flow can be changed by opening different numbers of nozzles 130 and changing the number of nozzles 130 working at the same time. Compared with the existing pressure spraying system, it can only achieve variable spraying by replacing nozzles 135 with different flow rates. This solution provides By changing the liquid hydraulic pressure, the nozzle assembly 100 uses different liquid hydraulic pressures to open different numbers of nozzles 130, and the spraying flow can be changed during the flight of the unmanned aerial vehicle. There is no need to stop the machine to replace the nozzle 130, which saves the time of replacing the nozzle 130. Improve work efficiency. On the other hand, since there is no need for the user to manually replace the spray head 130 to adjust the flow rate, it is avoided that the user touches the toxic liquid, and the user experience is improved.

In detail, how to determine the spraying mode of the spraying device according to the expected spraying flow specifically includes the following steps, as shown in FIG. 13, Step 402: Determine the spraying mode of the spraying device according to the expected spraying flow, specifically including: Step 404: Determine the desired spraying Whether the flow rate is greater than the first flow rate threshold, if yes, proceed to step 406: control to turn on the high-pressure nozzle and low-pressure nozzle at the same time; if not, proceed to step 408: further determine whether the expected spray flow rate is less than the first flow threshold and greater than or equal to the second If the flow threshold value is yes, proceed to step 410: control to turn on the low-pressure spray head, if not, then end, without turning on any spray head 130, wherein the second flow rate threshold is less than the first flow threshold.

In this solution, the first flow threshold is the spray flow generated by the low-pressure nozzle, and the second flow threshold is greater than 0L/min. The desired spray flow is greater than the first flow threshold, that is, the desired spray flow is greater than the low-pressure nozzle. Spraying flow rate. At this time, the spraying flow produced by low-pressure nozzles alone cannot meet the spraying needs. It is necessary to increase the number of nozzles 130 to control the liquid hydraulic pressure to be greater than the opening pressure of the high-pressure nozzles, so that the high-pressure nozzles and low-pressure nozzles work together to meet the spraying needs; The desired spray flow rate is less than the first flow threshold and greater than or equal to the second flow threshold, that is, the desired spray flow is less than the spray flow produced by the low-pressure nozzle and the high-pressure nozzle working together, or the spray flow generated by the low-pressure nozzle is sufficient for spraying Demand, in order to avoid unnecessary waste caused by excessive spraying volume, control the liquid hydraulic pressure to be less than the opening pressure of the high-pressure nozzle and greater than or equal to the opening pressure of the low-pressure nozzle, so that the low-pressure nozzle works and the high-pressure nozzle does not work. Effectively control the number of nozzles 130 working, which not only meets the spraying requirements without causing waste, and achieves precise spraying.

Furthermore, as shown in FIG. 14, there are at least two high-pressure spray heads and/or low-pressure spray heads. Step 502: Determine the spray mode of the spray device according to the expected spray flow rate, which specifically includes: Step 504: Determine whether the expected spray flow rate is greater than The third flow threshold, if yes, go to step 506: control to turn on all high-pressure nozzles and low-pressure nozzles at the same time; if not, go to step 508: further determine whether the expected spray flow is less than the third flow threshold and greater than or equal to the fourth flow threshold , If yes, proceed to step 510: control to turn on all low-pressure nozzles and some high-pressure nozzles; if not, proceed to step 512: further determine whether the expected spraying flow is less than the fourth flow threshold and greater than or equal to the fifth flow threshold, if yes, then Perform step 514: control to turn on a part of the low-pressure nozzles. If not, it ends and no nozzles 130 are turned on. The third flow threshold is greater than the fourth flow threshold, and the fourth flow threshold is greater than the fifth flow threshold.

In this solution, there are at least two high-pressure nozzles and/or low-pressure nozzles, that is, there are at least three high-pressure nozzles and low-pressure nozzles. The following takes two high-pressure nozzles and two low-pressure nozzles as an example, and the opening pressure of low-pressure nozzle 1 is a, the opening pressure of low-pressure nozzle 2 is b, the opening pressure of high-pressure nozzle 1 is c, and the opening pressure of high-pressure nozzle 2 is d, where a<b<c<d, and the third flow threshold is low-pressure nozzle 1, low-pressure nozzle 2 The spraying flow produced by working together with high-pressure nozzle 1, the fourth flow threshold is the spraying flow produced by low-pressure nozzle 1 and low-pressure nozzle 2 working together, and the fifth flow threshold is greater than the spraying flow produced by low-pressure nozzle 1 working together, and spraying is expected The flow is greater than the third flow threshold, that is, the expected spray flow is greater than the spray flow generated by the low-pressure nozzle 1, the low-pressure nozzle 2 and the high-pressure nozzle 1 working together. At this time, all nozzles need to be turned on to meet the spraying demand, and the control liquid hydraulic pressure is greater than The opening pressure d of the high-pressure nozzle 2 makes all the nozzles work together to meet the spraying demand; the expected spraying flow is less than the third flow threshold and greater than or equal to the fourth flow threshold, that is, the expected spraying flow is less than the spraying produced by all the nozzles working together Flow rate, or the spraying flow generated by the working of low-pressure nozzle 1, low-pressure nozzle 2 and high-pressure nozzle 1, meets the spraying demand. To avoid unnecessary waste due to excessive spraying volume, control the liquid hydraulic pressure to be less than the opening pressure of high-pressure nozzle 2. And is greater than or equal to the opening pressure c of the high-pressure nozzle 1 to realize the low-pressure nozzle 1, the low-pressure nozzle 2 and the high-pressure nozzle 1 work together, and the high-pressure nozzle 2 does not work; the expected spray flow is less than the fourth flow threshold and greater than or equal to the fifth flow Threshold, that is, the expected spraying flow rate is less than the spraying flow rate generated by all low-pressure nozzles working together, or the spraying flow rate generated by the low-pressure nozzle 1 working to meet the spraying requirements, in order to avoid unnecessary waste caused by excessive spraying, control the liquid The hydraulic pressure is less than the opening pressure b of the low-pressure nozzle 2 and greater than or equal to the opening pressure a of the low-pressure nozzle 1, so that only the low-pressure nozzle 1 works, and the low-pressure nozzle 2, the high-pressure nozzle 1 and the high-pressure nozzle 2 do not work, effectively controlling the number of nozzles working. It not only meets the spraying requirements without causing waste, and realizes precise spraying.

Of course, this solution does not limit the specific number of high-pressure nozzles and low-pressure nozzles, nor does it limit the specific opening pressures of high-pressure nozzles and low-pressure nozzles. Those skilled in the art can design the specific numbers of high-pressure nozzles and low-pressure nozzles and their opening pressures according to requirements. All belong to the protection scope of this scheme without departing from the design concept.

In the above embodiment, determining the driving pressure of the liquid driving device according to the spray mode includes: if it is necessary to open the high-pressure nozzle and the low-pressure nozzle at the same time, controlling and adjusting the driving pressure of the liquid driving device so that the liquid hydraulic pressure of the driven liquid to be sprayed is greater than The opening pressure of the high-pressure nozzle; if only the low-pressure nozzle needs to be opened, control and adjust the driving pressure of the liquid driving device so that the liquid hydraulic pressure is less than the opening pressure of the high-pressure nozzle and greater than or equal to the opening pressure of the low-pressure nozzle, and the opening pressure of the high-pressure nozzle is greater than the low pressure The opening pressure of the nozzle.

In this solution, the liquid driving device is preferably a water pump, which adjusts the liquid hydraulic pressure by controlling the speed of the water pump. For example, one water pump controls two nozzles 130 respectively, and the opening pressures of the low pressure relief valve and the high pressure relief valve are set separately When the pump speed is low, the liquid hydraulic pressure is 0.3MPa. At this time, the low pressure relief valve opens and a nozzle 130 sprays; when the flow rate is increased, the pump speed doubles and the liquid hydraulic pressure increases , The high pressure relief valve is also opened, the two nozzles 130 spray at the same time, and the flow rate is doubled. Use the liquid pressure to impact the relief valve 131 to control the opening and closing of the relief valve 131, so as to open different numbers of nozzles 130 and change the number of nozzles 130 working at the same time, so as to change the spraying flow rate. Compared with the existing pressure spraying system, As far as variable spraying can be achieved by replacing nozzles 135 with different flow rates, the nozzle assembly 100 provided by this solution uses different liquid hydraulic pressures to open different numbers of nozzles 130, which can be changed during the flight of the UAV The spraying flow does not need to stop the machine to replace the nozzle 130, which saves the time for replacing the nozzle 130 and improves work efficiency. On the other hand, since there is no need for the user to manually replace the spray head 130 to adjust the flow rate, it is avoided that the user touches the toxic liquid, and the user experience is improved.

In any of the foregoing embodiments, obtaining the desired spraying flow rate specifically includes: determining the desired spraying flow rate according to at least one of the type of plant to be sprayed, the density of the plant to be sprayed, and the area of the plant to be sprayed; or in response to the unmanned aerial vehicle Control instructions sent by the control terminal to determine the expected spray flow rate.

In this solution, it is expected that the spraying flow rate is calculated according to at least one of the type of plants to be sprayed, the density of the plants to be sprayed, and the area of the plants to be sprayed, so as to realize scientific spraying and avoid waste.

The desired spraying flow rate can also be determined by the control instructions sent by the control terminal of the UAV. In this way, the desired spraying flow rate can be changed at any time, so that the desired spraying flow rate can be changed during the flight of the UAV and the nozzle 130 can be controlled. The number of jobs makes the product more flexible.

Of course, this solution does not limit the calculation method for specifically determining the expected spraying flow rate, and those skilled in the art can calculate the expected spraying flow rate according to specific requirements.

Example four

As shown in FIG. 15, the spraying operation control device 400 provided according to an embodiment of the present application is used for agricultural plant protection unmanned aerial vehicles. The spraying operation control device 400 includes a memory 410 and a processor 420; a memory 410 is used for storing the memory 410 Used to store program code; processor 420, used to call program code execution: obtain the expected spraying flow rate; determine the spraying mode of the spraying device according to the expected spraying flow rate, where the spraying device is provided with a high-pressure nozzle and a low-pressure nozzle, and the high-pressure nozzle is turned on If the pressure is greater than the opening pressure of the low-pressure nozzle, the spraying modes of the spraying device include: opening the high-pressure nozzle and the low-pressure nozzle at the same time, opening only the low-pressure nozzle and closing the high-pressure nozzle and the low-pressure nozzle at the same time; and determining the driving pressure of the liquid driving device according to the spraying mode.

Example five

As shown in FIG. 16, the unmanned aerial vehicle according to the embodiment of the present invention includes: a fuselage 20 with a medicine box on the fuselage, and the medicine box contains pesticides required for spraying, and is arranged to extend outward from the fuselage There are a plurality of machine arms 30, and the plurality of machine arms are scattered around the machine body with the machine body as the center, and the spray device 10 is arranged on the machine arm or the machine body.

Specifically, the unmanned aerial vehicle includes a fuselage with a medicine box on the fuselage, which contains pesticides required for spraying, and is provided with a plurality of arms extending outward from the fuselage. The center of the circle is scattered around the fuselage. The spraying device is arranged on the arm. A main pipe 110 extends from the liquid outlet of the medicine box. The other end of the main pipe 110 is connected with multiple branch pipes 120, and each branch pipe 120 is connected to a spray head. 130. The unmanned aerial vehicle also includes a water pump. One end of the water pump is connected to the liquid outlet of the medicine tank, and the other end is connected to the main pipe 110, which is used to provide driving force to the liquid in the medicine tank. Changing the speed of the water pump can change the hydraulic pressure of the liquid to achieve control. Turn on the number of work of the sprinkler 130, the spraying operation control device 400 is arranged on the body, and is electrically connected to the water pump, and the spraying mode of the spraying device is calculated by the memory 310 and the processor 320 on the spraying operation control device 400, and adjusted according to the spraying mode The rotation speed of the water pump is thus realized to control the number of jobs for opening the nozzle 130.

The unmanned aerial vehicle provided in the above embodiments of the present application is provided with any one of the above-mentioned spraying devices and/or the above-mentioned spraying operation control device 400. So it has all the above beneficial effects, which will not be repeated here.

Example Six

The computer-readable storage medium provided by the embodiment of the sixth aspect of the present application has a computer program stored thereon, and when the computer program is executed by the processor 420, the steps of any one of the spraying operation methods described above are implemented.

The computer-readable storage medium provided in the foregoing embodiment of the present application implements the steps of any of the foregoing spraying operation methods when a computer program is executed by the processor 320. So it has all the above beneficial effects, which will not be repeated here.

In summary, the nozzle assembly, spraying device, spraying operation method, spraying operation control device, unmanned aerial vehicle, and computer-readable storage medium provided in this application are provided with two nozzles as an example, one of which is equipped with a high pressure relief valve, The other nozzle is equipped with a low-pressure relief valve, which uses liquid pressure to impact the relief valve to control the opening and closing of the relief valve, so as to open different numbers of nozzles, change the number of nozzles working at the same time, and realize the change of spraying flow. In terms of pressure spraying system, variable spraying can only be achieved by replacing nozzles with different flow rates. The nozzle assembly provided by this solution changes the liquid hydraulic pressure and utilizes different liquid hydraulic pressures to open different numbers of nozzles. The spraying flow can be changed without stopping the machine to replace the nozzle, which saves the time for replacing the nozzle and improves the work efficiency. On the other hand, since 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's 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

A nozzle assembly of an unmanned aerial vehicle for agricultural plant protection, which is characterized in that it comprises:

The main pipe is used to communicate with the external liquid driving device;

At least two branch pipes respectively communicate with the main pipe, wherein liquid enters from the main pipe and diverges to the two branch pipes; and

At least two spray heads are respectively connected to the at least two branch pipes. A pressure relief valve is provided in the spray head. The pressure relief valve includes a high pressure relief valve and a low pressure relief valve. The opening of the high pressure relief valve The pressure is greater than the opening pressure of the low pressure relief valve,

Wherein, if the hydraulic pressure of the liquid entering the main pipe is greater than or equal to the opening pressure of the high pressure relief valve, the at least two spray heads will start spraying at the same time. If the hydraulic pressure of the liquid is less than the opening pressure of the high pressure relief valve, and If the opening pressure of the low pressure relief valve is greater than or equal to the opening pressure of the low pressure relief valve, the nozzle set with the low pressure relief valve starts spraying. If the liquid hydraulic pressure is less than the opening pressure of the low pressure relief valve, the at least two nozzles are not Turn on.
The spray head assembly of claim 1, wherein:

The nozzle is provided with an inlet flow channel and an outlet flow channel;

The pressure relief valve includes:

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 transmit the resilient force generated after compression to the guide rod, so that the guide rod drives the sealing valve plate to close,

Wherein, if the hydraulic pressure of the liquid is greater than the cracking pressure, the sealing valve plate is opened to make the liquid inlet flow channel communicate with the liquid outlet flow channel.
The spray head assembly of claim 2, 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 spray head assembly of claim 2, 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 spray head assembly of claim 2, 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 spray head assembly of claim 2, wherein:

The sealing area in the high pressure relief valve is larger than the sealing area in the low pressure relief valve.
The spray head assembly of claim 2, 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 spray head assembly of claim 2, 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 spray head assembly according to any one of claims 1 to 8, wherein:

A detachable nozzle is also installed at the outlet of the spray head, and the nozzle includes a fan nozzle and a cone nozzle.
The spray head assembly of claim 9, wherein:

A solenoid valve is arranged in the nozzle to open the nozzle by controlling the solenoid valve to be energized.
A spraying device for unmanned aerial vehicles for agricultural plant protection, which is characterized in that it comprises:

Liquid drive device;

A main pipe, one end of the main pipe is in communication with the liquid driving device;

At least two branch pipes respectively communicate with the other end of the main pipe, wherein the liquid enters from the main pipe and diverges to the two branch pipes; and

At least two spray heads are respectively connected to the at least two branch pipes. A pressure relief valve is provided in the spray head. The pressure relief valve includes a high pressure relief valve and a low pressure relief valve. The opening of the high pressure relief valve The pressure is greater than the opening pressure of the low pressure relief valve,

Wherein, the liquid hydraulic pressure entering the main pipe is adjusted by the liquid driving device. If the liquid hydraulic pressure is greater than or equal to the opening pressure of the high pressure relief valve, the at least two spray heads are opened and sprayed at the same time. If the liquid hydraulic pressure is less than If the opening pressure of the high-pressure relief valve is greater than or equal to the opening pressure of the low-pressure relief valve, the nozzle of the low-pressure relief valve is set to start spraying. If the liquid hydraulic pressure is less than the opening pressure of the low-pressure relief valve At this time, none of the at least two nozzles are turned on.
The spraying device of claim 11, wherein:

The nozzle is provided with an inlet flow channel and an outlet flow channel;

The pressure relief valve includes:

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 transmit the resilient force generated after compression to the guide rod, so that the guide rod drives the sealing valve plate to close,

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 spraying device of claim 12, 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 spraying device of claim 12, 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 spraying device of claim 12, 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 spraying device of claim 12, wherein:

The sealing area in the high pressure relief valve is larger than the sealing area in the low pressure relief valve.
The spraying device of claim 12, 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 spraying device of claim 12, 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 spray device according to any one of claims 11 to 18, characterized in that:

A detachable nozzle is also installed at the outlet of the spray head, and the nozzle includes a fan nozzle and a cone nozzle.
The spraying device of claim 19, wherein:

A solenoid valve is arranged in the nozzle to open the nozzle by controlling the solenoid valve to be energized.
A spraying operation method for agricultural plant protection unmanned aerial vehicles, which is suitable for the spraying device according to any one of claims 11 to 20, characterized in that the spraying operation method comprises:

Obtain the expected spray flow;

Determine the spray mode of the spray device according to the expected spray flow rate, wherein the spray device is provided with a high-pressure spray head and a low-pressure spray head, the opening pressure of the high-pressure spray head is greater than the opening pressure of the low-pressure spray head, the spraying of the spray device The modes include: simultaneously turning on the high-pressure nozzle and the low-pressure nozzle, turning on only the low-pressure nozzle, and turning off the high-pressure nozzle and the low-pressure nozzle at the same time; and

According to the spray mode, the driving pressure of the liquid driving device is determined.
The spraying operation method according to claim 21, characterized in that determining the spraying mode of the spraying device according to the expected spraying flow rate specifically comprises:

If the desired spraying flow rate is greater than the first flow rate threshold, control to turn on the high-pressure nozzle and the low-pressure nozzle at the same time;

If the expected spraying flow is less than the first flow threshold and greater than or equal to the second flow threshold, control to turn on the low-pressure spray head,

Wherein, the second flow threshold is less than the first flow threshold.
The spraying operation method according to claim 22, wherein there are at least two high-pressure spray heads and/or low-pressure spray heads, and the determination of the spraying mode of the spraying device according to the expected spraying flow rate specifically further comprises :

If the desired spraying flow rate is greater than the third flow rate threshold, control to turn on all the high-pressure nozzles and the low-pressure nozzles at the same time;

If the expected spraying flow is less than the third flow threshold and greater than or equal to the fourth flow threshold, controlling to turn on all the low-pressure nozzles and part of the high-pressure nozzles;

If the expected spraying flow is less than the fourth flow threshold and greater than or equal to the fifth flow threshold, controlling to turn on part of the low-pressure nozzles.
The spraying operation method according to claim 21, wherein the determining the driving pressure of the liquid driving device according to the spraying mode specifically comprises:

If it is necessary to open the high-pressure spray head and the low-pressure spray head at the same time, control and adjust the driving pressure of the liquid driving device so that the liquid hydraulic pressure of the driven liquid to be sprayed is greater than the opening pressure of the high-pressure spray head;

If only the low-pressure spray head needs to be opened, the driving pressure of the liquid driving device is controlled and adjusted so that the liquid hydraulic pressure is less than the opening pressure of the high-pressure spray head and greater than or equal to the opening pressure of the low-pressure spray head. The opening pressure of the nozzle is greater than the opening pressure of the low-pressure nozzle.
The spraying operation method according to any one of claims 21 to 24, wherein the obtaining the desired spraying flow rate specifically includes:

Determine the expected spraying flow rate according to at least one of the type of plants to be sprayed, the density of the plants to be sprayed, and the area of the plants to be sprayed; or

In response to a control instruction sent by the control terminal of the unmanned aerial vehicle, the expected spraying flow rate is determined.
A spraying operation control device for agricultural plant protection unmanned aerial vehicles, which is characterized by comprising: a memory and a processor;

The memory is used to store program code;

The processor is configured to call the program code to execute:

Obtain the expected spray flow;

Determine the spray mode of the spray device according to the expected spray flow rate, wherein the spray device is provided with a high-pressure spray head and a low-pressure spray head, the opening pressure of the high-pressure spray head is greater than the opening pressure of the low-pressure spray head, the spraying of the spray device The modes include: simultaneously turning on the high-pressure nozzle and the low-pressure nozzle, turning on only the low-pressure nozzle, and turning off the high-pressure nozzle and the low-pressure nozzle at the same time; and

According to the spray mode, the driving pressure of the liquid driving device is determined.
An unmanned aerial vehicle, characterized in that it comprises:

body;

The arm is installed on the fuselage;

The spraying device according to any one of claims 11 to 20, installed on the arm or body; and/or

The spraying operation control device according to claim 26.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the steps of the spraying operation method according to any one of claims 21 to 25 when the computer program is executed by a processor.