WO2021184352A1

WO2021184352A1 - Agricultural plant protection unmanned aerial vehicle and operation method therefor

Info

Publication number: WO2021184352A1
Application number: PCT/CN2020/080405
Authority: WO
Inventors: 舒展; 周乐
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-03-20
Filing date: 2020-03-20
Publication date: 2021-09-23
Also published as: CN113692380A

Abstract

An agricultural plant protection unmanned aerial vehicle, comprising: a rack (10), which comprises a central body (101) and multiple machine arms (102) connected to the central body; multiple rotor wing devices (11), which are installed on the multiple machine arms (102), respectively, each rotor wing device (11) comprising a motor and a propeller (111) installed on the motor; and a spraying system, which is installed on the rack (10). The spraying system comprises multiple spray head groups (12) that are provided at intervals, and each spray head group (12) comprises at least one spray head. The installation positions of the multiple spray head groups (12) are concentratedly arranged so that the multiple spray head groups (12) can at least partially overlap in spraying areas (S) of the agricultural plant protection unmanned aerial vehicle at a preset height from a target crop. In addition, the spraying area (S) of any spray head group (12) at least partially overlaps with the spraying areas (S) of two adjacent spray head groups (12). An operation method for the described unmanned aerial vehicle. In the described device, the spraying amplitude of the spraying system can be reduced, concentrated spraying by the unmanned aerial vehicle on a target crop is achieved, and the utilization rate of a spraying liquid can be improved.

Description

Agricultural plant protection drone and its operation method

Technical field

This application relates to the technical field of aircraft, and in particular to an agricultural plant protection drone and its operation method.

Background technique

With the rapid development of aircraft technology, aircraft have been increasingly used in various fields of production and life. As a new type of aircraft, UAVs can be widely used in agricultural plant protection, aerial photography, inspection, surveying and mapping, Investigation and other aspects. For example, by installing a spraying system on the drone, pesticides and fertilizers can be sprayed.

In the existing unmanned aerial vehicles, in order to increase the spraying range so that the spraying efficiency of the unmanned aerial vehicle is higher, the spraying heads in the spraying system are usually distributed as much as possible to realize decentralized spraying. However, for non-intensively planted crops, such as oil palm trees, the conventional spray nozzle layout may make the spraying range of the drones too large, resulting in insufficient concentration of sprayed liquid and low utilization rate of sprayed liquid.

Summary of the invention

In order to solve the defects of the existing drones that the spraying range is too large during the spraying operation, the spraying liquid is not concentrated enough, and the utilization rate of the spraying liquid is low, an embodiment of the present application discloses an agricultural plant protection drone and the same method of operations.

Specifically, in the first aspect, this application discloses an agricultural plant protection drone, and the agricultural plant protection drone includes:

The frame includes a central body and a plurality of arms connected to the central body;

A plurality of rotor wing devices are respectively installed on a plurality of said aircraft arms, and each of said rotor wing devices includes a motor and a propeller mounted on the motor;

Spraying system, installed in the rack;

Wherein, the spray system includes a plurality of spray head groups arranged at intervals, each of the spray head groups includes at least one spray head, and the installation positions of the plurality of spray head groups are arranged in a centralized manner, so that the plurality of spray head groups are used in the agricultural plant protection The spraying area of the drone at a preset height from the target crop can at least partially overlap, and the spraying area of any one of the spray head groups and the spraying areas of two adjacent spray head groups at least partly overlap.

Optionally, the spray areas of a plurality of the spray head groups overlap end to end in sequence to form an enclosed spray area.

Optionally, the spray areas of a plurality of the spray head groups are arranged around a central area.

Optionally, the spraying areas of a plurality of the spray head groups have a common overlapping area.

Optionally, a plurality of the nozzle groups are distributed at the vertex positions of the polygon.

Optionally, a plurality of the nozzle groups are distributed at the vertex positions of a regular polygon.

Optionally, the polygon is a triangle, a quadrilateral, a pentagon, a hexagon or an octagon.

Optionally, a plurality of the nozzle groups are all installed directly below the central body.

Optionally, a plurality of the nozzle groups are located in an area outside the vertical projection of the paddle of the propeller of the rotor device.

Optionally, the unmanned aerial vehicle further includes a tripod, the tripod is connected to the central body, and a plurality of the nozzle groups are installed on the tripod.

Optionally, the tripod includes a first sub tripod and a second sub tripod that are arranged relatively spaced apart, and the first sub tripod and the second sub tripod are respectively connected to the central body; wherein,

A plurality of the spray heads are arranged between the first sub-trip and the second sub-trip.

Optionally, the vertices of a plurality of the rotor devices are sequentially connected to form a polygonal area, and a plurality of the nozzle groups are installed in the range of the polygonal area.

In the second aspect, this application also discloses an operation method of an agricultural plant protection drone used for spraying trees, and the operation method includes:

Controlling the agricultural plant protection drone to fly to the top of the target tree, and controlling the agricultural plant protection drone to hover to a preset height from the target tree;

The spraying system of the agricultural plant protection drone is controlled to operate on the target trees, wherein the spraying system includes a plurality of nozzle groups arranged at intervals, and each of the nozzle groups includes at least one nozzle, and a plurality of the nozzles The installation positions of the groups are arranged in a centralized manner, so that the spraying areas of the agricultural plant protection drones at the preset height of the target trees can be at least partially overlapped, and the spraying areas of any one of the spraying head groups are adjacent to each other. The spraying areas of the two spray head groups at least partially overlap.

Optionally, the nozzle pressure of the nozzle is 0.5 to 1.5 MPa.

Optionally, the spray angle of the spray head is less than 30 degrees.

Optionally, the spray head is a fan-shaped spray head or a cone-shaped spray head.

Optionally, the preset height is 1.5-5 meters.

In the embodiment of the present application, the spraying system may include a plurality of spray head groups arranged at intervals, and each of the spray head groups may include at least one spray head. The spraying areas grouped at the preset height of the agricultural plant protection drone from the target crop can at least partially overlap, and the spraying area of any one of the spray head groups and the spraying areas of two adjacent spray head groups at least partly Overlap, to reduce the spraying range of the spraying system, realize concentrated spraying of the target crops, and improve the utilization rate of spraying liquid.

The above description is only an overview of the technical solution of this application. In order to understand the technical means of this application more clearly, it can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, features and advantages of this application more obvious and understandable. , The specific implementations of this application are cited below.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 shows a schematic diagram of a three-dimensional structure of an agricultural plant protection drone according to an embodiment of the present application;

Figure 2 shows a schematic diagram of the forward structure of the agricultural plant protection drone shown in Figure 1;

Figure 3 shows a schematic top view of the agricultural plant protection drone shown in Figure 1;

Figure 4 shows a schematic diagram of an enclosed spray area of the present application;

Figure 5 is a schematic diagram of another enclosed spray area of the present application;

FIG. 6 shows a schematic diagram of a three-dimensional structure of an agricultural plant protection drone tripod according to an embodiment of the present application;

Figure 7 shows a schematic diagram of the front structure of the agricultural plant protection drone tripod shown in Figure 5;

Fig. 8 shows a schematic top view of the structure of the tripod of the agricultural plant protection drone shown in Fig. 5;

Fig. 9 shows an operation method of an agricultural plant protection drone according to an embodiment of the present application;

Description of reference signs: 10-frame, 101-central body, 102-arm, 11-rotor device, 111-propeller, 12-sprinkler group, 13-trip, 131-first sub-trip, 132-th Two sub-trips, 133-sprinkler bracket, 1331-support rod, 1332-mounting rod, S-spray range.

Specific embodiment

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The embodiments of the present application provide an agricultural plant protection drone, which can be used for agricultural plant protection. Specifically, by installing a spraying system, it is possible to spray working liquids such as water, pesticides, and fertilizers.

1, there is shown a three-dimensional structural schematic diagram of an agricultural plant protection drone according to an embodiment of the present application. Referring to FIG. 2, there is shown a front structural schematic diagram of the agricultural plant protection drone shown in FIG. 1. , Shows a schematic diagram of the top view structure of the agricultural plant protection drone shown in FIG. 1.

As shown in Figures 1-3, the agricultural plant protection drone may include:

The frame 10 includes a central body 101 and a plurality of arms 102 connected to the central body 101;

A plurality of rotor wing devices 11 are respectively installed on a plurality of arms 102, and each rotor wing device 11 may include a motor and a propeller 111 installed on the motor;

Spraying system, installed in frame 10;

Wherein, the spray system may include a plurality of spray head groups 12 arranged at intervals, and each spray head group 12 may include at least one spray head. The spraying area S of the preset height of the drone from the target crop can at least partially overlap, and the spraying area S of any one spray head group 12 and the spraying areas S of two adjacent spray head groups 12 at least partly overlap.

In the embodiment of the present application, the frame 10 may be the main structure of the agricultural plant protection drone, the central body 101 of the frame 10 may be the body of the agricultural plant protection drone, and the arm 102 may be installed on The central body 101 is used to install structural parts of the rotor device 11. Since each rotor device 11 includes a motor and a propeller 111 installed on the motor, the propeller 111 can rotate under the drive of the motor to convert the driving force of the motor into the propulsion of the agricultural plant protection drone. force. The spraying system can be installed on the frame 10 for spraying working liquids such as water, pesticides, and fertilizers.

Specifically, the spraying system may include a plurality of spray head groups 12 arranged at intervals, and each spray head group 12 may include at least one spray head. The spraying area S of the plant protection drone at a preset height from the target crop can at least partially overlap, and the spraying area S of any one nozzle group 12 and the spraying areas S of two adjacent nozzle groups 12 at least partially overlap to reduce The spraying range of the spraying system is small, so that the concentrated spraying of the target crops is realized, and the utilization rate of the spraying liquid is improved.

For example, the target crop may be oil palm trees and other crops that need to be sprayed intensively. In practical applications, oil palm trees are non-centrally planted crops. Therefore, in the process of centralized spraying of a certain oil palm tree by agricultural plant protection drones, the spraying range can be concentrated on the oil palm tree. To avoid the waste of sprayed liquid and improve the utilization rate of sprayed liquid.

In the embodiment of the present application, the spraying areas S of the plurality of spray head groups 12 sequentially overlap end to end to form an enclosed spraying area. Specifically, a plurality of nozzle groups 12 may be arranged in an enclosed manner, so that the spray areas S of the plurality of nozzle groups 12 are sequentially connected end to end to form an enclosed spray area, which further reduces the spray range of the spray system and achieves Concentrated spraying of the target crops.

It should be noted that, in this application document, the spraying area S may specifically be a spraying area of the spray head group 12 at a preset height of the agricultural plant protection drone from the target crop. In the enclosed spraying area, specific to a spraying area S, the end close to the adjacent spraying area S is the head end, and the end close to the other adjacent spraying area S is the tail end.

Optionally, the preset height may be 1.5-5 meters, so that the distance between the nozzle group 12 and the target crop is more suitable, and further, the spraying effect of the agricultural plant protection drone can be improved. Specifically, in specific applications, the preset height may be preferably 2.3 to 3 meters.

4, there is shown a schematic diagram of an enclosed spraying area of the present application. As shown in FIG. 4, the spraying area S of a plurality of nozzle groups 12 is arranged around a central area, so that the agricultural plant protection drone is in During operation, concentrated spraying of the target crops can be realized, and a reasonable spraying range can be taken into consideration.

Referring to FIG. 5, there is shown a schematic diagram of another enclosed spraying area of the present application. As shown in FIG. The spraying area S of the group 12 has a relatively high degree of concentration, so as to further reduce the spraying range of the spraying system, which can increase the spraying concentration of the agricultural plant protection drone during spraying operations.

In an optional embodiment of the present application, a plurality of spray head groups 12 are distributed at the vertices of the polygon, so as to realize the enclosed layout of the spray head groups 12. The polygon may include, but is not limited to, any one of a triangle, a quadrilateral, a pentagon, a hexagon, or an octagon.

For example, when the number of nozzle groups 12 is 3, the 3 nozzle groups 12 can be enclosed and distributed to form a triangle; when the number of nozzle groups 12 is 4, 4 nozzle groups 12 can be combined. The enclosed distribution forms a quadrilateral; and so on.

Optionally, a plurality of spray head groups 12 may be distributed at the vertex positions of a regular polygon, so that the plurality of spray head groups 12 can be evenly distributed, and further, the spray uniformity of the spray system can be improved.

In an optional embodiment of the present application, a plurality of nozzle groups 12 are all installed directly under the central body 101. Due to the shielding effect of the central body 101, the interference force of the spray head group 12 in the process of spraying liquid can be made smaller. In this way, the drift of the sprayed liquid can be reduced, the concentration of the sprayed liquid can be further improved, and the centralized spraying of the target crops by the agricultural plant protection drone can be realized, and further, the utilization rate of the sprayed liquid can be improved.

In another optional embodiment of the present application, a plurality of nozzle groups 12 are located in an area other than the vertical projection of the propeller disk of the propeller 111 of the rotor device 11, so as to reduce the wind field force generated by the propeller 111 during the rotation process. The interference of the spray head group 12 in the process of spraying the liquid can reduce the drift of the sprayed liquid and further improve the concentration of the sprayed liquid.

Optionally, a plurality of spray head groups 12 may be fixed at the bottom of the central body 101 to facilitate the installation and fixation of the spray head groups 12.

Optionally, the agricultural plant protection drone may further include: a tripod 13, which is connected to the central body 101, and a plurality of nozzle groups 12 are installed on the tripod 13. In practical applications, installing the spray head group 11 on the tripod 13 can facilitate the setting of the spray head group 12 close to the target crop and reduce the drift of the sprayed liquid.

Specifically, the tripod 13 can be fixedly connected to the bottom of the central body 101, or can be connected to the bottom of the central body 101 in an open and close manner. In the case that the tripod 13 is detachably connected to the bottom of the central body 101, the spray head group 12 can follow the tripod 11 to expand or close accordingly.

6, there is shown a three-dimensional schematic diagram of a tripod for agricultural plant protection drones according to an embodiment of the present application. Referring to FIG. 7, a schematic diagram of the front structure of the tripod for agricultural plant protection drones shown in FIG. 6 is shown. Referring to FIG. 8, there is shown a schematic top view of the structure of the agricultural plant protection drone tripod shown in FIG. 6.

As shown in FIGS. 6-8, the tripod 13 may include a first sub tripod 131 and a second sub tripod 132 that are relatively spaced apart, and the first sub tripod 131 and the second sub tripod 132 are respectively connected to the central body 101 ; Among them, a plurality of nozzle groups 12 are arranged between the first sub-trip 131 and the second sub-trip 132.

In practical applications, the first sub-trip 131 and the second sub-trip 132 can be used to support the UAV during take-off or landing, and a plurality of nozzle groups 12 are arranged on the first sub-trip 131 and the second sub-trip. The two sub-trips 132 not only facilitate the centralized arrangement of multiple nozzle groups 12, reduce the spraying range of the spray system to achieve centralized spraying of the target, but also reduce the agricultural plant protection equipment. During takeoff and landing of the man-machine, the impact force of the first sub-trip 131 and the second sub-trip 132 on the nozzle group 12 increases the service life of the nozzle group 12.

Optionally, the spraying system may further include: a sprinkler support 133; wherein the sprinkler support 133 is arranged between the first sub-stand 131 and the second sub-stand 132, and is connected to the first sub-stand 131 and the second sub-stand 131, respectively. The two sub-trips 132 are fixedly connected; a plurality of spray head groups 12 are fixed on the spray head bracket 133. In practical applications, the spray head bracket 133 can be used to realize the fixed support of the spray head group 12 between the first and

second sub-trips

131 and 132.

Specifically, when the first and

second sub-legs

131 and 132 are fixedly connected to the bottom of the central body 101, the spray head support 133 may be fixedly connected to the first and

second sub-legs

131 and 132 respectively. In the case that the first sub-leg 131 and the second sub-leg 132 are connected to the bottom of the central body 101 in an openable and closable manner, the sprinkler support 133 may be correspondingly detachably connected to the first and

second sub-legs

131 and 132. Between the tripod 132.

In the embodiment of the present application, the spray head support 133 may include: a support rod 1331 and at least two mounting rods 1332; wherein the support rod 1331 is provided between the first sub-stand 131 and the second sub-stand 132, and is connected to the

second sub-stand

131 and 132 respectively. A sub-trip 131 and a second sub-trip 132 are connected, and the mounting rod 1332 is connected to the support rod 1331; a plurality of nozzle groups 12 are fixed on the mounting rod 1332 and arranged in an enclosed arrangement.

Specifically, in the case that the first sub-legs 131 and the second sub-legs 132 are fixedly connected to the bottom of the central body 101, the support rod 1331 can be fixedly connected to the first and

second sub-legs

131 and 132 respectively, And the mounting rod 1332 can be fixedly connected with the support rod 1331 accordingly. In the case that the first sub-leg 131 and the second sub-leg 132 are connected to the bottom of the central body 101 in an openable and closable manner, the support rod 1331 may be correspondingly detachably connected to the first and

second sub-legs

131 and 132. On the tripod 132, the mounting rod 1332 can be movably connected with the supporting rod 1331 accordingly.

It is understandable that FIGS. 6-8 only show the case where the nozzle holder 133 includes a support rod 1331 and two mounting rods 1332, but in actual applications, the support rod 1331 and the mounting rod 1332 on the nozzle holder 133 The number can also be determined according to the number of nozzle groups 12 and the layout requirements.

For example, the number of support rods 1331 on the nozzle holder 133 can also be 2, 3, or 5, and the number of mounting rods 1122 can also be 3, 5, or 6. The number of rods 1331 and mounting rods 1332 is not specifically limited.

In the embodiment of the present application, the nozzles in the nozzle group 12 may be fan-shaped nozzles or cone-shaped nozzles. In practical applications, when the nozzle is a fan-shaped nozzle or a cone-shaped nozzle or other small-angle nozzle, the spray range of the nozzle can be smaller, the sprayed liquid particle size is larger, the anti-drift performance is good, and the penetration is good. Strong, can achieve point spraying, in this way, can improve the concentration and accuracy of spraying.

Optionally, the spray angle of the spray heads in the spray head group 12 may be less than 30 degrees to further reduce the spray range of the spray head group 12 and improve the spray concentration of the spray system.

Optionally, the nozzles in the nozzle group 12 may also be jet nozzles, and the working pressure of the nozzles may be 0.5 to 1.5 MPa, so that the liquid sprayed from the nozzles has a faster speed and a higher pressure. In this way, the particle size of the sprayed liquid can be increased, the anti-drift performance of the sprayed liquid can be improved, the penetration of the sprayed liquid can be enhanced, and the concentration and point accuracy of the spray can be improved. Preferably, the nozzle pressure of the nozzle may be 0.5-1 MPa.

Optionally, a plurality of rotary wing devices 11 are connected in turn at the vertices to form a polygonal area, and a plurality of nozzle groups 12 are installed within the range of the polygonal area, so as to realize the centralized layout of the plurality of nozzle groups 12 and improve the performance of the agricultural plant protection drone. Spray concentration.

In the embodiment of the present application, the spray system may further include: a liquid storage device, which can be used to store working fluid; and, a liquid guide device, which is connected to the liquid storage device and the spray head respectively The group 12 is connected, and the liquid guiding device can be used to guide the working liquid in the liquid storage device to the spray head group 12.

Specifically, the liquid storage device may be a liquid storage tank or a liquid storage tank, etc., the working liquid may be pesticides, fertilizers, or irrigation water, etc., and the liquid guide device may include a water pump, a liquid guide tube, and the like.

In summary, the UAV described in this application can at least include the following advantages:

9, there is shown an operation method of an agricultural plant protection drone according to an embodiment of the present application. The agricultural plant protection drone may be used to spray trees. The operation method may specifically include:

Step S11: Control the agricultural plant protection drone to fly to the top of the target tree, and control the agricultural plant protection drone to hover to a preset height from the target tree.

The agricultural plant protection UAV can adopt the same structure of the agricultural plant protection UAV of each of the above embodiments, which will not be repeated here.

In the embodiments of the present application, the target trees may be oil palm trees and other trees that need to be sprayed intensively. In practical applications, oil palm trees are non-centrally planted crops. Therefore, in the process of centralized spraying of a certain oil palm tree by agricultural plant protection drones, the spraying range can be concentrated on the oil palm tree. To avoid the waste of sprayed liquid and improve the utilization rate of sprayed liquid.

Optionally, the preset height may be 1.5-5 meters, so that the distance between the agricultural plant protection drone and the target crop is more appropriate, and further, the spraying of the agricultural plant protection drone can be improved. Effect. Specifically, in specific applications, the preset height may be preferably 2.3 to 3 meters.

Step S12: Control the spraying system of the agricultural plant protection drone to operate on the target trees, wherein the spraying system includes a plurality of spray head groups arranged at intervals, and each of the spray head groups includes at least one spray head, and a plurality of spray head groups. The installation positions of the sprinkler groups are arranged in a centralized manner, so that the spraying areas of the agricultural plant protection drones at a preset height from the target tree can at least partially overlap with the spraying areas of any one of the sprinkler groups The spraying areas of the two adjacent spray head groups at least partially overlap.

In the embodiment of the present application, since the spray system may include a plurality of spray head groups arranged at intervals, each of the spray head groups may include at least one spray head, and the installation positions of the multiple spray head groups are arranged in a centralized manner, so that a plurality of the spray head groups The spray head group can at least partially overlap the spray area of the agricultural plant protection drone at a preset height from the target crop, and the spray area of any one of the spray head groups and the spray area of two adjacent spray head groups are at least Partially overlapped. Therefore, the spraying range of the spraying system can be reduced, the concentrated spraying of the target trees can be realized, and the utilization rate of the sprayed liquid can be improved.

Optionally, the spray head may be a fan-shaped spray head or a cone-shaped spray head. In practical applications, when the nozzle is a fan-shaped nozzle or a cone-shaped nozzle or other small-angle nozzle, the spray range of the nozzle can be smaller, the sprayed liquid particle size is larger, the anti-drift performance is good, and the penetration is good. Strong, can achieve point spraying, in this way, can improve the concentration and accuracy of spraying.

Optionally, the spray angle of the spray head may be less than 30 degrees to further reduce the spray range of the spray head group 12 and improve the spray concentration of the spray system.

Optionally, the spray head may also be a jet spray head, and the working pressure of the spray head may be 0.5 to 1.5 MPa, so that the liquid sprayed in the spray head has a faster speed and a higher pressure. In this way, the particle size of the sprayed liquid can be increased, the anti-drift performance of the sprayed liquid can be improved, the penetration of the sprayed liquid can be enhanced, and the concentration and point accuracy of the spray can be improved. Preferably, the nozzle pressure of the nozzle may be 0.5-1 MPa.

The “one embodiment”, “an embodiment” or “one or more embodiments” referred to herein means that a specific feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. In addition, please note that the word examples "in one embodiment" here do not necessarily all refer to the same embodiment.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

An agricultural plant protection drone, characterized in that, the agricultural plant protection drone includes:

The frame includes a central body and a plurality of arms connected to the central body;

A plurality of rotor wing devices are respectively installed on a plurality of said aircraft arms, and each of said rotor wing devices includes a motor and a propeller mounted on the motor;

Spraying system, installed in the rack;

Wherein, the spray system includes a plurality of spray head groups arranged at intervals, each of the spray head groups includes at least one spray head, and the installation positions of the plurality of spray head groups are arranged in a centralized manner, so that the plurality of spray head groups are used in the agricultural plant protection The spraying area of the drone at a preset height from the target crop can at least partially overlap, and the spraying area of any one of the spray head groups and the spraying areas of two adjacent spray head groups at least partly overlap.
The agricultural plant protection drone according to claim 1, wherein the spraying areas of the plurality of nozzle groups overlap end to end in sequence to form an enclosed spraying area.
The agricultural plant protection drone according to claim 2, wherein the spraying areas of a plurality of the nozzle groups are arranged around a central area.
The agricultural plant protection drone according to claim 2, wherein the spraying areas of a plurality of the nozzle groups have a common overlapping area.
The agricultural plant protection drone according to claim 1, wherein a plurality of the nozzle groups are distributed at the vertices of the polygon.
The agricultural plant protection drone according to claim 5, wherein a plurality of the nozzle groups are distributed at the vertices of a regular polygon.
The agricultural plant protection drone of claim 5, wherein the polygon is a triangle, a quadrilateral, a pentagon, a hexagon, or an octagon.
The agricultural plant protection drone according to claim 1, wherein a plurality of the nozzle groups are all installed directly under the central body.
The agricultural plant protection drone according to claim 1, wherein a plurality of the nozzle groups are located in an area outside the vertical projection of the paddle of the propeller of the rotor device.
The agricultural plant protection drone according to claim 1, wherein the drone further comprises a tripod, the tripod is connected to the central body, and a plurality of the nozzle groups are installed on the tripod. .
The agricultural plant protection drone according to claim 10, wherein the tripod includes a first sub tripod and a second sub tripod that are relatively spaced apart, the first sub tripod, the second sub tripod The sub-trips are respectively connected with the central body; wherein,

A plurality of the spray heads are arranged between the first sub-trip and the second sub-trip.
The agricultural plant protection drone according to claim 1, wherein a plurality of the rotor devices are connected with vertices in sequence to form a polygonal area, and a plurality of the nozzle groups are installed in the range of the polygonal area.
An operation method of an agricultural plant protection drone for spraying trees, characterized in that, the operation method includes:

Controlling the agricultural plant protection drone to fly to the top of the target tree, and controlling the agricultural plant protection drone to hover to a preset height from the target tree;

The spraying system of the agricultural plant protection drone is controlled to operate on the target trees, wherein the spraying system includes a plurality of nozzle groups arranged at intervals, and each of the nozzle groups includes at least one nozzle, and a plurality of the nozzles The installation positions of the groups are arranged in a centralized manner, so that the spraying areas of the agricultural plant protection drones at the preset height of the target trees can be at least partially overlapped, and the spraying areas of any one of the spraying head groups are adjacent to each other. The spraying areas of the two spray head groups at least partially overlap.
The operation method according to claim 13, wherein the nozzle pressure of the nozzle is 0.5 to 1.5 MPa.
The working method according to claim 13, wherein the spray angle of the spray head is less than 30 degrees.
The operation method according to claim 13, wherein the nozzle is a fan-shaped nozzle or a cone-shaped nozzle.
The operation method according to claim 13, wherein the preset height is 1.5-5 meters.