WO2021217368A1 - 无人机和喷洒控制方法 - Google Patents

无人机和喷洒控制方法 Download PDF

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Publication number
WO2021217368A1
WO2021217368A1 PCT/CN2020/087317 CN2020087317W WO2021217368A1 WO 2021217368 A1 WO2021217368 A1 WO 2021217368A1 CN 2020087317 W CN2020087317 W CN 2020087317W WO 2021217368 A1 WO2021217368 A1 WO 2021217368A1
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WO
WIPO (PCT)
Prior art keywords
nozzle
ultrasonic generating
spraying
groove
drone
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PCT/CN2020/087317
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English (en)
French (fr)
Inventor
舒展
周万仁
黄彦鑫
Original Assignee
深圳市大疆创新科技有限公司
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Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/087317 priority Critical patent/WO2021217368A1/zh
Priority to CN202080005952.6A priority patent/CN113015678A/zh
Publication of WO2021217368A1 publication Critical patent/WO2021217368A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a spraying control method.
  • Different liquids have different spraying requirements. For example, when spraying pesticides, pesticides and fungicides usually require smaller particle sizes, so that the pesticides and fungicides can be sprayed evenly; herbicides usually require larger particle sizes. So that the herbicide can have better wind resistance. Therefore, in the related art, in order to meet the spraying requirements of different liquids, corresponding nozzles are usually configured when spraying different liquids. For example, circular nozzles are usually used for pesticides and fungicides, and fan-shaped nozzles are usually used for herbicides.
  • the embodiment of the present invention provides an unmanned aerial vehicle and a spraying control method.
  • the embodiment of the present invention provides an unmanned aerial vehicle, the unmanned aerial vehicle including a spraying system and a controller, the spraying system includes a liquid storage device, an infusion tube, and a nozzle assembly, the nozzle assembly including a nozzle body, a nozzle, and an ultrasonic generator part.
  • the infusion tube is respectively communicated with the liquid storage device and the spray head body, the nozzle and the ultrasonic generating part are arranged at one end of the spray head body, and the ultrasonic generating part is mechanically coupled with the nozzle.
  • the infusion tube can introduce the spray liquid in the liquid storage device into the spray head body, and then spray the spray liquid out through the nozzle.
  • the ultrasonic generating component can generate vibration under the control of the controller, thereby driving the nozzle to vibrate, so as to change the particle size of the droplets sprayed through the nozzle.
  • the embodiment of the present invention provides a spraying control method for the unmanned aerial vehicle as described above.
  • the method includes: acquiring spraying operation information; controlling the vibration of the ultrasonic generating component according to the spraying operation information to drive the nozzle to generate Vibration; adjust the vibration frequency of the ultrasonic generating component, so that the vibration frequency of the nozzle changes accordingly, so as to control the size of the droplets sprayed through the nozzle; control the drone to spray the operation target Operation.
  • the vibration generated by the ultrasonic generating component can be used to change the particle size of the liquid droplets sprayed through the nozzle.
  • the spraying requirements of different liquids can be achieved with one nozzle, which can reduce the user's use cost, and because the user does not need to replace the nozzle frequently, it can save the user's time and avoid the wear caused by the nozzle replacement. .
  • Figure 1 is a schematic diagram of the structure of an unmanned aerial vehicle according to some embodiments of the present invention.
  • Figure 2 is a schematic diagram of the drone body according to some embodiments of the present invention.
  • Fig. 3 is a schematic diagram of the structure of a spray head assembly according to some embodiments of the present invention.
  • FIG. 4 is a schematic cross-sectional view of the nozzle assembly of FIG. 3 along the line IV-IV;
  • Figure 5 is a schematic structural view of a spray head assembly according to some embodiments of the present invention.
  • Fig. 6 is a schematic flow chart of a spraying control method according to some embodiments of the present invention.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, “plurality” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connect, or connect in one piece. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be a communication between two elements or an interaction relationship between two elements.
  • the specific meaning of the above-mentioned terms in the present invention can be understood according to specific circumstances.
  • the drone 1000 includes a spraying system 100 and a controller 510.
  • the spray system 100 includes a liquid storage device 10, a liquid infusion tube 20 and a spray head assembly 30, and the spray head assembly 30 includes a spray head body 32, a nozzle 34 and an ultrasonic generating component 36.
  • the infusion tube 20 is respectively communicated with the liquid storage device 10 and the spray head body 32.
  • the nozzle 34 and the ultrasonic generating part 36 are arranged at one end of the spray head body 32, and the ultrasonic generating part 36 is mechanically coupled with the nozzle 34.
  • the infusion tube 20 can introduce the spray liquid in the liquid storage device 10 into the spray head body 32, and spray the spray liquid out through the nozzle 34.
  • the ultrasonic generating component 36 can generate vibration under the control of the controller 510, thereby driving the nozzle 34 to vibrate, so as to change the particle size of the droplets sprayed through the nozzle 34.
  • the drone 1000 of the embodiment of the present invention may be a plant protection drone, which is used to spray spray liquid on plants such as crops and trees.
  • the drone 1000 of the embodiment of the present invention can also be used for spray disinfection, for example, for disinfection during epidemic prevention.
  • the controller 510 may refer to a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the drone 1000 of the embodiment of the present invention can use the vibration generated by the ultrasonic generating member 36 to change the particle size of the liquid droplets sprayed through the nozzle 34.
  • the spraying requirements of different liquids can be achieved by using one nozzle 34, thereby reducing the user's use cost, and because the user does not need to frequently replace the nozzle 34, it can save the user's time and avoid the need for replacing the nozzle 34.
  • the ultrasonic waves generated by the ultrasonic generating component 36 can use high-frequency vibration to smash the dirt on the nozzle 34, and then the smashed dirt will be discharged under the washing action of the spray liquid, thereby preventing the nozzle 34 from being blocked.
  • the drone 1000 includes a spraying system 100 and a drone body 500.
  • the spraying system 100 may be installed on the drone body 500.
  • the drone body 500 includes a controller 510, which can be used to control the spraying system 100 to spray liquid, and can also be used to control the drone body 500 to fly.
  • the spray system 100 may include a liquid storage device 10, a liquid infusion tube 20 and a spray head assembly 30.
  • the liquid storage device 10 may be, for example, a liquid storage tank, and the liquid storage device 10 can be used to store spray liquid.
  • the infusion tube 20 can be used to connect the liquid storage device 10 and the spray head assembly 30.
  • the infusion tube 20 may be a high-pressure tube, for example, a steel tube, a copper tube, a high-pressure hose (for example, a fiber-reinforced polyurethane hose, a fiber-reinforced nylon hose), or the like.
  • the spray head assembly 30 may include a spray head body 32, a nozzle 34, an ultrasonic generating part 36, an electrical connection line 37, a fixing part 38 and a sealing part 39.
  • the infusion tube 20 may be respectively connected with the spray head body 32 and the liquid storage device 10 to make the liquid storage device 10 and the spray head body 32 communicate with each other.
  • the spray head body 32 may include a through hole 322, a water pipe connector 324, a housing 326 and a pipe 328.
  • the through hole 322 may be formed in the housing 326, and the through hole 322 may be used to provide the electrical connection line 37.
  • the water pipe connection piece 324 is used to connect the infusion pipe 20, and the water pipe connection piece 324 can make the spray head body 32 and the infusion pipe 20 more firmly connected together, and avoid the leakage of the spray liquid.
  • the water pipe connection piece 324 may be a water pipe nut 3242
  • the infusion pipe 20 may include a screw
  • the nozzle body 32 is connected to the screw of the infusion pipe 20 through the water pipe nut 3242.
  • the water pipe connection piece 324 has a simple structure and can be threaded.
  • the connection effectively connects the spray head body 32 and the infusion tube 20 together.
  • the nozzle body 32 when the nozzle body 32 is connected to the infusion tube 20 through the water pipe connector 324, it can also be realized by snap connection, welding, glue connection, etc., which is not specifically limited herein.
  • the pipe 328 is arranged in the housing 326 of the nozzle body 32, wherein the pipe 328 can penetrate the nozzle body 32, and the outlet of the pipe 328 can communicate with the nozzle 34, so that the spray liquid can pass through the nozzle body 32 when flowing in the pipe 328 And spray out through the nozzle 34.
  • the nozzle body 32 is L-shaped, and correspondingly, the pipe 328 may also be L-shaped.
  • the spray head body 32 is L-shaped, which facilitates the connection of one end of the spray head body 32 with the infusion tube 20, and the other end faces the space to be sprayed.
  • the nozzle 34 and the ultrasonic generating part 36 may be arranged at one end of the spray head body 32. Specifically, the nozzle 34 and the ultrasonic generating part 36 may be arranged at the end of the spray head body 32 close to the outlet of the pipe 328 (that is, away from the water pipe). One end of the connecting piece 324), so that after the infusion tube 20 introduces the spray liquid in the liquid storage device 10 into the spray head body 32, the nozzle 34 can spray the spray liquid introduced into the spray head body 32 out.
  • the ultrasonic generating part 36 is mechanically coupled with the nozzle 34. In this way, when the ultrasonic generating part 36 vibrates under the control of the controller 510, it can drive the nozzle 34 to also vibrate to change the size of the droplets sprayed by the nozzle 34.
  • the nozzle 34 includes a first end 342 and a second end 344 opposite to each other.
  • the first end 342 of the nozzle 34 is used to spray the spray liquid.
  • the ultrasonic generating part 36 includes a first surface 362 and a first surface 362 of the ultrasonic generating part 36. Connected to the second end 344 of the nozzle 34, the second end 344 of the nozzle 34 completely covers the first surface 362 of the ultrasonic generating component 36.
  • the ultrasonic generating member 36 of the embodiment of the present invention is formed using piezoelectric ceramics or magnetostrictive materials.
  • Piezoelectric ceramics are ceramic materials that can mutually convert mechanical energy and electrical energy.
  • piezoelectric ceramics can be used to convert electrical energy into mechanical energy, thereby generating ultrasonic waves.
  • a magnetostrictive material is magnetized in a magnetic field, it elongates or contracts in the direction of magnetization. The size of the magnetostrictive material can be changed significantly by changing the current through the coil, thereby generating ultrasonic waves.
  • the ultrasonic generating member 36 formed of piezoelectric ceramic or magnetostrictive material can emit ultrasonic waves simply and effectively.
  • the ultrasonic generating member 36 can also be formed of other materials, and is not specifically limited here.
  • One end of the electrical connection line 37 passes through the through hole 322 and is electrically connected to the ultrasonic generating part 36, and the other end of the electrical connection line 37 can be electrically connected to the controller 510, so that the ultrasonic generating part 36 is electrically connected to the controller 510 through the electrical connection line 37.
  • the controller 510 can control the ultrasonic generating component 36 through the electrical connection line 37.
  • the controller 510 can control the operating frequency of the electrical signal input to the ultrasonic generating part 36, thereby adjusting the vibration frequency of the ultrasonic generating part 36, thereby realizing the adjustment of the particle size of the liquid droplets.
  • the size of the droplets can be negatively correlated with the working frequency of the electrical signal.
  • the fixing part 38 fixes the nozzle 34 and the ultrasonic generating part 36 to the spray head body 32.
  • the fixed connection of the spray head body 32, the nozzle 34 and the ultrasonic generating component 36 can be realized by the fixing component 38.
  • the fixing part 38 may include a fixing cover 382, through which the nozzle 34 and the ultrasonic generating part 36 are detachably mounted on the spray head body 32.
  • the fixing cover 382 can be removed, and then the nozzle 34 or the ultrasonic generating component 36 can be inspected, and replaced when the failure is determined.
  • the fixed cover 382 is threadedly connected to the nozzle body 32, and the threaded connection structure is simple, reliable, and easy to disassemble.
  • the fixed cover 382 and the nozzle body 32 can also be realized by a snap connection or the like, which is not specifically limited here.
  • the ultrasonic generating component 36 is at least partially housed in the fixed cover 382.
  • the ultrasonic generating component 36 can be completely housed in the fixed cover 382.
  • the fixed cover 382 can protect the ultrasonic generating component 36 and reduce The ultrasonic generating unit 36 is disturbed by the outside world.
  • the fixed cover 382 can be sleeved on the nozzle body 32. Specifically, the fixed cover 382 can be sleeved on the end of the nozzle body 32 close to the outlet of the pipe 328 (that is, the end away from the water pipe connector 324). In this way, the fixed cover 382 and When the nozzle body 32 is connected, the nozzle 34 and the ultrasonic generating member 36 can be fixed to the nozzle body.
  • a first groove 3822, a second groove 3824, and a third groove 3826 are formed inside the fixed cover 382.
  • the volume of the first groove 3822 is larger than the volume of the second groove 3824
  • the volume of the second groove 3824 is larger than the volume of the second groove 3824.
  • the volume of the three grooves 3826, the first groove 3822, the second groove 3824, and the third groove 3826 communicate with each other to form a stepped groove.
  • the nozzle 34 is at least partially housed in the second groove 3824 and the third groove 3826. In the embodiment of the present invention, a part of the nozzle 34 is housed in the second groove 3824 and the third groove 3826, and the other part is exposed to the fixed groove.
  • the outside of the cover 382 is convenient for spraying liquid to the outside.
  • the ultrasonic generating component 36 is at least partially accommodated in the first groove 3822.
  • the ultrasonic generating component 36 can be completely accommodated in the first groove 3822. In this way, the first groove 3822 can protect the ultrasonic generating component 36.
  • the sealing member 39 is arranged around the ultrasonic generating member 36, and the sealing member 39 is used to prevent the spray liquid from penetrating into the ultrasonic generating member 36. Specifically, after the spray liquid is sprayed from the nozzle 34, it may flow back from the inside of the nozzle 34 or from the third groove 3826, thereby affecting the normal operation of the ultrasonic generating part 36. Therefore, it can be used in the ultrasonic generating part 36.
  • a sealing member 39 is arranged around, so that the sealing member 39 is used to prevent the spray liquid from penetrating into the ultrasonic generating part 36.
  • the sealing member 39 is at least partially received in the first groove 3822 and surrounds the ultrasonic generating component 36. In this way, the sealing member 39 can seal the ultrasonic generating component 36.
  • the sealing member 39 may be any element having a sealing function, for example, a sealing gasket.
  • the drone body 500 further includes a center frame 530, an arm 550 connected to the center frame 530, and a power unit 570 connected to the arm 550.
  • the power unit 570 is, for example, a propeller.
  • the liquid storage device 10 can be arranged under the center frame 530, the infusion tube 20 can be connected to the liquid storage device 10 and arranged along the arm 550, and the spray head assembly 30 can be arranged on the arm 550.
  • Spray control methods include:
  • the spraying control method of the embodiment of the present invention can be implemented by the drone 1000 of the embodiment of the present application, wherein step 01, step 02, step 03, and step 04 can all be implemented by the controller 510.
  • the controller 510 can be used to: obtain spraying operation information; control the ultrasonic generating part 36 to vibrate according to the spraying operation information to drive the nozzle 34 to vibrate; adjust the vibration frequency of the ultrasonic generating part 36 so that the vibration frequency of the nozzle 34 follows Change occurs to control the particle size of the droplets sprayed through the nozzle 34; control the drone 1000 to spray the operation target.
  • the spraying operation information may be received from the remote control terminal of the drone 1000, which is, for example, a remote control, a mobile phone, or the like.
  • the user can input the spraying operation information through the remote control terminal, and then through communication, the UAV 1000 can receive the spraying operation information transmitted by the remote control terminal.
  • the spraying operation information of the embodiment of the present invention may include at least one of the following: the type of spraying liquid, and the spraying density.
  • the spraying operation information is the type of spraying liquid, and the vibration frequency of the ultrasonic generating part 36 can be controlled according to the type of spraying liquid.
  • the types of sprays include, for example, pesticide sprays, fungicides sprays, herbicide sprays, etc.
  • pesticides sprays and fungicides sprays pesticide sprays and fungicides sprays
  • the spraying requirement of the spraying is usually uniform, and the droplet size is required to be small during spraying.
  • the vibration frequency of the ultrasonic generating part 36 can be controlled to make the droplet size smaller; when spraying the herbicide spray, the herbicide
  • the spraying requirement of the spray liquid is usually strong wind resistance, and the droplet size is required to be larger during spraying. Therefore, the vibration frequency of the ultrasonic generating part 36 can be controlled to make the droplet size larger.
  • the spraying operation information is spraying density, and the vibration frequency of the ultrasonic generating component 36 can be controlled according to the spraying density.
  • the spraying density includes high-density spraying and low-density spraying. When high-density spraying is performed, the corresponding spraying operation scenario at this time can be centralized spraying.
  • Centralized spraying requires the spray liquid to be concentrated and sprayed in a small area. At this time, the droplet size is required to be relatively large, so that the spray liquid has strong wind resistance and is not prone to drift in the wind field. Therefore, the vibration frequency of the ultrasonic generating component 36 can be controlled to make the droplet size larger; When spraying with low density, the corresponding spraying operation scene at this time can be decentralized spraying. Decentralized spraying requires the spray to be dispersed and the spraying range is wide. At this time, the droplet size is required to be relatively small, so the spray is in the wind field. The lower part will drift to cover more work targets. Therefore, the vibration frequency of the ultrasonic generating part 36 can be controlled to make the particle size of the droplets smaller.
  • the operation target may specifically refer to plants such as crops and trees.
  • the operation target may also refer to a certain area, which is not specifically limited here.
  • the vibration generated by the ultrasonic generating member 36 can be used to change the particle size of the droplets sprayed through the nozzle 34.
  • the spraying requirements of different liquids can be achieved by using one nozzle 34, thereby reducing the user's use cost, and because the user does not need to frequently replace the nozzle 34, it can save the user's time and avoid the need for replacing the nozzle 34.
  • the ultrasonic waves generated by the ultrasonic generating component 36 can use high-frequency vibration to smash the dirt on the nozzle 34, and then the smashed dirt will be discharged under the washing action of the spray liquid, thereby preventing the nozzle 34 from being blocked.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • the "above”, “above” and “above” of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the present invention may repeat reference numerals and/or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed.
  • the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Special Spraying Apparatus (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种无人机（1000）包括喷洒系统（100）和控制器（510）。喷洒系统（100）包括储液装置（10）、输液管（20）和喷头组件（30）。喷头组件（30）包括喷头本体（32）、喷嘴（34）和超声波发生部件（36）。输液管（20）能够将储液装置（10）中的喷液导入喷头本体（32）后，通过喷嘴（34）将喷液喷洒出去。超声波发生部件（36）能够在控制器（510）的控制下产生振动，从而带动喷嘴（34）发生振动，以改变经过喷嘴（34）喷洒出去的液滴的粒径。还公开了用于该无人机的喷洒控制方法。该无人机及其喷洒控制方法利用一个喷嘴即可实现喷洒不同的液体的喷洒要求，从而能够降低用户的使用成本，并且由于用户不需要频繁地更换喷嘴，因此能够节约用户的时间，也能够避免喷嘴更换时所造成的磨损。

Description

无人机和喷洒控制方法 技术领域
本发明涉及无人机领域，特别涉及一种无人机和喷洒控制方法。
背景技术
不同的液体具有不同的喷洒要求，例如喷洒农药时，杀虫剂和杀菌剂通常需要较小的粒径，从而使得杀虫剂和杀菌剂能够喷洒均匀；除草剂通常需要较大的粒径，从而使得除草剂能够具有较好的抗风性。因此，在相关技术中，为了满足不同液体的喷洒要求，通常是在喷洒不同液体时配置相应的喷嘴，例如，杀虫剂和杀菌剂通常采用圆形喷嘴，除草剂通常采用扇形喷嘴。如此，用户需要花费大量的成本来准备不同的喷嘴，并且需要花费大量的时间和精力来选择与待喷洒液体相应的喷嘴并安装至喷头上。此外，频繁地更换喷嘴容易导致喷嘴磨损。
发明内容
本发明的实施方式提供了一种无人机和喷洒控制方法。
本发明实施方式提供一种无人机，所述无人机包括喷洒系统和控制器，所述喷洒系统包括储液装置、输液管和喷头组件，所述喷头组件包括喷头本体、喷嘴和超声波发生部件。所述输液管分别与所述储液装置和所述喷头本体连通，所述喷嘴和所述超声波发生部件设置于所述喷头本体的一端，并且所述超声波发生部件与所述喷嘴机械耦合。所述输液管能够将所述储液装置中的喷液导入所述喷头本体后，通过所述喷嘴将所述喷液喷洒出去。所述超声波发生部件能够在所述控制器的控制下产生振动，从而带动所述喷嘴发生振动，以改变经过所述喷嘴喷洒出去的液滴的粒径。
本发明实施方式提供一种喷洒控制方法，用于如上所述的无人机，所述方法包括：获取喷洒作业信息；根据所述喷洒作业信息控制所述超声波发生部件振动以带动所述喷嘴发生振动；调节所述超声波发生部件的振动频率，使所述喷嘴的振动频率随之发生变化，以控制经过所述喷嘴喷洒出去的液滴的粒径；控制所述无人机对作业目标进行喷洒作业。
本发明实施方式的无人机和喷洒控制方法中，能够利用超声波发生部件产生的振动改变经过所述喷嘴喷洒出去的液滴的粒径。如此，利用一个喷嘴即可实现不同的液体的喷洒要求，从而能够降低用户的使用成本，并且由于用户不需要频繁地更换喷嘴，因此能够节约用户的时间，也能够避免喷嘴更换时所造成的磨损。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明某些实施方式的无人机的结构示意图；
图2是本发明某些实施方式的无人机本体的示意图；
图3是本发明某些实施方式的喷头组件的结构示意图；
图4是图3的喷头组件沿线IV-IV的剖面示意图；
图5是本发明某些实施方式的喷头组件的结构示意图；
图6是本发明某些实施方式的喷洒控制方法的流程示意图。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领 域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。
请参阅图1至图4，本发明实施方式的无人机1000包括喷洒系统100和控制器510。喷洒系统100包括储液装置10、输液管20和喷头组件30，喷头组件30包括喷头本体32、喷嘴34和超声波发生部件36。输液管20分别与储液装置10和喷头本体32连通，喷嘴34和超声波发生部件36设置于喷头本体32的一端，并且超声波发生部件36与喷嘴34机械耦合。输液管20能够将储液装置10中的喷液导入喷头本体32后，通过喷嘴34将喷液喷洒出去。超声波发生部件36能够在控制器510的控制下产生振动，从而带动喷嘴34发生振动，以改变经过喷嘴34喷洒出去的液滴的粒径。
具体地，本发明实施方式的无人机1000可以是植保无人机，植保无人机用于将喷液喷洒至农作物、树木等植物上。当然，在其他实施方式中，本发明实施方式的无人机1000还能用于喷洒消毒，例如用于防疫期间消毒。
控制器510可以是指中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。
本发明实施方式的无人机1000能够利用超声波发生部件36产生的振动改变经过所述喷嘴34喷洒出去的液滴的粒径。如此，利用一个喷嘴34即可实现不同的液体的喷洒要求，从而能够降低用户的使用成本，并且由于用户不需要频繁地更换喷嘴34，因此能够节约用户的时间，也能够避免喷嘴34更换时所造成的磨损。再有，超声波发生部件36产生的超声波能够利用高频振动将喷嘴34上的污垢震碎，然后震碎的污垢会在喷液的冲刷作用下排出，从而避免喷嘴34堵塞。
请继续参阅图1至图5，本发明实施方式的无人机1000包括喷洒系统100和无人机本体500。喷洒系统100可以设置在无人机本体500上。无人机本体500包括控制器510，控制可以用于控制喷洒系统100喷洒液体，还可以用于控制无人机本体500飞行。
喷洒系统100可以包括储液装置10、输液管20和喷头组件30。储液装置10例如可以是储液箱，储液装置10能够用于储存喷液。输液管20可以用于连接储液装置10和喷头组件30。输液管20例如可以是高压管，具体可以是钢管、铜管、高压软管(例如纤维增强聚氨酯软管、纤维增强尼龙软管)等。
喷头组件30可以包括喷头本体32、喷嘴34、超声波发生部件36、电连接线37、固 定部件38和密封件39。输液管20可以分别与喷头本体32和储液装置10连接以使得储液装置10和喷头本体32连通。
喷头本体32可以包括通孔322、水管连接件324、壳体326和管道328。通孔322可以形成在壳体326内，通孔322可以用于设置电连接线37。水管连接件324用于连接输液管20，通过水管连接件324能够使得喷头本体32和输液管20较为牢固地连接在一起，并且避免喷液的泄露。具体地，水管连接件324可以是水管螺母3242，输液管20可以包括有螺杆，喷头本体32通过水管螺母3242与输液管20的螺杆连接，如此，水管连接件324的结构简单，并且能够通过螺纹连接有效地将喷头本体32和输液管20连接在一起。当然，在其他实施方式中，喷头本体32通过水管连接件324与输液管20连接时，也可以通过卡合连接、焊接、胶接等方式实现，在此不做具体限定。管道328设置在喷头本体32的壳体326内，其中，管道328可以贯穿喷头本体32，并且管道328的出口可以与喷嘴34连通，如此，喷液在管道328内流动时能够穿过喷头本体32并通过喷嘴34喷洒出去。在一个实施方式中，喷头本体32呈L型，对应地，管道328也可以呈L型。喷头本体32呈L型，有利于喷头本体32的一端与输液管20连接，另一端面向待喷洒空间。
请继续参阅图4，喷嘴34和超声波发生部件36可以设置在喷头本体32的一端，具体地，喷嘴34和超声波发生部件36可设置在喷头本体32的靠近管道328的出口的一端(即远离水管连接件324的一端)，从而在输液管20将储液装置10中的喷液导入喷头本体32后，喷嘴34能够将导入喷头本体32的喷液喷洒出去。超声波发生部件36与喷嘴34机械耦合，如此，超声波发生部件36在控制器510的控制下产生振动时，能够带动喷嘴34也发生振动，以改变喷嘴34喷洒出去的液滴的粒径。
喷嘴34包括相背的第一端342和第二端344，喷嘴34的第一端342用于将喷液喷洒出去，超声波发生部件36包括第一面362，超声波发生部件36的第一面362与喷嘴34的第二端344连接，喷嘴34的第二端344完全覆盖超声波发生部件36的第一面362。如此，由于喷嘴34的第二端344完全覆盖超声波发生部件36的第一面362，因此，从喷嘴34喷洒出去的液体发生回流时，会受到喷嘴34的第二端344的隔档，从而能够减少出现超声波发生部件36受潮而导致超声波发生部件36不能正常工作的问题。
本发明实施方式的超声波发生部件36利用压电陶瓷或磁致伸缩材料形成。压电陶瓷是一种能将机械能和电能互相转换的陶瓷材料，在本发明的技术方案中，可以利用压电陶瓷将电能转换为机械能，从而产生超声波。磁致伸缩材料在磁场中磁化时，在磁化方向会发生伸长或缩短，能够通过改变通过线圈的电流来使得磁致伸缩材料的尺寸发生显著变化，从而产生超声波。利用压电陶瓷或磁致伸缩材料形成的超声波发生部件36能够简单、有效地发出超声波。当然，在其他实施方式中，超声波发生部件36也可以通过其他材料形 成，在此不做具体限定。
电连接线37的一端穿过通孔322并与超声波发生部件36电连接，电连接线37的另一端可以与控制器510电连接，从而使得超声波发生部件36通过电连接线37与控制器510电连接，控制器510能够通过电连接线37控制超声波发生部件36。例如，控制器510能够控制输入至超声波发生部件36的电信号的工作频率，从而调节超声波发生部件36的振动频率，进而实现对液滴的粒径的调节。其中，液滴的粒径与电信号的工作频率的大小可以呈负相关。电信号的工作频率越大，超声波发生部件36的振动频率越高，液滴的粒径越小；电信号的工作频率越小，超声波发生部件36的振动频率越低，液滴的粒径越大。
请继续参阅图4，固定部件38将喷嘴34和超声波发生部件36固定于喷头本体32。通过固定部件38能够实现喷头本体32、喷嘴34和超声波发生部件36的固定连接。具体地，固定部件38可以包括固定盖382，通过固定盖382将喷嘴34以及超声波发生部件36可拆卸地安装在喷头本体32上。在喷嘴34或超声波发生部件36发生故障时，可以将固定盖382拆卸下来，然后对喷嘴34或超声波发生部件36进行检查，并在确定发生故障时进行更换。其中，在一个实施方式中，固定盖382与喷头本体32螺纹连接，螺纹连接的结构简单、可靠，并且便于拆卸。当然，在其他实施方式中，固定盖382与喷头本体32也可以通过卡合连接等方式实现，在此不做具体限定。
超声波发生部件36至少部分收容在固定盖382内，例如，在本发明实施方式中，超声波发生部件36能够完全收容在固定盖382内，如此，固定盖382能够对超声波发生部件36形成保护，减少超声波发生部件36受到外界的干扰。
固定盖382可以套设在喷头本体32上，具体地，固定盖382可以套设在喷头本体32的靠近管道328的出口的一端(即远离水管连接件324的一端)，如此，固定盖382与喷头本体32连接时，能够将喷嘴34和超声波发生部件36固定在喷头主体上。
固定盖382的内部形成有第一凹槽3822、第二凹槽3824和第三凹槽3826，第一凹槽3822的容积大于第二凹槽3824的容积，第二凹槽3824的容积大于第三凹槽3826的容积，第一凹槽3822、第二凹槽3824和第三凹槽3826相互连通以形成阶梯槽。喷嘴34至少部分收容在第二凹槽3824和第三凹槽3826中，在本发明实施方式中，喷嘴34的一部分收容在第二凹槽3824和第三凹槽3826中，另一部分暴露在固定盖382外以便于喷液喷洒至外界。超声波发生部件36至少部分收容在第一凹槽3822中，例如，超声波发生部件36可以完全收容在第一凹槽3822中，如此，第一凹槽3822能够对超声波发生部件36形成保护。
密封件39环绕超声波发生部件36设置，密封件39用于防止喷液渗透到超声波发生部件36中。具体地，喷液从喷嘴34喷洒出去后，有可能从喷嘴34的内部或者从第三凹 槽3826处回流，从而对超声波发生部件36的正常工作造成影响，因此，可以在超声波发生部件36的周围设置密封件39，从而利用密封件39防止喷液渗透到超声波发生部件36中。密封件39至少部分收容在第一凹槽3822内并环绕超声波发生部件36，如此，密封件39能够实现对超声波发生部件36的密封。在本发明实施方式中，密封件39可以是任意具有密封功能的元件，例如为密封垫片。
请再次参阅图1，无人机本体500还包括中心架530、与中心架530连接的机臂550以及与机臂550连接的动力单元570，动力单元570例如为螺旋桨等。储液装置10可以设置在中心架530下方，输液管20可以连接储液装置10并沿着机臂550设置，喷头组件30可以设置在机臂550上。
请参阅图6，本发明实施方式的喷洒控制方法，可以用于上述任意一种实施方式的无人机1000。喷洒控制方法包括：
01：获取喷洒作业信息；
02：根据喷洒作业信息控制超声波发生部件36振动以带动喷嘴34发生振动；
03：调节超声波发生部件36的振动频率，使喷嘴34的振动频率随之发生变化，以控制经过喷嘴34喷洒出去的液滴的粒径；
04：控制无人机1000对作业目标进行喷洒作业。
本发明实施方式的喷洒控制方法可以由本申请实施方式的无人机1000实现，其中，步骤01、步骤02、步骤03和步骤04均可以由控制器510实现。也即是说，控制器510可用于：获取喷洒作业信息；根据喷洒作业信息控制超声波发生部件36振动以带动喷嘴34发生振动；调节超声波发生部件36的振动频率，使喷嘴34的振动频率随之发生变化，以控制经过喷嘴34喷洒出去的液滴的粒径；控制无人机1000对作业目标进行喷洒作业。
具体地，喷洒作业信息可以从无人机1000的遥控终端接收而来，遥控终端例如为遥控器、手机等。用户可通过遥控终端输入喷洒作业信息，然后通过通信的方式，无人机1000即可接收到遥控终端传输的喷洒作业信息。
本发明实施方式的喷洒作业信息可以包括如下至少一种：喷液的类型，喷洒的密度。例如喷洒作业信息为喷液的类型，可以根据喷液的类型控制超声波发生部件36的振动频率。具体地，喷液的类型例如包括杀虫剂喷液、杀菌剂喷液、除草剂喷液等，在喷洒杀虫剂喷液和杀菌剂喷液时，杀虫剂喷液和杀菌剂喷液的喷洒要求通常是喷洒均匀，喷洒时要求液滴的粒径较小，因此，可以通过控制超声波发生部件36的振动频率使得液滴的粒径较小；在喷洒除草剂喷液时，除草剂喷液的喷洒要求通常是抗风能力强，喷洒时要求液滴的粒径较大，因此，可以通过控制超声波发生部件36的振动频率使得液滴的粒径较大。又例如喷洒作业信息为喷洒的密度，可以根据喷洒的密度控制超声波发生部件36的振动 频率。具体地，喷洒的密度包括大密度喷洒和小密度喷洒，在进行大密度喷洒时，此时对应的喷洒作业场景可以是集中式喷洒，集中式喷洒要求喷液集中并且在小范围内喷洒，此时要求液滴的粒径比较大，如此喷液的抗风性比较强，在风场下不容易产生飘移，因此，可以通过控制超声波发生部件36的振动频率使得液滴的粒径较大；在进行小密度喷洒时，此时对应的喷洒作业场景可以是分散式喷洒，分散式喷洒要求喷液分散并且喷洒范围较广，此时要求液滴的粒径比较小，如此喷液在风场下会进行飘移，从而覆盖更多的作业目标，因此，可以通过控制超声波发生部件36的振动频率使得液滴的粒径较小。
作业目标具体可以是指农作物、树木等植物，此外，在本发明实施方式的无人机1000应用于喷洒消毒时，作业目标也可以是指某一块区域，在此不做具体限定。
本发明实施方式的喷洒控制方法中，能够利用超声波发生部件36产生的振动改变经过所述喷嘴34喷洒出去的液滴的粒径。如此，利用一个喷嘴34即可实现不同的液体的喷洒要求，从而能够降低用户的使用成本，并且由于用户不需要频繁地更换喷嘴34，因此能够节约用户的时间，也能够避免喷嘴34更换时所造成的磨损。再有，超声波发生部件36产生的超声波能够利用高频振动将喷嘴34上的污垢震碎，然后震碎的污垢会在喷液的冲刷作用下排出，从而避免喷嘴34堵塞。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施方式，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型， 本发明的范围由权利要求及其等同物限定。

Claims (21)

  1. 一种无人机，其特征在于，所述无人机包括喷洒系统和控制器，所述喷洒系统包括储液装置、输液管和喷头组件，所述喷头组件包括喷头本体、喷嘴和超声波发生部件，所述输液管分别与所述储液装置和所述喷头本体连通，所述喷嘴和所述超声波发生部件设置于所述喷头本体的一端，并且所述超声波发生部件与所述喷嘴机械耦合；
    所述输液管能够将所述储液装置中的喷液导入所述喷头本体后，通过所述喷嘴将所述喷液喷洒出去；
    所述超声波发生部件能够在所述控制器的控制下产生振动，从而带动所述喷嘴发生振动，以改变经过所述喷嘴喷洒出去的液滴的粒径。
  2. 根据权利要求1所述的无人机，其特征在于，所述喷头组件还包括固定部件，所述固定部件将所述喷嘴和所述超声波发生部件固定于所述喷头本体。
  3. 根据权利要求2所述的无人机，其特征在于，所述固定部件包括固定盖，通过所述固定盖将所述喷嘴以及所述超声波发生部件可拆卸地安装在所述喷头本体上。
  4. 根据权利要求3所述的无人机，其特征在于，所述固定盖与所述喷头本体螺纹连接。
  5. 根据权利要求3所述的无人机，其特征在于，所述超声波发生部件至少部分收容在所述固定盖内，所述固定盖套设在所述喷头本体上。
  6. 根据权利要求3所述的无人机，其特征在于，所述固定盖的内部形成有第一凹槽、第二凹槽和第三凹槽，所述第一凹槽的容积大于所述第二凹槽的容积，所述第二凹槽的容积大于所述第三凹槽的容积，所述第一凹槽、所述第二凹槽和所述第三凹槽相互连通以形成阶梯槽。
  7. 根据权利要求6所述的无人机，其特征在于，所述喷嘴至少部分收容在所述第二凹槽和所述第三凹槽中，所述超声波发生部件至少部分收容在所述第一凹槽中。
  8. 根据权利要求7所述的无人机，其特征在于，所述喷头组件还包括密封件，所述 密封件环绕所述超声波发生部件设置，所述密封件用于防止所述喷液渗透到所述超声波发生部件中。
  9. 根据权利要求8所述的无人机，其特征在于，所述密封件至少部分收容在所述第一凹槽内并环绕所述超声波发生部件。
  10. 根据权利要求1所述的无人机，其特征在于，所述喷嘴包括相背的第一端和第二端，所述喷嘴的第一端用于将所述喷液喷洒出去，所述超声波发生部件包括第一面，所述超声波发生部件的第一面与所述喷嘴的第二端连接，所述喷嘴的第二端完全覆盖所述超声波发生部件的第一面。
  11. 根据权利要求1所述的无人机，其特征在于，所述超声波发生部件利用压电陶瓷或磁致伸缩材料形成。
  12. 根据权利要求1所述的无人机，其特征在于，所述喷头本体包括通孔，所述超声波发生部件通过一电连接线与控制器电连接，所述电连接线穿过所述通孔并与所述超声波发生部件电连接。
  13. 根据权利要求1所述的无人机，其特征在于，所述喷头本体包括水管连接件，所述水管连接件用于连接所述输液管。
  14. 根据权利要求13所述的无人机，其特征在于，所述水管连接件包括水管螺母，所述喷头本体通过所述水管螺母与所述输液管连接。
  15. 根据权利要求1所述的无人机，其特征在于，所述喷头本体包括壳体和设置在所述壳体内的管道，所述管道贯穿所述喷头本体。
  16. 根据权利要求15所述的无人机，其特征在于，所述管道呈L型。
  17. 根据权利要求15所述的无人机，其特征在于，所述管道的出口与所述喷嘴连通。
  18. 一种喷洒控制方法，用于权利要求1至17中任意一项所述的无人机，其特征在 于，所述方法包括：
    获取喷洒作业信息；
    根据所述喷洒作业信息控制所述超声波发生部件振动以带动所述喷嘴发生振动；
    调节所述超声波发生部件的振动频率，使所述喷嘴的振动频率随之发生变化，以控制经过所述喷嘴喷洒出去的液滴的粒径；
    控制所述无人机对作业目标进行喷洒作业。
  19. 根据权利要求18所述的喷洒控制方法，其特征在于，所述喷洒作业信息从所述无人机的遥控终端接收而来。
  20. 根据权利要求18所述的喷洒控制方法，其特征在于，所述喷洒作业信息包括如下至少一种：喷液的类型，喷洒的密度。
  21. 根据权利要求18所述的喷洒控制方法，其特征在于，所述喷洒作业信息包括喷液的类型，根据所述喷液的类型控制所述振动频率。
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