WO2023028840A1

WO2023028840A1 - Plant protection unmanned aerial vehicle, and operation method and spraying assembly of plant protection unmanned aerial vehicle

Info

Publication number: WO2023028840A1
Application number: PCT/CN2021/115684
Authority: WO
Inventors: 舒展; 周乐; 冯建刚
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2023-03-09
Also published as: CN117915771A

Abstract

A plant protection unmanned aerial vehicle, and an operation method and a spraying assembly of a plant protection unmanned aerial vehicle. A plant protection unmanned aerial vehicle (1) comprises a vehicle frame (10) and a spraying assembly (20), wherein the spraying assembly (20) is connected to the vehicle frame (10); the spraying assembly (20) comprises an extension member (21) and a first type of nozzles (211b), the extension member (21) extending from the vehicle frame (10), and the first type of nozzles (211b) being arranged on the extension member (21); a first included angle is formed between the direction of arrangement of the first type of nozzles (211b) and the extension direction of the extension member (21); and a second non-zero included angle is formed between the spraying direction of a spray medium and the height direction of the vehicle frame (10).

Description

Plant protection drone, operating method and spraying assembly of plant protection drone

technical field

The invention relates to the technical field of plant protection drones, in particular to a plant protection drone, an operating method of the plant protection drone, and a spraying assembly.

Background technique

The plant protection drone is a newly developed drone with a specific purpose in recent years. The plant protection drone represented by the plant protection drone continues to expand with the development of technology.

An important function of plant protection drones is to spray liquid or solid particles such as water, pesticides, and dry powder on crops from the air to perform operations such as pest control, extinguishing wildfires, and watering crops. The objects to be sprayed may include, for example, traditional field crops such as rice, wheat, and cotton, as well as fruit trees such as citrus, litchi, and grapes.

Different crops grow with different characteristics. For example, fruit trees are different from field crops in that their canopy is denser and their leaf distribution is thicker in the height direction. Existing plant protection drones generally spray from top to bottom, and use the wind field of the drone to press down on the droplets. Fog droplets can only attach to the surface of fruit trees with luxuriant branches and leaves, but cannot enter the interior of fruit trees, resulting in limited spraying and control effects. Especially for fruit trees planted in rows such as grapes, the existing plant protection drones are basically unable to complete the spraying of such scenes.

Therefore, the traditional downward spraying scheme has been unable to meet the needs of different plants.

Contents of the invention

In view of this, in order to solve the requirement that traditional plant protection drones cannot complete multi-scenario spraying, this application proposes a plant protection drone, an operation method of plant protection drones and a spraying component.

The embodiment of this application proposes a plant protection drone, including:

racks; and

A spraying assembly, connected to the frame, the spraying assembly includes:

an extension extending downward from the frame; and

The first type of nozzle is arranged on the extension piece, and the opening direction of the first type nozzle forms a first angle with the extension direction of the extension piece;

Wherein, the spraying direction of the spraying medium forms a second non-zero angle with the height direction of the frame.

The embodiment of the present application proposes an operation method of a plant protection drone, including:

Controlling the plant protection drone to move to the side orientation of the target to be sprayed, so that the extension of the plant protection drone is opposite to the side of the target to be sprayed; wherein, the extension is from the frame of the plant protection drone extends downward, and the extension is provided with a first type of nozzle; and

The nozzles of the first type are controlled to spray towards the side of the target to be sprayed.

The embodiment of the present application proposes a spraying assembly for a plant protection drone, including:

The extension is used to be mounted under the frame of the plant protection drone; and

The first type of nozzle is arranged on the extension piece for spraying, and the opening direction of the first type nozzle forms a first angle with the extension direction of the extension piece.

Compared with the traditional technology, the lateral and oblique spraying plant protection UAVs, the operation methods of the plant protection UAVs and the spraying components proposed in this application can achieve their respective beneficial effects:

1. The plant protection drone proposed in the embodiment of the present application is provided with a group of spraying components, and nozzles are arranged on the side or bottom of the spraying component. The spraying directions are combined to form a downward, sideways, and upward omnidirectional spraying scheme, that is, a full-enveloping profiling spraying scheme that wraps crop spraying. The plant protection UAV can realize omnidirectional spraying, and can also penetrate the side and inside of crops such as fruit trees, and the spraying effect is better.

2. The preferred embodiment of the present application proposes a method to improve the penetration of lateral and upward spraying: adopt a nozzle type with better penetration, or use an additional wind field to increase the penetration of droplets to both sides and upwards sex.

3. The plant protection drone of the embodiment of the present application can spray more efficiently and save liquid medicine because the side and interior spray effects are guaranteed.

4. In the optional embodiment proposed by the optional embodiment of the present application, the spraying assembly of the plant protection drone can be deformed, and the spraying assembly can be folded or stretched before the aircraft takes off or lands, so that the spraying assembly is all located on the bottom surface of the tripod above, so as not to affect the take-off and landing of the aircraft. The spraying assembly mounted on the plant protection drone can be folded without affecting the take-off and landing and normal flight of the aircraft.

5. The spraying assembly proposed in the embodiment of the present application has an anti-collision and anti-pull safety protection device. After the spraying assembly encounters an obstacle, it can bend to avoid the obstacle; in addition, the connection mechanism between the spraying assembly and the aircraft can be loosened. When the spraying assembly is pulled by a foreign object, the spraying assembly can be automatically released and unlocked. The mounted spraying components have safety protection functions, and can automatically avoid or loosen when encountering obstacles.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the conventional technology, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the conventional technology. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Figure 1 shows a schematic diagram of a plant protection drone.

Figure 2 shows a simple schematic diagram of plant protection drones spraying.

Figure 3 shows a schematic diagram of a plant protection drone with rigid extensions.

FIG. 4 is a cross-sectional view of a sprinkler assembly according to an embodiment of the present application.

Figures 5 and 6 are schematic views of the rigid extension in the extended position (working position) and the retracted position (folded position).

Figure 7 is a front view of the foldable extension of the present application,

Figure 8 is a sectional view of Figure 7;

FIG. 9 is an enlarged schematic diagram of area A in FIG. 8 .

Fig. 10 is a schematic diagram of spraying according to another embodiment of the present application.

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

Fig. 12 is a schematic cross-sectional view of a flexible extension in another embodiment of the present application.

13a to 13e are schematic diagrams corresponding to various angles of the plant protection drone shown in FIG. 1 .

14a to 14e are schematic diagrams corresponding to various angles of the plant protection drone shown in FIG. 3 .

15a to 15e are schematic diagrams corresponding to various angles of the rigid extension shown in FIG. 5 .

Fig. 16a to Fig. 16f are schematic diagrams of various angles of the plant protection drone shown in Fig. 1 after the rigid extension part is in the retracted position.

17a to 17e are diagrams corresponding to various angles of the rigid extension rod in the retracted position shown in FIG. 6 .

Main component number:

Plant Protection Drone: 1

Racks: 10; Spraying components: 20; Containers: 30; Rotors: 40; Spraying objects: 50;

Spray boom: 21; medium pipeline: 22; connector: 23; geared motor: 24; air pipe: 25

The composition of the extension 21:

Inner cylinder: 211; Outer cylinder: 212;

Transmission channel for spraying medium: 2111; pressure transmission channel: 2121

Rigid extension: 211a; Nozzle: 211b; Nozzle: 211c;

Air outlet: 212a; constant force release joint 212b;

Retractable boom: 213

Fixed rod: 213a; retractable rod: 213b; spring: 213c; sealing ring 213d

Deformable boom: 214

Rod: 214a; Joint: 214b

Flexible extension: 215

Flexible extension body: 215a; Flexible extension joint: 215b

Spray direction:

Side spraying direction A1; oblique spraying direction: A2; downward spraying direction: A3

specific embodiment

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

One of the core ideas of the present invention is to propose a spraying assembly integrally connected or combined with a plant protection drone. After studying the spraying objects, the inventor found that for a considerable number of crops, such as grapes and other luxuriant crops, the leaves and fruits basically grow on the side, and the side is the surface that really needs to be sprayed. The embodiment of the present invention proposes a The planting protection drone and the spraying component. The spraying direction of the spraying component is different from the traditional vertical downward spraying, but includes a direction parallel to the ground, and a specific acute angle, obtuse angle, etc. relative to the growth direction of the crops. The direction solves the problem that the crops cannot be sprayed effectively according to the characteristics of the crops.

The spraying direction is defined here as the direction in which the spraying medium is driven out of the nozzles of the first type. When the spray medium sprayed by a first-type nozzle has multiple directions, the center of these directions, that is, the direction where the centerline of the first-type nozzle is defined as the spraying direction.

In order to solve the problems existing in the traditional technology, the embodiment of the present invention proposes a plant protection drone 1 and a spraying assembly 20 of the plant protection drone. The spraying assembly 20 is applied to the plant protection drone 1 for spraying the medium to the spraying object 50 . The medium can be, for example, powder, granular matter, liquid, gas or the like. In application, powder or liquid pesticide, dry powder for fire extinguishing, water, etc. are common, but not limited to.

Figure 1 shows a schematic diagram of a plant protection drone. Fig. 13a, Fig. 13b, Fig. 13c, Fig. 13d, Fig. 13e are schematic diagrams corresponding to various angles when the plant protection drone shown in Fig. 1 is in the extended position; Fig. 16a, Fig. 16b, Fig. 16c, Fig. 16d, Fig. 16e is a schematic diagram corresponding to various angles of the plant protection drone shown in FIG. 1 in the retracted position. As shown in FIG. 1 and its schematic diagrams from various angles, the plant protection drone 1 includes a frame 10 , a spraying assembly 20 , a container 30 , and a rotor 40 .

The frame 10 includes a fuselage and a landing frame 11 mechanically coupled to the fuselage. The landing frame 11 is used to provide support when the plant protection drone lands. The container 30 is arranged on the frame 10 , and the container 30 is connected with the medium pipeline 22 for providing the spraying medium to the spraying assembly 20 . In some specific embodiments, the container 30 is, for example, a water tank, the spray medium is, for example, water, and the medium pipeline 22 is a medium pipeline.

The spraying assembly 20 is used for spraying operations on crops. The spray assembly 20 is connected to the frame 10, the spray assembly includes an extension 21 and a first type of nozzle 211b, the extension 21 extends from the frame 10, for example, extends downward from the frame 10; the first The type nozzle 211b is arranged on the extension piece 21, the opening direction of the first type nozzle 211b forms a first angle with the extension direction of the extension piece 21, and the spraying direction of the spray medium forms a second non-zero angle with the height direction of the frame 10 .

Different from the conventional technology, the spraying direction of the spraying medium includes at least a non-perpendicular direction to the ground. In other words, if the height direction of the rack 10 is the vertical direction, the traditional spraying direction is vertically downward spraying along the vertical direction, but in this embodiment, the spraying direction includes the vertical downward direction, and also Including directions that form an angle close to 90 degrees with the vertical direction, or directions that form other obtuse angles, acute angles, or other non-zero angles with the vertical direction.

The opening direction of the first type of nozzles 211b forms a first angle with the extending direction of the extension piece 21 , and the spraying direction of the spray medium forms a second angle with the height direction of the frame. When the height direction of the rack is perpendicular to the ground, the direction of the medium sprayed by the drone is not perpendicular to the ground, but substantially perpendicular to the upward growth direction of the plants. The aforementioned non-perpendicular direction is, for example, parallel to the ground, forming a certain angle (acute angle, obtuse angle) with the ground, and forming a certain angle (acute angle, obtuse angle) with the growth direction of plants, etc.

The first type of nozzle 211b may be a cylindrical hole, a tapered hole, an irregular hole, or the like. When the first type nozzle 211b is a cylindrical hole or a conical hole, the axial direction of the first type nozzle 211b can be parallel or nearly parallel to the ground, or can be set to have a specific angle, such as an acute angle or an obtuse angle.

The angle between the axis direction of the first type of nozzle 211b and the ground can be in different intervals, for example, less than 90°, greater than 90° and less than 180°, and so on.

In some embodiments, the sprinkler assembly 20 includes an extension piece 21. Generally speaking, the extension piece 21 can be a part with a hollow portion, the first type of nozzle communicates with the hollow portion of the extension piece, and the hollow portion is filled with Spray medium. In other words, the hollow rod body of the extension piece 21 is used to store spray media such as liquid or powder to be sprayed. The hollow part is connected to the container 30 on the frame 10 through the medium pipeline 22, and the spray medium accommodated in the container 30 can be transported to the hollow part of the extension part 21 through the medium pipeline 22, and from the second A type of nozzle 211b sprays.

In some embodiments, the sprinkler assembly further includes a second type of nozzle opening downward. The spraying direction of the second type of nozzles is the same as the traditional downward spraying of the first type of nozzles, and they all spray downwards along the height direction (for example, vertical direction) of the frame.

Fig. 2 is a schematic diagram of spraying according to an embodiment of the present application. Fig. 2 shows a schematic diagram of a plant protection drone performing spraying operations in a relatively simplified manner. As shown in FIG. 2 , unlike the traditional method of spraying directly downward, the method proposed in the embodiment of the present invention can spray to the side or upward. The extension piece 21 is, for example, a hollow rod, which may be generally cylindrical in shape, and its extending direction is substantially parallel to the height direction of the drone. Considering that the horizontal direction of the fuselage of the UAV is basically parallel to the ground direction when the UAV is flying, the extending direction of the extension part 21 can also be regarded as nearly perpendicular to the ground. The nozzle 211b is, for example, a cylindrical or conical nozzle, and its opening direction may be, for example, perpendicular to the length direction of the extension member 21 , or form a non-zero angle with the ground.

In Fig. 2, direction A1 represents the direction of lateral spraying, which is substantially perpendicular to the extension direction of extension member 21; direction A2 represents the direction of oblique spraying, which forms an acute or obtuse angle with the extension direction of extension member 21; direction A3 Indicates the traditional downward spray direction. The plant protection drone proposed in the embodiment of the present application may have one or more of the above-mentioned spraying directions.

The shape of the extension piece 21 can be arbitrary, and is not limited to a rod body. When the extension member 21 is a regular rod body, the direction of its length axis is the first direction. The nozzle 211b is disposed on the extension member 21 , and its opening direction is the second direction. The second direction is different from the first direction, and forms a first non-zero angle with the first direction, and the spraying direction of the spray medium forms a second non-zero angle with the height direction of the frame.

In some embodiments, as mentioned above, the frame 10 includes a fuselage and a landing frame 11 mechanically coupled with the fuselage, and the extension 21 can be at least partly located under the landing frame 11 . There are multiple first-type nozzles 211b, and at least one first-type nozzle 211b is located below the landing frame 11 .

In some embodiments, the first type of nozzles 211b includes a first sub-type of nozzles and a second sub-type of nozzles, the first sub-type of nozzles is located in the middle of the extension, and the second sub-type of nozzles is located away from the extension 211b. At one end of the frame 10, the spraying direction of the nozzles of the first sub-type may be different from the spraying direction of the nozzles of the second sub-type.

In some embodiments, the spray direction of the nozzle of the first sub-type is substantially perpendicular to the length direction of the extension; or

The spraying direction of the nozzle of the first sub-type is inclined downward compared with the length direction of the extension 21; or

The spraying direction of the nozzles of the first sub-type is inclined upward compared with the length direction of the extension piece 21 .

In some embodiments, when the plant protection drone is in the working state, at least part of the extension 21 is located below the landing support surface of the landing frame 11; when the plant protection drone is in the landing preparation state , all of the extensions 21 are located above the landing support surface of the landing frame 11 . The landing support surface is, for example, a plane formed by several fulcrums at the bottom of the landing frame.

In some embodiments, the length of the extension 21 may be greater than twice the height of the rack.

In some embodiments, the state of the extension 21 includes a normal state and a protection state. When the extension 21 is subjected to an abnormal external force, the extension 21 changes from the normal state to the protection state to prevent the extension 21 from being damaged. break off.

In some embodiments, when the extension member 21 is subjected to an abnormal external force, the extension member 21 changes from a normal state to a protection state by moving relative to the frame or/and deforming itself.

In some embodiments, the height of the free end of the extension member 21 in the normal state is greater than that in the protected state.

In some embodiments, the length of the extension member 21 in the normal state is greater than the length in the protective state.

In some embodiments, the straightness of the extension member 21 in the normal state is greater than that in the protected state.

In some embodiments, the state of the extension 21 also includes a standby state, and the extension 21 is in a standby state when the plant protection drone is in a landing preparation state or a takeoff preparation state.

In some embodiments, when the extension 21 is in the standby state, the entirety of the extension is located above the landing support surface of the landing frame 11 .

In some embodiments, when the plant protection drone is in a working state, the extension 21 is in a normal state or a protection state.

In some embodiments, when the extension member 21 is in the normal state or the protection state, at least part of the extension member 21 is located below the landing support surface of the landing gear 11 .

The plant protection drones with spray booms of different shapes are described as examples below through multiple embodiments.

first embodiment

FIG. 3 is a schematic diagram of a plant protection drone with an extension 21 proposed in the first embodiment of the present application. Fig. 14a, Fig. 14b, Fig. 14c, Fig. 14d, Fig. 14e are schematic diagrams corresponding to various angles of the plant protection drone shown in Fig. 3 . As shown in FIG. 3 and its schematic views from various angles, the spray assembly 20 includes an extension 21 . The extension 21 can be a rigid extension, which protrudes from the bottom of the frame 10. If the height direction of the frame 10 is vertically upward, the extending direction of the extension 21 is preferably vertically downward, parallel to The axis of the height direction of the frame 10. However, in some cases, it also includes the situation of forming a certain angle with the axis of the frame 10 .

The rigid extension 21 has two ends, and the end away from the frame 10 may be provided with a plurality of nozzles 211b of the first type at intervals, or a nozzle 211b of a narrow and long shape along the direction of the extension 21 . The first type nozzle 211b may be cylindrical, fan-shaped, conical, elongated, square, irregular, etc. When the cross section of the first type nozzle 211b is a regular shape such as a circle or a square, its axis direction is not parallel to the extension direction of the rigid extension member 21 and forms a first angle.

Through side spraying, oblique spraying and other spraying directions, the spraying medium can be sprayed on the spraying object from the side or obliquely, forming multi-directional and multi-angle spraying on the crops. In order to increase the spraying pressure, setting the first-type nozzle 211b in a shape such as a cylinder, a small-angle fan, or a small-angle conical shape can increase the spraying pressure of the first-type nozzle 211b.

In some embodiments, the spraying assembly 20 further includes a connecting piece 23 , which may be a fixing seat, and the connecting piece 23 is disposed under the frame 10 for fixing the spraying assembly 20 . In some other embodiments, the rack 10 itself has a connecting piece 23 for fixing the spraying assembly 20 .

The aforementioned extension 21 can be kept in its original state after the spraying task is completed, or it can be loosened and discarded by a control instruction and a corresponding mechanism, or it can be stored, which is not limited here.

second embodiment

In order to be able to spray at least when performing spraying tasks, and not hinder the flight of the drone when not performing spraying tasks, or when the spraying terrain or environmental conditions are bad, the extension member 21 can also have two positions: extended and retracted.

FIG. 4 is a cross-sectional view of the sprinkler assembly 20 , illustrating the principle of extending and retracting the sprinkler assembly 20 . As shown in FIG. 4 , the sprinkler assembly 20 includes a driving device for driving the extension member 21 to move between an extended position and a retracted position. The driving device is, for example, a geared motor 24 , which is disposed on the connecting member 23 for driving the extension 21 to rotate.

Further, the extension piece 21 has an extended state and a retracted state, so that the extension piece 21 can be stowed when not in use. As shown in FIG. 4 , the spraying assembly 20 further includes a deceleration motor 24 , which can be installed on the connecting member, and the deceleration motor is used to drive the extending member 21 to extend and retract. FIG. 5 and FIG. 6 are schematic diagrams of the extension member 21 in the extended position (working position) and retracted position (folded position). Fig. 15a, Fig. 15b, Fig. 15c, Fig. 15d, Fig. 15e are schematic diagrams corresponding to various angles in Fig. 5 . Fig. 17a, Fig. 17b, Fig. 17c, Fig. 17d, Fig. 17e are schematic diagrams corresponding to various angles in Fig. 6 . As shown in Figure 5 and its schematic diagrams of various angles, when located in the extended position, the extension 21 is perpendicular to the horizontal plane where the fuselage of the frame 10 is located, and parallel to the height direction of the frame 10; as shown in Figure 6, when When located in the retracted position, the extension 21 retracts from a position perpendicular to the ground to a position parallel to the ground, that is, retracts from a position perpendicular to the plane of the fuselage to a position parallel to the plane of the fuselage, and the extending direction of the extension is perpendicular to the plane of the fuselage. The height direction of the rack described above.

To accommodate the pivoting of the extension 21, in some embodiments the media line 22 may have a corresponding pivot joint.

In some embodiments, an obstacle avoidance sensor (not shown) may be provided on the extension 21 or the frame 10 . The retraction and extension of the extension 21 may be in response to the user's operation on the ground or in response to the operation of the obstacle avoidance sensor, or the control unit of the drone judges that there is an obstacle ahead through the built-in map or the map received in real time , and the retraction operation is performed on the extension member 21 . There are many triggering reasons in the field that can trigger the retraction and extension of the extension member 21 , which will not be repeated here.

third embodiment

In order to pressurize the sprayed water mist or pesticide particles during the spraying process, the extension 21 of the spraying assembly 20 includes an inner cylinder 211 and an outer cylinder 212 . A delivery channel 2111 for the spray medium is formed inside the inner cylinder 211 , and a pressure delivery channel 2121 is formed between the inner cylinder 211 and the outer cylinder 212 to apply pressure to the sprayed medium.

The delivery channel 2111 and the pressure delivery channel 2121 of the spray medium can be arranged concentrically, and the pressure delivery channel 2121 of the outer layer is connected to the air compressor 26 on the connector 23 for providing air pressure and increasing the pressure of spraying to the side. The delivery channel 2111 of the spraying medium is connected to the container 30 on the frame 10, and the container 30 can deliver the spraying medium to the nozzle 211b through the medium pipeline 22, so that the liquid or particles are sprayed from the container.

A nozzle 201b may be provided on the first type of nozzle 211b, and the nozzle 201b extends outward from the medium delivery channel 2111 to the outside of the pressure delivery channel 2121, that is, the nozzle 201b penetrates the medium delivery channel 2111 and the pressure delivery channel 2121. The nozzle 201b is fastened between the inner cylinder and the outer cylinder by a nozzle compression nut 201c.

The pressure delivery channel 2121 includes a plurality of openings. When the pressure is air pressure, the pressure delivery channel includes a plurality of air outlets 212a. The gas in the same direction exerts pressure on the liquid or particles ejected from the first type of nozzles 211b to play a boosting role, so that the liquid or particles are sprayed laterally on the spraying object, and the spraying penetration is better.

When the first type of nozzle 211b is a long and narrow slit, the air outlets 212a and the first type of nozzles 211b can be arranged alternately or overlapped in the direction in which the rigid extension 21 extends, or the air outlets 212a can be arranged with the first type of nozzles 211b in The rigid extensions 21 are located on the same section in the radial direction, and are arranged in a staggered or overlapping manner.

Fourth embodiment

As shown in Fig. 4, in the illustrated embodiment, in order to avoid the tree, other crops or utility poles, mountains and other obstructions caused by the extension piece 21 being pulled, scraped or even hooked in the environment during the spraying process, Obstacles will affect unmanned flight and spraying operations. In the embodiment of the present application, the outer wall of the outer cylinder can be set as a smooth outer wall, and its surface roughness can be less than a specific value, so that when the extension 21 and the spraying process When other flying obstacles are in contact, the extension piece 21 can be smooth enough to prevent scratching and hooking, preventing the flight from being affected. The surface roughness of the smooth outer wall may be less than the value recognized in the industry as meeting the smooth standard, which is not limited here.

fifth embodiment

Continuing with what is shown in FIG. 4 , further, in order to avoid pulling, scratching and hooking, one end of the extension piece 21 connected to the connecting piece 23 is provided with a fixed force release joint 212b. The fixed force release joint 212b can make the extension piece 21 fall off when subjected to an external force greater than a specified value, so as to avoid affecting the flight. In addition, the spraying assembly 20 may further include an air compressor 26 for generating air pressure to deliver to the pressure delivery channel 2121 , and the air compressor 26 is connected to the pressure delivery channel 2121 through the air pipe 25 . The trachea 25 also has a trachea fixed force release joint 2027 for loosening when subjected to an external force. The fixed force release joints 212b and 2027 are, for example, two sleeves that are tightly fitted. When the external force is greater than the frictional force between the two sleeves, the two sleeves are disconnected from each other to complete the release.

When the extension piece 21 has an inner cylinder body 211 and an outer cylinder body 212, the outer cylinder body 212 is connected with an air pipe, and both the air pipe 25 and the medium pipeline 22 can have corresponding pivot joints, or the medium pipeline 22 can have corresponding pivot joints. Adapter, and the air tube 25 can be set to be flexible to twist when folded, while cutting off the air flow.

In a specific embodiment, the sprinkler assembly 20 further includes a set of sprinkler devices. The spray head device includes a spray head body, the aforementioned nozzle 211b, a sealing gasket, a nozzle compression nut, a water pipe nut, the aforementioned medium pipeline 22, and the like. The nozzle body is a four-way structure. The upper and lower pipe joints can be connected to the medium pipeline 22. The left and right two first-type nozzles can be equipped with sealing gaskets and nozzles 211b. The nozzles 211b are fixed on both sides of the nozzle body and can spray to both sides. liquid. Several nozzle body assemblies are connected in series through the medium pipeline 22, one end of which is connected with the pump outlet of the aircraft, and the other end is blocked with a plug. The nozzle body assembly is covered with an outer sleeve 212, and there are several small holes equally spaced on the outer sleeve 212, and these small holes are used for installing the nozzle 211b or passing through the wind field. An air inlet is arranged on the top of the blower, and the air inlet is connected with an air compressor 26 through an air pipe 25 . All the nozzle bodies and the outer sleeve 212 together form an extension piece 21, the top of the extension piece 21 is a medium pipeline joint, the medium pipeline joint is connected with an elbow fixed on the motor shaft, and the medium pipeline joint is connected with The sealing method of the elbow is side sealing, and the locking method is a circlip mechanism, which will automatically loosen under a certain tension, so that the entire extension 21 is safely separated from the frame 10 . The above-mentioned elbow can be rotated under the drive of the geared motor, thereby driving the entire extension 21 to rotate. One end of the elbow is connected to the medium pipeline joint of the extension 21, and the other end is connected to the medium pipeline of the water pump of the drone.

The above-mentioned deceleration motor 24 is also fixed on the crossbeam bracket on the stand of the frame 10. The motor shaft reaction torque of the deceleration motor 24 can be adjusted. When the motor shaft does not rotate, the motor shaft reaction torque can make the extension stay At a fixed position, but when the extension 21 encounters an obstacle, the torque of the extension 21 to the motor shaft will increase, and when it exceeds the set reaction torque of the motor shaft, the motor shaft can drive the extension 21 to rotate, thereby avoiding obstacles.

Therefore, the above-mentioned spraying assembly can have two groups of safety devices, one group is the constant force rotation mechanism of the motor, and the other group is the loosening mechanism of the extension 21, wherein the rotation protection mechanism is preferentially activated, and the aircraft still cannot be prevented from being damaged after rotation. The release mechanism is only triggered when impacted.

Sixth embodiment

7 to 9 are schematic diagrams of an extension 21 according to another embodiment of the present application. 7 is a front view of the foldable extension 213 of the present application, and FIG. 8 is a cross-sectional view of FIG. 7 ; FIG. 9 is an enlarged schematic view of area A in FIG. 8 .

As shown in FIG. 7 to FIG. 9 , in this embodiment the extension piece 21 is a foldable telescopic extension piece 213 . The telescopic extension 213 includes at least one fixed rod 213a and at least one telescopic rod 213b. The diameters of the fixed rod 213a and the multiple telescopic rods 213b are gradually reduced, so that two adjacent telescopic rods 213b can be sleeved together, and between the fixed rod 213a and the sleeved telescopic rods 213b, two A holding mechanism can be provided between the sleeved telescopic rods 213b, such as a spring 213c, for maintaining the two rods at a fixed relative position after the telescopic rods 213b are stretched out.

At least one of the fixed rod 213a and the telescopic rod 213b is provided with a first-type nozzle 211b for lateral or oblique spraying. In some embodiments, only the first type of nozzle 211b is provided on the telescopic rod 213b farthest from the frame 10 .

During the operation of the drone, when the telescopic extension 213 is retracted by an external force, the spring 213c is compressed to store elastic potential energy; Re-extrude under the action of the elastic force, and resume the spraying position where the operation is performed.

Further, in order to prevent the liquid that needs to be sprayed from leaking from between two adjacent rods, a sealing ring 213d is provided between two adjacent rods nested in each other.

Although in this application, the holding mechanism of the telescopic extension 213 is a spring, that is, it is telescopically folded by means of an elastic mechanism, but in other solutions, a snap-fit mechanism, a pivoting mechanism, a sliding mechanism, etc. can also be used. , to realize the expansion and contraction of the telescopic extension member 213, which is not particularly limited here.

Seventh embodiment

Fig. 10 is a schematic diagram of spraying according to another embodiment of the present application. As shown in FIG. 10 , the extension piece 21 may be a deformable extension piece 214 shown in FIG. 10 in addition to the aforementioned rigid extension piece. The deformable extension 214 shown in FIG. 10 has a plurality of rods 214a, at least one rod 214a is provided with a first-type nozzle 211b, and there is a joint 214b between the rods 214a, and the joint 214b can be a resistance in this embodiment. Joints or elastic joints, under the action of external force, the joint 214b can move, and the two adjacent rods 214a can rotate relatively around the joint 214b. In this way, in the process of spraying, the spray bar will adapt to the external force. The deformation of the ground prevents the flight of the aircraft from being affected.

In some embodiments, the joints of the deformable extension 214 may be resistance joints or elastic joints. The resistance joint needs to be under the action of a certain external force to cause the two rods connected to the joint to deform around the joint 214b. After being deformed by the external force, it cannot be restored to its original shape when the external force is removed; the elastic joint can be a spring that drives the joint when deformed by the external force. The rod is deformed, and after the external force is removed, the position of the two connected rods can be restored to its original state by means of elastic return.

Eighth embodiment

Fig. 11 is a schematic diagram of spraying according to yet another embodiment of the present application. As shown in FIG. 11 , in addition to the deformable extension 214 shown in FIG. 10 , the spray boom can also be a flexible extension 215 . The flexible extension 215 can be deployed under the action of elasticity, gravity, air pressure, hydraulic pressure, etc. The flexible extension 215 includes an extension body 215a and a first type of nozzle 221b arranged at different positions on the extension body 215a, the first type of nozzle 221b It may be provided on the flexible extension 215 in the form of a nozzle joint 215b. Except where the nozzle is placed, the remainder of the extension 215 is flexible.

The above-mentioned flexible extension 215 can be retracted or discarded when not performing the spraying task, and can be expanded under the action of air pressure, hydraulic pressure, elastic force, gravity, etc. when performing the spraying task. The flexible extension 215 can be, for example, an extension made of plastic, rubber and other materials. Here are two ways to deploy the boom for spraying using air pressure and hydraulic pressure:

When the flexible extension 215 is opened by air pressure, as shown in FIG. 12 , it is a schematic diagram of the cross section of the flexible extension. As shown in FIG. 12 , the flexible extension 215 may include a pressure transmission channel 2121 and a spray medium delivery channel 2111 . The pressure transmission channel 2121 can transmit gas to open the delivery channel 2111 of the spray medium, and the pressure transmission channel 2121 can be arranged around the delivery channel 2111 of the spray medium, or arranged at a fixed interval around the delivery channel 2111 of the spray medium. A first type of nozzle 211b is provided on a flexible extension joint 215b, which may be rigid, connected to a delivery channel 2111 for spraying. Except for the flexible extension joint 215b, other portions of the flexible extension 215 may be flexible.

When the flexible extension 215 is hydraulically opened, the flexible extension 215 may only have a delivery channel 2111 for spraying medium. When the spray medium is filled into the channel, the flexible extension 215 is stretched, and the spray medium is sprayed out from the first type of nozzle 211b.

The flexible extension 215 is also provided with a pressure relief valve 215c. After the pressure relief valve 215c is opened, the air pressure and hydraulic pressure supporting the opening of the flexible extension can be released, so that the flexible extension 215 can release pressure as soon as possible for folding or discarding.

Ninth embodiment

On the basis of the foregoing embodiments, this embodiment proposes a spraying assembly, wherein the extension member 21 can be rotated equivalent to the frame 10 and perform spraying. The direction of rotation can be arbitrary. For example, on the basis of the second embodiment, the extension member 21 can stay at any position between the extended and retracted states, and has the ability to spray when it stays at any position. The second The geared motor 24 in the embodiment can drive the extension 21 to be set at any angle relative to the ground or relative to the flying plane of the drone and spray.

The above-mentioned embodiments can be combined with each other in pairs, in threes, or in multiples. For example, the rigid extension of the first embodiment can be combined with the retractable rigid extension of the second embodiment, the scheme of using air pressure to pressurize the sprayed medium in the third embodiment, and the solution of the fourth embodiment with One or more of the outer sleeve of the smooth outer wall, the constant force release member of the fifth embodiment, the foldable spray bar of the sixth embodiment, and the rotatable extension of the ninth embodiment are combined; the second embodiment The collapsible rigid extension part can be used with the scheme of using air pressure to pressurize the sprayed medium in the third embodiment, the outer sleeve with a smooth outer wall in the fourth embodiment, and the fixed force loosening device in the fifth embodiment. One or more of the detachment member, the foldable spray bar of the sixth embodiment, the resistance spray bar or elastic spray bar of the seventh embodiment, and the rotatable extension of the ninth embodiment are combined; the utilization of the third embodiment The scheme of pressurizing the sprayed medium by means of air pressure can be combined with the outer sleeve with a smooth outer wall of the fourth embodiment, the constant force release member of the fifth embodiment, the foldable spray rod of the sixth embodiment, the seventh embodiment One or more of the resistance spray bar or the elastic spray bar of the embodiment, the rotatable extension of the ninth embodiment is combined; the outer sleeve with a smooth outer wall of the fourth embodiment can be combined with the constant force of the fifth embodiment One or more of the release member, the collapsible boom of the sixth embodiment, the resistance or elastic boom of the seventh embodiment, the flexible extension of the eighth embodiment, the rotatable extension of the ninth embodiment The fixed force release member of the fifth embodiment can be combined with the foldable spray bar of the sixth embodiment, the resistance spray bar or elastic spray bar of the seventh embodiment, the flexible extension of the eighth embodiment, the ninth embodiment One or more of the rotatable extensions of the embodiments are combined; the foldable boom of the sixth embodiment can be combined with the resistance boom or elastic boom of the seventh embodiment, the flexible extension of the eighth embodiment, the flexible boom of the eighth embodiment, One or more of the rotatable extensions of the nine embodiments are combined, etc., which are not listed here. It is clear to those skilled in the art that, on the basis of the disclosure of the application, any simple changes based on the contents disclosed in the application are included within the scope of the application.

Tenth embodiment

The embodiment of the present application also proposes an operation method of a plant protection drone, which is applied to the plant protection drones of the above-mentioned embodiments, and the operation method includes the following steps:

S101, controlling the plant protection drone to move to the side of the target to be sprayed, so that the extension of the plant protection drone is opposite to the side of the target to be sprayed; wherein, the extension is from the plant protection drone the frame extends downward, and the extension is provided with a first type of nozzle; and

S102. Control the nozzle of the first type to spray towards the side of the target to be sprayed.

In an optional embodiment, the method also includes:

S103, controlling the second type of nozzle of the plant protection drone to spray toward the top of the target to be sprayed; wherein, the second type of nozzle is arranged on the frame, and the spraying direction of the second type of nozzle is toward the below the rack.

In an optional embodiment, the method also includes:

S104. When the plant protection drone is controlled to move to the side of the target to be sprayed, the rack of the plant protection drone is located above the height of the target to be sprayed.

In an optional embodiment, the method also includes:

S105. When the plant protection drone is in an operating state, control the extension to at least partially be located below the landing support surface of the landing frame; and

S106. When the plant protection drone is in a landing preparation state, control all of the extensions to be positioned above the landing support surface of the landing frame.

The plant protection drones and spraying components for lateral and oblique spraying proposed by this application can at least achieve the following beneficial effects:

3. The plant protection drone of the embodiment of the present application can spray more efficiently and save liquid medicine because the side and interior spraying effects are guaranteed.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Additionally, please note that examples of the word "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does 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 present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

A plant protection drone, including:

racks; and

A spraying assembly, connected to the frame, the spraying assembly includes:

an extension extending downward from the frame; and

The first type of nozzle is arranged on the extension piece, and the opening direction of the first type nozzle forms a first angle with the extension direction of the extension piece;

Wherein, the spraying direction of the spraying medium forms a second non-zero angle with the height direction of the frame.
The plant protection unmanned aerial vehicle according to claim 1, wherein the extension is arranged under the frame, and the first type of nozzle is arranged on at least one side of the extension.
The plant protection drone according to claim 2, wherein the spraying direction is substantially perpendicular to the height direction of the frame, or substantially perpendicular to the extension direction of the extension.
The plant protection drone according to claim 2, characterized in that there are multiple nozzles of the first type, and the opening directions of the multiple nozzles of the first type are different.
The plant protection drone according to claim 1, wherein the first type of nozzle is a cylindrical hole, a fan-shaped hole, a conical hole or a slit, and the opening direction of the first type of nozzle is the direction of the cylinder The normal direction of a shaped hole or a conical hole, or the centerline direction of a fan-shaped hole.
The plant protection drone according to claim 1, wherein the spraying assembly further includes a second type of nozzle opened downward, and the second type of nozzle sprays toward the bottom of the plant protection drone.
The plant protection drone according to claim 1, wherein the extension has a hollow part, the first type of nozzle communicates with the hollow part of the extension, and the hollow part is used for filling spraying medium.
The plant protection drone according to claim 7, wherein the hollow part communicates with a container on the frame through a medium pipeline, and the container is used to contain a spray medium.
The plant protection drone according to claim 1, characterized in that, the extension is a hollow rod.
The plant protection unmanned aerial vehicle according to claim 1, wherein the spraying assembly also includes a medium pipeline, and the medium pipeline is used to communicate with the first type of nozzle and the container on the frame, so Spray medium is contained in the container.
The plant protection unmanned aerial vehicle according to claim 1, wherein the spraying assembly further includes a connecting piece, and the connecting piece is used for detachably connecting the frame and the extension piece.
The plant protection UAV according to claim 1, wherein the frame includes a fuselage and a landing frame mechanically coupled with the fuselage, and the extension part can be at least partly located under the landing frame.
The plant protection unmanned aerial vehicle according to claim 12, wherein there are multiple nozzles of the first type, and at least one nozzle of the first type is located below the landing frame.
The plant protection drone according to claim 13, wherein the first type of nozzle includes a first sub-type nozzle and a second sub-type nozzle, and the first sub-type nozzle is located in the middle of the extension , the nozzle of the second sub-type is located at the end of the extension member away from the frame, and the spraying direction of the nozzle of the first sub-type is different from the spraying direction of the nozzle of the second sub-type.
The plant protection drone according to claim 14, wherein the spraying direction of the first sub-type nozzle is substantially perpendicular to the length direction of the extension.
The plant protection drone according to claim 14, wherein the spraying direction of the first sub-type nozzle is inclined downward compared with the length direction of the extension.
The plant protection drone according to claim 14, wherein the spraying direction of the first sub-type nozzle is inclined upward compared with the length direction of the extension.
The plant protection UAV according to claim 12, characterized in that, when the plant protection UAV is in an operating state, at least part of the extension is located below the landing support surface of the landing stand; When the plant protection UAV is in a landing preparation state, all of the extensions are located above the landing support surface of the landing frame.
The plant protection drone according to claim 1, wherein the length of the extension is greater than twice the height of the frame.
The plant protection drone according to claim 1, wherein the state of the extension includes a normal state and a protection state, and when the extension is subjected to an abnormal external force, the extension changes from the normal state to the normal state. The protective state prevents the extension from being broken.
The plant protection drone according to claim 20, wherein when the extension member is subjected to an abnormal external force, the extension member moves relative to the frame or/and deforms itself to change from the normal state for the protected state.
The plant protection drone according to claim 20, wherein the height of the free end of the extension member in the normal state is greater than the height in the protection state.
The plant protection drone according to claim 20, wherein the length of the extension member in the normal state is greater than the length in the protection state.
The plant protection drone according to claim 20, wherein the straightness of the extension member in the normal state is greater than the straightness in the protection state.
The plant protection UAV according to claim 20, wherein the state of the extension part also includes a standby state, and when the plant protection UAV is in a landing preparation state or a takeoff preparation state, the extension part is in a standby state state.
The plant protection drone according to claim 25, wherein when the extension is in the standby state, all of the extension is above the landing support surface of the landing stand.
The plant protection drone according to claim 20, wherein when the plant protection drone is in a working state, the extension is in the normal state or the protection state.
The plant protection UAV according to claim 27, characterized in that, when the extension is in the normal state or the protection state, at least part of the extension is located on the landing support surface of the landing stand below.
The plant protection unmanned aerial vehicle according to claim 1, wherein the spraying assembly further comprises a driving device for driving the extension to switch between the extended position and the retracted position.
The plant protection drone according to claim 29, characterized in that, when the extension is in the extended position, the extension direction of the extension is substantially parallel to the height direction of the frame, and the extension When located at the retracted position, the extension direction of the extension member is substantially perpendicular to the height direction of the frame.
The plant protection drone according to claim 29, wherein the spraying assembly also includes a medium pipeline, and the medium pipeline is used to communicate with the first type of nozzle and the container on the frame, so The media line includes a pivot joint capable of pivoting with the extension.
The plant protection UAV according to claim 29, wherein the plant protection UAV also includes an obstacle avoidance sensor, and the drive device drives the extension to move to the retracted position in response to the signal of the obstacle avoidance sensor. Location.
The plant protection drone according to claim 29, wherein the drive device drives the extension to move to the retracted position in response to a control signal.
The plant protection drone according to claim 33, wherein the control signal is a control signal generated according to obstacle detection information, or the control signal is a control signal generated according to a user manipulation instruction.
The plant protection unmanned aerial vehicle according to claim 1, wherein the extension member includes an inner cylinder and an outer cylinder, and the inside of the inner cylinder forms a delivery channel for spraying medium, and the inner cylinder and the outer cylinder A pressure delivery channel is formed between the outer cylinders to apply pressure to the sprayed spray medium.
The plant protection drone according to claim 35, characterized in that, the delivery channel of the spray medium is connected to the container on the frame through a pressure pipeline.
The plant protection drone according to claim 36, wherein at least one nozzle of the first type is provided on the inner cylinder, and the nozzle of the first type communicates with the medium conveying channel and runs through the The pressure delivery channel extends out of the outer cylinder.
The plant protection drone according to claim 37, wherein the pressure delivery channel includes at least one air outlet, and the direction of the air outlet is consistent with the spraying direction of the first type of nozzle.
The plant protection UAV according to claim 37, wherein the pressure delivery channel includes a plurality of air outlets, and the plurality of air outlets and the first type of nozzles are aligned along the extending direction of the extension part. staggered settings.
The plant protection drone according to claim 35, wherein the outer cylinder has a smooth outer wall.
The plant protection drone according to claim 1, wherein the end of the extension near the frame has a fixed force release joint, so that the extension can be released from the frame when it is subjected to an external force greater than a specified value The rack comes off.
The plant protection drone according to claim 41, wherein the spraying assembly further comprises an air compressor for generating air pressure to be delivered to the pressure delivery channel through the air pipe.
The plant protection UAV according to claim 42, further comprising a trachea constant force release joint provided on the trachea.
The plant protection UAV according to claim 41, characterized in that, the fixed force release joint includes two closely fitted sleeves, one of which is used for mechanically coupling with the frame, and the other one is A sleeve is used for mechanical coupling with the extension.
The plant protection drone according to claim 1, wherein the extension includes a telescopic extension, and the telescopic extension includes at least one fixed pole, at least one telescopic pole and simultaneously with the A holding mechanism mechanically coupled to the fixed rod and the telescopic rod, the fixed rod and the telescopic rod are sheathed together, and are held at mutually protruding positions by the holding mechanism.
The plant protection drone according to claim 45, wherein the holding mechanism includes at least one of the following: an elastic mechanism, a clamping mechanism, a pivoting mechanism, and a sliding mechanism.
The plant protection drone according to claim 1, wherein the extension includes a deformable extension, and the deformable extension includes a plurality of rods and is arranged between two adjacent rods. At least one of the rods is provided with the first type of nozzle.
The plant protection drone according to claim 47, wherein the joints are resistance joints or elastic joints.
The plant protection drone according to claim 1, wherein the extension piece comprises a flexible extension piece.
The plant protection drone according to claim 49, wherein the flexible extension can be deployed under the action of at least one of elastic force, gravity, air pressure, and hydraulic pressure.
The plant protection drone according to claim 49, wherein the flexible extension includes an extension body and a nozzle joint provided on the extension body, and the first type of nozzle is arranged through the nozzle joint on the flexible extension.
The plant protection drone according to claim 51, wherein the flexible extension is opened by air pressure, the flexible extension includes a pressure transmission channel and a delivery channel for spraying medium, and the pressure transmission channel can transmit gas to The conveying channel of the spray medium is left open.
The plant protection drone according to claim 52, characterized in that, the pressure transmission channel is arranged around the conveying channel of the spraying medium, or arranged at a specific interval around the conveying channel of the spraying medium.
The plant protection drone according to claim 51, wherein the flexible extension includes a conveying channel for spraying medium, and when the spraying medium is filled into the conveying channel for spraying medium, the spraying medium can communicate from the The spray medium is sprayed from the first type of nozzles in the conveying channel.
The plant protection drone according to claim 49, wherein the flexible extension includes a pressure relief valve, and the pressure relief valve is opened to collapse the flexible extension.
The plant protection drone according to claim 49, characterized in that, the folding manner of the flexible extension member is: curling or multiple bending and folding.
The plant protection drone according to claim 1, wherein the extension member can rotate between the extended position and the retracted position, and can be in any position between the extended position and the retracted position Stay and spray the spray medium.
An operation method of a plant protection drone, characterized in that it comprises:

Controlling the plant protection drone to move to the side orientation of the target to be sprayed, so that the extension of the plant protection drone is opposite to the side of the target to be sprayed; wherein, the extension is from the frame of the plant protection drone extends downward, and the extension is provided with a first type of nozzle; and

The nozzles of the first type are controlled to spray towards the side of the target to be sprayed.
The operation method of the plant protection drone according to claim 58, wherein the method further comprises:

Controlling the second type of nozzle of the plant protection drone to spray towards the top of the target to be sprayed; wherein, the second type of nozzle is arranged on the frame, and the injection direction of the second type of nozzle is towards the machine under the shelf.
The operation method of the plant protection drone according to claim 58, wherein the method further comprises:

When the plant protection drone is controlled to move to the side of the target to be sprayed, the rack of the plant protection drone is located above the height of the target to be sprayed.
The operation method of the plant protection drone according to claim 58, wherein the method further comprises:

When the plant protection UAV is in an operating state, control the extension to be at least partially located below the landing support surface of the landing frame; and

When the plant protection UAV is in a landing preparation state, all of the extension parts are controlled to be located above the landing support surface of the landing stand.
A spraying assembly for a plant protection drone, comprising:

The extension is used to be mounted under the frame of the plant protection drone; and

The first type of nozzle is arranged on the extension piece for spraying, and the opening direction of the first type nozzle forms a first angle with the extension direction of the extension piece.
The sprinkler assembly of claim 62, wherein the first type of nozzles is disposed on at least one side of the extension.
The sprinkler assembly according to claim 63, wherein the spraying direction is substantially perpendicular to the extending direction of the extending member.
The spraying assembly according to claim 62, wherein the nozzles of the first type are cylindrical holes, fan-shaped holes or conical holes, and the opening direction of the nozzles of the first type is that of the cylindrical holes or conical holes. The normal direction of the hole, or the centerline direction of the scalloped hole.
The sprinkler assembly according to claim 62, wherein the nozzle of the first type is a slit opened on the extension member.
The spraying assembly according to claim 62, wherein the extension has a hollow portion, the first type of nozzle communicates with the hollow portion of the extension, and the hollow portion is used for filling the spray medium.
The spraying assembly according to claim 67, characterized in that, the spraying assembly further comprises a container, the hollow part is connected to the container through a medium pipeline, and the spraying medium is accommodated in the container.
The sprinkler assembly according to claim 62, wherein the extension member is a hollow rod.
The spraying assembly according to claim 62, wherein the spraying assembly further comprises a medium pipeline and a container, the medium pipeline is used to communicate with the first type nozzle and the container, and the container contains Set with spray medium.
The spraying assembly according to claim 62, characterized in that, the spraying assembly further comprises a connecting piece, and the connecting piece is used for detachably connecting the frame of the plant protection drone and the extension piece.
The sprinkler assembly according to claim 62, wherein there are multiple nozzles of the first type, the nozzles of the first type include nozzles of the first sub-type and nozzles of the second sub-type, and the nozzles of the first sub-type Located in the middle of the extension, the second sub-type nozzle is located at one end of the extension, and the spraying direction of the first sub-type nozzle is different from the spraying direction of the second sub-type nozzle.
72. The sprinkler assembly of claim 72, wherein the spraying direction of the nozzles of the first sub-type is substantially perpendicular to the length direction of the extension member.
The sprinkler assembly according to claim 72, wherein the spraying direction of the nozzles of the first sub-type is inclined downward with respect to the length direction of the extension member.
The sprinkler assembly according to claim 72, wherein the spraying direction of the nozzles of the first sub-type is inclined upward relative to the length direction of the extension member.
The sprinkler assembly according to claim 62, further comprising a driving device for driving the extension member to switch between the extended position and the retracted position.
The spraying assembly according to claim 76, wherein the spraying assembly further comprises an obstacle avoidance sensor, and the driving device drives the extension member to move to the retracted position in response to a signal of the obstacle avoidance sensor.
76. The sprinkler assembly of claim 76, wherein said drive means is responsive to a control signal to drive movement of said extension member to said retracted position.
The spraying assembly according to claim 78, wherein the control signal is a control signal generated according to obstacle information of a real-time map, or the control signal is a control signal generated according to a user manipulation instruction.
The spraying assembly according to claim 62, wherein the extension member comprises an inner cylinder and an outer cylinder, the interior of the inner cylinder forms a delivery channel for the spray medium, and the inner cylinder and the outer cylinder A pressure delivery channel is formed between the cylinders to apply pressure to the sprayed spray medium.
The spraying assembly according to claim 80, wherein the spraying assembly further comprises a container, and the conveying channel of the spraying medium is connected to the container through a pressure pipeline.
The spray assembly according to claim 81, wherein at least one nozzle of the first type is provided on the inner cylinder, and the nozzle of the first type communicates with the medium delivery channel and runs through the pressure delivery channel, And protrude out of the outer cylinder.
The plant protection drone according to claim 82, wherein the pressure delivery channel includes at least one air outlet, and the direction of the air outlet is consistent with the direction of the first type of nozzle.
The spraying assembly according to claim 82, wherein the pressure delivery channel comprises a plurality of air outlets, and the plurality of air outlets are staggered with the nozzles of the first type along the extending direction of the extending portion set up.
The sprinkler assembly of claim 80, wherein said outer cylinder has a smooth outer wall.
The spraying assembly according to claim 62, wherein the extension piece includes a constant force release joint, so that the extension piece can be released from the frame of the plant protection drone when it is subjected to an external force greater than a specified value. fall off.
The sprinkler assembly according to claim 86, further comprising an air compressor and an air pipe, the air compressor is used to generate air pressure to be delivered to the pressure delivery channel through the air pipe.
The sprinkler assembly according to claim 87, wherein the air pipe has a fixed force release joint for the air pipe.
86. The sprinkler assembly of claim 86, wherein said force release joint comprises two closely fitting sleeves.
The sprinkler assembly according to claim 62, wherein the extension is a telescopic extension, the telescopic extension includes at least one fixed rod and at least one telescopic rod, the fixed rod and the The telescopic rods are sheathed together, and are held in mutually protruding positions by a holding mechanism.
The sprinkler assembly according to claim 90, wherein the holding mechanism is one of: an elastic mechanism, a snap-fit mechanism, a pivoting mechanism, and a sliding mechanism.
The sprinkler assembly according to claim 62, wherein the extension is a deformable extension, the deformable extension has a plurality of rods, and there are joints between two adjacent rods, At least one of the rods is provided with a first type of nozzle.
The spray assembly according to claim 92, wherein the joint is a resistance joint or an elastic joint.
The sprinkler assembly of claim 62, wherein the extension is a flexible extension.
The sprinkler assembly according to claim 94, wherein the flexible extension can be deployed under the action of one of elastic force, gravity, air pressure and hydraulic pressure.
The sprinkler assembly according to claim 94, wherein the flexible extension includes an extension body and a first type of nozzle disposed on the extension body, and the first type nozzle is disposed on the extension body through a nozzle joint. on the flexible extension.
The spray assembly of claim 96, wherein the flexible extension is opened by air pressure, the flexible extension includes a pressure transmission channel and a delivery channel for the spray medium, the pressure transmission channel is capable of transmitting gas such that the The delivery channels for the spray medium described above are opened.
The spray assembly according to claim 97, wherein the pressure transmission channel is arranged around the delivery channel of the spray medium, or arranged at a specific interval around the delivery channel of the spray medium.
The spray assembly of claim 96, wherein said flexible extension includes a spray medium delivery channel, said spray medium being able to communicate from said spray medium when filled into said spray medium delivery channel. The spray medium is sprayed from the first type of nozzle in the conveying channel.
The sprinkler assembly of claim 94, wherein the flexible extension includes a pressure relief valve that opens to collapse the flexible extension.
The sprinkler assembly according to claim 94, wherein the folding manner of the flexible extension member is: curling or multiple bending and folding.
The sprinkler assembly of claim 62, wherein the extension member is rotatable between an extended position and a retracted position, and is capable of staying in any position between the extended position and the retracted position and spraying the sprinkler. medium.