CN113371200B

CN113371200B - Unmanned aerial vehicle accurate pesticide spraying system for planting crops in large scale

Info

Publication number: CN113371200B
Application number: CN202110883683.XA
Authority: CN
Inventors: 苏子林; 李武斌; 张蕊; 赵万胜; 李勃宁
Original assignee: Ludong University
Current assignee: Ludong University
Priority date: 2021-08-03
Filing date: 2021-08-03
Publication date: 2023-01-13
Anticipated expiration: 2041-08-03
Also published as: CN113371200A

Abstract

The invention relates to an unmanned aerial vehicle accurate pesticide spraying system for large-scale crop planting, belongs to the technical field of plant protection unmanned aerial vehicles, and comprises a service vehicle, an unmanned aerial vehicle and a mooring cable. The service vehicle and the unmanned vehicle are in wireless communication with the digital agriculture system; the service vehicle receives the water source information, autonomously makes a decision to provide service for the unmanned vehicle, and takes water from the water source, so that the efficiency is high. Unmanned aerial vehicle has the plug, through the plug is connected with the mooring line. The unmanned vehicle is provided with an arm support, and the arm support is provided with a socket. The mooring cable penetrates through the arm support to obtain support and guide, so that the unmanned vehicle is connected with the unmanned aerial vehicle; the mooring cable controls and guides the plug of the unmanned aerial vehicle to be inserted into or separated from the socket; landing the unmanned aerial vehicle on the arm support or taking off the unmanned aerial vehicle from the arm support; the safety and the reliability are improved, the disturbance to the near-ground air and the influence to pesticide drift are reduced, and the pollution and the damage are avoided.

Description

Unmanned aerial vehicle accurate pesticide spraying system for planting crops in large scale

Technical Field

The invention relates to a pesticide spraying system, in particular to a pesticide spraying system for an unmanned aerial vehicle, and belongs to the technical field of plant protection unmanned aerial vehicles.

Background

In recent years, with the integration of urban and rural areas and the acceleration of the circulation of cultivated land, the large-scale planting industry is gradually developed, and more fruit trees and other crops which are planted in large scale for more than thousands of mu appear. Compared with the common farmer planting, the large-scale planting area is large, the facilities are perfect, the labor cost can be reduced, the operation efficiency is improved, and new requirements are provided for agricultural machinery.

In the agricultural plant protection field, in order to improve the operating efficiency, reduce cost, robot and unmanned aerial vehicle have been adopted at present to carry out the pesticide and spray. The invention patent with the application number of 201710420084.8 discloses an unmanned aerial vehicle-imitated agricultural pesticide spraying operation platform based on a self-propelled multi-degree-of-freedom platform, which comprises a self-propelled vehicle body, a pesticide storage box and a pesticide spraying platform; a vertical telescopic rod and a horizontal telescopic rod are arranged on an object stage of the self-propelled vehicle body; the pesticide spraying platform is arranged at the end part of the horizontal telescopic rod and is provided with a spray head with a downward opening, so that accurate pesticide application is realized; the adjustment is carried out through rotating the base, horizontal and vertical stretching so as to adapt to crops with different heights or crop fields with different widths. The invention patent with the application number of 201910050596.9 discloses an unmanned aerial vehicle pesticide spraying system for agricultural planting, which comprises a master control system, wherein the connecting end of the master control system is respectively provided with an unmanned aerial vehicle and an automatic driving automobile, and the master control system is respectively connected with a pesticide feeder and a storage battery pack through control cables; set up dosing machine and storage battery at the autopilot car roof, the unmanned aerial vehicle power can return to the parking lot at autopilot car roof after using up or the pesticide sprays, and the major control system control dosing machine adds the pesticide for unmanned aerial vehicle, also can be unmanned aerial vehicle's battery charging, improves work efficiency.

Spraying by using an unmanned aerial vehicle, wherein the pesticide quantity carried by the pesticide is generally 10 to 30Kg(ii) a When the electric quantity is insufficient or the pesticide is used up, the pesticide box or the battery can be replaced if the pesticide needs to be fed back or charged. The self-propelled pesticide spraying robot can overcome the problems of small load, short endurance time, insufficient safety and stability of the unmanned aerial vehicle, is safe and reliable, has sufficient electric quantity and pesticide amount, and can apply pesticide accurately; however, compared to drones, it needs to move on the ground; crops can be injured, and the ground is blocked by uncertain obstacles; there is a clear technical conflict. In order to solve the technical contradiction and improve the operation efficiency, the mooring unmanned aerial vehicle appears. The invention patent with the application number of 201610157939.8 discloses an unmanned aerial vehicle liquid supply power supply system, which comprises a ground power supply device, a ground liquid supply device, a mooring cable and an unmanned aerial vehicle; need not to increase liquid reserve tank and batch oil tank on unmanned aerial vehicle, alleviate unmanned aerial vehicle's load for energy consumption greatly reduced. The invention patent with application number 201610082275.3 discloses a mooring unmanned rotor aircraft cluster platform system and a liquid continuous spraying system, and the system comprises a mobile mooring platform, a power supply system, a mooring cable, a plurality of unmanned rotor aircraft, a central control system and a liquid continuous spraying system; the mooring lines provide electric energy for the plurality of unmanned rotor crafts; the mooring cable forms a spatial three-dimensional broken line in the air, so that the mooring cable avoids or bypasses obstacles, can adapt to terrain changes, increases the spatial range of the mooring unmanned rotor aircraft and the carried load, and improves the operation efficiency. The large-scale planting area is greatly increased, so that the technical contradiction is aggravated; on-board of a ground mobile unit of a tethered droneWhen the weight is large, the volume is inevitably increased, the movement in the field is influenced, and the overall optimization is difficult to achieve.

At present, the technology of mooring unmanned aerial vehicles has been applied and developed. The utility model patent with the application number of 201920405631.X discloses a take-off and landing platform suitable for mooring an unmanned aerial vehicle, which comprises a vehicle-mounted fixed platform, a middle adjusting platform and an unmanned aerial vehicle take-off and landing platform; the structure is simple and reliable, the horizontal self-stability can be kept in real time, and safe and lossless lifting is realized. The invention patent with the application number of 201911216988.4 discloses a mooring unmanned aerial vehicle and an airborne end of the unmanned aerial vehicle, and the mooring unmanned aerial vehicle comprises a machine body and a plurality of machine arms connected to the machine body, wherein the machine arms are connected with a rotor wing; through setting up two segmentation structures with the horn, adjust relative position and total length between the arm body, realize the variable wheel base design of unmanned aerial vehicle machine year end, can adjust required wheel base according to different wind-force environment, reinforcing unmanned aerial vehicle's stability. The invention patent with the application number of 201910025889.1 discloses a system and a method for controlling accurate landing of a tethered unmanned aerial vehicle, and the system comprises a tethered cable, a tension sensor, a tethered wire-rewinding motor, a control circuit, a flight control module and a laser altimeter, and the tethered unmanned aerial vehicle can land on a small platform with high accuracy by utilizing cable tension control, the flight control module and a real-time control technology; the area of the take-off and landing platform is reduced, and the reliability and the safety are improved.

Mooring unmanned aerial vehicle passes through the mooring cable with ground mobile unit and is connected, and the mooring cable can relax, knot, tensioning and burst apart, influences the flight gesture, can cause the incident, causes to break into the plane. In the field, there are obstacles such as trees, shrubs, electric wires, towers, buildings, and the like, and also dangerous factors such as lakes, rivers, hills, steep slopes, monuments, and the like, and uncertain gusts of wind affect flight safety, especially in the take-off and landing processes of the tethered unmanned aerial vehicle. In addition, the taking-off and landing process of the unmanned aerial vehicle causes violent near-ground air flow, dust, gravels and branches and leaves can be lifted, pollution and damage are caused, and the service life is shortened; the drift of the sprayed pesticide is aggravated, so that people, livestock and other crops are easily injured, and the safety risk is brought; further research and improvement are needed.

With the development and application of new generation information technologies such as internet of things, cloud computing, artificial intelligence and big data, a digital agricultural system appears at present. The invention patent with the application number of 201910528344.2 discloses an agricultural information industrialization system based on the internet, which comprises an information acquisition module, a planting management module, an intelligent management module, an information display module and an agricultural product supply chain module; through the cloud server, data are identified and stored, agricultural information is effectively monitored and fed back in real time, and effective industrialization of a supply chain mode is achieved through the Internet. The invention patent with the application number of 201810983208.8 discloses an intelligent orchard planting management system, which is used for realizing rapid, multidimensional and multi-scale real-time orchard information monitoring, building a growth model for fruit trees based on deep learning, using a VR/AR stereo model, a chart and a curve to visually and dynamically display, and utilizing big data, cloud computing, data mining, artificial intelligence and audio and video technologies to enable agricultural planting to be precise, so that a set of scientific and system-accurate agricultural intelligent production management system is provided. The invention patent with the application number of 201910899173.4 discloses a field panorama generating method, device, system, server and storage medium, which can generate a high-quality and high-resolution field panorama in real time, provide an important image data source for field pest detection, crop growth detection, field crop identification and pesticide spraying, and provide data guarantee for field crop condition accurate management. The invention patent with application number 202010523956.5 discloses an intelligent agricultural plant protection operation control system based on big data internet of things, which comprises a regional image acquisition module, an image preprocessing module, a planting region dividing module, a crop resource database, a regional area statistical module, a regional plant density analysis module, a GPS tracking and positioning module, an unmanned aerial vehicle control terminal, a data management server and an operation height detection module, wherein each crop planting subregion is divided, pesticide spraying amount of each crop is counted, pesticide spraying is effectively carried out, and the technical level of plant protection work is improved.

At present, automobile automatic driving and shared economy have been rapidly developed and applied; under the background, aiming at the accurate pesticide spraying operation for planting crops in a large scale, a new generation of information technology is fully utilized, the operation efficiency is further improved, the operation cost is reduced, safety and reliability are ensured, and further research and improvement are needed.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle accurate pesticide spraying system for planting crops in a large scale, which improves the structure and the landing mode of an unmanned aerial vehicle, ensures safety and reliability, further improves the operation efficiency and reduces the operation cost; the new generation information technology is fully utilized to realize the integral optimization; promote the development and application of new generation information technology, automobile automatic driving and shared economy, improve the intelligent level and promote the unmanned environment. The direction described in the specification is based on an unmanned aerial vehicle pesticide spraying system for pesticide spraying operation, and the operation advancing direction is front, otherwise, the operation advancing direction is back; the front and back directions are longitudinal; and so on. The specific technical scheme of the invention is as follows.

The unmanned aerial vehicle precise pesticide spraying system for large-scale crop planting comprises a service vehicle, an unmanned vehicle 1, an unmanned aerial vehicle 2 and a mooring cable 3; the unmanned vehicle 1 is provided with an arm support 4 and a manipulator 5, as shown in fig. 1. The service vehicle and the unmanned vehicle 1 are in wireless communication with the digital agricultural system, at least obtain a medicine spraying operation task, medicine spraying area information, a service task and water source information, receive a scheduling instruction and upload position and state information.

The service vehicle receives service tasks and water source information from the digital agricultural system, provides services for the unmanned vehicle 1 through autonomous decision, and takes water from a water source through autonomous decision, so that a shared service mode can be utilized, idle resources are fully utilized, efficiency is improved, and energy is saved. Unmanned vehicle 1 carries one or more unmanned aerial vehicle 2, and passes through mooring cable 3 does unmanned aerial vehicle 2 carries pesticide and electric energy, can accurately spout the medicine to the maximize spouts medicine operating efficiency. The service vehicle, the unmanned vehicle 1 and the unmanned aerial vehicle 2 are used for spraying pesticide aiming at the precision of crops planted in a large scale, under the unified management and control and scheduling of the digital agriculture system, making decisions autonomously, planning routes and air routes and navigating, and achieving the overall optimum.

The mooring cable 3 penetrates through the arm support 4 to obtain support and guidance, so that the unmanned vehicle 1 is connected with the unmanned aerial vehicle 2; the mooring cable 3 bears tension, controls and guides the unmanned aerial vehicle 2 to land on the arm support 4, and can take off from the arm support 4; the safety and the reliability of the flight and the take-off and landing process are improved, the disturbance of the take-off and landing process to the near-ground air and the influence on pesticide drift are reduced, and pollution and damage are avoided.

Unmanned car 1 contains chassis, locomotive and carriage, has control box 11, fixed battery 12, battery guardrail, interchangeable battery 121, medical kit support, medical kit 13, medicine pump 14, receipts pay-off 15, guide pulley 16, backup pad 17, connecting rod 18 and moves railway carriage or compartment board 19 the downside installation wheel on chassis the rear portion installation carriage of chassis upside the anterior installation locomotive of chassis upside is in the field along the intertidal, ridge or the ridge of crops independently walking, also low-speed autopilot on the road in the field, can independently keep away barrier and navigation, do not harm crops. The running speed of the low-speed automatic driving is preferably not more than 20Km/ h. The chassis comprises a transmission system, a running system, a steering system and a braking system.

The vehicle head is of a vertical and flat box body structure and is provided with a back plate and a bottom plate, a control box 11 is fixedly installed at the inner upper part, a fixed battery 12 is fixedly installed at the inner lower part, and a radar sensor, a camera and a vehicle lamp are installed at the front and the side surface so as to automatically drive and actively avoid obstacles. The carriage is of a flat box structure and comprises a bottom plate, a top plate, side plates, a front end plate and a rear end plate, the front end plate is fixedly connected with the vehicle head, and the front end plate and the vehicle head are jointly arranged on the upper side of the chassis to form the unmanned vehicle 1.

The carriage is provided with an arm support 4, a manipulator 5, a battery guardrail, a medicine box support, a medicine pump 14, a take-up and pay-off device 15 and a guide wheel 16 on a bottom plate, a replaceable battery 121 is clamped and fixed through the battery guardrail, a medicine box 13 is clamped and fixed through the medicine box support, a support plate 17 is connected to the inner sides of a front end plate and a rear end plate through spring hinges, a connecting rod 18 is arranged on the inner sides of the front end plate and the rear end plate, a movable carriage plate 19 is arranged on a side plate of the movable carriage plate through hinges, and the movable carriage plate 19 is hinged to the movable carriage plate 19 through the connecting rod 18 to drive the movable carriage plate 19 to move relative to the carriage so as to open or close the carriage.

The control box 11 is a vertical and flat box structure, is mounted on a back plate at the upper part in the vehicle head, and is internally and fixedly provided with a circuit board. The circuit board at least comprises a satellite positioning module, an image processing module, a mobile communication module, an unmanned aerial vehicle communication module, an environment perception module, a behavior decision module, an execution module, an arm support monitoring module, a mechanical arm monitoring module, a power supply module and a master control module, the digital agricultural system at least acquires a pesticide spraying task, pesticide spraying area information and a scheduling instruction through wireless communication between the mobile communication module and a mobile phone and the digital agricultural system, uploads position data, service requests and state information to the digital agricultural system, and enables a registered account to monitor the pesticide spraying operation state through the mobile phone and issue a control instruction.

The satellite positioning module acquires position and time data of a satellite; the image processing module classifies, transforms and enhances the image data from the cameras of the unmanned vehicle 1 and the unmanned aerial vehicle 2, and retrieves, matches and identifies the environmental information required by decision making; the mobile communication module is in wireless connection with a mobile communication network and is in wireless connection with a mobile phone and the digital agriculture system through the mobile communication network; the unmanned aerial vehicle communication module is electrically connected with the mooring cable 3 to perform signal conversion, so that the unmanned vehicle 1 and the unmanned aerial vehicle 2 perform data exchange; the environment perception module transforms, extracts and fuses environment information from the unmanned vehicle 1 and the unmanned aerial vehicle 2 to obtain information required by pesticide spraying operation, driving and flying. The environmental information includes environmental information obtained from the image processing module, obstacle information from a radar sensor, and geographic information from the digital farming system. The behavior decision module makes a decision according to the environmental information, the task state, the flight state and the driving state from the unmanned vehicle 1 and the unmanned aerial vehicle 2, corrects parameters of task execution, flight and driving, generates a new task, and changes behaviors of the unmanned vehicle 1 and the unmanned aerial vehicle 2; the execution module generates control information for task execution according to the behavior decision information aiming at the unmanned vehicle 1 from the behavior decision module, and generates control commands for an accelerator, a brake, a steering wheel, a vehicle lamp, a medicine pump 14, a pay-off and take-up device 15 and a connecting rod 18.

The arm support monitoring module acquires the state data of the sensor and the motor of the arm support 4, and generates a control instruction for the motor, so that the arm support 4 generates rotation, lifting and locking actions to lock or release the unmanned aerial vehicle 2. The lifting at least comprises extending, retracting, folding and unfolding. The manipulator monitoring module acquires the sensor and the motor state data of the manipulator 5, generates a control instruction for the manipulator 5, so that the manipulator 5 clamps the support plate 17 to pack up or lay flat the support plate 17 and clamp the rotor 23 and the undercarriage 22 of the unmanned aerial vehicle 2, and the rotor 23, the unstable unmanned aerial vehicle 2 and the askew unmanned aerial vehicle 1 can be righted to assist the unmanned aerial vehicle 1 to move.

The power module is connected with the fixed battery 12 and the replaceable battery 121 through electric wires, and is also connected with the traveling system of the mooring cable 3, the arm support 4, the mechanical arm 5, the medicine pump 14, the pay-off and take-up device 15, the connecting rod 18, the radar sensor, the camera, the car lamp and the chassis through electric wires to perform automatic switching and voltage conversion, and at least supplies power for the traveling system of other modules of the circuit board, the arm support 4, the mechanical arm 5, the medicine pump 14, the pay-off and take-up device 15, the connecting rod 18, the radar sensor, the camera, the car lamp and the chassis, so that the unmanned car 1 and the unmanned car 2 are powered. The master control module comprises a microprocessor and a memory, is communicated with other modules of the circuit board, performs task scheduling, and at least stores image data, decision data, task data and logs.

The fixed battery 12 is fixedly arranged on a bottom plate in the locomotive and is positioned at the inner lower part of the locomotive so as to lower the center of gravity; through the electric wire with control box 11's power module is connected, does as stand-by power supply unmanned vehicle 1 and the power supply of unmanned aerial vehicle 2. The replaceable battery 121 is clamped and fixed on the bottom plate of the carriage by means of the gravity of the battery guardrail and is positioned at the front part of the carriage so as to ensure the stability of the gravity center; can be clamped, lifted and put down by a tool or a paw, and is convenient for quick replacement; through the electric wire with control box 11's power module is connected, does as the main power supply unmanned vehicle 1 and the power supply of unmanned aerial vehicle 2. The battery guard bar is of a closed fence-shaped structure, is fixedly installed on the bottom plate of the carriage, and has an open top for clamping the replaceable battery 121, so that the replaceable battery 121 can be conveniently taken, placed and replaced.

The medicine chest 13 is a rectangular container and contains pesticide; the medicine box support is clamped and fixed on the bottom plate of the carriage by means of the gravity of the medicine box support and is positioned at the front part of the carriage, so that the center of gravity is stable; can be clamped, lifted and put down by a tool or a paw, and is convenient for quick replacement; pass through the pipeline in the bottom with the medicine pump 14 is connected, the process mooring cable 3 does unmanned aerial vehicle 2 carries the pesticide, carries out the accurate medicine that spouts. The medicine box support is of a frame-shaped structure with an open top, is fixedly arranged on a bottom plate of the carriage and is used for clamping and fixing the medicine box 13, so that the medicine box 13 can be conveniently taken, put and replaced; sufficient space is reserved in the lower part of the pipe to facilitate the passage of the pipe.

The medicine pump 14 is provided with a motor and is fixedly arranged at the front part of the carriage bottom plate and close to the medicine box 13 so as to ensure the stable gravity center; through the pipeline respectively with medical kit 13 and take-up and pay-off 15 are connected, follow medical kit 13 extracts the pesticide, through mooring line 3 for unmanned aerial vehicle 2 carries the pesticide, carries out accurate medicine spraying.

The winding and unwinding device 15 at least comprises a winding drum, a motor and a base, and is fixedly arranged at the front part of the carriage bottom plate through the base and close to the medicine pump 14 so as to ensure the stable gravity center; through its reel coiling mooring line 3 receive and release under the control of control box 11 mooring line 3, control mooring line 3's lax and tensioning degree avoid knoing and burst out absolutely, also through the tensioning mooring line 3 controls and guides unmanned aerial vehicle 2 descend in cantilever crane 4.

The guide wheel 16 is composed of two pulleys close to each other, is fixedly installed in the middle of the carriage bottom plate, clamps the mooring cable 3, changes the movement direction of the mooring cable 3, and avoids movement interference between the mooring cable 3 and the arm support 4.

The supporting plate 17 is a plate-shaped structure with a curved surface, and the unmanned aerial vehicle 2 is attached to and supported by the curved surface, so that the unmanned aerial vehicle 2 can be safely stored in the carriage, vibration and shaking relative to the carriage during transportation and driving of the unmanned vehicle 1 are avoided, and collision and damage are avoided; the supporting plate 17 is mounted on the inner sides of the front end plate and the rear end plate of the carriage through spring hinges and can be clamped by the manipulator 5, so that the operations of folding and leveling are realized, and the interference between the movement of the manipulator 5 and the taking and placing of the medicine box 13 is avoided.

The connecting rod 18 is of a planar four-bar structure, is provided with a motor, is arranged on the inner side of the front end plate and the rear side of the rear end plate of the carriage, is hinged with the movable carriage plate 19, and drives the movable carriage plate 19 to move relative to the carriage through the motor so as to open or close the carriage.

The movable compartment plate 19 comprises a movable top plate 191 and a movable side plate 192; the movable top plate 191 and the movable side plate 192 are both rectangular flat plate structures, as shown in fig. 2. In the open state of the car, that is, the position shown in fig. 2, the movable top plate 191 is hinged to the connecting rod 18 at the upper part of the front end and the rear end, hinged to the lower edge of the movable side plate 192 at the lower edge, and the movable side plate 192 is hinged to the side plate of the car at the upper edge at the hinge, so that the connecting rod 18 can drive the movable top plate 191 to move upwards from the position shown in fig. 2, drive the movable side plate 192 to turn upwards and move towards the center of the top of the car to form the top plate of the car so as to close the car; similarly, the link 18 is also enabled to drive the movable top plate 191 from the closed state to the position of fig. 2, thereby opening the vehicle compartment.

The unmanned aerial vehicle 2 at least comprises a body 21, an undercarriage 22, a rotor 23, a plug 24, a base 25, a standby battery 26 and a spray head 27, and as shown in fig. 1, the plug 24 is connected with the mooring cable 3, so that the unmanned aerial vehicle 2 obtains a power supply and pesticide, can communicate with the unmanned vehicle 1 and can spray the pesticide accurately; under the control and guidance of the mooring cable 3, the plug 24 is inserted into the arm support 4, so that the unmanned aerial vehicle 2 safely lands on the arm support 4, and the plug 24 is separated from the arm support 4, so that the unmanned aerial vehicle 2 takes off from the arm support 4; the safety and the reliability of the taking-off and landing process are improved, the disturbance of the taking-off and landing process to the near-ground air and the influence on pesticide drift are reduced, and pollution and damage are avoided.

The body 21 is a curved box-shaped structure, the sensor and the camera are mounted on the outer surface of the body, a battery slot, an antenna and a main board are fixedly mounted in the body, the standby battery 26 is inserted and clamped through the battery slot and is hinged to the rotor 23. The two battery slots are respectively positioned at the front part and the rear part of the machine body 21. The main board is at least provided with a communication module, a control module, a navigation module, a data processing module and a power module, so that the unmanned aerial vehicle 2 can communicate with the unmanned vehicle 1, wirelessly communicate with a remote controller, autonomously make a decision, plan a flight line and navigate.

The communication module enables the unmanned aerial vehicle 2 to communicate with the unmanned vehicle 1, wirelessly communicates with a remote controller, receives a scheduling instruction, and sends monitoring images and other information. The control module is provided with an accelerometer, a gyroscope and a compass, controls the rotor 23 and the spray head 27, controls the flight attitude and the motion parameters in real time, and controls the spray head 27 to be opened and closed, so that precise medicine spraying is realized. The navigation module is provided with a satellite positioning module and is used for acquiring flight route information in real time. The data processing module stores and processes geographic information, flight and driving information from the unmanned vehicle 1; data from the camera and sensors of the fuselage 21 are also processed, autonomously decided, and the flight path is planned. The power module is electrically connected with the mooring cable 3 and the standby battery 26 respectively, performs automatic switching and voltage conversion, and supplies power to other modules of the mainboard, the sensor, the camera and the sprayer 27.

Undercarriage 22 with the left and right sides fixed connection of fuselage 21 lower surface is located the fuselage 21 below the left and right sides of shower nozzle 27 can protect shower nozzle 27 absorbs unmanned aerial vehicle 2 is descending the impact energy when ground, makes unmanned aerial vehicle 2 can descend safely in ground. When the unmanned aerial vehicle 2 lands in the arm support 4, if the unmanned aerial vehicle 2 is unstable, the undercarriage 22 can be clamped by the manipulator 5 to centralize and assist the unmanned aerial vehicle 2 to land in the arm support 4, and the safety and reliability of the unmanned aerial vehicle 2 to land in the arm support 4 are improved.

Rotor 23 is rectangular shape structure, keeps away from the one end of fuselage 21 has flight motor and paddle, through the rotation of flight motor drive paddle obtains aerodynamic, produces the flight drive power, makes unmanned aerial vehicle 2 can take off, fly and descend, carries out the accurate medicine that spouts. Rotor 23 is being close to the one end of fuselage 21 with fuselage 21 is articulated, makes unmanned aerial vehicle 2 receive and release in before unmanned vehicle 1's the carriage, rotor 23 can by 5 centre gripping of manipulator, fold in the left and right sides of fuselage 21 also makes unmanned aerial vehicle 2 follows when cantilever crane 4 takes off, rotor 23 can by 5 centre gripping of manipulator expand, and adjust for the position and the distance of fuselage 21 reduce unmanned aerial vehicle 2's flight control degree of difficulty improves flight stability.

The plug 24 is a long-strip-shaped non-rotating body structure, a circular through hole is formed in the center of the plug along the axial direction, the front end of the plug is fixedly connected with the base 25, the plug penetrates through the mooring cable 3 through the through hole and is fixedly connected with the mooring cable 3, and therefore the pay-off and take-up device 15 can control and guide the unmanned aerial vehicle 2 to descend on the arm support 4 by tensioning the mooring cable 3. The plug 24 is backward along the axial direction, the cross section size gradually reduces, presents along the axial wedge, when the unmanned aerial vehicle 2 descends in the cantilever crane 4, can insert the cantilever crane 4 to have the guide effect, improve the unmanned aerial vehicle 2 descend in the security and the reliability of cantilever crane 4.

The base 25 is a flat box structure and is internally provided with a tapping plate, the mooring cable 3 is respectively connected with the main board of the body 21 and the spray head 27 through the tapping plate, the upper surface of the tapping plate is detachably connected with the lower surface of the rear part of the body 21, the tapping plate is positioned at the lower side of the rear part of the body 21 and is provided with through holes at the front side and the rear side; so that the plug 24 passes through the through hole of the rear side surface and is fixed, the plug 24 is fixed to the lower side of the rear part of the body 21; make shower nozzle 27 passes the leading flank the through-hole obtains fixedly, makes shower nozzle 27 is fixed in the below of fuselage 21 is located between the undercarriage 22, obtains the protection, avoids when unmanned aerial vehicle 2 descends in ground, receives the injury.

The standby battery 26 is inserted into and clamped in a battery slot in the front part of the body 21, and can balance the weight of the plug 24, the base 25, the mooring cable 3 and the pesticide at the rear part of the body 21, so that the rotor 23 is stressed uniformly and stably, the flight control difficulty of the unmanned aerial vehicle 2 is reduced, and the flight stability is improved.

The spray head 27 comprises an electromagnetic valve, a spray rod and a spray nozzle, and is connected with the mooring cable 3 through a pipe fitting and a distribution plate, so that the spray nozzle obtains pesticide and sprays the pesticide accurately. The solenoid valve is located inside base 25 under the control of fuselage 21 mainboard, opens or closes, realizes accurate medicine that spouts. The spray lance is a rigid bent pipe, one end of the spray lance is connected with the electromagnetic valve, and the other end of the spray lance is connected with the nozzle, so that pesticide flows through the spray lance, and the spray lance provides pesticide for spraying pesticide accurately. The spray rod penetrates through and is clamped in a through hole in the front side face of the base 25, and is fixed on the lower surface of the machine body 21 through pipe clamps to achieve supporting and fixing. The nozzle is provided with a spray hole, so that the pesticide is sprayed out of the spray hole and atomized, and the precise pesticide spraying is realized.

The mooring cable 3 at least comprises a protective layer, a tension resistant wire, a communication cable, a power cable and a transfusion hose 31, has flexibility, can be bent, bears tension, transmits communication signals and electric energy, and conveys pesticides through the transfusion hose 31, as shown in fig. 3. Mooring line 3 in one end coiling in receive and release line 15's reel, at the other end with plug 24 fixed connection makes unmanned aerial vehicle 1 can with unmanned aerial vehicle 2 communicates, can for unmanned aerial vehicle 2 carries electric energy and pesticide, also can be through being tensioned, control and guide unmanned aerial vehicle 2 descend in unmanned aerial vehicle 1's cantilever crane 4.

The arm support 4 comprises a support, a support arm and a support, the support is fixedly arranged in the center of the carriage bottom plate, a sensor and a motor are arranged, the support can rotate, lift and lock relative to the carriage, the support arm and the support penetrate through the mooring cable 3 to support and guide the mooring cable 3, and the mooring cable 3 controls and guides the unmanned aerial vehicle 2 to take off and land.

Further, the arm support 4 is provided with a socket 43, and under the control and guidance of the mooring cable 3, the plug 24 of the unmanned aerial vehicle 2 is inserted into the socket 43 and locked, so that the unmanned aerial vehicle 2 can land on the arm support 4, and the plug 24 is separated from the socket 43, so that the unmanned aerial vehicle 2 takes off from the arm support 4, and safety and reliability are ensured.

Both the support arm and the support are provided with hollow structures, the hollow structures penetrate through the mooring cables 3 to support and guide the mooring cables 3, and the two ends of the hollow structures are preferably provided with wire pressing wheels, so that the mooring cables 3 are guided to penetrate and penetrate through the wire pressing wheels, and friction force of the mooring cables 3 is reduced. In the embodiment shown in fig. 1 and 3, the support arm and the support frame both comprise an i-beam 41 and a fastening slot 42, and the fastening tongue of the fastening slot 42 is fastened in the fastening slot of the i-beam 41 to form the hollow structure, and penetrates through the mooring cable 3. In the embodiment shown in figures 1 and 3, the arms and the brackets are provided with two of the hollow formations, passing through two mooring lines 3.

The support arm is connected with the support and the bracket and can rotate and lift relative to the carriage; the lifting at least comprises extending, retracting, folding and unfolding. In the embodiment shown in fig. 1, the support is rotatable relative to the car; the support arm comprises two sections which are hinged with each other, and is also hinged with the support and the support respectively, and can be folded and unfolded, so that the arm support 4 can be unfolded to control and guide the unmanned aerial vehicle 2 to take off and land, and can also be folded to store and release the unmanned aerial vehicle 2 in the carriage.

The holder carries a socket 43. The socket 43 is a rod-shaped structure with an axial through hole, one end of the socket is fixedly connected with the bracket, the other end of the socket is a free end, and at the free end, as the transverse size of the through hole is increased to form a jack, the mooring cable 3 passes through the through hole and the jack and penetrates out of the arm support 4.

The jack is along axial hole, and its cross section is non-rotating structure, along the axial near the direction of socket 43 free end, its horizontal size increases gradually, presents the axial wedge, with the inclination of plug 24 is the same, can guide plug 24 inserts, and with the cooperation of plug 24 makes plug 24 can insert socket 43 to avoid relative rotation, make unmanned aerial vehicle 2 can descend safely in cantilever crane 4. In the embodiment shown in fig. 1 and 4, the cross section of the jack is a non-rotating structure with a diamond shape with round corners; the jack has contact switch 431 at its terminal, has spring bolt 432 on being close to its terminal inner wall for the cantilever crane monitoring module of unmanned aerial vehicle 1 can pass through contact switch 431 judges plug 24's insertion state, judges unmanned aerial vehicle 2's take-off and landing state also can be through the operation spring bolt 432, locks and releases unmanned aerial vehicle 2's plug 24. In the embodiment shown in fig. 1, the cradle is provided with two sockets 43, through which two mooring lines 3 are passed, also containing two drones 2.

The manipulator 5 is arranged in the middle of the carriage bottom plate, is provided with a sensor and a motor, and can be stored in the carriage, so that the influence on the movement of the arm support 4 and the lifting and descending of the unmanned aerial vehicle 2 is avoided; can move relative to the carriage, clamp the support plate 17, in order to pack or put down the support plate 17; clamping the rotor 23 of the unmanned aerial vehicle 2, folding, unfolding and adjusting the rotor 23; the manipulator 5 clamps the undercarriage 22 of the unmanned aerial vehicle 2, centralizes the unstable unmanned aerial vehicle 2, and assists the unmanned aerial vehicle 2 to land on the arm support 4; the manipulator 5 can right the tilted unmanned vehicle 1 and assist the movement of the unmanned vehicle 1. In the embodiment shown in fig. 1 and 2, the manipulator 5 comprises a base, a large arm, a small arm, a wrist and a claw, the base is fixedly mounted in the middle of the platform floor, and the claw clamps the support plate 17, the rotor 23 of the unmanned aerial vehicle 2 and the undercarriage 22.

The unmanned vehicle 1 makes an autonomous decision through the acquired environmental information, position and time data and spraying area information, plans a driving route of the unmanned vehicle 1 and a flight route of the unmanned aerial vehicle 2, generates navigation data and controls the driving of the unmanned vehicle 1; the unmanned aerial vehicle 2 is communicated with the unmanned vehicle 1 to obtain a flight route; and the unmanned aerial vehicle 2 autonomously makes a decision, plans a flight path and performs navigation. The driving route of the unmanned vehicle 1 and one embodiment of the flight path of the unmanned aerial vehicle 2 are shown in fig. 5. In fig. 5, one said unmanned vehicle 1 carries two unmanned aerial vehicles 2; the unmanned vehicle 1 travels along a ridge 63 in the field or along a travel route 61 on a road in the field without damaging crops; the drone 2 flies along a flight path 62; the unmanned vehicle 1 and the unmanned aerial vehicle 2 carried by the unmanned vehicle respectively run and fly without returning; both the travel path 61 and flight path 62 are preferably S-shaped, the spray head 27 being capable of being opened and closed. Consequently, to the crops of scale planting, unmanned vehicle 1 and the unmanned aerial vehicle 2 that carries can realize accurate spouting the medicine, avoid heavy spray and leak and spout.

The service vehicle is provided with a replaceable battery 121, a medicine box 13, a water tank, a medicine dispensing device, pesticide commodities and a maintenance tool, service software is installed, wireless communication is carried out between the service software and the digital agricultural system and the unmanned vehicle 1, service tasks and water source information are obtained from the digital agricultural system, scheduling instructions are received, and position and state information is uploaded; driving on a field road and a public road, autonomously making a decision to provide service for the unmanned vehicle 1, and autonomously making a decision to take water from a water source; the replaceable battery 121 and the medicine box 13 are replaced for the unmanned vehicle 1, maintenance service is provided, and the unmanned vehicle 1, maintenance equipment, and maintenance personnel can be carried.

The water tank is provided with a filter and a water pump, and can take water from a water source. The water source is preferably selected from lakes, rivers and rivers, and can also be tap water, well water and fire-fighting water. The dispensing device comprises a medicine tank, a stirrer and a medicine pump and is used for blending the pesticide and filling the medicine box 13. The pesticide commodity is original pesticide purchased from the market, and can be sprayed after being diluted and prepared.

The digital agricultural system is a software system located at the cloud end, at least stores water source information, geographic information, graphic images and plant protection information of crops planted in a large scale, stores information of the unmanned vehicle 1, the unmanned vehicle 2 and the service vehicle, communicates with the unmanned vehicle 1 and the service vehicle in real time through a mobile communication system, acquires geographic position and state information of the unmanned vehicle, and sends a scheduling instruction.

The digital agricultural system can generate a pesticide spraying operation task, a service task and pesticide spraying area information, send the pesticide spraying operation task, the service task and the pesticide spraying area information to the unmanned vehicle 1, receive a service application of the unmanned vehicle 1, generate the service task and send the service task to the service vehicle. The service tasks include at least the replacement of the replaceable battery 121, the replacement of the medicine box 13, and the maintenance and shipment tasks. The carrying task is that the service vehicle loads the unmanned vehicle 1 and transports the unmanned vehicle to other operation places or storage places through public roads. When the unmanned vehicle 1 is in a carrying state, the unmanned vehicle 2, the arm support 4 and the manipulator 5 are all stored in a carriage of the unmanned vehicle, and the carriage is closed.

Supplementary explanation: (1) The service vehicle is preferably an existing van truck and carries one or more unmanned vehicles 1, maintenance equipment and maintenance personnel; unmanned automatic driving is preferred, the intelligent level is improved, and unmanned operation is promoted. When the service vehicle is driven manually, the service software of the service vehicle can also be installed on the mobile phone of the driver.

Therefore, the service vehicle can fully utilize social leisure truck and driver resources, and provide services for cooperative society or service providers by utilizing a sharing service mode of sharing economy; the unmanned vehicle 1 and the unmanned aerial vehicle 2 can also provide services for owners or service providers in the large-scale planting industry by using a sharing service mode of sharing economy. The server may be a pesticide seller, a plant protection service enterprise, a farm machinery operation enterprise, a pesticide spraying service team or other enterprise, group and individual.

(2) The service vehicle receives the scheduling instruction and makes an autonomous decision to provide service, the autonomous decision takes water from a water source, a shared service mode can be utilized, waiting time is reduced, a driving route and time are shortest, idle resources are fully utilized, efficiency is improved, energy is saved, and the overall optimization is achieved. Unmanned vehicle 1 can carry one or more unmanned aerial vehicle 2, and pass through mooring line 3 does unmanned aerial vehicle 2 carries pesticide and electric energy, can alleviate unmanned aerial vehicle 2's volume and load also can increase duration, can reduce the walking distance in the field of unmanned vehicle 1 can obtain the optimal allotment. Therefore, the pesticide spraying system formed by the service vehicle, the unmanned vehicle 1 and the unmanned aerial vehicle 2 can autonomously make decisions, plan routes and air routes and navigate under unified management and control and scheduling of the digital agriculture system aiming at crops planted in a large scale, so that the integral optimization is achieved; that is, the waiting time can be minimized, the service efficiency can be maximized, the energy consumption can be minimized, the weight of the medicine box 13, the electric quantity of the replaceable battery 121, and the number of times of replacement can be optimally allocated, the social idle resources can be fully utilized, the medicine can be precisely sprayed, and the spraying operation efficiency can be maximized.

(3) The spare battery 26 of the unmanned aerial vehicle 2 is positioned in a battery slot at the front part of the body 21; the base 25 is detachably connected with the lower surface of the body 21; the spray head 27 is fixed on the lower surface of the body 21 through a pipe clamp; the plug 24 is fixedly connected with the base 25 at the front end; the rotor 23 is hinged to the fuselage 21 and can be adjusted in position and distance relative to the fuselage 21. Therefore, the unmanned aerial vehicle 2 can determine the optimal flying height and the optimal height of the arm support 4 according to the height of crops, so as to realize accurate pesticide spraying; before taking off, the position and the distance of the rotor 23 relative to the aircraft body 21 are reasonably adjusted, so that the weight of the plug 24, the base 25, the mooring cable 3 and the pesticide is optimally balanced, the flight control difficulty of the unmanned aerial vehicle 2 is reduced, and the flight stability is improved. The adjustment data can also be stored in the digital agricultural system to form a knowledge base at the cloud end so as to assist the adjustment operation of other pesticide spraying operations; the big data is fully utilized, intelligent decision making is realized, the decision making precision and efficiency are improved, and the decision making difficulty is reduced.

(4) When the unmanned aerial vehicle 2 lands on the arm support 4, preferably, the arm support 4 is lifted to the maximum height, the tension of the mooring cable 3 is increased, and the unmanned aerial vehicle 2 is controlled and guided to gradually approach the arm support 4 along the horizontal direction; when the unmanned aerial vehicle 2 takes off from the arm support 4, preferably, the arm support 4 is also lifted to the maximum height, and the tension of the mooring cable 3 is reduced; can improve 2 flight of unmanned aerial vehicle and the security and the reliability of taking off and land process alleviate the influence of taking off and land process to the disturbance of near ground air and drift to the pesticide, avoid arousing pollution and injury.

In the taking-off and landing process, if the unmanned aerial vehicle 2 is accidentally unstable, the probability that the unmanned aerial vehicle 2 is suspended on the arm support 4 through the mooring cable 3 can be improved as the arm support 4 rises to the maximum height, so that the probability of falling can be reduced, and the safety is improved. If the unmanned aerial vehicle 2 is accidentally unstable and is suspended on the arm support 4 through the mooring cable 3, the manipulator 5 can clamp the undercarriage 22 of the unmanned aerial vehicle 2, centralize the unstable unmanned aerial vehicle 2 and assist the unmanned aerial vehicle 2 to land on the arm support 4. Therefore, the safety and reliability of the unmanned aerial vehicle 2 in the taking-off and landing process can be improved.

(5) The manipulator 5 is arranged in the middle of the carriage bottom plate and can move relative to the carriage. As the field has obstacles such as trees, shrubs, electric wires, poles and towers, buildings and the like, and also has dangerous factors such as lakes, rivers, hills, steep slopes, monuments and the like; therefore, the unmanned vehicle 1 may fall or be difficult to move when it autonomously travels along the row, ridge or ridge of the crop in the field. At the moment, the arm support 4 and the manipulator 5 move relative to the carriage of the unmanned vehicle 1, so that the gravity center of the unmanned vehicle 1 can be adjusted; the manipulator 5 can also abut against the ground or surrounding objects to straighten the tilted unmanned vehicle 1 and assist the unmanned vehicle 1 in moving.

The invention has the following beneficial effects: (1) The service vehicle installation service software of the invention is in wireless communication with the digital agricultural system and the unmanned vehicle 1 through the service software, makes an autonomous decision, provides maintenance service for the unmanned vehicle 1 by replacing the replaceable battery 121 and the medicine box 13, and can also carry the unmanned vehicle 1, maintenance equipment and maintenance personnel. The service vehicle is preferably an existing van, can fully utilize social idle truck and driver resources, and provides service by utilizing a shared service mode; unmanned vehicle 1 and unmanned aerial vehicle 2 also can utilize the sharing service mode, carry out accurate medicine operation of spouting, provide the service for the owner or the service person of scale planting. The pesticide spraying system provided by the invention can independently make decisions, plan routes and air routes and navigate under unified management and control and scheduling of the digital agriculture system aiming at precise pesticide spraying of large-scale planted crops, and can achieve overall optimization.

The existing unmanned aerial vehicle sprays pesticide, and the pesticide amount carried by the unmanned aerial vehicle is generally 10 to 30Kg; when the electric quantity is insufficient or the pesticide is used up, the pesticide box or the battery needs to be returned to be replaced; the load is small, the endurance time is short, and the safety and the stability are insufficient. The existing pesticide spraying robot has sufficient carrying electric quantity and dosage, is safe and reliable, and can apply pesticide accurately; however, the movement on the ground is needed, which can damage crops and can also be blocked by uncertain obstacles on the ground; there is a clear technical conflict. The large-scale planting area is greatly increased, so that the technical contradiction is aggravated; mooring unmanned aerial vehicle's ground mobile unit, when the load is great, must increase the volume, influence the removal in the field, be difficult to reach whole optimum.

Compared with the existing chemical spraying of the tethered unmanned aerial vehicle, the chemical spraying system disclosed by the invention can be used for precisely spraying chemicals for crops planted in a large scale, fully utilizing the social idle truck and driver resources and providing services by utilizing a shared service mode; under the unified management and control and scheduling of the digital agricultural system, autonomous decision making, route planning and navigation can achieve the overall optimum.

In addition, the service vehicle makes an autonomous decision to provide service, and the autonomous decision takes water from a water source and can also be driven automatically by no person; the unmanned vehicle 1 carries one or more unmanned aerial vehicles 2, autonomously walks along inter-row spaces, ridges or ridges of crops in a field, and is also automatically driven at a low speed on a road in the field, so that autonomous obstacle avoidance and navigation can be realized, and the crops are not damaged; therefore, the pesticide spraying system can improve the intelligent level and promote the unmanned spraying.

(2) The unmanned aerial vehicle 2 is provided with the plug 24, under the control and guidance of the mooring cable 3, the plug 24 is inserted into the socket 43 of the arm support 4 and locked, so that the unmanned aerial vehicle 2 safely lands on the arm support 4, the plug 24 is separated from the socket 43, and the unmanned aerial vehicle 2 takes off from the arm support 4. When the unmanned aerial vehicle 2 lands on the arm support 4 or takes off from the arm support 4, the arm support 4 is preferably lifted to the maximum height, so that the disturbance of the taking-off and landing process to the near-ground air and the influence on pesticide drift are reduced, and pollution and damage are avoided. In the taking-off and landing process, if the unmanned aerial vehicle 2 is accidentally unstable and is suspended on the arm support 4 through the mooring cable 3, the manipulator 5 can clamp the undercarriage 22 of the unmanned aerial vehicle 2, centralize the unstable unmanned aerial vehicle 2 and assist the unmanned aerial vehicle 2 to land on the arm support 4.

Current mooring unmanned aerial vehicle passes through the mooring cable with ground mobile unit and is connected, and the mooring cable can relax, tie a knot, tensioning and break up, influences the flight gesture, can cause the incident, causes to break down. In the field, there are obstacles such as trees, shrubs, electric wires, towers, buildings, and the like, and also dangerous factors such as lakes, rivers, hills, steep slopes, monuments, and the like, and uncertain gusts of wind affect flight safety, especially in the take-off and landing processes of the tethered unmanned aerial vehicle. In addition, the existing unmanned aerial vehicle causes severe near-ground air flow in the taking-off and landing processes, can raise dust, sand, stones, branches and leaves, causes pollution and damage, and reduces the service life; but also aggravate the drift of the sprayed pesticide, easily damage people and livestock and other crops and bring safety risk.

Therefore, compared with the existing mooring unmanned aerial vehicle, the unmanned aerial vehicle 2 can land on the arm support 4 or take off from the arm support 4, so that the safety and reliability of the taking-off and landing process are improved, the disturbance of the taking-off and landing process to the near-ground air and the influence on pesticide drift are reduced, and pollution and damage are avoided. In addition, the unmanned aerial vehicle 2 has the advantages of no need of manual intervention in taking off, landing, storing, carrying and storing, high automation and intelligence degree and convenience in realizing unmanned aerial vehicle.

(3) According to the invention, the standby battery 26 of the unmanned aerial vehicle 2 is positioned in the battery slot at the front part of the body 21. Before taking off, the manipulator 5 can clamp the rotor 23 of the unmanned aerial vehicle 2, and the position and distance of the rotor 23 relative to the fuselage 21 are reasonably adjusted, so that the weight of the plug 24, the base 25, the mooring cable 3 and the pesticide is optimally balanced.

The existing unmanned aerial vehicle sprays medicine, the dosage is constantly changed, the endurance time is short, and the safety and the stability are insufficient; current mooring unmanned aerial vehicle carries the mooring cable, and the mooring cable can relax, tie a knot, tensioning and break up, influences the flight gesture, can cause the incident, causes to fall the machine. Therefore, compared with the existing spraying of unmanned aerial vehicles and tethered unmanned aerial vehicles, the unmanned aerial vehicle 2 can determine the optimal flying height and the optimal height of the arm support 4 according to the height of crops, return is not needed, heavy spraying and missed spraying are avoided, and accurate spraying is realized; can make full use of big data, aid decision, through manipulator 5 adjusts rotor 23 for the position and the distance of fuselage 21 reach best balance, reduce unmanned aerial vehicle 2's the flight control degree of difficulty improves flight stability.

In addition, compared with the existing pesticide spraying unmanned aerial vehicle, the unmanned aerial vehicle 2 disclosed by the invention adopts an asymmetric structure, does not carry a large amount of pesticides, and is light in weight and small in size; after removing the plug 24, the base 25 and the head 27, the spare battery 26 is inserted into both battery slots of the body 21, so that a front-rear symmetrical structure can be obtained. Therefore, the drone 2 of the present invention can be used alone for other operations, such as patrolling, aerial photography and surveying, taking images and photographs.

(4) The unmanned aerial vehicle 2 is provided with the plug 24, and can be inserted into the socket 43 of the arm support 4 through the plug 24 and locked, so that the unmanned aerial vehicle 2 can safely land on the arm support 4, is stored in the carriage of the unmanned vehicle 1, and is carried and stored. The drone 2 is also provided with a landing gear 22 and is able to land on the ground through the landing gear 22, so that the drone 2 can be used alone. The undercarriage 22 can also be gripped by the manipulator 5 to right the unstable drone 2 and assist the drone 2 in landing on the boom 4.

Therefore, compared with the existing unmanned aerial vehicle, the unmanned aerial vehicle 2 can land on the arm support 4, so that the unmanned vehicle 1 does not need to be provided with a large-area landing platform, the size can be reduced, the unmanned aerial vehicle can automatically walk in a field, the service vehicle can use the existing van, and the integral optimization can be achieved. In addition, the invention expands the application of the landing gear 22, so that the application range of the unmanned aerial vehicle 2 is expanded, the universality is improved, and the safety and the reliability of taking off and landing of the unmanned aerial vehicle 2 can be improved.

(5) The manipulator 5 is arranged on a carriage of the unmanned vehicle 1, can move relative to the carriage and can be stored in the carriage; the support plate 17 can be clamped to retract or lay flat the support plate 17; a rotor 23 capable of gripping the drone 2, folding, unfolding and adjusting the rotor 23; the undercarriage 22 of the unmanned aerial vehicle 2 can be clamped, the unstable unmanned aerial vehicle 2 is centered, and the unmanned aerial vehicle 2 is assisted to land on the arm support 4; the tilting unmanned vehicle 1 can be supported and the movement of the unmanned vehicle 1 can be assisted.

Therefore, compared with the existing pesticide spraying robot or the pesticide spraying system of the tethered unmanned aerial vehicle, the unmanned vehicle 1 can automatically open and close the carriage, can enable the carried unmanned aerial vehicle 2 to take off and land autonomously, and can automatically receive and release the unmanned aerial vehicle 2, the arm support 4 and the manipulator 5; the manipulator 5 can also right the tilted unmanned vehicle 1 to assist the unmanned vehicle 1 in moving. Obviously, the invention fully utilizes the new generation information technology and can realize the integral optimization; the development and application of new-generation information technology, automatic driving of automobiles and shared economy can be promoted, the intelligent level is improved, and the unmanned performance is promoted.

Drawings

Fig. 1 is a schematic structural diagram of the unmanned vehicle 1, the unmanned aerial vehicle 2, the mooring cable 3, the boom 4 and the manipulator 5;

FIG. 2 is a view of FIG. 1A—AA cross-sectional view as shown;

FIG. 3 is a view of FIG. 1B—BThe cross-sectional view shown;

fig. 4 is a schematic structural diagram of an embodiment of the socket 43;

fig. 5 is a schematic view of an embodiment of the driving route of the unmanned vehicle 1 and the flight path of the unmanned vehicle 2.

Description of reference numerals: the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a control box 11, a fixed battery 12, a replaceable battery 121, a medicine box 13, a medicine pump 14, a take-up and pay-off device 15, a guide wheel 16, a support plate 17, a connecting rod 18, a movable compartment plate 19, a movable top plate 191, a movable side plate 192, an unmanned aerial vehicle 2, a body 21, an undercarriage 22, a rotor 23, a plug 24, a base 25, a spare battery 26, a spray head 27, a mooring cable 3, a transfusion hose 31, an arm support 4, an I-shaped beam 41, a buckling groove 42, a socket 43, a manipulator 5, a traveling route 61, a flying route 62, a ridge 63 and a field road 64.

Detailed Description

The technical scheme of the invention is explained in detail in the following with the accompanying drawings and the specific embodiments:

fig. 1 is a schematic structural diagram of the unmanned vehicle 1, the unmanned aerial vehicle 2, the mooring cable 3, the boom 4 and the manipulator 5; FIG. 2 is a view of FIG. 1A—AShown in cross-section. The unmanned vehicle 1 comprises a chassis, a vehicle head and a carriage, and is provided with a control box 11, a fixed battery 12, a battery guardrail, a replaceable battery 121, a medicine box support, a medicine box 13, a medicine pump 14, a take-up and pay-off device 15, a guide wheel 16, a support plate 17, a connecting rod 18 and a movable carriage plate 19, wheels are installed on the lower side of the chassis, the carriage is installed on the rear portion of the upper side of the chassis, and the vehicle head is installed on the front portion of the upper side of the chassis. The chassis comprises four parts, namely a transmission system, a running system, a steering system and a braking system, and is preferably manufactured by the materials and processes of the existing automobile chassis.

The automobile head is of a vertical and flat box body structure, is provided with a back plate and a bottom plate, and is preferably made of the materials and processes of the existing automobile body. And the radar sensor, the camera and the car lamp are arranged on the car head, and the well-known radar sensor, camera and car lamp products are preferably selected. The carriage is of a flat and flat box structure and comprises a bottom plate, a top plate, side plates, a front end plate and a rear end plate, and the conventional wagon carriage is preferably made of materials and manufactured by a process. And the carriage, the headstock and the chassis are fixedly connected and installed, and preferably, the fastening pieces are connected.

The control box 11 is a vertical and flat box structure, preferably a known control box or distribution box finished product, and can also be formed by stamping a low-carbon steel plate profile. And the control box 11 is arranged on a back plate at the upper part in the locomotive, and preferably connected by a fastener. The circuit board at least comprises a satellite positioning module, an image processing module, a mobile communication module, an unmanned aerial vehicle communication module, an environment perception module, a behavior decision module, an execution module, an arm support monitoring module, a mechanical arm monitoring module, a power supply module and a master control module, the existing modules, modules and electronic elements are optimized, the embedded development technology is adopted for design and development, and the existing printed circuit board technology is adopted for processing and manufacturing. The circuit board is fixedly mounted to the control box 11, preferably by known fasteners.

The stationary battery 12 and the replaceable battery 121 are preferably known lithium batteries, alternatively lead-acid batteries. The fixed battery 12 is fixedly arranged on the vehicle head bottom plate, and is preferably connected and fixed through a known fastener. The battery guardrail is of a closed fence-shaped structure, the top of the battery guardrail is open, and preferably, a known steel pipe section is formed by welding and fixedly arranged on the bottom plate of the carriage through a fastener.

The medicine box support is of a frame-shaped structure with an open top, preferably a known steel pipe section is formed by welding and is fixedly arranged on the bottom plate of the carriage through a fastener. The medicine chest 13 is a rectangular container, and preferably, plastic is processed and formed through the existing processing technology of plastic containers. The drug pump 14 is provided with a motor, preferably an existing drug pump product. The medicine pump 14 is connected to and connected to the medicine box 13 and the line drawing and releasing device 15, respectively, and preferably is a conventional pipe or tube product.

The take-up and pay-off device 15 at least comprises a winding drum, a motor and a base, and preferably selects a take-up and pay-off device product of the existing ground unit for mooring the unmanned aerial vehicle. The base of which is fixedly mounted, preferably by known fasteners, to the front of the bed. The guide pulley 16 is composed of two pulleys adjacent to each other, preferably existing pulley products, and preferably connected by fasteners, and is fixedly installed in the middle of the floor of the carriage.

The support plate 17 is a plate-shaped structure with a curved surface, and is preferably formed by stamping a known low-carbon steel plate. The support plate 17 is a spring hinge mounted inside the front and rear end plates of the vehicle compartment, preferably a known spring hinge product. The connecting rod 18 is a plane four-bar structure, is preferably made of a well-known steel pipe profile, and the motor of the connecting rod is preferably a well-known motor product.

The movable compartment plate 19 comprises a movable top plate 191 and a movable side plate 192; the movable top plate 191 and the movable side plate 192 are both rectangular flat plate structures, and are preferably made of the materials and processes of the conventional boxcar. The movable top plate 191 is hinged to the connecting rod 18 at the upper parts of the front and rear ends thereof by a hinge, the lower edge thereof is hinged to the lower edge of the movable side plate 192 by a hinge, and the upper edge of the movable side plate 192 is hinged to the side plate of the wagon compartment by a hinge.

The drone 2 comprises at least a fuselage 21, a landing gear 22, a rotor 23, a plug 24, a base 25, a backup battery 26 and a spray head 27. The body 21 is a curved box-shaped structure, a sensor and a camera are arranged on the outer surface of the body, two battery slots, an antenna and a main board are fixedly arranged in the body and hinged with the rotor 23; fuselage 21, battery slot, antenna and mainboard all select for use current unmanned aerial vehicle's material and technology processing manufacturing. The mainboard is provided with at least a communication module, a control module, a navigation module, a data processing module and a power module, and preferably develops and manufactures the research and development technology of the existing unmanned aerial vehicle control system. The landing gear 22 and the rotor 23 are made of materials and processes of existing unmanned aerial vehicle parts.

The plug 24 is an elongated non-rotating body structure, and is provided with a circular through hole along the axial direction at the center thereof, and presents a wedge shape along the axial direction; preferably the aluminium alloy profiles are formed by die casting or forging. The plug 24 is fixedly connected at the front end to the base 25, preferably by a threaded fastener. The base 25 is a flat box structure with through holes on the front and rear sides, and is preferably made of the material and process of the body 21. The base 25 is removably attached, preferably by fasteners, at the upper surface to the lower surface of the rear portion of the body 21. The tapping plate, such that the mooring lines 3 are connected to the main plate of the fuselage 21 and the spray heads 27, respectively, is preferably a known tapping plate or patch panel product.

The backup battery 26 is inserted into and fastened to a battery slot in the front of the body 21, preferably a known lithium battery product. The spray head 27 comprises a solenoid valve, a spray rod and a spray nozzle, preferably the known solenoid valve, spray rod and spray nozzle products, which are tightly connected into a whole through pipe fittings, so that the installation and the maintenance are convenient.

Mooring cable 3 contains protective layer, strain resistance line, communication cable, electric power cable and infusion hose 31 at least, has the flexibility, can bend, bears tension, transmits communication signal and electric energy, through infusion hose 31 carries the pesticide, prefers to have the existing mooring cable product that is used for spouting medicine mooring unmanned aerial vehicle. The arm support 4 comprises a support seat, a support arm and a support; with sensors and motors, preferably known sensor and motor products. The support arm and the support are both provided with hollow structures, and preferably, aluminum alloy sections are formed through machining.

FIG. 3 is a view of FIG. 1B—BThe cross-sectional view shown; in the embodiment shown in fig. 3, the support arm and the bracket both include an i-beam 41 and a fastening groove 42, and the fastening tongue of the fastening groove 42 is fastened in the fastening groove of the i-beam 41 to form the hollow structure. The i-beam 41 and the catching groove 42 are preferably made of a known aluminum alloy profile or manufactured by a process for producing the aluminum alloy profile.

The support is preferably made of aluminum alloy materials through forging forming. The support is preferably connected by a fastener in the center of the platform floor. The bracket is provided with a socket 43; the socket 43 is a rod-shaped structure with an axial through hole, one end of the socket is fixedly connected with the bracket, the other end of the socket is a free end, and preferably, an aluminum alloy material is forged and formed; the fixed connection of the socket 43 to the holder is preferably welded.

Fig. 4 is a schematic structural diagram of an embodiment of the socket 43; in fig. 4, the cross section of the jack is a non-rotating structure with a diamond shape with round corners; the jack has a contact switch 431 at its end and a latch 432 on its inner wall near its end. The contact switch 431 is preferably an existing contact switch product. The latch tongue 432 is preferably formed of an aluminum alloy material that is capable of being manipulated to produce a clamping and unclamping action to lock and release the plug 24 of the drone 2. The manipulator 5 is arranged in the middle of the carriage bottom plate, preferably selects the existing sensors and motor products, and is manufactured by adopting the materials and the process of the existing manipulator. For light weight, aluminum alloy materials are preferable.

The service cart is preferably an existing van truck, carries the replaceable battery 121, the medicine box 13, the water tank, the dispensing device, the pesticide commodity and the maintenance tool, and is provided with service software. The service software is preferably developed by an existing software development system, different versions are respectively developed aiming at a driving computer, a vehicle-mounted terminal and a mobile phone of an automobile, and the service software is installed on the driving computer, the vehicle-mounted terminal or the mobile phone of a driver and can be in wireless communication with the digital agricultural system and the unmanned vehicle 1.

The digital agricultural system is a software system located at the cloud end, at least stores water source information, geographic information, graphic images of crops planted in a large scale and plant protection information, stores information of the unmanned vehicle 1, the unmanned vehicle 2 and the service vehicle, communicates with the unmanned vehicle 1 and the service vehicle in real time through a mobile communication system, acquires geographic position and state information of the unmanned vehicle, and sends a scheduling instruction. The digital agricultural system can generate a pesticide spraying operation task, a service task and pesticide spraying area information, send the pesticide spraying operation task, the service task and the pesticide spraying area information to the unmanned vehicle 1, receive a service application of the unmanned vehicle 1, generate the service task and send the service task to the service vehicle. The digital agriculture system and the functions thereof are developed by adopting the existing software development system based on cloud computing, coded by adopting a known programming language and operated on the existing commercial cloud platform.

Fig. 5 is a schematic view of an embodiment of the driving route of the unmanned vehicle 1 and the flight path of the unmanned vehicle 2. In fig. 5, one said unmanned vehicle 1 carries two unmanned aerial vehicles 2; said unmanned vehicle 1 travels along a ridge 63 in a field, or on a field road, along a travel route 61; the drone 2 flies along a flight path 62. The travel path 61 is indicated by a thick line with arrows indicating the direction of travel. The flight path 62 is represented by a thin line without arrows. In the travel route 61 and the flight route 62, a solid line indicates a state in which the heads 27 are turned on, and a broken line indicates a state in which the heads 27 are turned off; the blank of the field is a field road 64. The unmanned vehicle 1 enters a field road from crop inter-row spaces, ridges or ridges of a field and also enters the crop inter-row spaces, ridges or ridges of the field from the field road, so that crops can not be damaged; the planting area and the field road of crops are preferably and reasonably planned, so that the unmanned vehicle 1 can pass conveniently, and other agricultural machinery can work conveniently.

The above embodiments are merely preferred embodiments of the present invention, and are not to be construed as limiting the present invention. It is within the scope of the present invention to modify the materials and fabrication processes while still meeting the structural and performance requirements of the present invention.

Claims

1. Accurate medicine system that spouts of unmanned aerial vehicle to crops is planted to scale contains service cart, unmanned car (1), unmanned aerial vehicle (2) and mooring line (3), its characterized in that: the service vehicle and the unmanned vehicle (1) are in wireless communication with the digital agricultural system, receive scheduling instructions and upload position and state information;

the service vehicle runs on a field road and a public road, receives service tasks and water source information from the digital agriculture system, autonomously makes a decision to provide service for the unmanned vehicle (1), and takes water from a water source, so that the efficiency can be improved, and the energy can be saved;

the unmanned vehicle (1) carries at least one unmanned aerial vehicle (2), and pesticides and electric energy are conveyed to the unmanned aerial vehicle (2) through the mooring cable (3), so that precise pesticide spraying can be realized, and the pesticide spraying operation efficiency can be maximized;

the unmanned vehicle (1) at least comprises a carriage, autonomously walks along the row spacing, ridges or ridges of crops in a field and is also automatically driven on a road in the field, so that obstacles can be automatically avoided and navigated, and the crops are not damaged;

the service vehicle, the unmanned vehicle (1) and the unmanned aerial vehicle (2) are used for carrying out autonomous decision making, route planning and air route navigation under unified control and dispatching of the digital agricultural system aiming at precise pesticide spraying for large-scale crop planting, and the integral optimization can be achieved;

the unmanned vehicle (1) is provided with an arm support (4) and a manipulator (5);

the mooring cable (3) penetrates through the arm support (4) to obtain support and guide, so that the unmanned vehicle (1) is connected with the unmanned aerial vehicle (2); the mooring cable (3) bears tension, controls and guides the unmanned aerial vehicle (2) to land on the arm support (4), and can also take off from the arm support (4); the safety and the reliability of the flight and the taking-off and landing process are improved, the disturbance of the taking-off and landing process to the near-ground air and the influence on pesticide drift are reduced, and pollution and damage are avoided;

the unmanned aerial vehicle (2) at least comprises a plug (24) and a spray head (27), and the plug (24) is connected with the mooring cable (3) so that the unmanned aerial vehicle (2) can obtain power supply and pesticide and can communicate with the unmanned vehicle (1);

the spray head (27) is connected with the mooring cable (3) to spray pesticide accurately;

the arm support (4) is fixedly arranged on the carriage, can rotate, lift and lock, and penetrates through the mooring cable (3) to support and guide the mooring cable (3);

the arm support (4) is provided with a socket (43); the socket (43) forms a receptacle;

the jack is of a non-rotating structure and is in an axial wedge shape, the plug (24) can be guided to be inserted into the jack and is matched with the plug (24) to avoid relative rotation, and the unmanned aerial vehicle (2) can safely land on the arm support (4);

the arm support (4) enables the plug (24) to be inserted into the socket (43) under the control and guidance of the mooring cable (3), so that the unmanned aerial vehicle (2) can land on the arm support (4), and the plug (24) is separated from the socket (43), so that the unmanned aerial vehicle (2) takes off from the arm support (4), and safety and reliability are guaranteed;

the manipulator (5) clamps the unmanned aerial vehicle (2), centralizes the unstable unmanned aerial vehicle (2), and assists the unmanned aerial vehicle (2) to land on the arm support (4); the manipulator (5) can right the inclined unmanned vehicle (1) and assist the unmanned vehicle (1) to move.

2. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 1, characterized in that: the unmanned vehicle (1) also comprises a chassis and a vehicle head, and is at least provided with a control box (11), a fixed battery (12), a battery guardrail, a replaceable battery (121), a medicine box bracket, a medicine box (13), a medicine pump (14) and a wire collecting and releasing device (15), wherein a carriage is arranged at the rear part of the upper side of the chassis, and the vehicle head is arranged at the front part of the upper side of the chassis;

the locomotive is of a box body structure, a control box (11) is fixedly arranged at the inner upper part, and a fixed battery (12) is fixedly arranged at the inner lower part;

the carriage is of a flat box body structure and at least comprises a bottom plate; an arm support (4), a manipulator (5), a battery guardrail, a medicine box bracket, a medicine pump (14) and a take-up and pay-off device (15) are arranged on the bottom plate of the carriage;

the control box (11) is of a box body structure, and a circuit board is fixedly arranged in the control box; the circuit board is in wireless communication with the digital agricultural system, at least acquires a spraying operation task, spraying area information and a scheduling instruction from the digital agricultural system, and uploads position data, service requests and state information to the digital agricultural system;

the fixed battery (12) is used as a standby power supply and supplies power to the unmanned vehicle (1) and the unmanned aerial vehicle (2);

the replaceable battery (121) serves as a main power supply and supplies power to the unmanned vehicle (1) and the unmanned aerial vehicle (2);

the replaceable battery (121) is clamped and fixed on the bottom plate of the carriage through the battery guardrail, so that the replaceable battery is convenient to replace quickly;

the pesticide box (13) contains pesticide, and is clamped and fixed on the bottom plate of the carriage through the pesticide box bracket, so that the pesticide box is convenient to replace quickly;

the pesticide pump (14) is respectively connected with the pesticide box (13) and the pay-off and take-up device (15) through pipelines, extracts pesticides, and conveys the pesticides to the unmanned aerial vehicle (2) through the mooring cable (3);

the winding and unwinding device (15) winds the mooring cable (3), the mooring cable (3) is wound and unwound under the control of the control box (11), the looseness and the tensioning degree of the mooring cable (3) are controlled, and the unmanned aerial vehicle (2) is controlled and guided.

3. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 2, characterized in that: the unmanned vehicle (1) is also provided with a supporting plate (17);

the supporting plate (17) is of a plate-shaped structure with a curved surface, and the unmanned aerial vehicle (2) is attached to and supported by the curved surface, so that the unmanned aerial vehicle (2) can be safely stored in the carriage;

the supporting plate (17) is installed on the inner side of the carriage through a spring hinge and can be folded and laid flat.

4. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 1, characterized in that: the unmanned aerial vehicle (2) further comprises a body (21), an undercarriage (22), a rotor (23) and a base (25);

the machine body (21) is of a box-shaped structure, and a main board is fixedly arranged in the machine body;

the main board enables the unmanned aerial vehicle (2) and the unmanned vehicle (1) to communicate, autonomously make a decision, plan a flight route and navigate;

the undercarriage (22) is fixedly connected with the lower surface of the airframe (21), is positioned on the left side and the right side of the spray head (27), and can protect the spray head (27), so that the unmanned aerial vehicle (2) can land on the ground;

the rotor wing (23) is hinged with the machine body (21), can be clamped by the manipulator (5), can be folded on the left side and the right side of the machine body (21), and can also be unfolded, the position and the distance of the rotor wing relative to the machine body (21) can be adjusted, the flight control difficulty of the unmanned aerial vehicle (2) is reduced, and the flight stability is improved;

the base (25) is of a box structure, the mooring cable (3) is connected with a main board of the body (21) and the spray head (27) inside the box structure and located on the lower side of the rear portion of the body (21), the plug (24) is fixed on the lower side of the rear portion of the body (21), and the spray head (27) is fixed below the body (21).

5. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 4, characterized in that: the drone (2) further comprises a backup battery (26);

the body (21) is internally and fixedly provided with a battery slot;

the two battery slots are respectively positioned at the front part and the rear part of the machine body (21);

spare battery (26) insert in the anterior battery slot of fuselage (21), can balance the weight of plug (24), base (25), mooring cable (3) and pesticide makes rotor (23) atress is balanced and stable, reduces unmanned aerial vehicle (2)'s flight control degree of difficulty improves flight stability.

6. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 1, characterized in that: the arm support (4) comprises a support seat, a support arm and a support frame and is arranged on the carriage through the support seat;

the support arm and the support frame are provided with hollow structures, and the mooring cable (3) is supported and guided through the hollow structures;

the support arm is connected with the support and the bracket and can rotate and lift relative to the carriage;

the holder is provided with a socket (43).

7. The unmanned aerial vehicle precise pesticide spraying system for large-scale crop planting according to claim 6, characterized in that: the socket (43) is of a rod-shaped structure with an axial through hole, one end of the socket is fixedly connected with the support, the other end of the socket is a free end, and a jack is formed at the free end, so that the mooring cable (3) penetrates out of the arm support (4);

the receptacle is an internal bore in the axial direction so that the plug (24) can be inserted into the socket (43).

8. The unmanned aerial vehicle precise pesticide spraying system for large-scale crop planting according to claim 4, characterized in that: the manipulator (5) is arranged in the carriage, can be stored in the carriage and can move relative to the carriage, clamps the rotor (23) of the unmanned aerial vehicle (2), and folds, unfolds and adjusts the rotor (23);

manipulator (5) centre gripping undercarriage (22), right unstable unmanned aerial vehicle (2), supplementary unmanned aerial vehicle (2) descend in cantilever crane (4).

9. The unmanned aerial vehicle precision pesticide spraying system for large-scale crop planting according to claim 1 or 2, characterized in that: the service cart carries a replaceable battery (121), a medicine box (13), a water tank, a dispensing device, pesticide commodities and a maintenance tool;

the service vehicle is provided with service software, and the service vehicle is in wireless communication with the digital agriculture system and the unmanned vehicle (1) through the service software;

the service vehicle is used for replacing the replaceable battery (121) and the medicine box (13) of the unmanned vehicle (1), provides maintenance service, and can carry the unmanned vehicle (1), maintenance equipment and maintenance personnel.