CN-122009491-A - Solid fertilizer compression sprinkler of agricultural plant protection unmanned aerial vehicle

CN122009491ACN 122009491 ACN122009491 ACN 122009491ACN-122009491-A

Abstract

The invention discloses an agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device which comprises a feeding device, a compression device, a cradle head adjusting module, an infrared positioning module, a wind speed measuring module, an unmanned aerial vehicle, a central control module and a ground control terminal, wherein in a working state, solid fertilizers in the feeding device automatically roll into the bottom of a box body due to gravity, a spiral feeding device in the feeding device pushes the solid fertilizers into the compression device under the driving of a motor, high-speed solid particle flow is formed after high-pressure compression, branch interference is avoided by combining infrared positioning and cradle head adjustment, and accurate tracing of spraying positions is realized. The invention solves the problems of uneven spraying, easy blockage by branches and leaves, fuzzy drop points and serious fertilizer waste in the complex orchard environment in the prior art, has the advantages of strong anti-interference performance, accurate positioning, high fertilizer utilization rate, convenient operation and the like, and is suitable for accurate plant protection operation in close planting environments such as orange forests and the like.

Inventors

Ruan Ruishi
Li Zhisiyuan

Assignees

三人行数据(广东)股份公司

Dates

Publication Date: 20260512
Application Date: 20260310

Claims (10)

1. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device is characterized by comprising a feeding device, a compression device, a cradle head adjusting module, an infrared positioning module, a wind speed measuring module, an unmanned aerial vehicle, a central control module and a ground control terminal, wherein the feeding device is arranged at the bottom of the unmanned aerial vehicle and is used for storing and conveying solid fertilizers, the compression device is fixed at the front end of the feeding device and is communicated with the feeding device and is used for pressurizing the solid fertilizers and then spraying the solid fertilizers in a directional mode, the infrared positioning module is used for projecting infrared point position marks onto the ground of an operation area, the cradle head adjusting module is used for collecting images of the operation area and the infrared point position marks in real time, the wind speed measuring module is used for monitoring an environmental wind field in real time, the central control module is arranged in the unmanned aerial vehicle and is used for conducting bidirectional signal interaction with the feeding device, the compression device, the cradle head adjusting module, the infrared positioning module and the wind speed measuring module respectively and is used for controlling the cooperative work of each module and recording operation tracks and operation parameters for multiplexing, and the ground control terminal and the central control module conduct remote bidirectional signal interaction.
2. The solid fertilizer compression spraying device of the agricultural plant protection unmanned aerial vehicle according to claim 1, wherein the feeding device comprises a medicine storage bin, a spiral feeding device and a feeding motor, the medicine storage bin is arranged on a connecting frame at the bottom of the unmanned aerial vehicle through a quick-release connecting piece, a feeding hole is formed in the top of the medicine storage bin, solid fertilizers are filled into the storage bin through the feeding hole, a discharging hole is formed in the bottom of the storage bin and communicated with the feeding hole of the compression device, the spiral feeding device is arranged at the discharging hole of the storage bin, and the spiral feeding device is driven by the feeding motor to push the solid fertilizers in the storage bin to the discharging hole in a spiral mode and convey the solid fertilizers from the discharging hole to the compression device.
3. The solid fertilizer compression spraying device of the agricultural plant protection unmanned aerial vehicle according to claim 1 is characterized by comprising a compression driving motor, a compression mechanism, a compression cavity, a sleeve limiting mechanism and an injection port assembly, wherein the compression cavity is communicated with the feeding device through a feeding hole, the compression driving motor drives the compression mechanism to pressurize solid fertilizer in the compression cavity through a gear rack mechanism, the injection port assembly is hinged to an outlet position at the bottom of a guide cylinder, the injection port assembly is controlled to open and close through the sleeve limiting mechanism, and limiting constraint of the injection port assembly is released after the pressure reaches the standard, so that directional injection of the solid fertilizer is realized.
4. The solid fertilizer compression and spraying device of the agricultural plant protection unmanned aerial vehicle according to claim 3, wherein the compression mechanism comprises an upper cover plate and a lower cover plate, a spring compression mechanism and a proximity switch are arranged between the upper cover plate and the lower cover plate, a stop block is arranged at the bottom of the upper cover plate, a locking sleeve component corresponding to the position of the stop block is arranged on the lower cover plate, the compression mechanism is driven by the compression driving motor to axially move along the compression cavity to pressurize solid fertilizer in the compression cavity, and when the compression stroke of the compression mechanism reaches the position corresponding to the preset pressure level, the stop block and the locking sleeve component are locked and limited, and the proximity switch is triggered at the moment to send a pressure standard signal to the central control module.
5. An agricultural plant protection unmanned aerial vehicle solid fertilizer compression sprinkler as claimed in claim 3, wherein the compression chamber is located between the guide cylinder, the compression mechanism and the jet assembly.
6. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression and spraying device according to claim 5, wherein the spraying port assembly comprises a plurality of spraying port baffles, the spraying port baffles are in a conical shape and are hinged to the bottom port of the guide cylinder through hinges respectively, and the sleeve limiting mechanism controls the opening and closing of the spraying port baffles through the clamping connection or the release of the sleeve limiting mechanism with the hinges.
7. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device according to claim 5, wherein the sleeve limiting mechanism comprises a sleeve, a small driving motor and a spiral cam transmission mechanism, the sleeve is sleeved on the periphery of the bottom end of the guide cylinder, the small driving motor is fixed on the outer wall of the guide cylinder and connected with the inner wall of the sleeve through the spiral cam transmission mechanism, the bottom end of the sleeve is clamped with a hinge of the spraying port assembly to limit the spraying port assembly, the small driving motor drives the sleeve to ascend along the guide cylinder and separate from the hinge to enable the spraying port assembly to separate from locking constraint, and solid fertilizer in the compression cavity is directionally sprayed out from the spraying port under the action of pressure to finish spraying.
8. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression sprinkler of claim 1, wherein the tripod head adjusting module is a triaxial mechanical tripod head and is provided with a high-definition image acquisition component.
9. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device according to claim 1, wherein the central control module comprises a multi-module data fusion management module, an operation path planning and optimizing module, an infrared point position identification and decision module, an equipment linkage control module, an operation data storage and tracing module and a remote communication interaction module, and supports two operation modes of manual control spraying and automatic fixed point spraying.
10. The agricultural plant protection unmanned aerial vehicle solid fertilizer compression and spraying device according to claim 9, wherein the multi-module data fusion management module is in charge of synchronously receiving feed state data of a feeding device, pressure feedback data of a compression device, environment scanning data of an infrared positioning module, ground infrared point marking data, attitude data of a holder adjusting module and flight data of an unmanned aerial vehicle, and generating a fused operation data set; The operation path planning and optimizing module is used for planning an operation path based on the fused operation data by combining a manually recorded flight track or a preset operation area electronic map and dynamically adjusting the planned path; The infrared point position recognition and decision module is provided with a pre-trained image recognition model, recognizes the ground infrared point position image transmitted by the cradle head adjusting module, and completes judging whether the ground infrared point position image is a target operation area or not by combining with preset pesticide spraying area coordinates; The equipment linkage control module decides an operation instruction according to the acquired data and issues control instructions to each execution module, wherein the control instructions comprise a start-stop and flow adjustment instruction sent to a feeding device, a pressure grade adjustment instruction sent to a compression device, an angle calibration and obstacle avoidance adjustment instruction sent to a holder adjustment module, and a flight attitude correction instruction sent to an unmanned aerial vehicle; the operation data storage and tracing module stores unmanned aerial vehicle flight tracks, operation parameters of each module and infrared point location images; The remote communication interaction module realizes bidirectional data transmission with the ground control terminal.

Description

Solid fertilizer compression sprinkler of agricultural plant protection unmanned aerial vehicle Technical Field The invention relates to the field of unmanned aerial vehicle application technology and agricultural plant protection equipment, in particular to an agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device which has track recording and multiplexing functions and is suitable for precise fertilizer spraying operation in complex vegetation environments such as orchards and the like. Background The traditional orange solid fertilizer application mainly relies on manual broadcast application or ground mechanical broadcast, and has the problems of extremely low application efficiency, extremely high labor intensity, serious solid fertilizer waste and the like. The manual spreading is limited by the height and the branch and leaf density of the orange tree, is difficult to accurately spread to a target position, is easy to cause an operator to directly contact chemical fertilizers, is limited by the orange Lin Hangju on the ground, has poor flexibility, is easy to crush root systems and branches and leaves of the orange tree, and is uneven in spreading. Although general unmanned aerial vehicle broadcasting devices appear in the prior art, most of the devices lack of targeted pressure regulation design, solid fertilizers are scattered by conventional gravity, the penetration of particles is weak, in the complex branch interlacing environment of orange forests, the solid fertilizers are easily blocked by branches and leaves, so that the key parts are not spread, meanwhile, the air flow of the unmanned aerial vehicle propeller easily disturbs the branches in the scattering process, the splashing waste of the solid fertilizers is caused, and fruits and tender branches can be damaged. Especially in the scene of dense branches and leaves of mature orange trees and the like, accurate and omnibearing solid fertilizer application of each plant of orange tree needs to be realized, meanwhile, branch interference and fertilizer waste are reduced to the greatest extent, and the traditional method and the existing general device are difficult to meet the requirements. Disclosure of Invention The invention provides an agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device, which solves the problems that the existing orange forest chemical fertilizer spraying device is severely interfered by branches, the solid chemical fertilizer is unevenly sprayed, the drop point positioning is fuzzy, the feeding and compression linkage performance is poor, and the like; under operating condition, solid fertilizer in the material feeding unit rolls into the bottom of the box automatically owing to gravity, and spiral material feeding unit in it pushes away solid fertilizer to compressor arrangement under motor drive, forms high-speed solid particle flow after high-pressure compression, combines infrared location and cloud platform regulation to avoid branch interference, realizes spraying the accurate retroactive of position, promotes solid fertilizer's application effect and resource utilization in the orange forest. The invention aims at realizing the following technical scheme: The invention provides an agricultural plant protection unmanned aerial vehicle solid fertilizer compression spraying device which comprises a feeding device, a compression device, a cloud deck adjusting module, an infrared positioning module, a wind speed measuring module, an unmanned aerial vehicle, a central control module and a ground control terminal, wherein the feeding device is arranged at the bottom of the unmanned aerial vehicle and is used for storing and conveying solid fertilizers, the compression device is fixed at the front end of the feeding device and is communicated with the feeding device and is used for pressurizing the solid fertilizers and then spraying the solid fertilizers in a directional mode, the infrared positioning module is used for projecting infrared point position marks onto the ground of an operation area, the cloud deck adjusting module is used for collecting images of the operation area and the infrared point position marks in real time, the wind speed measuring module is used for monitoring an environmental wind field in real time, the central control module is arranged in the unmanned aerial vehicle and is used for conducting bidirectional signal interaction with the feeding device, the compression device, the cloud deck adjusting module, the infrared positioning module and the wind speed measuring module respectively and is used for controlling the cooperative work of each module and recording operation tracks and operation parameters for multiplexing, and the ground control terminal and the central control module conduct remote bidirectional signal interaction. The feeding device comprises a medicine storage bin, a spiral feeding de