CN107128493A - A kind of the wide cut plant protection unmanned plane and driving method of many rotors of cross-arranging type - Google Patents

Abstract

The invention relates to a horizontal multi-rotor wide-width plant protection unmanned aerial vehicle and a driving method, which are used to improve operating efficiency. The technical solution adopted: including the frame, the attitude control mechanism and the spraying system. The frame provides backbone support for the plant protection drone and serves as a loading platform for placing required components. The attitude control mechanism provides power output for the take-off, landing, and adjustment of the flight height of the drone, and at the same time drives the plant protection drone to advance and stop along the working direction and change the working path. The spraying system controls the spraying system to start the spraying operation when the plant protection drone arrives at the predetermined operation area. The driving method adopted is mainly to adjust the operating attitude and flight path of the UAV by changing the rotational speed of the rotor at the corresponding position. The invention adopts a combination of multiple pairs of horizontal axis rotors and a pair of longitudinal axis rotors to provide the lift of the drone, improve the load capacity and endurance of the drone, increase the operating width, and improve the overall operating efficiency.

Description

A horizontal multi-rotor wide-width plant protection UAV and its driving method

technical field

The invention relates to the field of agricultural aviation plant protection, in particular to a horizontal multi-rotor wide-width plant protection unmanned aerial vehicle and a driving method for improving operation efficiency.

Background technique

Plant protection UAVs are mainly used for spraying pesticides on food or economic crops in large areas of forest or farmland. The high-speed downwash airflow generated by the high-speed rotating rotor can realize the secondary atomization of the droplets ejected from the nozzle, improve the entrainment ability of the droplets, improve the penetration of the liquid medicine, and have a good effect on the control of diseases, insect pests and weeds, etc. Advantages, and it can be operated by remote control at a long distance, so that the remote operator can avoid exposure to pesticide droplets and improve the safety of pesticide application. Remote control UAV has become one of the important development trends of agriculture and forestry plant protection.

At present, unmanned helicopters and multi-rotor aircraft are mostly used as operating platforms for plant protection UAVs. The coverage of the wind field is small, the width of a flight operation is small, and the time in the air is short, requiring repeated addition of chemical liquid. The overall operating efficiency is low, hindering In order to prevent the development of large-scale and short-term agricultural plant protection and control, it is urgent to invent a plant protection UAV platform and driving method with a wide operating range and high efficiency.

Contents of the invention

Aiming at the deficiencies in the prior art, the invention provides a horizontal multi-rotor wide-width plant protection drone and a driving method, which have the advantages of high load capacity, wide operation width, high work efficiency, and low use and maintenance costs.

The technical scheme adopted by the horizontal multi-rotor wide-width plant protection UAV of the present invention includes a frame, an attitude control mechanism and a spraying system. The frame provides backbone support for the plant protection drone and serves as a loading platform for placing required components. The attitude control mechanism provides power output for the take-off, landing, and adjustment of the flight height of the drone, and at the same time drives the plant protection drone to advance and stop along the working direction and change the working path. The spraying system controls the spraying system to start the spraying operation when the plant protection drone arrives at the predetermined operation area.

The attitude control mechanism includes a lithium battery, a flight controller, an electronic governor and a rotor assembly. The lithium battery provides power for the flight controller, electronic governor and rotor assembly of the wide-width plant protection UAV, and can be equipped with multiple pieces according to requirements, and the groups are evenly distributed in the central area of the rack. The flight controller is fixed in the central area of the frame, automatically collects various flight parameters of the wide-width plant protection drone, and outputs steering gear and throttle commands for the electronic governor. The electronic governor is fixed in the central area of the frame, receives the output signal of the flight controller, controls the speed and direction of the rotor assembly, and then controls the attitude and trajectory of the wide-width plant protection drone. The rotor assembly includes a transverse axis motor, a transverse axis rotor, a longitudinal axis motor, a longitudinal axis rotor, a motor support and a motor bracket. The motor support and the motor bracket are used for fixedly supporting the transverse axis motor and the longitudinal axis motor. The transverse axis motor and the longitudinal axis motor may be AC motors, DC brushed motors, or brushless motors. The transverse-axis rotor and the longitudinal-axis rotor are coaxially connected with the output shafts of the transverse-axis motor and the longitudinal-axis motor respectively, and rotate with the rotation of the motor. There are 2n rotor assemblies (n is greater than or equal to 2), and each rotor assembly has the same size and hardware parameters, two of which are located on the longitudinal axis of the frame, symmetrically fixed on the front and rear ends of the frame with respect to the transverse axis, On the one hand, it provides lift for the lifting of the wide-width plant protection drone, and on the other hand, it controls the advance and stop of the wide-width plant protection drone along the working direction. The remaining 2n-2 are located on the transverse axis of the frame, symmetrical about the longitudinal axis, and n-1 rotor assemblies are evenly distributed on each side. On the one hand, together with the rotor assemblies on the longitudinal axis, they provide lift for the plant protection UAV to take off and adjust the flight height. On the other hand, it drives the wide-width plant protection UAV to adjust its attitude, controls the UAV to move laterally after completing a route operation, and changes the operation course.

The spraying system includes a large-capacity medicine box, an extended spray rod, an electric diaphragm pump and a spray head. The large-volume medicine box includes a box body and a grid-type liquid medicine partition. The grid-type liquid medicine spacer is perpendicular to the bottom of the large-volume medicine box and fixed on the inner wall of the large-volume medicine box. The large-volume medicine box is divided into multiple parts. An interconnected grid-type area to prevent the drone from being unbalanced due to excessive fluctuations in the liquid medicine. The elongated spray boom has a relatively large working width, and sprinklers are evenly fixed on it. The nozzles are located below the rotors on the transverse axis and correspond to the rotors on the transverse axis one by one, atomizing the liquid medicine and spraying it out. There are n-1 sets of electric diaphragm pumps, which are fixed on the upper part of the UAV frame, and each electric diaphragm pump controls 2 nozzles to operate.

The present invention provides a driving method of a horizontal multi-rotor wide-width plant protection drone, comprising the following steps:

1) The two rotors on the longitudinal axis rotate in the same direction at a certain speed v, and the two rotors near the central area on the transverse axis rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor group on the longitudinal axis. On the horizontal axis, the remaining rotor groups on each side are in groups of two, which are evenly fixed on the racks on both sides in sequence. The two rotor groups in each group turn in opposite directions. While providing the lifting force of the wide-width plant protection UAV, each rotor is guaranteed to generate The gyroscopic effect and the aerodynamic torque effect cancel each other out, making the UAV platform fly stably without yaw motion.

2) In the hovering state of the wide-width plant protection drone, by synchronously adjusting the speed v _i of each rotor group, the lift force generated by the rotor is controlled, so that the sum of the lift force provided by the rotor is equivalent to the self-weight of the wide-width plant protection drone, which is

Among them, f(v _i ) is the lift force provided by rotor group i, _mu is the mass of the wide-range plant protection UAV, and g is the acceleration of gravity. The lifting movement controls each group of rotors to jointly change the lift force f _u of the wide-width plant protection drone by changing the rotor speed v _i , and then adjusts the working height of the wide-width plant protection drone.

3) Changing the speed of the front and rear rotors on the longitudinal axis of the wide-width plant protection UAV can control its forward and backward movement: the speed of the rear rotor increases by △v, and the speed of the front rotor decreases by an equal amount of △v, so that the rear rotor generates lift Increase, the lift generated by the front rotor decreases, and the wide plant protection UAV tilts forward, generating a forward horizontal component force to push it forward; similarly, when the front rotor speed increases △v, the rear rotor speed, etc. The amount decreases △v, making it move backwards.

4) Keep the rotor speed of the longitudinal axis of the wide-width plant protection UAV unchanged, and change the speed of the rotors on both sides of the horizontal axis to control its rolling motion: when the rotor group on one side increases the speed △v, the rotor speed on the other side, etc. The amount of △v _r is reduced, so that the lift of one rotor increases, and the lift of the other rotor decreases accordingly, and the wide-width plant protection UAV realizes rolling motion.

5) Synchronously changing the rotational speed of the rotor on the longitudinal axis and the transverse axis can control its yaw motion: the rotor on the longitudinal axis reduces the rotational speed △v, and the single rotor on the longitudinal axis increases the rotational speed △v/n-1 proportionally , so that the rotors on the horizontal axis and the longitudinal axis generate an unbalanced counter torque, and the wide-width plant protection UAV realizes yaw motion.

The present invention also provides a method for operating a horizontal multi-rotor wide-width plant protection drone, comprising the following steps:

1) After transporting the plant protection UAV to the operation area, unfold the frame horizontally, start the wide-width plant protection UAV, and carry out the lifting movement according to the above driving method, so that the wide-width plant protection UAV can fly off the ground smoothly, and make the wide-width plant protection UAV The plant protection UAV hovers at a suitable height for plant protection operations.

2) Turn on the electric diaphragm pump by remote control, expand the extended spray boom to carry out the spraying operation, change the speed of the rotor on the longitudinal axis according to the driving method of the plant protection drone, and the remote control drone will fly along the course of the crop row; the spraying operation of this route After the completion, turn off the diaphragm pump, adjust the horizontal axis rotor to rotate at different speeds in the same direction, so that the drone will move in an inclined direction, complete the channel change, and start another spraying along the direction of the crop row until the drone is controlled to complete the entire operation area. Spraying work.

3) After the pesticide application in the field is completed, turn off the electric diaphragm pump by remote control, stop the spraying, fold the extended spray boom, and land the drone slowly by remote control, turn off the power of the drone, and transport it out of the operation area.

The beneficial effects of a horizontal multi-rotor wide-width plant protection drone of the present invention are:

1) The combination of multiple pairs of horizontal axis rotors and a pair of longitudinal axis rotors is used to provide the lift of the UAV to improve the load capacity and endurance of the UAV.

2) The UAV platform with high load capacity can carry a large-volume liquid medicine tank, which can carry out continuous operation for a long time, saves the time required to return to dosing due to insufficient liquid medicine, and improves operating efficiency.

3) Two sets of electrically driven rotors on the front and rear sides of the UAV are used to provide the forward thrust of the UAV. This thrust configuration matches the needs of the low-speed horizontal movement of the plant protection UAV in the farmland.

4) The horizontal multi-rotor structure and the extended spray boom increase the spray width of the UAV. The large-width spray increases the rate of spraying and reduces the power consumption of the drone when the amount of liquid loaded on the drone remains unchanged.

Description of drawings

Fig. 1 is the front view of the plant protection drone of the present invention.

Fig. 2 is a right view of the plant protection drone of the present invention.

Fig. 3 is a top view of the plant protection drone of the present invention.

Fig. 4 is an axonometric view of the plant protection drone of the present invention.

Fig. 5 is a large-capacity medicine box body with a grid-type liquid medicine partition of the present invention.

In the figure: 1, transverse axis rotor 2, transverse axis motor 3, frame 4, spray boom 5, nozzle 6, spray boom elbow 7, frame elbow 8, longitudinal axis rotor 9, longitudinal axis motor 10, large volume Medicine box 11, motor support 12, lithium battery 13, motor support 14, base 15, flight controller 16, electric diaphragm pump 17, electronic governor

detailed description

Below in conjunction with accompanying drawing, the patent of the present invention is further described. Figures 1, 2, and 3 are three views of the mechanical structure of a horizontal multi-rotor plant protection drone.

The technical solution adopted by the horizontal multi-rotor wide-width plant protection UAV of the present invention includes a frame (3), an attitude control mechanism and a spraying system. The frame (3) provides backbone support for the plant protection drone and serves as a loading platform for placing required components. The attitude control mechanism provides power output for the take-off, landing, and adjustment of the flight height of the drone, and at the same time drives the plant protection drone to advance and stop along the working direction and change the working path. The spraying system controls the spraying system to start the spraying operation when the plant protection drone arrives at the predetermined operation area.

The attitude control mechanism includes a lithium battery (12), a flight controller (15), an electronic governor (17) and a rotor assembly. The lithium battery (12) provides power for the flight controller (15), electronic governor (17) and rotor assembly of the wide-width plant protection UAV, and can be equipped with multiple pieces according to requirements, and the groups are evenly distributed in the center of the rack area. The flight controller (15) is fixed in the central area of the frame, automatically collects various flight parameters of the wide-width plant protection drone, and outputs steering gear and throttle commands for the electronic governor (17). The electronic governor (17) is fixed in the central area of the frame, receives the output signal of the flight controller (15), controls the speed and direction of the rotor assembly, and then controls the attitude and trajectory of the wide-width plant protection drone. The rotor assembly comprises a transverse axis motor (2), a transverse axis rotor (1), a longitudinal axis motor (9), a longitudinal axis rotor (8), a motor support (11) and a motor bracket (13). The motor support (11) and the motor support (13) are used to fix and support the transverse axis motor (2) and the longitudinal axis motor (9). The transverse axis motor (2) and the longitudinal axis motor (9) can be AC motors, DC brushed motors, or brushless motors. The horizontal axis rotor (1) and the longitudinal axis rotor (8) are coaxially connected with the output shafts of the transverse axis motor (2) and the longitudinal axis motor (9), respectively, and rotate with the rotation of the motor. There are 2n rotor assemblies (n is greater than or equal to 2), each rotor assembly has the same size and hardware parameters, and two of them are located on the longitudinal axis of the frame (3), symmetrically fixed on the frame (3) with respect to the transverse axis ), on the one hand, provide lift for the lifting of the wide-width plant protection UAV, and on the other hand, control the advancement and stop of the wide-width plant protection UAV along the working direction. The remaining 2n-2 are located on the transverse axis of the frame (3), symmetrical about the longitudinal axis, and n-1 rotor assemblies are evenly distributed on each side. On the one hand, they are used together with the rotor assembly on the longitudinal axis to take off and adjust the flight height of the plant protection drone Provide lift, on the other hand, drive the wide-width plant protection UAV to adjust its attitude, control the UAV to move laterally after completing a route operation, and change the operation course.

The spraying system includes a large-volume medicine tank (10), an extended spray rod (4), an electric diaphragm pump (16) and a spray head (5). The large-volume medicine box (10) includes a box body and a grid-type liquid medicine partition, and the grid-type liquid medicine spacer is perpendicular to the bottom of the large-volume medicine box (10) and fixed on the inner wall of the large-volume medicine box (10). , the large-volume medicine box (10) is divided into a plurality of interconnected grid-type areas, so as to prevent the imbalance of the unmanned aerial vehicle caused by the excessive fluctuation of the medicine solution. The elongated spray bar (4) has a relatively large working width, on which spray heads (5) are evenly fixed. The spray head (5) is located below the transverse axis rotor (1) and corresponds to the transverse axis rotor (1) one by one, atomizes the liquid medicine and sprays it out. The electric diaphragm pump (16) has n-1 units, which are fixed on the top of the drone frame (3), and each electric diaphragm pump (16) controls 2 nozzles to operate.

The present invention provides a driving method of a horizontal multi-rotor wide-width plant protection drone, comprising the following steps:

1) The two rotor groups on the longitudinal axis rotate in the same direction at a certain speed v, and the two rotor groups near the central area on the transverse axis rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor group on the longitudinal axis. On the horizontal axis, the remaining rotor groups on each side are in groups of two, which are evenly fixed on the frame (3) on both sides in sequence, and the two rotor groups of each group turn in opposite directions. The gyro effect and aerodynamic torque effect produced by each rotor cancel each other out, so that the UAV platform can fly stably without yaw motion.

2) In the hovering state of the wide-width plant protection drone, by synchronously adjusting the speed v _i of each rotor group, the lift force generated by the rotor is controlled, so that the sum of the lift force provided by the rotor is equivalent to the self-weight of the wide-width plant protection drone, which is

Among them, f(v _i ) is the lift force provided by rotor group i, _mu is the mass of the wide-range plant protection UAV, and g is the acceleration of gravity. The lifting movement controls each group of rotors to jointly change the lift force f _u of the wide-width plant protection drone by changing the rotor speed v _i , and then adjusts the working height of the wide-width plant protection drone.

3) Changing the rotational speed of the front and rear rotors (8) on the longitudinal axis of the wide-width plant protection UAV can control its forward and backward movement: the rotational speed of the rear rotor increases by △v, and the rotational speed of the front rotor decreases by an equal amount of △v, so that the rear The lift generated by the rotor increases, the lift generated by the front rotor decreases, and the wide-width plant protection UAV tilts forward, generating a forward horizontal component force to push it forward; similarly, when the front rotor speed increases △v, the rear Rotor speed decreases △v by the same amount, making it move backward.

4) Keep the rotation speed of the rotor (8) on the longitudinal axis of the wide-width plant protection UAV unchanged, and change the rotation speed of the rotors (1) on both sides on the horizontal axis to control its rolling motion: when the rotation speed of one side rotor group increases △v , the rotational speed of the rotor on the other side decreases by the same amount △v _r , so that the lift of one rotor increases, and the lift of the other rotor decreases accordingly, and the wide-width plant protection UAV realizes rolling motion.

5) Synchronously changing the rotational speed of the rotor on the longitudinal axis and the transverse axis can control its yaw motion: the rotor on the longitudinal axis reduces the rotational speed △v, and the single rotor on the longitudinal axis increases the rotational speed △v/n-1 proportionally , so that the rotors on the horizontal axis and the longitudinal axis generate an unbalanced counter torque, and the wide-width plant protection UAV realizes yaw motion.

The present invention also provides a method for operating a horizontal multi-rotor wide-width plant protection drone, comprising the following steps:

1) After the plant protection drone is transported to the operation area, the frame (3) is horizontally expanded, the wide plant protection drone is started, and the lifting movement is carried out according to the above driving method, so that the wide plant protection drone flies off the ground smoothly, And make the wide plant protection UAV hover at a suitable height for plant protection operations;

2) Turn on the electric diaphragm pump (16) by remote control, expand the extended spray boom (4) to carry out the spraying operation, change the speed of the rotor (8) on the longitudinal axis according to the driving method of the plant protection drone, and the remote control drone follows the crop After the spraying operation of the route is completed, the diaphragm pump (16) is turned off, and the horizontal axis rotor (1) is adjusted to rotate at different speeds in the same direction, so that the unmanned aerial vehicle tends to move, completes the change of the route, and starts another row along the crop line. Spray in the same direction until the UAV is controlled to complete the spraying operation in the entire operation area.

3) After the pesticide application in the field is completed, turn off the electric diaphragm pump (16) by remote control, stop the spraying, fold and put away the extended spray boom (4), and land the drone slowly by remote control, turn off the power of the drone, and operate it. out of the work area.

Claims (3)

1. A wide-width plant protection unmanned aerial vehicle with horizontal multi-rotors, characterized in that it includes a frame, an attitude control mechanism and a spraying system; The attitude control mechanism includes a lithium battery, a flight controller, an electronic governor and a rotor assembly; the lithium battery provides power for the flight controller, the electronic governor and the rotor assembly of a wide-width plant protection drone, according to It can be equipped with multiple pieces as required, and the groups are evenly distributed in the central area of the rack; the flight controller is fixed in the central area of the rack to automatically collect various flight parameters of the wide-width plant protection drone, and output steering gear for the electronic governor , throttle command; the electronic governor is fixed in the central area of the frame, receives the output signal of the flight controller, controls the speed and direction of the rotor assembly, and then controls the attitude and trajectory of the wide-width plant protection drone; the rotor The assembly includes a transverse axis motor, a transverse axis rotor, a longitudinal axis motor, a longitudinal axis rotor, a motor support and a motor bracket; the motor support and the motor support are used to fixedly support the transverse axis motor and the longitudinal axis motor; the transverse axis The motor and the longitudinal axis motor are AC motors, DC brushed, and brushless motors; the horizontal axis rotor and the longitudinal axis rotor are respectively coaxially connected with the output shafts of the transverse axis motor and the longitudinal axis motor, and rotate with the rotation of the motor; There are 2n rotor assemblies described above, n is greater than or equal to 2, each rotor assembly has the same size and hardware parameters, two of them are located on the longitudinal axis of the frame, and are symmetrically fixed at the front and rear ends of the frame with respect to the transverse axis. The lifting of the wide-width plant protection UAV provides lift, and on the other hand controls the advancement and stop of the wide-width plant protection UAV along the working direction; the remaining 2n-2 are located on the transverse axis of the frame, symmetrical about the longitudinal axis, and evenly distributed on each side n-1 rotor components, on the one hand, together with the rotor components on the longitudinal axis, provide lift for the plant protection UAV to take off and adjust the flight height; Move laterally after the route operation to change the operation course; The spraying system includes a large-volume medicine tank, an extended spray rod, an electric diaphragm pump and a spray head; the large-volume medicine tank includes a box body and a grid-type liquid medicine partition, and the grid-type liquid medicine partition and The bottom of the large-volume medicine box is vertical and fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into multiple interconnected grid-type areas to prevent the imbalance of the drone caused by excessive fluctuations in the liquid medicine; the lengthened The type spray bar has a relatively large working width, on which nozzles are uniformly fixed; the nozzles are located below the horizontal axis rotors and correspond to the horizontal axis rotors one by one, and spray the liquid medicine after atomization; the electric diaphragm There are n-1 pumps, which are fixed on the upper part of the drone frame, and each electric diaphragm pump controls 2 nozzles. 2. the driving method of the wide-width plant protection UAV of a kind of horizontal multi-rotor according to claim 1, is characterized in that, comprises the steps: 1) The two rotor groups on the longitudinal axis rotate in the same direction at a certain speed v, and the two rotor groups near the central area on the transverse axis rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor group on the longitudinal axis; the transverse axis The remaining rotor groups on each side are in groups of two, which are evenly fixed on the racks on both sides in sequence. The two rotor groups in each group turn in opposite directions. While providing the lifting force of the wide-width plant protection UAV, the gyroscope generated by each rotor is guaranteed. The effect and the aerodynamic torque effect cancel each other out, so that the UAV platform can fly stably without yaw motion; 2) In the hovering state of the wide-width plant protection drone, by synchronously adjusting the speed v _i of each rotor group, the lift force generated by the rotor is controlled, so that the sum of the lift force provided by the rotor is equivalent to the self-weight of the wide-width plant protection drone, which is <mrow> <msub> <mi>f</mi> <mi>u</mi> </msub> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mn>2</mn> <mi>n</mi> </mrow> </munderover> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>v</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>m</mi> <mi>u</mi> </msub> <mi>g</mi> </mrow> Among them, f(v _i ) is the lift force provided by rotor group i, m _u is the mass of the wide-width plant protection UAV, and g is the acceleration of gravity; the lifting motion controls each group of rotors to jointly change the width by changing the rotor speed v _i . The uplift force f _u of the wide-width plant protection drone can be adjusted to adjust the working height of the wide-width plant protection drone; 3) Changing the speed of the front and rear rotors on the longitudinal axis of the wide-width plant protection UAV can control its forward and backward movement: the speed of the rear rotor increases by △v, and the speed of the front rotor decreases by an equal amount of △v, so that the rear rotor generates lift Increase, the lift generated by the front rotor decreases, and the wide plant protection UAV tilts forward, generating a forward horizontal component force to push it forward; similarly, when the front rotor speed increases △v, the rear rotor speed, etc. Decrease △v to make it move backward; 4) Keep the rotor speed of the longitudinal axis of the wide-width plant protection UAV unchanged, and change the speed of the rotors on both sides of the horizontal axis to control its rolling motion: when the rotor group on one side increases the speed △v, the rotor speed on the other side, etc. The amount of △v _r is reduced, so that the lift of one rotor increases, and the lift of the other rotor decreases accordingly, and the wide-width plant protection UAV realizes rolling motion; 5) Synchronously changing the rotational speed of the rotor on the longitudinal axis and the transverse axis can control its yaw motion: the rotor on the longitudinal axis reduces the rotational speed △v, and the single rotor on the longitudinal axis increases the rotational speed △v/n-1 proportionally , so that the rotors on the horizontal axis and the longitudinal axis generate an unbalanced counter torque, and the wide-width plant protection UAV realizes yaw motion. 3. according to claim 1, 2 described a kind of horizontal multi-rotor wide plant protection unmanned aerial vehicle operation method, it is characterized in that, comprises the following steps: 1) After transporting the plant protection UAV to the operation area, unfold the frame horizontally, start the wide-width plant protection UAV, and carry out the lifting movement according to the above driving method, so that the wide-width plant protection UAV can fly off the ground smoothly, and make the wide-width plant protection UAV The plant protection UAV hovers at a suitable height for plant protection operations; 2) Turn on the electric diaphragm pump by remote control, expand the extended spray boom to carry out the spraying operation, change the speed of the rotor on the longitudinal axis according to the driving method of the plant protection drone, and the remote control drone will fly along the course of the crop row; the spraying operation of this route After the completion, turn off the diaphragm pump, adjust the horizontal axis rotor to rotate at different speeds in the same direction, so that the drone will move in an inclined direction, complete the channel change, and start another spraying along the direction of the crop row until the drone is controlled to complete the entire operation area. spraying operations; 3) After the pesticide application in the field is completed, turn off the electric diaphragm pump by remote control, stop the spraying, fold the extended spray boom, and land the drone slowly by remote control, turn off the power of the drone, and transport it out of the operation area.