CN119284221A

CN119284221A - An agricultural drone

Info

Publication number: CN119284221A
Application number: CN202411696395.3A
Authority: CN
Inventors: 高建楠; 温海军
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2024-11-25
Filing date: 2024-11-25
Publication date: 2025-01-10

Abstract

The application relates to an agricultural unmanned aerial vehicle, and relates to the technical field of unmanned equipment. The agricultural unmanned aerial vehicle comprises a machine body, a plurality of machine arms, a power device and a sensing module, wherein one ends of the machine arms are connected with the machine body, the power device is arranged at the other ends of the machine arms and far away from the machine body, the sensing module is arranged at the top of the machine body, and the sensing module comprises a vision component and a radar component which are sequentially arranged from top to bottom in the height direction. The problem that the sensing module is blocked by the pollution of the liquid medicine can be relieved to a great extent by arranging the sensing module at the top of the machine body, the vision assembly can not be blocked by the machine body, and the vision assembly can obtain the best view, so that the agricultural unmanned aerial vehicle can sense the surrounding environment in the maximum range in the flight process.

Description

Agricultural unmanned aerial vehicle

Technical Field

The application relates to the technical field of unmanned equipment, in particular to an agricultural unmanned aerial vehicle.

Background

In the running process of the existing unmanned equipment, the sensing module and the control system are combined to realize the functions of sensing the surrounding environment, realizing autonomous navigation, avoiding obstacles and the like.

The existing agricultural unmanned aerial vehicle is generally provided with a perception module, wherein the perception module comprises a visual component, the visual component is generally designed in front of the body of the agricultural unmanned aerial vehicle, and a field of view faces to the front or obliquely below of the agricultural unmanned aerial vehicle, so that the acquired image data are utilized to realize the functions of obstacle recognition, obstacle avoidance and the like. However, because the vision component is in front of the machine body, even though a wide-angle lens is used, the agricultural unmanned aerial vehicle still has rear and lateral field of view missing due to the shielding of the machine body. In addition, when the agricultural unmanned aerial vehicle sprays the pesticide, atomized liquid drops generated by the spray head are easy to hoist and fly under a propeller wind field, and visual components in front of the machine body are easy to be blocked by the pollution of the pesticide liquid, so that the vision is not clear.

Disclosure of Invention

The invention aims to provide an agricultural unmanned aerial vehicle, a visual component of the agricultural unmanned aerial vehicle is not blocked by any body and is blocked by liquid medicine pollution, and the visual component can obtain an optimal visual field.

Embodiments of the invention may be implemented as follows:

the invention provides an agricultural unmanned aerial vehicle, comprising:

A body;

the plurality of the machine arms are connected with the machine body at one end;

the power device is arranged at the other end of the horn and is far away from the machine body;

the sensing module is arranged at the top of the machine body;

The sensing module comprises a visual component and a radar component, and the visual component and the radar component are sequentially arranged from top to bottom in the height direction.

Optionally, the agricultural unmanned aerial vehicle comprises a main control member, the radar in the radar assembly is a rotary radar, the radar assembly is provided with a hollow channel, and the electric connection wire of the vision assembly is connected with the main control member through the hollow channel.

Optionally, the radar assembly comprises a radar fixing frame and a driving piece, and the radar fixing frame and the driving piece are sequentially arranged from top to bottom in the height direction;

The radar fixing frame is provided with a first hollow channel, the driving piece is provided with a second hollow channel, and the first hollow channel and the second hollow channel form the hollow channel.

Optionally, the radar mount rotates about a first axis direction;

The radar fixing frame comprises a frame body and a shaft body which are connected, wherein the shaft body is arranged along the first axis direction, and the shaft body is provided with a first hollow channel along the first axis direction.

Optionally, the radar fixing frame further includes a fixing portion, the fixing portion is disposed at the bottom of the frame body and is coaxially disposed with the shaft body, and the first hollow channel penetrates through the shaft body and the fixing portion;

the driving piece is fixed with the fixing part.

Optionally, the driving piece is used for driving the radar fixing frame to rotate along the first axis direction;

The driving piece comprises a rotating shaft, the rotating shaft and the first axis direction are coaxially arranged, and the rotating shaft is provided with the second hollow channel along the first axis direction.

Optionally, the driving piece further comprises an upper base and a lower base, the upper base is fixed with the radar fixing frame, the lower base is used for fixing the driving piece, one end of the rotating shaft is sleeved with the upper base, and the other end of the rotating shaft is rotatably arranged with the lower base;

The rotating shaft and the upper base rotate relative to the lower base along the first axis direction so as to drive the radar fixing frame to rotate along the first axis direction.

Optionally, the sensing module further includes a housing, and the radar assembly is rotatably disposed in the housing along a first axis direction;

The top and the bottom of casing are followed the first axis direction is equipped with first intercommunication mouth and second intercommunication mouth respectively, the one end intercommunication of cavity passageway first intercommunication mouth, the other end intercommunication the second intercommunication mouth, vision subassembly's electric connection line pass through first intercommunication mouth cavity passageway with the second intercommunication mouth connect in the main control spare.

Optionally, the shell comprises a first cylindrical shell and an end plate which are connected in a sealing way, the first cylindrical shell is provided with the first communication port, and the end plate is provided with the second communication port;

The rotation end of the radar component and the first communication port are rotatably arranged, the fixed end of the radar component is arranged at the top of the end plate, and the main control component is arranged at the bottom of the end plate.

Optionally, the main control component is disposed at the bottom of the housing;

The radar assembly comprises a driving piece control piece, the driving piece control piece is arranged close to the bottom of the shell, a connector is arranged at the bottom of the shell, and the driving piece control piece is electrically connected with the main control piece through the connector.

Optionally, a protective sleeve is arranged in the hollow channel, and at least the part of the electric connecting wire positioned in the hollow channel is wrapped by the protective sleeve.

Optionally, the vision assembly includes a second cylindrical housing and a plurality of cameras, the plurality of cameras being disposed at intervals along a circumference of the second cylindrical housing.

Optionally, the agricultural unmanned aerial vehicle includes main control piece, visual assembly still includes the circuit board, the circuit board sets up the middle part of second tube-shape casing, a plurality of the camera with the circuit board electricity is connected, the circuit board pass through the electric connecting wire connect in main control piece.

Optionally, the agricultural unmanned aerial vehicle further comprises a spraying system, wherein the spraying system comprises a spray head, and the spray head is arranged below the power device so as to spray by utilizing a wind field generated by the power device.

Optionally, the sensing module is disposed at a top of a handpiece of the machine body.

Optionally, the agricultural unmanned aerial vehicle comprises a main control, the main control being disposed below the radar assembly.

The agricultural unmanned aerial vehicle provided by the embodiment of the invention has the beneficial effects that:

the problem that the sensing module is blocked by the pollution of the liquid medicine can be relieved to a great extent by arranging the sensing module at the top of the machine body, the vision assembly can not be blocked by the machine body, and the vision assembly can obtain the best view, so that the agricultural unmanned aerial vehicle can sense the surrounding environment in the maximum range in the flight process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a sensing module according to the present embodiment;

fig. 2 is a cross-sectional view of a sensing module provided in this embodiment;

FIG. 3 is an exploded view of the visual assembly provided by the present embodiment;

FIG. 4 is an exploded view of the radar assembly, first housing and end plate provided in this embodiment;

fig. 5 is a cross-sectional view of the radar mount provided in the present embodiment;

Fig. 6 is a schematic structural diagram of a driving member according to the present embodiment;

FIG. 7 is a cross-sectional view of the driving member provided in the present embodiment;

fig. 8 is an exploded view of the end plate provided in the present embodiment;

fig. 9 is a cross-sectional view of the first housing provided in the present embodiment;

fig. 10 is a schematic structural diagram of the agricultural unmanned aerial vehicle according to the embodiment.

Icon: 01-an agricultural unmanned aerial vehicle; 010-perception module; 020-machine body; 030-horn; 040-power plant; a 100-radar assembly; 110-radar mount; 111-a frame body; 112-a shaft body; 1121-a first hollow channel; 113-a fixing part; 1132-a first fixing hole; 120-radar board; 121-mating portion; 122-clamping grooves; 130-a driving member; 131-rotating shaft; 1311-a second hollow passage; 132-upper base; 1321-upper fixation; 1322-a second fixing hole; 133-a lower base; 1331-sleeving a bearing; 1332-a third fixing hole; 134-a drive housing; 135-upper rotor; 136-a lower rotor; 137-stator; 140-driver controls; 141-a first body; 142-a second body; 150-encoding disc; 200-a first cylindrical housing; 210-connecting protrusions; 220-a first communication port; 230-connecting a bearing; 240-fixing protrusions; 300-end plates; 301-opening; 302-connecting holes; 310-connectors; 320-a second communication port; 330-fixing the bump; 340-a base fixing portion; 341-fourth fixing holes; 342-positioning part; 350-sealing the groove; 360-floating structure; 361-a shock absorber; 362-a fixture; 400-master control; 500-a second cylindrical housing; 510-a mounting portion; 600-visual component; 610—a camera; 620-a circuit board; 630-soft rows; 640-a flat cable seat; 650-connection base.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The overall construction, the working principle and the obtained technical effects of the perception module 010 and the unmanned device provided by the invention are described in detail below through embodiments and with reference to the accompanying drawings.

The inventor researches that the existing agricultural unmanned aerial vehicle is generally provided with a perception module, wherein the perception module comprises a visual component, the visual component is generally designed in front of a machine body of the agricultural unmanned aerial vehicle, and a field of view faces to the front or obliquely below the agricultural unmanned aerial vehicle, so that the functions of obstacle recognition, obstacle avoidance and the like are realized by using acquired image data. However, because the vision component is in front of the machine body, even though a wide-angle lens is used, the agricultural unmanned aerial vehicle still has rear and lateral field of view missing due to the shielding of the machine body. In addition, when the agricultural unmanned aerial vehicle sprays the pesticide, atomized liquid drops generated by the spray head are easy to hoist and fly under a propeller wind field, and visual components in front of the machine body are easy to be blocked by the pollution of the pesticide liquid, so that the vision is not clear.

Therefore, the agricultural unmanned aerial vehicle 01 provided by the invention has the advantages that the perception module 010 is arranged at the top of the machine body 020, so that the problem that the perception module 010 is blocked by liquid medicine pollution can be relieved to a great extent, the vision assembly 600 is positioned at the top of the perception module 010, the vision assembly 600 is not blocked by the machine body 020, and the vision assembly 600 can obtain an optimal visual field.

Referring to fig. 10, the present embodiment provides an agricultural unmanned aerial vehicle 01, which includes a machine body 020, a plurality of arms 030, a power device 040 and a sensing module 010, wherein one end of the plurality of arms 030 is connected with the machine body 020, the power device 040 is disposed at the other end of the arms 030 and is far away from the machine body 020, the sensing module 010 is disposed at the top of the machine body 020, the sensing module 010 includes a vision component 600 and a radar component 100, and the vision component 600 and the radar component 100 are sequentially disposed from top to bottom in the height direction.

It can be understood that the problem that the sensing module 010 is blocked by the pollution of the liquid medicine can be relieved to a great extent by arranging the sensing module 010 at the top of the machine body 020, and the vision module 600 can obtain an optimal view by arranging the vision module 600 at the top of the sensing module 010 without being blocked by the machine body 020, so that the agricultural unmanned aerial vehicle 01 can sense the surrounding environment in the maximum range in the flying process.

In one embodiment, the sensing module 010 is disposed on top of the handpiece of the body 020. It will be appreciated that the sensing module 010 is disposed on top of the nose of the body 020, so that the field of view of the front lower portion of the agricultural unmanned aerial vehicle 01 can be more comprehensively obtained, because the field of view of the front lower portion of the visual assembly 600 is not substantially blocked by the body.

Alternatively, the power plant 040 may be a multi-rotor power plant, such that the power plant 040 is capable of generating a wind field while providing power.

In an embodiment, the agricultural drone 01 further includes a spraying system. The spray system may include a spray head that may be positioned below the power plant 040 to spray with the wind field created by the power plant 040.

In one embodiment, the agricultural drone 01 includes a perception module 010.

The sensing module 010 is combined with the control system to detect the external environment of the agricultural unmanned aerial vehicle 01, and then senses the surrounding environment in the running process and achieves functions of autonomous navigation, obstacle avoidance and the like.

In one embodiment, the sensing module 010 is disposed on top of the body 020. Referring to fig. 1 and 2, the sensing module 010 includes a vision module 600, a radar module 100 and a main control 400, and the vision module 600, the radar module 100 and the main control 400 are sequentially disposed from top to bottom in the height direction.

In an embodiment, the main control member 400 is disposed below the radar assembly 100, such that the vision assembly 600, the radar assembly 100 and the main control member 400 are disposed in sequence from top to bottom in the height direction. Of course, in other embodiments, the vision assembly 600 and the radar assembly 100 are sequentially disposed from top to bottom in the height direction, and the main control unit 400 may be disposed at any other location of the agricultural unmanned aerial vehicle 01, for example, may be a flight control system of the agricultural unmanned aerial vehicle 01.

In an embodiment, referring to fig. 2, the radar in the radar assembly 100 is a rotary radar, the radar assembly 100 is provided with a hollow channel, and the electrical connection wire of the vision assembly 600 is connected to the main control unit 400 through the hollow channel.

The radar assembly 100 rotates around a first axis direction of the sensing module 010, so as to detect whether the agricultural unmanned aerial vehicle 01 has an obstacle in the forward direction and around.

It will be appreciated that since the amount of data that the vision assembly 600 needs to transfer to the master control 400 is very large, the vision assembly 600 and the master control 400 choose to transfer data by wire. The connection mode is to connect the vision module 600 and the main control unit 400 through an electrical connection wire.

It will be appreciated that the manner in which the wires are selected is more reliable and more stable for data transmission than the manner in which wireless transmission is performed, and that the amount of data that can be transmitted is also greater.

Wherein, the vision assembly 600, the radar assembly 100 and the main control 400 are sequentially disposed from top to bottom in the height direction. The radar in the radar assembly 100 arranged below the vision assembly 600 is a rotary radar, and the rotary radar assembly 100 can interfere with the electric connection line, so that a hollow channel is arranged on the radar assembly 100, and the vision assembly 600 and the main control piece 400 are electrically connected through the electric connection line, so that the whole structure assembly of the sensing module 010 is ensured, and the working stability of the radar assembly 100 is not affected.

In an embodiment, referring to fig. 2 and 4, the radar assembly 100 includes a radar mount 110 and a driving member 130, the radar mount 110 and the driving member 130 are sequentially disposed from top to bottom in a height direction, the radar mount 110 is provided with a first hollow channel 1121, the second radar mount 110 is provided with a second hollow channel 1311, and the first hollow channel 1121 and the second hollow channel 1311 form a hollow channel.

Further, referring to fig. 2 and 4, the radar assembly 100 further includes a radar board 120, a driver control 140, and a code wheel 150. The radar plate 120 is arranged on the radar fixing frame 110, the coding disc 150 is arranged on the end plate 300, the radar plate 120 and the coding disc 150 are matched, the top of the radar fixing frame 110 is rotationally connected with the first cylindrical shell 200, the bottom of the radar fixing frame 110 and the rotating end of the driving piece 130 are connected and are both arranged along the first axis direction, the bottom fixed end of the driving piece 130 is fixedly connected with the end plate 300, the radar fixing frame 110 is provided with a first hollow channel 1121, the driving piece 130 is provided with a second hollow channel 1311, the first hollow channel 1121 and the second hollow channel 1311 form a hollow channel through which an electric connecting wire passes, and the driving piece control piece 140 is arranged at the bottom of the driving piece 130 and is connected with the main control piece 400. This is arranged to connect the driver control 140 and the main control 400 of the radar assembly 100 and to electrically connect the electrical connection wires of the vision assembly 600 to the main control 400 through the first hollow channel 1121 and the second hollow channel 1311.

Referring to fig. 2 and 4, the radar board 120, the radar mount 110, the driving member 130, the driving member control member 140 and the code wheel 150 are disposed in a housing, and form an independent module.

In one embodiment, referring to fig. 4 and 5, the radar assembly 100 includes a radar mount 110. The radar mount 110 is used for fixing the radar board 120 and is fixed with the driving member 130, and the radar mount 110 can rotate around the first axis direction.

In an embodiment, referring to fig. 5, a radar fixing frame 110 includes a frame 111 and a shaft 112 connected to each other.

In one embodiment, the frame 111 has a plate-shaped structure, the frame 111 is provided with a plurality of fifth fixing holes for fixing the radar board 120, a rectangular recess for accommodating the driving member 130 is formed at the bottom of the frame 111, and the fixing portion 113 is correspondingly disposed in the rectangular recess.

In one embodiment, the shaft body 112 is a hollow cylindrical structure, the shaft body 112 is disposed along a first axis direction, and a first hollow channel 1121 is disposed on the shaft body 112 along the first axis direction.

Referring to fig. 4, the shaft 112 extends out of the top of the frame 111 and is rotatably connected to the first cylindrical housing 200.

In an embodiment, referring to fig. 5, the radar fixing frame 110 further includes a fixing portion 113.

Referring to fig. 4 and 5, the fixing portion 113 is configured to be fixed to the driving member 130, wherein the fixing portion 113 is disposed in a rectangular recess at the bottom of the frame 111, the fixing portion 113 has a cylindrical structure, the top of the fixing portion 113 is connected to the bottom of the frame 111, and a circular receiving cavity for mounting the driving member 130 is formed at the bottom of the fixing portion 113. The fixing portion 113 is disposed at the bottom of the frame 111 and coaxially disposed with the shaft 112, and the first hollow passage 1121 penetrates the shaft 112 and the fixing portion 113.

Further, referring to fig. 4, the fixing portion 113 includes a plurality of first fixing holes 1132 disposed at equal angles around the first hollow channel 1121, and the driving member 130 is fixed to the fixing portion 113 through the first fixing holes 1132.

It should be noted that the frame 111, the shaft 112 and the fixing portion 113 are integrally formed into the radar fixing frame 110.

In one embodiment, referring to fig. 4 to 6, the radar assembly 100 includes a driving member 130. The driving member 130 is configured to drive the radar mount 110 to rotate along the first axis direction.

Wherein the driving member 130 includes a rotation shaft 131, the rotation shaft 131 is coaxially disposed with the first axis direction, and the rotation shaft 131 is provided with a second hollow passage 1311 along the first axis direction, so that the first hollow passage 1121 and the second hollow passage 1311 communicate and form a hollow passage.

In an embodiment, referring to fig. 6, the driving member 130 further includes an upper base 132 and a lower base 133, the upper base 132 is fixed to the radar fixing frame 110, the lower base 133 is used for fixing the driving member 130, one end of the rotating shaft 131 is sleeved with the upper base 132, the other end of the rotating shaft 131 is rotatably disposed with the lower base 133, and the rotating shaft 131 and the upper base 132 rotate along a first axis direction relative to the lower base 133 so as to drive the radar fixing frame 110 to rotate along the first axis direction.

It will be appreciated that the driver 130 and radar mount 110 are arranged in this manner to form a rotatable ground radar assembly 100.

In an embodiment, the driving member 130 includes a rotating shaft 131, referring to fig. 6 and 7, the rotating shaft 131 is in a hollow cylindrical structure, the rotating shaft 131 is coaxially disposed along a first axis direction, and the rotating shaft 131 is provided with a second hollow channel 1311 along the first axis direction.

Referring to fig. 2, one end of the second hollow channel 1311 is connected to the first hollow channel 1121, and the other end is connected to the second communication port 320.

In one embodiment, the driving member 130 includes an upper base 132, referring to fig. 6 and 7, the upper base 132 includes an upper disc with an upper slot, an inner edge of the upper disc extends out of the upper hollow column, and an outer edge of the upper disc extends out of the annular structure. The top of the rotating shaft 131 is sleeved with an upper hollow column of the upper base 132, an upper disc of the upper base 132 is provided with a plurality of upper fixing parts 1321 corresponding to the first fixing holes 1132, the upper fixing parts 1321 are provided with second fixing holes 1322, wherein the upper fixing parts 1321 extend into the first fixing holes 1132, the second fixing holes 1322 and the first fixing holes 1132 are threaded holes, and the second fixing holes 1322 and the first fixing holes 1132 are matched and connected to be used for fixing the driving piece 130 and the radar fixing frame 110.

Wherein, upper base 132 is sleeved with upper rotor 135, upper transmission coil is arranged in upper rotor 135.

In one embodiment, referring to fig. 6 and 7, the driving member 130 includes a driving housing 134. The driving housing 134 has a cylindrical structure, the driving housing 134 is sleeved on the outer edge of the upper disc of the upper base 132, and a plurality of permanent magnets (not shown) are arranged on the inner wall of the driving housing 134 and are arranged opposite to the stator 137.

In one embodiment, the driving member 130 includes a lower base 133, referring to fig. 6 and 7, the lower base 133 includes a lower disc with a lower slot, and the inner edge of the lower disc extends out of the lower hollow column. The lower hollow column of the lower base 133 is sleeved at the bottom of the rotating shaft 131, the lower hollow column of the lower base 133 is provided with a sleeved cavity, the rotating shaft 131 is arranged in the sleeved cavity, and the rotating shaft 131 is rotatably connected with the inner wall of the sleeved cavity through at least one sleeved bearing 1331. The lower disc of the lower base 133 is provided with a plurality of third fixing holes 1332, and the lower base 133 is fixed with the end plate 300 through the third fixing holes 1332. The third fixing hole 1332 is a threaded hole.

The rotating shaft 131 is rotatably connected with the inner wall of the sleeved cavity through two sleeved bearings 1331. Currently, in other embodiments, one or three sleeved bearings 1331 may be provided.

Wherein, the lower base 133 is sleeved with a lower rotor 136 and a stator 137, a coil winding is wound on the stator 137, the lower rotor 136 is positioned above the stator 137, and a lower power transmission coil is arranged in the lower rotor 136.

It can be understood that after the stator 137 is energized with a stabilizing current, a magnetic force is generated to drive the permanent magnet to rotate, the permanent magnet drives the driving housing 134 and the upper base 132 to rotate, and the upper base 132 drives the radar mount 110 to rotate, so that the radar mount 110 drives the radar board 120 to rotate around the first axis direction.

It should be noted that, referring to fig. 2, through the radar fixing frame 110 and the driving member 130 configured in this way, the first hollow channel 1121 and the second hollow channel 1311 form a hollow channel that is communicated, so that an electrical connection line of the vision module 600 can be electrically connected with the main control member 400 through the first hollow channel 1121 and the second hollow channel 1311, which ensures that the vision module 600 and the main control member 400 can perform data transmission through the electrical connection line, and meanwhile, the working stability of the radar module 100 is not affected, and the overall structural assembly of the sensing module 010 is ensured.

In one embodiment, referring to fig. 8, the radar assembly 100 further includes a driver control 140. Wherein the driving member control member 140 is used for controlling the driving member 130.

Alternatively, one end of the driving member control member 140 is sleeved on the lower base 133, and the other end is connected with the main control member 400. Referring to fig. 8, the driving element control member 140 includes a first body 141 and a second body 142 connected to each other, wherein the first body 141 is disposed in cooperation with the connector 310, and the first body 141 is connected to the connector 310, wherein the second body 142 is in an annular plate structure, the second body 142 is sleeved on a lower hollow column of the lower base 133, and a hall sensor, an infrared sensor, a flexible flat cable 630, and the like are disposed on the second body 142. The driving member control member 140 is electrically connected to the code wheel 150 and the driving member 130, respectively, to control the rotation of the radar mount 110 and the radar board 120.

In one embodiment, referring to fig. 2, the radar assembly 100 further includes a code wheel 150. The code plate 150 is in a disc structure, the bottom of the radar board 120 is provided with a matching portion 121, the matching portion 121 is provided with a clamping groove 122, and the clamping groove 122 is arranged opposite to the code plate 150 and located at the inner side of the code plate 150. So that the encoder disk 150 can monitor the rotation angle of the radar board 120.

Wherein, the bottom of the end plate 300 is provided with a plurality of fixing protrusions 240, and the code wheel 150 is fixed to the plurality of fixing protrusions 240.

In one embodiment, referring to fig. 2, the sensing module 010 includes a housing.

Wherein the housing is configured to house and protect the radar assembly 100.

In an embodiment, referring to fig. 2, the radar assembly 100 is rotatably disposed in a housing along a first axis direction, a first communication port 220 and a second communication port 320 are respectively disposed at a top and a bottom of the housing along the first axis direction, one end of the hollow channel is communicated with the first communication port 220, the other end is communicated with the second communication port 320, and an electrical connection line of the vision assembly 600 is connected to the main control member 400 through the first communication port 220, the hollow channel and the second communication port 320.

It can be understood that the top of the housing is provided with the first communication port 220 in cooperation with the hollow channel, and the bottom of the housing is provided with the second communication port 320 in cooperation with the hollow channel, so that the electrical connection line of the vision module 600 is connected to the main control member 400 through the first communication port 220, the hollow channel and the second communication port 320 while the radar module 100 is protected in the housing.

Optionally, referring to fig. 4, the housing includes a second cylindrical housing 500 and an end plate 300, the second cylindrical housing 500 is provided with a first communication port 220, the end plate 300 is provided with a second communication port 320, the rotating end of the radar assembly 100 is rotatably disposed with the first communication port 220, the fixed end of the radar assembly 100 is disposed at the top of the end plate 300, and the main control member 400 is disposed at the bottom of the end plate 300.

Referring to fig. 4, an end plate 300 is fixedly disposed at the bottom of the first cylindrical housing 200, the end plate 300 is a plate body matched with the first cylindrical housing 200, and the first cylindrical housing 200 is hermetically connected with the end plate 300 and is used for accommodating the radar assembly 100. The first cylindrical housing 200 is provided with a first communication port 220, the end plate 300 is provided with the first communication port 220, and the first communication port 220 and the second communication port 320 are disposed around the first axis direction, so that the electrical connection line of the vision module 600 is connected to the main control member 400 through the first communication port 220, the hollow channel and the second communication port 320.

Alternatively, referring to fig. 8 and 9, a plurality of fixing protrusions 330 with threaded holes therein are disposed at the bottom of the first cylindrical housing 200, a plurality of connecting holes 302 are disposed on the end plate 300, the plurality of fixing protrusions 330 and the plurality of connecting holes 302 are disposed opposite to each other, and the connecting member passes through the connecting holes 302 and the threaded holes of the fixing protrusions 330 to achieve the fixed connection between the first cylindrical housing 200 and the end plate 300.

Alternatively, referring to fig. 2, a connection protrusion 210 is disposed on an inner bottom wall of a top portion of the first cylindrical housing 200 along a first axis direction, a first communication port 220 is disposed in the connection protrusion 210, a connection bearing 230 is disposed in the first communication port 220, and a shaft body 112 extending out of the top portion of the frame body 111 on the radar fixing frame 110 is rotatably connected with the first cylindrical housing 200 through the connection bearing 230. It will be appreciated that this arrangement ensures that the radar mount 110 can be rotated relative to the first tubular housing 200 without affecting the passage of electrical connection wires.

Optionally, referring to fig. 4, a plurality of fixing protrusions 240 are provided at the bottom of the end plate 300, and the code wheel 150 is fixed to the plurality of fixing protrusions 240.

Alternatively, referring to fig. 8, a base fixing portion 340 is provided at the top of the end plate 300, a plurality of fourth fixing holes 341 are provided on the end plate 300, and the driving member 130 of the radar assembly 100 is fixed to the end plate 300 through the fourth fixing holes 341. The base fixing portion 340 is provided with a positioning portion 342, and the positioning portion 342 is used for positioning the driving member 130.

Optionally, a mating ring is disposed on the outer edge of the end plate 300, and a seal groove 350 is disposed on the mating ring, and the seal groove 350 of the end plate 300 is connected with the first cylindrical shell 200 in a sealing manner through a seal ring.

Optionally, referring to fig. 8, the end plate 300 is provided with an opening 301 and a connector 310, an end of the connector 310 faces the bottom of the end plate 300 and penetrates the opening 301, the end of the connector 310 is plugged with the main control member 400, and the other end of the connector 310 is fixed with the first body 141 of the driving member control member 140.

It should be noted that, since the end of the connector 310 is plugged with the main control member 400, the vibration generated by the driving member 130 and the vibration generated when the unmanned device runs, the vibration affects the connection stability of the connector 310 and the main control member 400, and the structure of the end of the connector 310 and the position of the main control member 400 is damaged.

Alternatively, referring to fig. 8, the connector 310 is floatingly connected to the opening 301 of the end plate 300 through the floating structure 360, the first body 141 of the driving element control member 140 is sandwiched between the floating structure 360 and the connector 310, and one end of the connector 310 penetrates through the opening 301 to be connected to the main control member 400, and the other end is connected to the driving element control member 140.

It will be appreciated that the connector 310 is floatingly disposed on the end plate 300 by the floating structure 360 such that the connector 310 has a certain floating range. Therefore, under the vibration of unmanned equipment and the vibration of the radar component 100, the connector 310 which is arranged in a floating mode can ensure the connection stability, structural damage caused by the abutting connection of the connector 310 and the main control piece 400 can be avoided, and the robustness of the assembly of the whole structure of the sensing module 010 is improved.

Alternatively, referring to fig. 8, the floating structure 360 includes a shock absorbing member 361 and a fixing member 362 that are in limiting connection, and the driving member control member 140 is in limiting connection with the shock absorbing member 361, and the connecting member passes through the fixing member 362 and the shock absorbing member 361 to fix the driving member control member 140 with the end plate 300.

It should be noted that the hollow channel is provided with a protective sleeve, and at least a part of the electric connection wire located in the hollow channel is wrapped by the protective sleeve. Optionally, protective sleeves are disposed within the first hollow channel 1121 and the second hollow channel 1311.

It can be appreciated that the protective sleeve can protect the electrical connection wire, reduce friction between the electrical connection wire and the inner wall of the hollow channel, and avoid abrasion of the electrical connection wire caused by friction.

In an embodiment, referring to fig. 2, the sensing module 010 further includes a main control 400.

The main control unit 400 may be a PCA control circuit board 620.

In an embodiment, the main control member 400 is disposed under the radar assembly 100, and the electrical connection wire of the vision assembly 600 passes through the hollow passage to be electrically connected with the main control member 400 disposed under the radar assembly 100. The main control member 400 is fixedly disposed at the bottom of the end plate 300, and the main control member 400 is plugged with the end of the connector 310, so as to electrically connect the main control member 400 and the driving member control member 140.

Of course, in some embodiments, the main control 400 may be disposed at other positions of the agricultural unmanned aerial vehicle 01, and the electrical connection wire of the vision module 600 is connected to the main control 400 disposed at other positions after the electrical connection wire passes through the hollow channel and is routed out.

In other embodiments, the electrical connection wires of the vision assembly 600 may be electrically connected to other processing modules disposed on the agricultural drone 01 after the electrical connection wires are routed out through the hollow passage. Alternatively, the processing module may be a flight control module of the agricultural unmanned aerial vehicle 01.

In this embodiment, referring to fig. 1, the sensing module 010 includes a visual component 600.

In an embodiment, referring to fig. 3, the vision assembly 600 includes a second cylindrical housing 500 and a plurality of cameras 610, where the plurality of cameras 610 are spaced apart along a circumference of the second cylindrical housing 500.

It will be appreciated that the plurality of cameras 610 are spaced circumferentially along the second cylindrical housing 500 to provide a look-around effect that allows for a maximum range of ambient environmental observations. For example, the user may switch to the viewing angle of any of the cameras 610 automatically or manually as desired for viewing.

In one embodiment, referring to fig. 3, the vision assembly 600 includes a second cylindrical housing 500. Referring to fig. 3, the second cylindrical housing 500 is configured to house the vision module 600 to form an independent module.

In an embodiment, referring to fig. 9, the second cylindrical housing 500 is disposed on top of the first cylindrical housing 200 and is connected to an outer wall of the top of the first cylindrical housing 200 to form a sealed cavity, where the first cylindrical housing 200 is provided with a mounting portion 510 in cooperation with the camera 610 and/or the light set.

In one embodiment, the perception module 010 includes a visual component 600.

Optionally, the visual component 600 includes a plurality of other sensory structures in addition to the radar component 100.

In one embodiment, the vision assembly 600 includes an FPV module that provides a forward-looking image data return for a user to understand the environment in front of the unmanned device. The FPV module includes at least one camera 610 and/or a light supplement lamp (not shown), wherein the camera 610 can provide image data back transmission for a user to know the surrounding environment of the unmanned device. Wherein, setting the light filling lamp 220 can improve the image acquisition quality of the front camera 610.

In an embodiment, referring to fig. 3, three sets of cameras 610 are provided, and three sets of cameras 610 are disposed at 90 ° intervals along the circumferential direction of the second cylindrical housing 500, and then the second cylindrical housing 500 is provided with three sets of mounting portions 510 opposite to the cameras 610.

In an embodiment, referring to fig. 2 and 3, the vision assembly 600 further includes a circuit board 620, the circuit board 620 is disposed in the middle of the second cylindrical housing 500, the plurality of cameras 610 are electrically connected to the circuit board 620, and the circuit board 620 is connected to the main control unit 400 through an electrical connection wire.

Optionally, referring to fig. 2 and 3, the visual assembly 600 further includes a plurality of flexible rows 630, a wire arrangement base 640 and a connection base 650, wherein one ends of the plurality of flexible rows 630 are respectively connected with the camera 610 and/or the light set, the other ends of the plurality of flexible rows 630 are respectively connected with the plurality of wire arrangement bases 640, the other ends of the plurality of flexible rows 630 are clamped between the wire arrangement bases 640 and the connection base 650, the plurality of wire arrangement bases 640 are connected with the circuit board 620, and the circuit board 620 is electrically connected with the main control unit 400 through an electrical connection wire passing through the hollow channel.

It will be appreciated that the camera 610 and/or light bank of the vision assembly 600 is electrically connected to the circuit board 620 via the flexible array 630 and the wire array base 640, and the circuit board 620 is electrically connected to the driver control 140 via the electrical connection wires passing through the first communication port 220, the first hollow channel 1121, the second hollow channel 1311 and the second communication port 320.

Alternatively, the first and second cylindrical shells 500 may be made of a material with small dielectric loss, so as to reduce the influence on the radar beam.

It can be appreciated that the vision module 600 and the radar module 100 thus configured can be electrically connected with the main control unit 400, and the vision module 600 and the radar module 100 are independently modularized, so that the vision module 600, the radar module 100 and the main control unit 400 can be independently disassembled when the sensing module 010 is failed, and maintenance is convenient. Meanwhile, the hollow channel is arranged in the rotatable ground radar assembly 100 in the above manner, so that the electric connection wire of the vision assembly 600 can be connected to the main control member 400 through the hollow channel, and meanwhile, the assembly of the whole structure of the sensing module 010 can be ensured, and the working stability of the radar assembly 100 and the tightness of the inside of the radar assembly 100 are not affected.

In summary, according to the agricultural unmanned aerial vehicle 01 provided by the invention, the problem that the sensing module 010 is blocked by the liquid medicine pollution can be relieved to a great extent by arranging the sensing module 010 at the top of the machine body 020, and the vision module 600 can not be blocked by the machine body 020 by arranging the vision module 600 at the top of the sensing module 010, so that the vision module 600 can obtain an optimal field of view, and the agricultural unmanned aerial vehicle 01 can sense the surrounding environment in the maximum range in the flying process.

Further, the radar in the radar assembly 100 disposed below the vision assembly 600 is a rotating radar, and the rotating radar assembly 100 interferes with the electrical connection line, so that a hollow channel is disposed on the radar assembly 100, and the vision assembly 600 and the main control piece 400 are electrically connected through the electrical connection line, so that the assembly of the whole structure of the sensing module 010 is ensured, and the working stability of the radar assembly 100 is not affected.

Further, the above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present invention should be covered in the scope of the present invention.

Claims

1. An agricultural unmanned aerial vehicle, comprising:

A body (020);

a plurality of arms (030), wherein one end of each of the arms (030) is connected to the body (020);

A power device (040), wherein the power device (040) is arranged at the other end of the arm (030) and far away from the machine body (020);

a sensing module (010), wherein the sensing module (010) is arranged at the top of the machine body (020);

The perception module (010) comprises a vision component (600) and a radar component (100), wherein the vision component (600) and the radar component (100) are sequentially arranged from top to bottom in the height direction.

2. The agricultural drone of claim 1, wherein the agricultural drone (01) includes a main control (400), the radar in the radar assembly (100) is a rotary radar, the radar assembly (100) is provided with a hollow channel through which an electrical connection line of the vision assembly (600) is connected to the main control (400).

3. The agricultural unmanned aerial vehicle according to claim 2, wherein the radar assembly (100) comprises a radar mount (110) and a driving member (130), the radar mount (110) and the driving member (130) being arranged in sequence from top to bottom in a height direction;

the radar mount (110) is provided with a first hollow channel (1121), the driving member (130) is provided with a second hollow channel (1311), and the first hollow channel (1121) and the second hollow channel (1311) form the hollow channel.

4. An agricultural drone according to claim 3, wherein the radar mount (110) rotates about a first axis direction;

the radar fixing frame (110) comprises a frame body (111) and a shaft body (112) which are connected, the shaft body (112) is arranged along the first axis direction, and the shaft body (112) is provided with the first hollow channel (1121) along the first axis direction.

5. The agricultural unmanned aerial vehicle according to claim 4, wherein the radar mount (110) further comprises a fixing portion (113), the fixing portion (113) being provided at the bottom of the mount body (111) and coaxially provided with the shaft body (112), the first hollow passage (1121) penetrating the shaft body (112) and the fixing portion (113);

The driving member (130) is fixed to the fixing portion (113).

6. An agricultural unmanned aerial vehicle according to claim 3, wherein the drive (130) is adapted to drive the radar mount (110) for rotation in a first axial direction;

The driving piece (130) comprises a rotating shaft (131), the rotating shaft (131) and the first axis direction are coaxially arranged, and the rotating shaft (131) is provided with a second hollow channel (1311) along the first axis direction.

7. The agricultural unmanned aerial vehicle according to claim 6, wherein the driving member (130) further comprises an upper base (132) and a lower base (133), the upper base (132) is fixed with the radar fixing frame (110), the lower base (133) is used for fixing the driving member (130), one end of the rotating shaft (131) is sleeved with the upper base (132), and the other end of the rotating shaft (131) is rotatably arranged with the lower base (133);

The rotating shaft (131) and the upper base (132) rotate relative to the lower base (133) along a first axis direction so as to drive the radar fixing frame (110) to rotate along the first axis direction.

8. The agricultural drone of claim 2, wherein the perception module (010) further includes a housing, the radar assembly (100) being rotatably disposed within the housing along a first axis direction;

The top and the bottom of casing are followed first axis direction is equipped with first intercommunication mouth (220) and second intercommunication mouth (320) respectively, the one end intercommunication of cavity passageway first intercommunication mouth (220), the other end intercommunication second intercommunication mouth (320), the electric connection line of vision subassembly (600) pass through first intercommunication mouth (220) cavity passageway with second intercommunication mouth (320) connect in main control piece (400).

9. The agricultural drone of claim 8, wherein the housing includes a first cylindrical housing (200) and an end plate (300) in sealed connection, the first cylindrical housing (200) providing the first communication port (220), the end plate (300) providing the second communication port (320);

The rotating end of the radar assembly (100) is rotatably arranged with the first communication port (220), the fixed end of the radar assembly (100) is arranged at the top of the end plate (300), and the main control piece (400) is arranged at the bottom of the end plate (300).

10. The agricultural drone of claim 8, wherein the main control (400) is disposed at a bottom of the housing;

The radar assembly (100) comprises a driving element control element (140), wherein the driving element control element (140) is arranged close to the bottom of the shell, a connector (310) is arranged at the bottom of the shell, and the driving element control element (140) is electrically connected with the main control element (400) through the connector (310).

11. The agricultural drone of claim 2, wherein a protective sheath is disposed within the hollow passage, at least a portion of the electrical connection line within the hollow passage being wrapped by the protective sheath.

12. The agricultural drone of claim 1, wherein the vision assembly (600) includes a second cylindrical housing (500) and a plurality of cameras (610), the plurality of cameras (610) being spaced apart along a circumference of the second cylindrical housing (500).

13. The agricultural drone of claim 12, wherein the agricultural drone (01) includes a main control member (400), the vision assembly (600) further includes a circuit board (620), the circuit board (620) is disposed in a middle portion of the second cylindrical housing (500), a plurality of cameras (610) are electrically connected to the circuit board (620), and the circuit board (620) is connected to the main control member (400) through an electrical connection line.

14. The agricultural drone of claim 1, wherein the agricultural drone (01) further comprises a spray system including a spray head disposed below the power plant (040) to spray with a wind field generated by the power plant (040).

15. The agricultural drone of claim 1, wherein the perception module (010) is disposed at a nose top of the machine body (020).

16. The agricultural drone of claim 1, wherein the agricultural drone (01) includes a main control (400), the main control (400) being disposed below the radar assembly (100).