CN107128493B - Wide-width plant protection unmanned aerial vehicle with multiple transverse rotors and driving method - Google Patents

Abstract

The invention relates to a horizontal multi-rotor wide-width plant protection drone and a driving method to improve operating efficiency. The technical solution adopted: including frame, attitude control mechanism and spraying system. The rack provides backbone support for the plant protection drone and serves as a cargo platform to place required components. The attitude control mechanism provides power output for the take-off, landing, and flight height adjustment of the UAV, and at the same time drives the plant protection UAV to advance and stop along the operating direction and change the operating route. The spraying system controls the plant protection drone to start spraying operations when it reaches a predetermined operating area. The driving method adopted is mainly to adjust the UAV's operating attitude and flight path by changing the rotation speed of the rotor at the corresponding position. The invention uses a combination of multiple pairs of transverse axis rotors and a pair of longitudinal axis rotors to provide the lift of the UAV, improve the load capacity and endurance of the UAV, increase the operating width, and improve the overall operating efficiency.

Description

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

Technical field

The invention relates to the field of agricultural aviation plant protection, and in particular to a horizontal multi-rotor wide-width plant protection drone and a driving method to improve operating efficiency.

Background technique

Plant protection drones are mainly used for spraying pesticides on food or cash crops in large areas of forest or farmland. The high-speed downwash airflow generated by the high-speed rotating rotor can achieve secondary atomization of the mist droplets ejected from the nozzle, improve the entrainment ability of the mist droplets, improve the penetration of the liquid, and have good effects on the control of diseases, insect pests, and weeds, etc. Advantages: It can be operated remotely from a distance, which prevents remote operators from being exposed to pesticide mist droplets and improves the safety of pesticide application. Remote-controlled drones have become one of the important development trends in agricultural and forestry plant protection.

At present, plant protection UAVs mostly use unmanned helicopters and multi-rotor aircraft as operating platforms. Their wind field coverage is small, the operating width of one flight is small, and the airborne time is short, requiring repeated addition of chemical liquid. The overall operating efficiency is low and hinders In order to meet the development of large-scale, short-term agricultural plant protection prevention and control, there is an urgent need to invent a plant protection drone platform and driving method with a wide operating range and high efficiency.

Contents of the invention

In view of the shortcomings of the existing technology, the present invention provides a horizontal multi-rotor wide-width plant protection drone and a driving method, which have the advantages of high load capacity, wide operating width, high work efficiency, and low use and maintenance costs.

The present invention adopts a technical solution for a horizontal multi-rotor wide-width plant protection UAV: including a frame, an attitude control mechanism and a spraying system. The rack provides backbone support for the plant protection drone and serves as a cargo platform to place required components. The attitude control mechanism provides power output for the take-off, landing, and flight height adjustment of the UAV, and at the same time drives the plant protection UAV to advance and stop along the operating direction and change the operating route. The spraying system controls the plant protection drone to start spraying operations when it reaches a predetermined operating area.

The attitude control mechanism includes lithium batteries, flight controllers, electronic speed regulators and rotor components. The lithium battery provides power for the flight controller, electronic speed regulator and rotor components of the wide-width plant protection drone. Multiple batteries can be equipped according to needs, and the groups are evenly distributed in the central area of the frame. The flight controller is fixed in the center area of the frame, automatically collects the flight parameters of the wide-width plant protection drone, and outputs steering gear and throttle commands for the electronic speed regulator. The electronic speed regulator is fixed in the center 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 motor bracket are used to fixedly support the transverse axis motor and the longitudinal axis motor. The transverse axis motor and the longitudinal axis motor are brushless motors. The transverse axis rotor and the longitudinal axis rotor are coaxially connected to the transverse axis motor and the longitudinal axis motor output shaft respectively, and rotate as the motor rotates. There are 2n rotor assemblies in total (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 fixed symmetrically 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 and lowering of the wide-width plant protection drone, and on the other hand, it controls the advancement 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 drone to take off and adjust the flight height. On the other hand, it drives the wide-width plant protection UAV to adjust its attitude, and controls the UAV to move laterally after completing a route operation and change the operation route.

The spraying system includes a large-volume spray tank, an extended spray boom, an electric diaphragm pump and a nozzle. The large-volume medicine box includes a box body and a grid-type medicine liquid partition. The grid-type medicine liquid partition 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 An interconnected grid-type area to prevent excessive fluctuations in the liquid medicine from causing the drone to become unbalanced. Nozzles are evenly fixed on the elongated spray rod. The nozzle is located below the transverse axis rotor and corresponds to the transverse axis rotor. It atomizes the chemical liquid and then sprays it out. There are n-1 electric diaphragm pumps, which are fixed on the upper part of the drone frame. Each electric diaphragm pump controls the operation of 2 nozzles.

The invention provides a driving method for a horizontal multi-rotor wide-width plant protection drone, which includes 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 on the transverse axis near the center area rotate in the same direction at the same speed v, but the direction is opposite to that of the rotor group on the longitudinal axis. The remaining rotor groups on each side on the transverse axis are grouped in pairs, and are evenly fixed on the racks on both sides in sequence. The two rotor groups in each group turn in opposite directions, which not only provides the lifting force of the wide-width plant protection drone, but also ensures that each rotor generates The gyroscopic effect and aerodynamic torque effect cancel each other out, allowing the UAV platform to fly stably without yaw movement.

2) In the hovering state of the wide-width plant protection UAV, the lifting force generated by the rotors is controlled by synchronously adjusting the rotation speed v _i of each rotor group, so that the sum of the lift forces provided by the rotors is equivalent to the self-weight of the wide-width plant protection UAV. Right now

Among them, f(vi ₎ is the lift provided by rotor group i, m _u is the overall mass of the wide-width plant protection UAV, and g is the acceleration of gravity. The lifting movement controls each set of rotors to jointly change the lifting force f _u of the wide-width plant protection drone by changing the rotor speed v _i , thereby adjusting 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 motion: the speed of the rear rotor increases by Δv, and the speed of the front rotor decreases by the same amount, increasing the lift generated by the rear rotor. , the lift generated by the front rotor decreases, and the wide-width plant protection UAV tilts forward, generating a forward horizontal component to push it forward; similarly, when the front rotor speed increases Δv, the rear rotor speed decreases by the same amount Δv, making it move backward.

4) By keeping the rotor speed on the longitudinal axis of the wide-width plant protection UAV unchanged and changing the rotor speeds on both sides of the transverse axis, its rolling motion can be controlled: when one side of the rotor group increases the speed Δv, the other side rotor speed will be the same. Decreasing Δv _r will increase the lift of one side of the rotor, and correspondingly decrease the lift of the other side of the rotor, allowing the wide-width plant protection UAV to achieve rolling motion.

5) Synchronously change the rotation speed of the rotor on the longitudinal axis and the transverse axis to control its yaw movement: let the rotor on the longitudinal axis reduce the rotation speed Δv, and the single-sided rotor on the longitudinal axis increase the rotation speed Δv/n-1 proportionally, so that the rotation speed on the transverse axis And the rotor on the longitudinal axis produces unbalanced reaction torque, and the wide-width plant protection UAV achieves yaw movement.

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

1) After transporting the plant protection UAV to the operating area, unfold the frame horizontally, start the wide-width plant protection UAV, and perform lifting movements according to the above driving method to make the wide-width plant protection UAV fly smoothly off the ground and make the wide-width plant protection UAV fly smoothly. The plant protection drone hovers at a suitable height for plant protection operations.

2) Remotely start the electric diaphragm pump, unfold the extended spray boom to carry out spraying operations, change the rotational speed of the longitudinal axis rotor according to the driving method of the plant protection drone, and fly the remote control drone along the direction of the crop; spraying operations on this route After completion, turn off the diaphragm pump, adjust the transverse axis rotors to rotate in the same direction and at different speeds, causing the drone to move in a direction, complete the channel change, and start spraying in another direction along the crop row until the drone is controlled to complete the entire operation area. Spraying operations.

3) After the field application operation is completed, remotely control the electric diaphragm pump to stop spraying, fold and stow the extended spray boom, remotely control the drone to land slowly, 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) A combination of multiple pairs of transverse axis rotors and a pair of longitudinal axis rotors are used to provide lift to the drone and improve the load capacity and endurance of the drone.

2) The UAV platform with high load capacity can carry large-volume liquid medicine tanks and can carry out long-term continuous operations, saving the time of returning to add medicine due to insufficient medicine liquid and improving operation efficiency.

3) Two sets of electric drive rotors on the front and rear sides of the drone are used to provide thrust for the drone to move forward. This thrust configuration matches the needs of the low-speed horizontal plane movement of the plant protection drone in farmland.

4) The horizontal multi-rotor structure and extended spray boom allow the UAV to increase the spray width. The large-width spray increases the pesticide application rate and reduces the power consumption of the drone while the amount of pesticide liquid carried by the drone remains unchanged.

Description of drawings

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

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

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

Figure 4 is an isometric view of the plant protection drone of the present invention.

Figure 5 is a large-volume medicine box with a grid-type medicine liquid partition according to the present invention.

In the picture: 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 speed controller

Detailed ways

The patent of the present invention will be further described below in conjunction with the accompanying drawings. 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 present invention is a horizontal multi-rotor wide-width plant protection drone: it 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 cargo platform to place required components. The attitude control mechanism provides power output for the take-off, landing, and flight height adjustment of the UAV, and at the same time drives the plant protection UAV to advance and stop along the operating direction and change the operating route. The spraying system controls the plant protection drone to start spraying operations when it reaches a predetermined operating area.

The attitude control mechanism includes a lithium battery (12), a flight controller (15), an electronic speed controller (17) and a rotor assembly. The lithium battery (12) provides power for the flight controller (15), electronic speed regulator (17) and rotor assembly of the wide-width plant protection drone. Multiple batteries can be equipped according to needs, and the groups are evenly distributed in the center of the frame. area. The flight controller (15) is fixed in the center area of the frame, automatically collects the flight parameters of the wide-width plant protection UAV, and outputs steering gear and throttle commands to the electronic speed regulator (17). The electronic speed regulator (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 includes 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 motor bracket (13) are used to fixedly support the transverse axis motor (2) and the longitudinal axis motor (9). The transverse axis motor (2) and the longitudinal axis motor (9) are brushless motors. The transverse axis rotor (1) and the longitudinal axis rotor (8) are coaxially connected to the output shafts of the transverse axis motor (2) and the longitudinal axis motor (9) respectively, and rotate as the motor rotates. There are 2n rotor assemblies in total (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 (3) and are symmetrically fixed on the frame (3) with respect to the transverse axis. ), on the one hand, provide lift for the lifting and lowering of the wide-width plant protection drone, and on the other hand, control the advancement 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 (3), 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 help the plant protection UAV take off and adjust the flight height. It provides lift, and on the other hand drives the wide-width plant protection UAV to adjust its attitude, and controls the UAV to move laterally after completing a route operation and change the operation route.

The spraying system includes a large-volume spray tank (10), an elongated spray rod (4), an electric diaphragm pump (16) and a nozzle (5). The large-volume medicine box (10) includes a box body and a grid-type medicine liquid partition. The grid-type medicine liquid partition 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 multiple interconnected grid-type areas to prevent excessive fluctuations in the medicine liquid from causing imbalance of the drone. Nozzles (5) are evenly fixed on the elongated spray rod (4). The nozzle (5) is located below the transverse axis rotor (1) and corresponds to the transverse axis rotor (1). It atomizes the chemical liquid and then sprays it out. There are n-1 electric diaphragm pumps (16), which are fixed on the upper part of the drone frame (3). Each electric diaphragm pump (16) controls the operation of 2 nozzles.

The invention provides a driving method for a horizontal multi-rotor wide-width plant protection drone, which includes 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 center area on the transverse axis rotate in the same direction at the same speed v, but the direction is opposite to that of the rotor group on the longitudinal axis. The remaining rotor groups on each side on the transverse axis are arranged in groups of two by two, and are evenly fixed on the frames (3) on both sides in sequence. The two rotor groups in each group turn in opposite directions, which ensures that while providing the lifting force of the wide-width plant protection UAV, The gyroscopic effect and aerodynamic torque effect generated by each rotor cancel each other out, allowing the UAV platform to fly stably without yaw movement.

2) In the hovering state of the wide-width plant protection UAV, the lifting force generated by the rotors is controlled by synchronously adjusting the rotation speed v _i of each rotor group, so that the sum of the lift forces provided by the rotors is equivalent to the self-weight of the wide-width plant protection UAV. Right now

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

3) Changing the 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 movements: the rear rotor speed increases Δv, and the front rotor speed decreases Δv by the same amount, causing the rear rotor to produce As the lift increases, the lift generated by the front rotor decreases, and the wide-width plant protection UAV tilts forward, generating a forward horizontal component to propel it forward; similarly, when the front rotor speed increases Δv, the rear rotor speed, etc. Reduce Δv by an amount to make 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 of the transverse axis to control its rolling motion: when the rotor group on one side increases the rotation speed Δv, The rotation speed of the other side's rotor decreases by an equal amount Δv _r , which increases the lift of one side's rotor and decreases the lift of the other side's rotor accordingly. The wide-width plant protection UAV achieves rolling motion.

5) Synchronously change the rotation speed of the rotor on the longitudinal axis and the transverse axis to control its yaw movement: let the rotor on the longitudinal axis reduce the rotation speed Δv, and the single-sided rotor on the longitudinal axis increase the rotation speed Δv/n-1 proportionally, so that the rotation speed on the transverse axis And the rotor on the longitudinal axis produces unbalanced reaction torque, and the wide-width plant protection UAV achieves yaw movement.

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

1) After transporting the plant protection UAV to the operating area, unfold the frame (3) horizontally, start the wide-width plant protection UAV, and perform lifting movements according to the above driving method to make the wide-width plant protection UAV fly smoothly off the ground. And make the wide-width plant protection drone hover at a suitable height for plant protection operations;

2) Remotely start the electric diaphragm pump (16), unfold the extended spray boom (4) to carry out spraying operations, and change the rotational speed of the longitudinal axis rotor (8) according to the driving method of the plant protection drone. The remote control drone follows the crops Fly in the same direction; after the spraying operation on this route is completed, turn off the diaphragm pump (16), adjust the transverse axis rotor (1) to rotate in the same direction and at different speeds, so that the UAV moves in a tendency, completes the route change, and starts another row along the crop. spray in the desired direction until the drone is controlled to complete the spraying operation in the entire operating area.

3) After the field application operation is completed, remotely control the electric diaphragm pump (16), stop spraying, fold and stow the extended spray boom (4), and remotely control the drone to land slowly, turn off the power of the drone, and operate the drone. Exit the work area.

Claims (3)

1. A wide-width plant protection unmanned aerial vehicle of many rotors of row formula, its characterized in that: comprises a frame, a gesture control mechanism and a medicine spraying system;

the attitude control mechanism comprises a lithium battery, a flight controller, an electronic speed regulator and a rotor wing assembly; the lithium battery provides power for a flight controller, an electronic speed regulator and a rotor wing assembly of the wide plant protection unmanned aerial vehicle, and a plurality of lithium batteries can be arranged according to requirements and distributed in a grouping and uniform manner in the central area of the frame; the flight controller is fixed in the central area of the frame, and is used for automatically collecting various flight parameters of the wide plant protection unmanned aerial vehicle and outputting steering engine and throttle instructions for the electronic speed regulator; the electronic speed regulator is fixed in the central area of the frame, receives the output signal of the flight controller, controls the speed and the direction of the rotor wing assembly, and further controls the gesture and the track of the wide plant protection unmanned aerial vehicle; the rotor wing assembly comprises a transverse axis motor, a transverse axis rotor wing, a longitudinal axis motor, a longitudinal axis rotor wing, 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 are brushless motors; the transverse axis rotor wing and the longitudinal axis rotor wing are respectively and correspondingly coaxially connected with the transverse axis motor and the longitudinal axis motor output shaft, and rotate along with the rotation of the motor; the number of the rotor wing assemblies is 2n or more, n is 2 or more, each rotor wing assembly has the same size and hardware parameters, 2 of the rotor wing assemblies are positioned on the longitudinal axis of the frame, and are symmetrically fixed at the front end and the rear end of the frame about the transverse axis, so that on one hand, lift force is provided for the lifting of the wide plant protection unmanned aerial vehicle, and on the other hand, the wide plant protection unmanned aerial vehicle is controlled to advance and stop along the operation direction; the rest 2n-2 are positioned on the transverse axis of the frame, are symmetrical about the longitudinal axis, and are uniformly distributed with n-1 rotor wing assemblies on each side, so that on one hand, lift force is provided for the plant protection unmanned aerial vehicle to take off and adjust the flying height together with the rotor wing assemblies on the longitudinal axis, and on the other hand, the wide plant protection unmanned aerial vehicle is driven to adjust the gesture, so that the unmanned aerial vehicle is controlled to transversely move after finishing one course of operation, and the operation course is changed;

the medicine spraying system comprises a large-volume medicine box, an elongated spray rod, an electric diaphragm pump and a spray head; the large-volume medicine box comprises a box body and a grid type medicine liquid partition board, wherein the grid type medicine liquid partition board is perpendicular to the bottom of the large-volume medicine box and is fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into a plurality of grid type areas which are communicated with each other so as to prevent unbalance of the unmanned aerial vehicle caused by overlarge fluctuation of medicine liquid; the lengthened spray rod is uniformly fixed with a spray head; the spray heads are positioned below the transverse axial rotary wings and correspond to the transverse axial rotary wings one by one, and spray the liquid medicine after atomizing; the electric diaphragm pumps are provided with n-1, are fixed on the upper part of the unmanned aerial vehicle frame, and each electric diaphragm pump controls 2 spray heads to operate.

2. The method for driving a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors according to claim 1, comprising the following steps:

1) The 2 rotor groups on the longitudinal axis rotate in the same direction at a certain speed v, and the 2 rotor groups on the transverse axis close to the central area rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor groups on the longitudinal axis; the left rotor wing groups on each side of the transverse axis are pairwise and are sequentially and uniformly fixed on the racks on two sides, and the two rotor wing groups of each group are opposite in steering, so that the gyro effect and the aerodynamic torque effect generated by each rotor wing are mutually counteracted while the lift force of the wide plant protection unmanned aerial vehicle is provided, and the unmanned aerial vehicle platform stably flies and does not generate yaw motion;

2) Hovering state of wide-range plant protection unmanned aerial vehicle is through synchronous regulation rotational speed v of every rotor group _i Control the lifting force generated by the rotor to enable the rotor to provideThe sum of the lifting forces of the unmanned aerial vehicle is equivalent to the dead weight of the wide plant protection unmanned aerial vehicle, namely

Wherein f (v) _i ) Lifting force, m, provided for rotor group i _u The weight of the whole machine of the wide plant protection unmanned aerial vehicle is g, which is gravity acceleration; by varying rotor speed v during lifting movement _i Control each group rotor and change the lift force size f of wide plant protection unmanned aerial vehicle jointly _u Further, the working height of the wide plant protection unmanned aerial vehicle is adjusted;

3) The rotating speeds of the front rotor wing and the rear rotor wing on the longitudinal axis of the wide plant protection unmanned aerial vehicle are changed, and the forward and backward movement of the wide plant protection unmanned aerial vehicle can be controlled: the rotation speed of the rear rotor wing is increased by deltav, the rotation speed of the front rotor wing is reduced by deltav by equal amount, so that the lift force generated by the rear rotor wing is increased, the lift force generated by the front rotor wing is reduced, and the wide plant protection unmanned aerial vehicle tilts forward, so that forward horizontal component force is generated, and the wide plant protection unmanned aerial vehicle is propelled forward; similarly, the rotating speed of the front rotor wing is increased by Deltav, and the rotating speed of the rear rotor wing is reduced by Deltav by the same amount, so that the rear rotor wing moves backwards;

4) The rotating speed of the rotor wings on the longitudinal axis of the wide plant protection unmanned aerial vehicle is kept unchanged, the rotating speeds of the rotor wings on the two sides on the transverse axis are changed, and the transverse rolling movement of the wide plant protection unmanned aerial vehicle can be controlled: when one rotor group increases the rotation speed delta v, the rotation speed of the other rotor group is reduced by delta v _r The lift force of one rotor wing is increased, the lift force of the other rotor wing is correspondingly reduced, and the wide plant protection unmanned aerial vehicle realizes the rolling motion;

5) Synchronously changing the rotational speed of the rotor on the longitudinal and transverse axes controls its yaw movement: the rotary wings on the longitudinal axis are reduced by the rotation speed Deltav, and the single rotary wing on the longitudinal axis is increased by the rotation speed Deltav/n-1 in proportion, so that unbalanced reactive torque is generated by the rotary wings on the transverse axis and the longitudinal axis, and the wide plant protection unmanned plane realizes yaw motion.

3. The method for operating a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors according to claim 1 or 2, comprising the following steps:

1) After the plant protection unmanned aerial vehicle is transported to an operation area, the frame is horizontally unfolded, the wide plant protection unmanned aerial vehicle is started, lifting motion is carried out according to the driving method, the wide plant protection unmanned aerial vehicle flies off the ground stably, and the wide plant protection unmanned aerial vehicle hovers at a proper plant protection operation height;

2) The electric diaphragm pump is remotely controlled to be started, the lengthened spray boom is unfolded to implement pesticide spraying operation, the rotating speed of the longitudinal axis rotor wing is changed according to a driving method of the plant protection unmanned aerial vehicle, and the unmanned aerial vehicle is remotely controlled to fly along the crop row course; after the spraying operation of the air route is finished, closing the diaphragm pump, adjusting the transverse axis rotor wing to rotate at the same direction and different speeds, enabling the unmanned aerial vehicle to move in a leaning mode, finishing the air route conversion, starting another course spraying along the crop row until controlling the unmanned aerial vehicle to finish the spraying operation of the whole operation area;

3) After the field pesticide application operation is completed, the electric diaphragm pump is remotely controlled to be closed, pesticide spraying is stopped, the lengthened spray boom is folded and retracted, the unmanned aerial vehicle is remotely controlled to slowly land, the unmanned aerial vehicle power supply is turned off, and the unmanned aerial vehicle is transported out of the operation area.