CN109850155A - A kind of agricultural planting unmanned plane pesticide spraying system - Google Patents
A kind of agricultural planting unmanned plane pesticide spraying system Download PDFInfo
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- CN109850155A CN109850155A CN201910050596.9A CN201910050596A CN109850155A CN 109850155 A CN109850155 A CN 109850155A CN 201910050596 A CN201910050596 A CN 201910050596A CN 109850155 A CN109850155 A CN 109850155A
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Abstract
The invention discloses a kind of agricultural planting unmanned plane pesticide spraying systems, more particularly to agricultural plantation technology field, including master control system, the master control system connecting pin is respectively equipped with unmanned plane and autonomous driving vehicle, chemicals feeder and battery group are connected separately with by controlling cable on the outside of the master control system, the master control system output end is equipped with server.The present invention is by being equipped with autonomous driving vehicle and master control system, chemicals feeder and battery group are set at the top of autonomous driving vehicle, when unmanned plane is during crops are sprayed insecticide, unmanned plane energising power be finished or pesticide spraying it is complete after can be back to stopping pad at the top of autonomous driving vehicle, the medicine storing pot that master control system control chemicals feeder works inside to unmanned plane is added pesticide, also can control battery group is that the battery inside unmanned plane charges, it may insure the work that unmanned plane can spray insecticide for a long time, improve working efficiency.
Description
Technical field
The present invention relates to agricultural plantation technology fields, it is more particularly related to a kind of agricultural planting unmanned plane
Pesticide spraying system.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation, or fully or intermittently automatically grasped by car-mounted computer.Unmanned plane is pressed
Application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.Civilian aspect, unmanned plane+row
Industry application is that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express transportation, disaster relief, sight
Examine wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field
Using greatly having expanded the purposes of unmanned plane itself.
Unmanned plane is also more and more extensive in the application of field of agricultural cultivation at present, especially to a wide range of the case where planting
Under, it is sowed using unmanned plane, spraying can be improved working efficiency, uses manpower and material resources sparingly and reduce production cost.
But current unmanned plane is during spraying insecticide, and since unmanned plane body is smaller, portable pesticide volume
It is limited, dosing of making a return voyage just is needed after spraying a period of time, such unmanned plane in-line power battery can be also finished quickly repeatedly, be influenced
Working efficiency.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides a kind of agricultural planting and is sprayed with unmanned plane
Chemicals feeder and battery group is arranged by being equipped with autonomous driving vehicle and master control system in system at the top of autonomous driving vehicle, when
Unmanned plane during crops are sprayed insecticide, unmanned plane energising power be finished or pesticide spraying it is complete after can be back to it is automatic
Stopping pad at the top of driving a car, the medicine storing pot that master control system control chemicals feeder works inside to unmanned plane are added pesticide,
Also can control battery group is that the battery inside unmanned plane charges, it can be ensured that unmanned plane can carry out for a long time
The work sprayed insecticide improves working efficiency.
To achieve the above object, the invention provides the following technical scheme: a kind of agricultural planting unmanned plane pesticide spraying system, packet
Plant protection Internet of things system is included, the plant protection Internet of things system includes master control system, and the master control system connecting pin is respectively equipped with nothing
Man-machine and autonomous driving vehicle, the master control system outside are connected separately with chemicals feeder and battery group, institute by controlling cable
Master control system output end is stated equipped with server, the server outside is connected with work monitoring client, the nothing by communication cable
Man-machine inside is equipped with unmanned aerial vehicle control system, is equipped with autonomous driving vehicle control system inside the autonomous driving vehicle.
In a preferred embodiment, the master control system is set to inside autonomous driving vehicle, the chemicals feeder
It is all set at the top of autonomous driving vehicle with battery group, energy supply battery and airplane parking area is equipped at the top of the autonomous driving vehicle.
In a preferred embodiment, the master control system includes PLC controller, wireless data transfer module, number
According to processing module, locating module and D/C converter, the master control system is for controlling after receiving server transport work order
Unmanned aerial vehicle control system and autonomous driving vehicle control system work and data-signal are fed back to server.
In a preferred embodiment, the server connecting pin is equipped with database, and the server is for receiving
Master control system feedback data is simultaneously stored in database, and the server, which receives the transmission work order of work monitoring client and transmits, to be referred to
Enable signal to master control system.
In a preferred embodiment, the unmanned plane quantity is set as multiple, and the uav bottom is equipped with storage
Medicinal cupping, the medicine storing pot inside are equipped with liquidometer, and the drug storage pot bottom is equipped with fog-spray nozzle, is equipped with electric power storage inside the unmanned plane
Pond, the battery outside are equipped with charging interface, and the unmanned plane front side surface is respectively equipped with camera and laser sensor, institute
Side is stated equipped with mapping instrument.
In a preferred embodiment, the autonomous driving vehicle set-up of control system is in autonomous driving vehicle
Portion, the autonomous driving vehicle are equipped with automobile navigation apparatus, the autonomous driving vehicle control system and vapour inside the control system
Vehicle navigation device is for assisting the work of autonomous driving vehicle automatic Pilot and feedback operation information is to master control system.
In a preferred embodiment, work monitoring client connecting pin is equipped with alarm end sum number it is investigated that see end, institute
Alarm end is stated for sending a warning to staff, the data check end for checking unmanned plane and autonomous driving vehicle
Working condition.
In a preferred embodiment, the master control system includes power supply system, medication delivery systems, operating system, survey
System and unmanned plane jacking system are drawn, the power supply system and battery and energy supply battery are electrically connected, and the power supply system is used
It charges in unmanned plane, the medication delivery systems and chemicals feeder and liquidometer are electrically connected, and the medication delivery systems are used for unmanned plane
Be electrically connected for medicine, the operating system and unmanned aerial vehicle control system and autonomous driving vehicle control system, the operation
System is electrically connected for controlling unmanned plane and autonomous driving vehicle work, the mapping system and mapping instrument, the mapping system
System is supplied to staff for mapping instrument data and surveys and draws, the unmanned plane jacking system and unmanned aerial vehicle control system
It is electrically connected with airplane parking area, the unmanned plane jacking system is used to operate the automatic lifting of unmanned plane.
Technical effect and advantage of the invention:
1, the present invention by be equipped with autonomous driving vehicle and master control system, at the top of autonomous driving vehicle be arranged chemicals feeder and
Battery group, when unmanned plane is during crops are sprayed insecticide, unmanned plane energising power be finished or pesticide spraying it is complete after can
To be back to the stopping pad at the top of autonomous driving vehicle, medicine storing pot that master control system control chemicals feeder works inside to unmanned plane into
Row addition pesticide, also can control battery group is that the battery inside unmanned plane charges, it can be ensured that unmanned plane can
The work sprayed insecticide for a long time improves working efficiency；
2, by being equipped with work monitoring client and database, it is different in system that staff can check that end is checked by data
Autonomous driving vehicle and unmanned plane working condition, and can be adjusted for different situations, it is ensured that pesticide spraying
Efficiency, while being fed back to data by camera shooting work picture in the unmanned plane course of work and checked end, when there is electric appliance in system
When device fails, it is transmitted to alarm end after master control system transmission warning information to server, staff is reminded to look into
It sees and repairs, avoid that contingency occurs；
3, by being equipped with laser sensor and airplane parking area, unmanned plane is in the parking for needing to park to autonomous driving vehicle
It is detected stop position by laser sensor on the outside of unmanned plane when level ground and will test information and be transmitted to unmanned aerial vehicle control system, unmanned plane
Control system control unmanned plane is precisely parked and guarantees that drug storage pipe is connected to chemicals feeder, and charging interface and battery group connect
It connects, while different manipulators can be set on stopping pad, unmanned plane position restriction avoids occurring in dosing or charging process
Wobble effects work；
4, by being equipped with mapping system and mapping instrument, when operator is being loaded with the car steering of plant protection Internet of Things to specified
Operating location, provide signal by mobile base station, the work of unmanned plane 2 by the mapping instrument 28 in the outside of unmanned plane 2 to farmland into
Row measurement, and by measurement data real-time Transmission to master control system 1, working area and route are planned according to the data obtained, by master control
System 1 issue job instruction simultaneously surveying and mapping data is fed back into staff, convenient for staff to surveying and mapping data carry out statistics and
Processing.
Detailed description of the invention
Fig. 1 is overall structure schematic diagram of the invention；
Fig. 2 is unmanned plane working principle diagram of the invention；
Fig. 3 is autonomous driving vehicle working principle diagram of the invention；
Fig. 4 is master control system schematic diagram of the invention；
Fig. 5 is unmanned plane overall structure figure of the invention；
Fig. 6 is autonomous driving vehicle structure chart of the invention；
Appended drawing reference are as follows: 1 master control system, 11 power supply systems, 12 medication delivery systems, 13 operating systems, 14 mapping systems, 15 nothings
Man-machine jacking system, 2 unmanned planes, 21 medicine storing pots, 22 liquidometers, 23 fog-spray nozzles, 24 batteries, 25 charging interfaces, 26 cameras,
27 laser sensors, 28 mapping instruments, 3 autonomous driving vehicles, 31 energy supply batteries, 32 airplane parking areas, 4 chemicals feeders, 5 battery groups, 6 clothes
Business device, 61 databases, 7 work monitoring clients, 71 alarm ends, 72 data check end, 8 unmanned aerial vehicle control systems, 9 autonomous driving vehicles
Control system, 91 automobile navigation apparatus.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one:
The present invention provides a kind of agricultural planting unmanned plane pesticide spraying systems as shown in figures 1 to 6, including plant protection Internet of Things
System, the plant protection Internet of things system include master control system 1, and 1 connecting pin of master control system is respectively equipped with unmanned plane 2 and automatic
Driving 3 is connected separately with chemicals feeder 4 and battery group 5, the master control by controlling cable on the outside of the master control system 1
1 output end of system is equipped with server 6, is connected with work monitoring client 7 by communication cable on the outside of the server 6, it is described nobody
It is equipped with unmanned aerial vehicle control system 8 inside machine 2, is equipped with autonomous driving vehicle control system 9 inside the autonomous driving vehicle 3.
Further, the master control system 1 is set to inside autonomous driving vehicle 3, the chemicals feeder 4 and battery group 5
It is all set in 3 top of autonomous driving vehicle, is equipped with energy supply battery 31 and airplane parking area 32 at the top of the autonomous driving vehicle 3.
The present embodiment at the top of autonomous driving vehicle 3 the utility model has the advantages that be arranged chemicals feeder 4 and battery group 5, when unmanned plane 2
During crops are sprayed insecticide, 2 energising power of unmanned plane be finished or pesticide spraying it is complete after can be back to automatic Pilot
The stopping pad 32 at 3 top of automobile, master control system 1 control the work of chemicals feeder 4 and are added agriculture to the medicine storing pot 21 inside unmanned plane 2
Medicine, also can control battery group 5 is that the battery 25 inside unmanned plane 2 charges, it can be ensured that when unmanned plane 2 can be long
Between the work spray insecticide, improve working efficiency.
Embodiment two:
Further, the master control system 1 includes PLC controller, wireless data transfer module, data processing module, determines
Position module and D/C converter control unmanned aerial vehicle (UAV) control system after the master control system 1 is for receiving the transmission work order of server 6
System 8 and autonomous driving vehicle control system 9 work and data-signal are fed back to server 6.
Further, 6 connecting pin of server is equipped with database 61, and the server 6 is anti-for receiving master control system 1
Feedback data are simultaneously stored in database 61, and the server 6 receives work monitoring client 7 and transmits work order and transmit command signal
To master control system 1.
Further, 7 connecting pin of work monitoring client is equipped with 71 sum number of alarm end it is investigated that see end 72, the alarm end 71
For sending a warning to staff, the data check end 72 for checking that unmanned plane 2 and autonomous driving vehicle 3 work
State.
The present embodiment is the utility model has the advantages that staff can check that automatic Pilot different in system is checked at end 72 by data
The working condition of automobile 3 and unmanned plane 2, and can be adjusted for different situations, it is ensured that the efficiency of pesticide spraying, simultaneously
It shoots work picture by camera 26 in 2 course of work of unmanned plane to feed back to data and check end 72, when there is electrical equipment in system
When breaking down, master control system 1 is transmitted to alarm end 71 after transmitting warning information to server 6, and staff is reminded to look into
It sees and repairs, avoid that contingency occurs.
Embodiment three:
Further, 2 quantity of unmanned plane is set as multiple, and 2 bottom of unmanned plane is equipped with medicine storing pot 21, the storage
Liquidometer 22 is equipped with inside medicinal cupping 21,21 bottom of medicine storing pot is equipped with fog-spray nozzle 23, is equipped with battery inside the unmanned plane 2
24, charging interface 25 is equipped on the outside of the battery 24,2 front side surface of unmanned plane is respectively equipped with camera 26 and laser
Sensor 27,2 side are equipped with mapping instrument 28.
Further, the autonomous driving vehicle control system 9 is set to inside autonomous driving vehicle 3, described to drive automatically
It sails and is equipped with automobile navigation apparatus 91, the autonomous driving vehicle control system 9 and automobile navigation apparatus inside automotive control system 9
91 for assisting the work of 3 automatic Pilot of autonomous driving vehicle and feedback operation information is to master control system 1.
The present embodiment is the utility model has the advantages that unmanned plane 2 is needing to park to 32 Shi Youwu of stopping pad at 3 top of autonomous driving vehicle
Man-machine 2 outside laser sensor 27, which detects stop position and will test information, is transmitted to unmanned aerial vehicle control system 8, unmanned aerial vehicle (UAV) control
System 8 controls unmanned plane 2 and is precisely parked and guarantee that drug storage pipe 21 is connected to chemicals feeder 4, charging interface 25 and battery group 5
Connection, while different manipulators can be set on stopping pad 32, by 2 position restriction of unmanned plane, avoid dosing or charging process
In shake and influence work.
Example IV:
The master control system 1 includes power supply system 11, medication delivery systems 12, operating system 13, mapping system 14 and unmanned plane
Jacking system 15, the power supply system 11 are electrically connected with battery 24 and energy supply battery 31, and the power supply system 11 is for giving
Unmanned plane 2 charges, and the medication delivery systems 12 are electrically connected with chemicals feeder 4 and liquidometer 22, and the medication delivery systems 12 are used for nothing
Man-machine to carry out for medicine, the operating system 13 is electrically connected with unmanned aerial vehicle control system 8 and autonomous driving vehicle control system 9,
The operating system 13 works for controlling unmanned plane 2 and autonomous driving vehicle 3, and the mapping system 14 and mapping instrument 28 are electrical
Connection, the mapping system 14 are supplied to staff for 28 data of mapping instrument and survey and draw, the unmanned plane lifting
System 15 and unmanned aerial vehicle control system 8 and airplane parking area 32 are electrically connected, and the unmanned plane jacking system 15 is for operating unmanned plane 2
Automatic lifting.
The present embodiment the utility model has the advantages that
When operator be loaded with plant protection Internet of Things autonomous driving vehicle 3 drive to specified operating location, pass through shifting
Dynamic base station provides signal, and mobile base station is used to provide signal to unmanned plane and mapping instrument, and mapping instrument 28 is used to measure the face in farmland
Product and cook up work route, the work of unmanned plane 2 measures farmland by the mapping instrument 28 in 2 outside of unmanned plane, and will survey
Real-time data transmission is measured to master control system 1, working area and route are planned according to the data obtained, operation is issued by master control system 1
It instructs and surveying and mapping data is fed back into staff, surveying and mapping data is counted and handled convenient for staff.
Working principle of the present invention:
Referring to Figure of description 1-6: chemicals feeder 4 and battery group 5 being arranged at the top of autonomous driving vehicle 3, when unmanned plane 2
During crops are sprayed insecticide, 2 energising power of unmanned plane be finished or pesticide spraying it is complete after can be back to automatic Pilot
The stopping pad 32 at 3 top of automobile, master control system 1 control the work of chemicals feeder 4 and are added agriculture to the medicine storing pot 21 inside unmanned plane 2
Medicine, also can control battery group 5 is that the battery 25 inside unmanned plane 2 charges, it can be ensured that when unmanned plane 2 can be long
Between the work spray insecticide, improve working efficiency；
Referring to Figure of description 1, Fig. 3, Fig. 5 and Fig. 6: unmanned plane 2, which is parked in needs to 3 top of autonomous driving vehicle, to stop
It is detected stop position by 2 outside laser sensor 27 of unmanned plane when vehicle level ground 32 and will test information and be transmitted to unmanned aerial vehicle control system
8, unmanned aerial vehicle control system 8 controls unmanned plane 2 and is precisely parked and guarantee that drug storage pipe 21 is connected to chemicals feeder 4, charging interface
25 connect with battery group 5, while different manipulators can be set on stopping pad 32, and 2 position restriction of unmanned plane avoids adding
Shaking in medicine or charging process influences work；
Referring to Figure of description 1 and Fig. 2: it is different automatic in system that staff can check that end 72 is checked by data
The working condition of driving 3 and unmanned plane 2, and can be adjusted for different situations, it is ensured that the efficiency of pesticide spraying,
It work picture is shot by camera 26 in 2 course of work of unmanned plane simultaneously feeds back to data and check end 72, when there is electric appliance in system
When device fails, master control system 1 is transmitted to alarm end 71 after transmitting warning information to server 6, remind staff into
Row is checked and is repaired, and avoids that contingency occurs.
Referring to Figure of description 1, Fig. 4 and Fig. 5: when operator drives the autonomous driving vehicle 3 for being loaded with plant protection Internet of Things
It sails to specified operating location, provides signal by mobile base station, mobile base station is used to provide signal to unmanned plane and mapping instrument,
Mapping instrument 28 is used to measure the area in farmland and cooks up work route, the mapping instrument that the work of unmanned plane 2 passes through 2 outside of unmanned plane
28 pairs of farmlands measure, and by measurement data real-time Transmission to master control system 1, plan working area and road according to the data obtained
Line is issued by master control system 1 and job instruction and surveying and mapping data is fed back to staff, convenient for staff to surveying and mapping data into
Row statistics and processing.
The several points that should finally illustrate are: firstly, in the description of the present application, it should be noted that unless otherwise prescribed and
It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, can be mechanical connection or electrical connection, be also possible to two
Connection inside element, can be directly connected, and "upper", "lower", "left", "right" etc. are only used for indicating relative positional relationship, when
The absolute position for being described object changes, then relative positional relationship may change；
Secondly: the present invention discloses in embodiment attached drawing, relates only to the structure being related to the embodiment of the present disclosure, other knots
Structure, which can refer to, to be commonly designed, and under not conflict situations, the same embodiment of the present invention and different embodiments be can be combined with each other；
Last: the foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, all in the present invention
Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it
It is interior.
Claims (8)
1. a kind of agricultural planting unmanned plane pesticide spraying system, including plant protection Internet of things system, the plant protection Internet of things system include
Master control system (1), it is characterised in that: master control system (1) connecting pin is respectively equipped with unmanned plane (2) and autonomous driving vehicle
(3), chemicals feeder (4) and battery group (5), the master control are connected separately with by controlling cable on the outside of the master control system (1)
System (1) output end is equipped with server (6), is connected with work monitoring client (7) by communication cable on the outside of the server (6),
Unmanned aerial vehicle control system (8) are equipped with inside the unmanned plane (2), automatic Pilot vapour is equipped with inside the autonomous driving vehicle (3)
Vehicle control (9).
2. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 1, it is characterised in that: the master control system
(1) it is internal to be set to autonomous driving vehicle (3), the chemicals feeder (4) and battery group (5) are all set in autonomous driving vehicle
(3) top, autonomous driving vehicle (3) top are equipped with energy supply battery (31) and airplane parking area (32).
3. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 1, it is characterised in that: the master control system
It (1) include PLC controller, wireless data transfer module, data processing module, locating module and D/C converter, the master control system
After system (1) is for receiving server (6) transmission work order, unmanned aerial vehicle control system (8) and autonomous driving vehicle control are controlled
System (9) works and data-signal is fed back to server (6).
4. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 1, it is characterised in that: the server
(6) connecting pin is equipped with database (61), and the server (6) is for receiving master control system (1) feedback data and being stored in data
In library (61), the server (6) receives work monitoring client (7) transmission work order and transmits command signal to master control system
(1)。
5. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 2, it is characterised in that: the unmanned plane
(2) quantity is set as multiple, and unmanned plane (2) bottom is equipped with medicine storing pot (21), and liquid level is equipped with inside the medicine storing pot (21)
It counts (22), medicine storing pot (21) bottom is equipped with fog-spray nozzle (23), is equipped with battery (24) inside the unmanned plane (2), described
Charging interface (25) are equipped on the outside of battery (24), unmanned plane (2) front side surface is respectively equipped with camera (26) and laser
Sensor (27), (2) side are equipped with mapping instrument (28).
6. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 5, it is characterised in that: the automatic Pilot
Automotive control system (9) is set to autonomous driving vehicle (3) inside, is equipped with inside the autonomous driving vehicle control system (9)
Automobile navigation apparatus (91), the autonomous driving vehicle control system (9) and automobile navigation apparatus (91) are for assisting driving automatically
The work of automobile (3) automatic Pilot and feedback operation information are sailed to master control system (1).
7. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 6, it is characterised in that: the work monitoring
End (7) connecting pin is equipped with alarm end (71) sum number it is investigated that seeing end (72), and the alarm end (71) is for sending a warning to work
Make personnel, the data check end (72) for checking unmanned plane (2) and autonomous driving vehicle (3) working condition.
8. a kind of agricultural planting unmanned plane pesticide spraying system according to claim 7, it is characterised in that: the master control system
It (1) include power supply system (11), medication delivery systems (12), operating system (13), mapping system (14) and unmanned plane jacking system
(15), the power supply system (11) and battery (24) and energy supply battery (31) are electrically connected, and the power supply system (11) is used for
It charges to unmanned plane (2), the medication delivery systems (12) and chemicals feeder (4) and liquidometer (22) are electrically connected, the medication delivery systems
(12) for carrying out unmanned plane for medicine, the operating system (13) and unmanned aerial vehicle control system (8) and autonomous driving vehicle control
System (9) processed is electrically connected, and the operating system (13) is described for controlling unmanned plane (2) and autonomous driving vehicle (3) work
Mapping system (14) and mapping instrument (28) are electrically connected, and the mapping system (14) is supplied to work for mapping instrument (28) data
Personnel survey and draw, and the unmanned plane jacking system (15) electrically connects with unmanned aerial vehicle control system (8) and airplane parking area (32)
It connects, the unmanned plane jacking system (15) is used to operate the automatic lifting of unmanned plane (2).
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| CN201910050596.9A CN109850155A (en) | 2019-01-19 | 2019-01-19 | A kind of agricultural planting unmanned plane pesticide spraying system |
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| CN201910050596.9A CN109850155A (en) | 2019-01-19 | 2019-01-19 | A kind of agricultural planting unmanned plane pesticide spraying system |
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Cited By (1)
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|---|---|---|---|---|
| CN110780680A (en) * | 2019-11-07 | 2020-02-11 | 南京邮电大学 | Expressway green belt maintenance system and dispatching method based on unmanned aerial vehicle |
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