CN101963806A - Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation - Google Patents
Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation Download PDFInfo
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Abstract
The invention provides unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation, belonging to the field of agricultural technology. The main communication end of a flight control host machine is communicated with a GPS, and the main control output end is connected with the controlled end of a rotor flight system to be used for sending a navigation control signal to the flight system according to a preset air line and real-time position information transmitted by the GPS; an unmanned helicopter is also provided with a pesticide applying device and a pesticide applying control system, wherein the pesticide applying device comprises a pesticide box, a liquid pump, a spray rod and a spray head; the pesticide applying control system comprises a main control circuit, a communication module, a feedback module, a signal processing module and a power transformation module; the main control circuit is used for feeding back the state information of the pesticide applying system to the flight control host machine by the communication module; and the signal processing module is used for amplifying a pesticide applying control signal transmitted by the main control circuit into an electric signal and controlling the liquid pump to carry out pesticide applying operation. The system and the method can control the unmanned helicopter to flight according to the preset air line by the GPS and perform a spray task according to a preset GPS air line.
Description
Technical field
The present invention relates to a kind of automatic control system of dispenser operation, relate in particular to a kind of unmanned plane dispenser operation automatic control system, belong to agricultural technology field based on GPS navigation.The invention still further relates to a kind of unmanned plane dispenser operational method based on GPS navigation.
Background technology
Compare with the artificial dispenser operation in traditional field, the advantage of aviation dispenser is remarkable: the operating efficiency height, and agricultural chemicals is to operating personnel's zero harm, and the amount of labour used and labour intensity significantly reduce; The droplet drift is few, and spray is strong to the crop penetrability, and prevention effect obviously improves; Need not special-purpose landing airport, maneuverability is good.The aviation pesticide application technology is for effectively the explosive disease pest and weed in prevention and control paddy field, the upgrading of promotion paddy rice scale plant protection technology provide best job platform fast; simultaneously also for modern technical aeronautics and digital information technology arms transform China's traditional agriculture provide early stage tachnical storage, market potential and industrialization prospect are good.
At present, the aviation pesticide application technology is used more in developed countries such as the U.S. and Japan, and Japan adopts the depopulated helicopter dispenser, but the depopulated helicopter dispenser of Japan mostly is manually-operated, is not with self-navigation to control the dispenser system automatically, the poor accuracy of dispenser.Large-scale fixed-wing agricultural aviation dispenser equipment is then adopted in the US Airways dispenser, and maneuverability is poor.
On March 4th, 2009, notification number is the Chinese utility model patent of CN201203426Y, a kind of agricultural aircraft operation navigational system based on the Embedded GPS technology is disclosed, GPS module, ethernet module, voice cue module, touch-screen and storer composition that it mainly comprises central processing unit and links to each other with central processing unit, central processing unit also links to each other with safe digital card, the external jtag interface of central processing unit is as the programming interface of operating system nucleus and boot, and central processing unit also is connected to and is used for the RS232 interface that program debug is used.Its main application is agricultural chemicals and the flight expense of saving, and optimizes the line of flight, shortens the activity duration, and what effectively reduce agricultural chemicals heavily spills, leaks the rate of spilling.This agricultural aircraft operation navigational system is used for manned aircraft, owing to device for administration of drugs and automatic control system are not organically combined, therefore is not suitable for unmanned spacecraft.
Summary of the invention
Primary and foremost purpose of the present invention is, proposes a kind of unmanned plane dispenser operation automatic control system based on GPS navigation, not only can self-navigation, and can control dispenser automatically reaching predetermined dispenser place when overhead.
In order to reach above primary and foremost purpose, the invention provides a kind of unmanned plane dispenser operation automatic control system based on GPS navigation, the flight control main frame that comprises control depopulated helicopter rotor flight system, the main communication terminal of described flight control main frame is connected with the GPS communication, the controlled end of its main control output termination rotor flight system sends the Navigation Control signal in order to the real-time position information that transmits according to prebriefed pattern and GPS to described flight system; The device for administration of drugs of being made up of medicine-chest, liquid pump, spray boom and shower nozzle also is housed on the described depopulated helicopter, and the dispenser control system, described dispenser control system comprises main control circuit, communication module, feedback module, signal processing module and electric power transmitting module; The auxilliary communication terminal of described flight control main frame is connected with described main control circuit communication by described communication module, in order to the dispenser control signal is transferred to main control circuit, and accepts the dispenser system status information of described main control circuit feedback; Described main control circuit is connected with the controlled end of described liquid pump by described signal processing module, send the dispenser control signal in order to the real-time position information that predetermined dispenser place of basis and GPS transmit, and zoom into the controlled end that offers described liquid pump behind the electric signal by described signal processing module, carry out the dispenser operation with the control liquid pump; The signal output part of described feedback module links to each other with the feedback signal input end of described main control circuit, in order to the dispenser system status information is fed back to described main control circuit; Described electric power transmitting module comprises voltage conversion circuit and rectification circuit, the voltage commutation that onboard generators is provided, changes and be distributed to above-mentioned each module.
With respect to prior art, the present invention has obtained following beneficial effect: during work, the flight control main frame not only can be controlled depopulated helicopter by GPS and fly according to prebriefed pattern, and can be by GPS, implement the sprinkling task by predetermined GPS air route control device for administration of drugs, when depopulated helicopter is flown to the sky, predetermined dispenser place, control liquid pump automatically and start; When depopulated helicopter flew away from the dispenser zone, liquid pump cut out automatically; Realize self-navigation flight and control the dispenser operation automatically, avoided respraying and leak spray, also avoided the waste of soup, reduce soup consumption; All devices is worked voluntarily, the whole-process automatic operation.
As preferred version of the present invention, described main control circuit comprises: MSP430F149 single-chip microcomputer, reset circuit, memory module, clock module, Jtag interface and 3-5V voltage transformation module; Described reset circuit adopts the MAX811 module, and its GND port is connected with the DVss port of single-chip microcomputer, and its RESET port is connected with the RST/NMI port of single-chip microcomputer, sends reset instruction and prevents program fleet to single-chip microcomputer; Described memory module adopts the AT24C08 storage chip, and described clock module adopts the SD2003A clock chip, and memory module cooperates the foundation of the duty of equipment in the record-setting flight process as data analysis with clock module; Described Jtag interface is connected with TDO, TDI, TMS, TCK, the RST port of single-chip microcomputer respectively, as the program download port of single-chip microcomputer; Described 3-5V voltage transformation module adopts the SN74LVC4245 level transferring chip, and single-chip microcomputer that communication 3V voltage is worked down and 5V voltage is the peripheral circuit of work down.
As preferred version of the present invention, described communication module comprises 422 interface circuits arranged side by side and 232 interface circuits, for providing two kinds of communication modes between described main control circuit and the described flight control main frame.
As preferred version of the present invention, described signal processing module comprises amplifying circuit, buffer circuit, equipment interface three parts, the dispenser control signal that described amplifying circuit is sent single-chip microcomputer zooms into the 12V electric signal, relay switch and described equipment interface by described buffer circuit is sent to described liquid pump again, with light current control forceful electric power, realize control to liquid pump.
As preferred version of the present invention, described feedback module comprises four groups of HCPL0601 optocouplers, is connected with described equipment interface as duty acquisition module and liquid level warning module respectively; Described duty acquisition module judges that whether the operating voltage of described liquid pump meets the demands, and provides the dispenser system status information that obtains to described single-chip microcomputer; Described liquid level warning module is given described single-chip microcomputer with the liquid level warning signal feedback.
As preferred version of the present invention, the liquid level feedback signal that described liquid level warning module is accepted described medicine-chest judges whether to send described liquid level warning signal; Perhaps estimate residual drug in the described medicine-chest, judge whether to send described liquid level warning signal according to formulation rate and spraying time.
Another object of the present invention is, proposes a kind of unmanned plane dispenser operational method based on GPS navigation, can realize depopulated helicopter self-navigation flight and control dispenser automatically.
In order to reach above purpose, the invention provides a kind of unmanned plane dispenser operational method based on GPS navigation, may further comprise the steps successively: (1) routeing PC transfers to land station to the GPS way point information and the dispenser control signal of the good depopulated helicopter of measuring and calculating; (2) after land station handles the signal that receives, mail to airborne radio station, offer the flight control main frame by airborne radio station by ground wireless station; (3) when land station sends program control instruction, depopulated helicopter will be implemented the sprinkling task according to projected route; (4) in the process of spraying operation, the flight control main frame is controlled aircraft on the one hand by predetermined GPS air route flight, on the other hand the dispenser control signal in the information of air route is separated the dispenser system that issues; (5) dispenser system receives the dispenser control signal and starts working, and the dispenser system status information is fed back to the flight control main frame; (6) the flight control main frame returns to the routeing PC to GPS information real-time in the flight course and dispenser system status information by airborne radio station and ground wireless station by the telemetering channel, displays on monitor by software interface.
With respect to prior art, the present invention has obtained following beneficial effect: depopulated helicopter is calculated good GPS way point flight according to the routeing PC, the dispenser system opens or closes in the predetermined area according to the dispenser control signal that land station sends, and has so realized depopulated helicopter self-navigation flight and has controlled dispenser automatically; Real-time GPS information and dispenser system status information feed back to the routeing PC, display on monitor by software interface, make when depopulated helicopter carries out the dispenser operation, position, medicine-chest dose and the dispenser state that can show the aircraft place on the figure of operating area are in real time grasped flight and dispenser situation for the ground staff.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing.
Fig. 1 is the schematic diagram that the present invention is based on the unmanned plane dispenser operation automatic control system of GPS navigation.
Fig. 2 is the process flow diagram that the present invention is based on the unmanned plane dispenser operational method of GPS navigation.
Fig. 3 is the schematic block circuit diagram of dispenser control system of the present invention.
Fig. 4 is the wiring diagram of MSP430F149 single-chip microcomputer in the dispenser control system of the present invention.
Fig. 5 is the wiring diagram of single-chip microcomputer in the dispenser control system of the present invention and clock module and reset circuit.
Fig. 6 is the wiring diagram of single-chip microcomputer in the dispenser control system of the present invention and memory module.
Fig. 7 is the wiring diagram of single-chip microcomputer in the dispenser control system of the present invention and Jtag interface circuit.
Fig. 8 is the wiring diagram of single-chip microcomputer in the dispenser control system of the present invention and voltage transformation module.
Fig. 9 is 422 interface circuit figure in the dispenser control system of the present invention.
Figure 10 is 232 interface circuit figure in the dispenser control system of the present invention.
Figure 11 is feedback module, buffer circuit and equipment interface circuit diagram in the dispenser control system of the present invention.
Figure 12 is the wiring diagram for amplifying circuit in the dispenser control system of the present invention.
Figure 13 is the wiring diagram for electric power transmitting module in the dispenser control system of the present invention.
Among the figure: 1.0 main control circuits; 1.1 MSP430F149 single-chip microcomputer; 1.2 clock module; 1.3 reset circuit; 1.4 memory module; 1.5 Jtag interface; 1.63-5V voltage transformation module; 2.0 communication module; 2.1 422 interfaces; 2.2 232 interfaces; 3.0 feedback module; 4.0 signal processing module; 4.1 amplifying circuit; 4.2 buffer circuit and equipment interface; 5.0 electric power transmitting module.
Embodiment
As shown in Figure 1, the present invention is based on the unmanned plane dispenser operation automatic control system of GPS navigation, the flight control main frame that comprises control depopulated helicopter rotor flight system, the main communication terminal of flight control main frame is connected with the GPS communication, the controlled end of its main control output termination rotor flight system sends the Navigation Control signal in order to the real-time position information that transmits according to prebriefed pattern and GPS to flight system.
The device for administration of drugs of being made up of medicine-chest, liquid pump, spray boom and shower nozzle also is housed on the depopulated helicopter, and the dispenser control system.Airborne radio station also is installed on the depopulated helicopter, and the flight control main frame is by airborne radio station and land station's communication.
Land station is placed on one and movably controls in the car, it is the control terminal of depopulated helicopter, by ground wireless station and airborne radio station communication, and be responsible for receiving and sending all data relevant with unmanned helicopter flight, parameters such as the data that land station receives such as the flight attitude of depopulated helicopter, flying speed, generator speed, instructions such as the data of transmission such as aircraft pitching, roll, rotation.Effect in this cover system is, receives the GPS way point information of having planned and also commands aircraft to carry out job task according to these way points, and the data relay task of dispenser control signal is also born by land station simultaneously.
In the control car routeing PC is installed also, the routeing PC is equipped with the routeing system, and be provided with up/descending serial communication port, the routeing system goes out flight optimization dispenser air route and dispenser control signal according to flight constraint condition, dispenser system restriction condition and the dispenser operating area parameter designing of depopulated helicopter.It is GPS way point information that the routeing system also is converted to flight optimization dispenser air route the required latitude and longitude coordinates point of unmanned helicopter flight GPS navigation.The flight constraint condition of depopulated helicopter comprises that the radius of turn of aircraft, flight changes the required time that hovers.Dispenser system restriction condition comprises spraying swath, drug loading and the spraying time of dispenser system.
The routeing PC sends to land station by up serial communication port with GPS way point information and dispenser control signal; Land station sends to airborne radio station by ground wireless station, and airborne radio station is transferred to the flight control main frame again; Depopulated helicopter flies automatically according to this air route, and the dispenser system opens or closes automatically according to the dispenser control signal.
The flight control main frame again through airborne radio station and ground wireless station, returns to the routeing PC to GPS information real-time in the flight course and dispenser system status information by descending serial communication port by the telemetering channel; The routeing PC is provided with real-time display system, and real-time display system comprises monitor, and real-time GPS information and dispenser system status information are shown on monitor.Make when depopulated helicopter carries out the dispenser operation, on the figure of operating area, can show position, medicine-chest dose and the dispenser state at aircraft place in real time.
During operation, real-time display system is drawn operating area figure and planned on screen air route, receive the data that depopulated helicopter is beamed back in real time, extract longitude and latitude data and dispenser status data that the Airborne GPS of depopulated helicopter is wherein obtained, with the longitude and latitude data after being converted to planimetric coordinates with the position display of aircraft on screen; Show the current current dose that whether is just estimating according to the dispenser status data simultaneously at dispenser and comprehensive spraying time; Can also send the signal of operate as normal or warning according to system failure sensing data.So just can monitor manually whether depopulated helicopter departs from predefined planning air route, and the dispenser system is whether at predetermined zone dispenser and system operation irregularity whether.
As shown in Figure 2, a kind of unmanned plane dispenser operational method based on GPS navigation of the present invention may further comprise the steps successively: (1) routeing PC transfers to land station to the GPS way point information and the dispenser control signal of the good depopulated helicopter of measuring and calculating; (2) after land station handles the signal that receives, mail to airborne radio station, offer the flight control main frame by airborne radio station by ground wireless station; (3) when land station sends program control instruction, depopulated helicopter will be implemented the sprinkling task according to projected route; (4) in the process of spraying operation, the flight control main frame is controlled aircraft on the one hand by predetermined GPS air route flight, on the other hand the dispenser control signal in the information of air route is separated the dispenser system that issues; (5) dispenser system receives the dispenser control signal and starts working, and the dispenser system status information is fed back to the flight control main frame; (6) the flight control main frame returns to the routeing PC to GPS information real-time in the flight course and dispenser system status information by airborne radio station and ground wireless station by the telemetering channel, displays on monitor by software interface.
As shown in Figure 3, the dispenser control system comprises: main control circuit 1.0, communication module 2.0, feedback module 3.0, signal processing module 4.0, electric power transmitting module 5.0, totally five parts.
The signal output part of feedback module links to each other with the feedback signal input end of main control circuit, in order to the dispenser system status information is fed back to main control circuit;
The auxilliary communication terminal of flight control main frame is connected with main control circuit 1.0 communications by communication module 2.0, in order to the dispenser control signal is transferred to main control circuit 1.0, and accepts the dispenser system status information that main control circuit 1.0 feeds back.
Main control circuit 1.0 is connected with the controlled end of liquid pump by signal processing module 4.0, send the dispenser control signal in order to the real-time position information that predetermined dispenser place of basis and GPS transmit, and zoom into the controlled end that offers liquid pump behind the electric signal by signal processing module, carry out the dispenser operation with the control liquid pump.
Feedback module 3.0 comprises duty acquisition module and liquid level warning module, and the signal output part of feedback module 3.0 links to each other with the feedback signal input end of main control circuit 1.0, feeds back to main control circuit 1.0 in order to the dispenser system status information with device for administration of drugs.The liquid level feedback signal that the liquid level warning module is accepted medicine-chest and provided judges whether to send the liquid level warning signal; Perhaps estimate residual drug in the medicine-chest, judge whether to send the liquid level warning signal according to formulation rate and spraying time.
Electric power transmitting module 5.0 comprises voltage conversion circuit and rectification circuit, the voltage commutation that onboard generators is provided, changes and be distributed to above-mentioned each module.
Main control circuit 1.0 comprises: MSP430F149 single-chip microcomputer 1.1, reset circuit 1.3, memory module 1.4, Jtag interface 1.5,3-5V voltage transformation module 1.6, clock module 1.2.Be sent to main control circuit 1.0 by the control signal that transfers in the flight control main frame by 422 or 232 serial ports, single-chip microcomputer 1.1 is controlled device for administration of drugs work according to the requirement of communications protocol after receiving control signal, and the duty that reads device for administration of drugs is simultaneously also transmitted back the flight control main frame by communication module.
Fig. 4 is the pin of MSP430F149 single-chip microcomputer 1.1 and the wiring diagram of peripheral circuit.
The wiring diagram of single-chip microcomputer 1.1 with clock module 1.2, reset circuit 1.3 has been shown among Fig. 5.Reset circuit 1.3 adopts the MAX811 module, and its GND port is connected with the DVss port of single-chip microcomputer, and its RESET port is connected with the RST/NMI port of single-chip microcomputer, sends reset instruction and prevents program fleet to single-chip microcomputer.
Figure 6 shows that the wiring diagram of single-chip microcomputer 1.1 and memory module 1.4.Memory module 1.4 adopts the AT24C08 storage chips, and clock module 1.2 adopts the SD2003A clock chips, memory module 1.4 and clock module 1.2 be used can the record-setting flight process in the duty of equipment as the foundation of data analysis.
Fig. 7 is for being the circuit interconnect pattern of single-chip microcomputer 1.1 with Jtag interface 1.5, and Jtag interface 1.5 is connected with TDO, TDI, TMS, TCK, the RST port of single-chip microcomputer respectively, as the program download port of single-chip microcomputer 1.1.
Fig. 8 is the wiring diagram of 3-5V voltage transformation module 1.6, and 3-5V voltage transformation module 1.6 adopts the SN74LVC4245 level transferring chip, as the bridge of the peripheral circuit communication of working under single-chip microcomputer of working under the 3V voltage and 5V voltage.
Communication module comprises " 422 interface circuit " and " 232 interface circuit ", and these two circuit provide two kinds of communication modes for the flight control main frame, can freely select to use according to actual conditions, and the dispenser system status information is fed back to the flight control main frame.Fig. 9 is the circuit diagram of 422 interfaces 2.1, and Figure 10 is the circuit diagram of 232 interfaces 2.2.
Signal processing module comprises amplifying circuit, buffer circuit, equipment interface three parts, the dispenser control signal that amplifying circuit 4.1 is sent single-chip microcomputer zooms into the 12V electric signal, relay switch and " equipment interface " by " buffer circuit " is sent to device for administration of drugs again, with light current control forceful electric power, realization is designated buffer circuit and equipment interface 4.2 with buffer circuit, equipment interface merging to the control of device for administration of drugs among Fig. 3 and Figure 11.
Figure 11 is the circuit diagram of feedback module 3.0, buffer circuit and equipment interface 4.2 in the control system of the present invention.Feedback module 3.0 comprises four groups of HCPL0601 optocouplers, is connected with equipment interface as duty acquisition module and liquid level warning module respectively.The duty acquisition module judges that whether the operating voltage at device for administration of drugs two ends meets the demands, and provides the dispenser system status information that obtains to single-chip microcomputer.The signal of liquid level warning module acceptable solution bit switch, and give single-chip microcomputer with the liquid level warning signal feedback.
Figure 12 is the wiring diagram for amplifying circuit 4.1 in the control system of the present invention.
Figure 13 is for to be that the wiring diagram of electric power transmitting module 5.0, electric power transmitting module 5.0 comprise " voltage conversion circuit " and " rectification circuit ".Single-chip microcomputer operating voltage 3.3V, peripheral circuit operating voltage 5V, relay coil voltage 12V, shower nozzle operating voltage 5-12V (adjustable), liquid pump operating voltage 18-24V (adjustable).And the voltage that onboard generators can provide is 28V, and the work of electric power transmitting module 5.0 is exactly with the 28V voltage commutation, changes and be distributed to each module.
The present invention designs a kind of dispenser planning system according to the farmland actual state, make airborne device for administration of drugs in the zone that needs work with the air route of the best, the accurate operation in the most rational dispenser place.In addition to the implementation, the present invention can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all falls into the protection domain of requirement of the present invention.
Claims (7)
1. unmanned plane dispenser operation automatic control system based on GPS navigation, the flight control main frame that comprises control depopulated helicopter rotor flight system, the main communication terminal of described flight control main frame is connected with the GPS communication, the controlled end of its main control output termination rotor flight system sends the Navigation Control signal in order to the real-time position information that transmits according to prebriefed pattern and GPS to described flight system; It is characterized in that:
The device for administration of drugs of being made up of medicine-chest, liquid pump, spray boom and shower nozzle also is housed on the described depopulated helicopter, and the dispenser control system, described dispenser control system comprises main control circuit, communication module, feedback module, signal processing module and electric power transmitting module;
The auxilliary communication terminal of described flight control main frame is connected with described main control circuit communication by described communication module, in order to the dispenser control signal is transferred to main control circuit, and accepts the dispenser system status information of described main control circuit feedback;
Described main control circuit is connected with the controlled end of described liquid pump by described signal processing module, send the dispenser control signal in order to the real-time position information that predetermined dispenser place of basis and GPS transmit, and zoom into the controlled end that offers described liquid pump behind the electric signal by described signal processing module, carry out the dispenser operation with the control liquid pump;
The signal output part of described feedback module links to each other with the feedback signal input end of described main control circuit, in order to the dispenser system status information is fed back to described main control circuit;
Described electric power transmitting module comprises voltage conversion circuit and rectification circuit, the voltage commutation that onboard generators is provided, changes and be distributed to above-mentioned each module.
2. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 1, it is characterized in that: described main control circuit comprises MSP430F149 single-chip microcomputer, reset circuit, memory module, clock module, Jtag interface and 3-5V voltage transformation module; Described reset circuit adopts the MAX811 module, and its GND port is connected with the DVss port of single-chip microcomputer, and its RESET port is connected with the RST/NMI port of single-chip microcomputer, sends reset instruction and prevents program fleet to single-chip microcomputer; Described memory module adopts the AT24C08 storage chip, and described clock module adopts the SD2003A clock chip, and memory module cooperates the foundation of the duty of equipment in the record-setting flight process as data analysis with clock module; Described Jtag interface is connected with TDO, TDI, TMS, TCK, the RST port of single-chip microcomputer respectively, as the program download port of single-chip microcomputer; Described 3-5V voltage transformation module adopts the SN74LVC4245 level transferring chip, and single-chip microcomputer that communication 3V voltage is worked down and 5V voltage is the peripheral circuit of work down.
3. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 1 and 2, it is characterized in that: described communication module comprises 422 interface circuits arranged side by side and 232 interface circuits, for providing two kinds of communication modes between described main control circuit and the described flight control main frame.
4. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 2, it is characterized in that: described signal processing module comprises amplifying circuit, buffer circuit, equipment interface three parts, the dispenser control signal that described amplifying circuit is sent single-chip microcomputer zooms into the 12V electric signal, relay switch and described equipment interface by described buffer circuit is sent to described liquid pump again, with light current control forceful electric power, realize control to liquid pump.
5. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 2, it is characterized in that: described feedback module comprises four groups of HCPL0601 optocouplers, is connected with described equipment interface as duty acquisition module and liquid level warning module respectively; Described duty acquisition module judges that whether the operating voltage of described liquid pump meets the demands, and provides the dispenser system status information that obtains to described single-chip microcomputer; Described liquid level warning module is given described single-chip microcomputer with the liquid level warning signal feedback.
6. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 5, it is characterized in that: the liquid level feedback signal that described liquid level warning module is accepted described medicine-chest judges whether to send described liquid level warning signal; Perhaps estimate residual drug in the described medicine-chest, judge whether to send described liquid level warning signal according to formulation rate and spraying time.
7. the unmanned plane dispenser operational method based on GPS navigation is characterized in that, may further comprise the steps successively:
(1) the routeing PC transfers to land station to the GPS way point information and the dispenser control signal of the good depopulated helicopter of measuring and calculating;
(2) after land station handles the signal that receives, mail to airborne radio station, offer the flight control main frame by airborne radio station by ground wireless station;
(3) when land station sends program control instruction, depopulated helicopter will be implemented the sprinkling task according to projected route;
(4) in the process of spraying operation, the flight control main frame is controlled aircraft on the one hand by predetermined GPS air route flight, on the other hand the dispenser control signal in the information of air route is separated the dispenser system that issues;
(5) dispenser system receives the dispenser control signal and starts working, and the dispenser system status information is fed back to the flight control main frame;
(6) the flight control main frame returns to the routeing PC to GPS information real-time in the flight course and dispenser system status information by airborne radio station and ground wireless station by the telemetering channel, displays on monitor by software interface.
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