CN101963806B - 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
- Publication number
- CN101963806B CN101963806B CN2010105080466A CN201010508046A CN101963806B CN 101963806 B CN101963806 B CN 101963806B CN 2010105080466 A CN2010105080466 A CN 2010105080466A CN 201010508046 A CN201010508046 A CN 201010508046A CN 101963806 B CN101963806 B CN 101963806B
- Authority
- CN
- China
- Prior art keywords
- module
- dispenser
- flight
- control
- gps
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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: operating efficiency is high, 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; Also be that modern technical aeronautics and digital information technology arms transformation China traditional agriculture provides tachnical storage in earlier stage simultaneously, 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 mostly the depopulated helicopter dispenser of Japan 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, and 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 practicing thrift, and the optimization 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 said flight control main frame is connected with the GPS communication, and the controlled end of its main control output termination rotor flight system is sent the Navigation Control signal in order to the real-time position information that transmits according to prebriefed pattern and GPS to said 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 said depopulated helicopter, and the dispenser control system, said dispenser control system comprises main control circuit, communication module, feedback module, signal processing module and electric power transmitting module; The auxilliary communication terminal of said flight control main frame is connected with said main control circuit communication through said communication module, in order to the dispenser control signal is transferred to main control circuit, and accepts the dispenser system status information of said main control circuit feedback; Said main control circuit is connected with the controlled end of said liquid pump through said signal processing module; Real-time position information in order to predetermined dispenser place of basis and GPS transmit is sent the dispenser control signal; And zoom into the controlled end that offers said liquid pump behind the electric signal through said signal processing module, carry out the dispenser operation with the control liquid pump; The signal output part of said feedback module links to each other with the feedback signal input end of said main control circuit, in order to the dispenser system status information is fed back to said main control circuit; Said 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 implement the sprinkling task by predetermined GPS air route control device for administration of drugs by GPS; 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, said main control circuit comprises: MSP430F149 single-chip microcomputer, reset circuit, memory module, clock module, Jtag interface and 3-5V voltage transformation module; Said 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; Said memory module adopts the AT24C08 storage chip, and said 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; Said 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; Said 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, said communication module comprises 422 interface circuits arranged side by side and 232 interface circuits, between said main control circuit and the said flight control main frame two kinds of communication modes being provided.
As preferred version of the present invention; Said signal processing module comprises amplifying circuit, buffer circuit, equipment interface three parts; The dispenser control signal that said amplifying circuit is sent single-chip microcomputer zooms into the 12V electric signal; Relay switch and said equipment interface through said buffer circuit is sent to said liquid pump again, with light current control forceful electric power, realizes the control to liquid pump.
As preferred version of the present invention, said feedback module comprises four groups of HCPL0601 optocouplers, is connected with said equipment interface as duty acquisition module and liquid level warning module respectively; Said duty acquisition module judges that whether the WV of said liquid pump meets the demands, and provides the dispenser system status information that obtains to said single-chip microcomputer; Said liquid level warning module is given said single-chip microcomputer with the liquid level warning signal feedback.
As preferred version of the present invention, the liquid level feedback signal that said liquid level warning module is accepted said medicine-chest judges whether to send said liquid level warning signal; Perhaps estimate the residual drug in the said medicine-chest, judge whether to send said 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 through 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, separates the dispenser system that issues to the dispenser control signal in the information of air route on the other hand; (5) dispenser system receives the dispenser control signal and starts working, and feeds back to the flight control main frame to the dispenser system status information; (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 through airborne radio station and ground wireless station through the telemetering channel, displays on monitor through software interface.
With respect to prior art; The present invention has obtained following beneficial effect: depopulated helicopter is according to the good GPS way point flight of routeing PC measuring and calculating; The dispenser system opens or closes according to the dispenser control signal that land station sends in the predetermined area, 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 through software interface; Make when depopulated helicopter carries out the dispenser operation; Position, medicine-chest dose and the dispenser state that on the figure of operating area, can show the aircraft place in real time supply the ground staff to grasp flight and dispenser situation.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described.
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, and the controlled end of its main control output termination rotor flight system is sent 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 through 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; Through ground wireless station and airborne radio station communication; And be responsible for receiving and sending all data relevant 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 with unmanned helicopter flight.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 converts flight optimization dispenser air route into unmanned helicopter flight GPS navigation required latitude and longitude coordinates point.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 through up serial communication port with GPS way point information and dispenser control signal; Land station sends to airborne radio station through ground wireless station, and airborne radio station is transferred to the flight control main frame again; Depopulated helicopter flies according to this air route automatically, and the dispenser system opens or closes according to the dispenser control signal automatically.
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 through descending serial communication port through 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 converting planimetric coordinates into 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 artificial keep watch on depopulated helicopter and whether depart from predefined planning air route, and whether the dispenser system is 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 through 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, separates the dispenser system that issues to the dispenser control signal in the information of air route on the other hand; (5) dispenser system receives the dispenser control signal and starts working, and feeds back to the flight control main frame to the dispenser system status information; (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 through airborne radio station and ground wireless station through the telemetering channel, displays on monitor through 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 through 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 through signal processing module 4.0; Real-time position information in order to predetermined dispenser place of basis and GPS transmit is sent the dispenser control signal; And zoom into the controlled end that offers liquid pump behind the electric signal through 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 the 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 through 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 through 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.
Shown in Figure 6 is 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 under single-chip microcomputer of working under the 3V voltage and 5V voltage, working.
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 through " buffer circuit " is sent to device for administration of drugs with " equipment interface " again; With light current control forceful electric power, realize control to device for administration of drugs, among Fig. 3 and Figure 11 buffer circuit, equipment interface merging are designated buffer circuit and equipment interface 4.2.
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 WV 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 WV 3.3V, peripheral circuit WV 5V, relay coil voltage 12V, shower nozzle WV 5-12V (adjustable), liquid pump WV 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 most reasonably accurate operation in dispenser place.Except that the foregoing description, 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 (6)
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 said flight control main frame is connected with the GPS communication; The controlled end of its main control output termination rotor flight system is sent the Navigation Control signal in order to the real-time position information that transmits according to prebriefed pattern and GPS to said 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 said depopulated helicopter; And the dispenser control system, said dispenser control system comprises main control circuit, communication module, feedback module, signal processing module and electric power transmitting module; The auxilliary communication terminal of said flight control main frame is connected with said main control circuit communication through said communication module, in order to the dispenser control signal is transferred to main control circuit, and accepts the dispenser system status information of said main control circuit feedback; Said main control circuit is connected with the controlled end of said liquid pump through said signal processing module; Real-time position information in order to predetermined dispenser place of basis and GPS transmit is sent the dispenser control signal; And zoom into the controlled end that offers said liquid pump behind the electric signal through said signal processing module, carry out the dispenser operation with the control liquid pump; The signal output part of said feedback module links to each other with the feedback signal input end of said main control circuit, in order to the dispenser system status information is fed back to said main control circuit; Said 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; Said main control circuit comprises MSP430F149 single-chip microcomputer, reset circuit, memory module, clock module, Jtag interface and 3-5V voltage transformation module; Said 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; Said memory module adopts the AT24C08 storage chip, and said 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; Said 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; Said 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.
2. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 1; It is characterized in that: said communication module comprises 422 interface circuits arranged side by side and 232 interface circuits, between said main control circuit and the said flight control main frame two kinds of communication modes being provided.
3. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 1; It is characterized in that: said signal processing module comprises amplifying circuit, buffer circuit, equipment interface three parts; The dispenser control signal that said amplifying circuit is sent single-chip microcomputer zooms into the 12V electric signal; Relay switch and said equipment interface through said buffer circuit is sent to said liquid pump again, with light current control forceful electric power, realizes the control to liquid pump.
4. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 1; It is characterized in that: said feedback module comprises four groups of HCPL0601 optocouplers, is connected with said equipment interface as duty acquisition module and liquid level warning module respectively; Said duty acquisition module judges that whether the WV of said liquid pump meets the demands, and provides the dispenser system status information that obtains to said single-chip microcomputer; Said liquid level warning module is given said single-chip microcomputer with the liquid level warning signal feedback.
5. the unmanned plane dispenser operation automatic control system based on GPS navigation according to claim 4, it is characterized in that: the liquid level feedback signal that said liquid level warning module is accepted said medicine-chest judges whether to send said liquid level warning signal; Perhaps estimate the residual drug in the said medicine-chest, judge whether to send said liquid level warning signal according to formulation rate and spraying time.
6. the unmanned plane dispenser operational method based on GPS navigation is characterized in that, 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 through 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, separates the dispenser system that issues to the dispenser control signal in the information of air route on the other hand; (5) dispenser system receives the dispenser control signal and starts working, and feeds back to the flight control main frame to the dispenser system status information; The main control circuit of said dispenser system comprises MSP430F149 single-chip microcomputer, reset circuit, memory module, clock module, Jtag interface and 3-5V voltage transformation module; Said 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; Said memory module adopts the AT24C08 storage chip, and said 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; Said 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; Said 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; (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 through airborne radio station and ground wireless station through the telemetering channel, displays on monitor through software interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105080466A CN101963806B (en) | 2010-10-15 | 2010-10-15 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105080466A CN101963806B (en) | 2010-10-15 | 2010-10-15 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101963806A CN101963806A (en) | 2011-02-02 |
| CN101963806B true CN101963806B (en) | 2012-06-27 |
Family
ID=43516719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105080466A Active CN101963806B (en) | 2010-10-15 | 2010-10-15 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101963806B (en) |
Families Citing this family (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9766337B2 (en) | 2011-02-28 | 2017-09-19 | The Boeing Company | Alternative communications for an air vehicle |
| CN102360219B (en) * | 2011-09-13 | 2013-08-14 | 无锡汉和航空技术有限公司 | Method for continuously spraying pesticide by unmanned helicopter |
| CN103309290A (en) * | 2012-03-12 | 2013-09-18 | 杨余旺 | Precise prevention and control airborne system for crop pests and diseases |
| CN102799187B (en) * | 2012-06-26 | 2014-09-17 | 中国航空工业第六一八研究所 | Spraying breakpoint continuing method for unmanned helicopter |
| CN104122812A (en) * | 2013-04-24 | 2014-10-29 | 北京大学 | Aircraft locust control accurate drug delivery automatic control system based on GPS |
| CN103412574B (en) * | 2013-08-23 | 2017-02-15 | 无锡汉和航空技术有限公司 | Job management device of unmanned helicopter |
| CN103412575B (en) * | 2013-08-23 | 2017-03-01 | 无锡汉和航空技术有限公司 | A kind of depopulated helicopter flight course control device |
| CN103523226B (en) * | 2013-10-31 | 2015-09-30 | 无锡同春新能源科技有限公司 | A kind of unmanned plane with the colored rice disease image identifying instrument water prevention sheath and culm blight of rice |
| CN103612757B (en) * | 2013-11-29 | 2015-09-30 | 无锡同春新能源科技有限公司 | The solar pilotless plane of rice seedling is shed in a kind of low latitude on rice field |
| CN103699135B (en) * | 2014-01-03 | 2016-04-06 | 中南大学 | The flight path automatic planning in depopulated helicopter pesticide spraying farmland operation region |
| CN103777652A (en) * | 2014-01-23 | 2014-05-07 | 南京模拟技术研究所 | Intelligent pesticide applying control system based on unmanned helicopter |
| CN104932341B (en) * | 2014-09-20 | 2017-07-07 | 湖南省农友机械集团有限公司 | Intelligent unmanned plane pesticide spraying device |
| JP6387782B2 (en) * | 2014-10-17 | 2018-09-12 | ソニー株式会社 | Control device, control method, and computer program |
| CN105717907A (en) * | 2014-12-02 | 2016-06-29 | 北京航空航天大学 | Guidance algorithm verification platform based on ARM Cortex-M4 and Linux |
| CN104517432A (en) * | 2014-12-24 | 2015-04-15 | 兰州大学 | Monitoring system based on unmanned aerial vehicle and wireless sensor network |
| CN104865935A (en) * | 2015-03-31 | 2015-08-26 | 梁伟 | Intelligent agricultural system based on unmanned-aerial-vehicle image collection |
| CN104777763A (en) * | 2015-03-31 | 2015-07-15 | 梁伟 | Intelligent system for agricultural planting |
| WO2016192024A1 (en) | 2015-06-01 | 2016-12-08 | SZ DJI Technology Co., Ltd. | Spraying system having a liquid flow and rotating speed feedback |
| CN112357074B (en) | 2015-06-01 | 2022-11-11 | 深圳市大疆创新科技有限公司 | Pumping system and unmanned aerial vehicle |
| CN105173085B (en) * | 2015-09-18 | 2017-06-16 | 山东农业大学 | Unmanned plane variable farm chemical applying automatic control system and method |
| CN105353689B (en) * | 2015-12-03 | 2018-03-13 | 中农网购（江苏）电子商务有限公司 | Pesticide spraying machinery management control system based on Internet of Things |
| CN105843236A (en) * | 2016-03-17 | 2016-08-10 | 中山飞旋天行航空科技有限公司 | Plant protection unmanned plane spraying control system and spraying control method thereof |
| WO2017185359A1 (en) * | 2016-04-29 | 2017-11-02 | 深圳市大疆创新科技有限公司 | Spraying control method of unmanned aerial vehicle and unmanned aerial vehicle |
| CN105961360A (en) * | 2016-05-10 | 2016-09-28 | 南京乐乐飞电子科技有限公司 | Unmanned plane chemical spray control and chemical dose detection device |
| CN106292696B (en) * | 2016-07-20 | 2019-09-27 | 中国疾病预防控制中心寄生虫病预防控制所 | The echinococcosis Endemic Area field infection sources intervenes administration system and method |
| CN106292698B (en) * | 2016-08-01 | 2020-12-04 | 北京艾森博航空科技股份有限公司 | Accurate operation method and system for plant protection unmanned aerial vehicle |
| CN106238242B (en) * | 2016-08-02 | 2018-07-31 | 安徽朗巴智能科技有限公司 | A kind of UAV Intelligent sprinkling system based on locating module |
| CN106292706A (en) * | 2016-09-18 | 2017-01-04 | 成都天麒科技有限公司 | A kind of full-automatic unmanned machine operation system for agricultural |
| CN106719546B (en) * | 2016-12-13 | 2022-08-30 | 上海埃威航空电子有限公司 | Aviation pesticide spraying monitoring system and method |
| CN107433234A (en) * | 2016-12-14 | 2017-12-05 | 安徽科微智能科技有限公司 | Move the unmanned boat system of the accurate operation of plant protection in a kind of high-effect paddy field |
| CA3049681A1 (en) | 2017-01-23 | 2018-07-26 | The Board Of Trustees Of The University Of Illinois | Adaptive cyber-physical system for efficient monitoring of unstructured environments |
| CN106950990B (en) * | 2017-04-26 | 2020-06-16 | 安阳全丰航空植保科技股份有限公司 | Remote airborne unmanned aerial vehicle flight control system and method |
| CN107161346B (en) * | 2017-05-18 | 2020-10-20 | 浙江大学 | Unmanned aerial vehicle pesticide spraying system and pesticide spraying method based on traversal waypoints |
| CN107577633A (en) * | 2017-07-31 | 2018-01-12 | 彩虹无人机科技有限公司 | A kind of unmanned aerial vehicle onboard Mission Management Computer |
| CN108303963A (en) * | 2018-04-04 | 2018-07-20 | 湖南丰茂植保机械有限公司 | A kind of Intelligent unattended driving equipment for plant protection earth station system |
| CN108917590A (en) * | 2018-05-11 | 2018-11-30 | 农业部南京农业机械化研究所 | Plant protection drone operation quality detection device and its detection method |
| CN109353521A (en) * | 2018-11-30 | 2019-02-19 | 郑州升达经贸管理学院 | A kind of UAV system and its control method precisely sprayed |
| CN116483128B (en) * | 2023-06-19 | 2023-10-27 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5334987A (en) * | 1993-04-01 | 1994-08-02 | Spectra-Physics Laserplane, Inc. | Agricultural aircraft control system using the global positioning system |
| DE4444373A1 (en) * | 1994-12-14 | 1995-05-04 | Thomas Doberstau | Navigation and quality-assurance method for blanket application of substances using aircraft in the context of air work |
| JP2001120151A (en) * | 1999-10-27 | 2001-05-08 | Nec Corp | Automatic agrochemical spraying device with radio controlled helicopter using gps |
| JP2004322836A (en) * | 2003-04-24 | 2004-11-18 | Yamaha Motor Co Ltd | Spray data collecting method of unmanned helicopter |
| CN1631733A (en) * | 2003-12-22 | 2005-06-29 | 上海雏鹰科技有限公司 | Beyond visual range autonomously flying unmanned helicopter system |
| CN201203426Y (en) * | 2008-05-30 | 2009-03-04 | 南京农业大学 | Agricultural aircraft operation navigation system based on embedded type GPS technology |
| CN201522628U (en) * | 2009-11-10 | 2010-07-07 | 农业部南京农业机械化研究所 | Intelligent super-low altitude application control system based on single chip microcomputer |
-
2010
- 2010-10-15 CN CN2010105080466A patent/CN101963806B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5334987A (en) * | 1993-04-01 | 1994-08-02 | Spectra-Physics Laserplane, Inc. | Agricultural aircraft control system using the global positioning system |
| DE4444373A1 (en) * | 1994-12-14 | 1995-05-04 | Thomas Doberstau | Navigation and quality-assurance method for blanket application of substances using aircraft in the context of air work |
| JP2001120151A (en) * | 1999-10-27 | 2001-05-08 | Nec Corp | Automatic agrochemical spraying device with radio controlled helicopter using gps |
| JP2004322836A (en) * | 2003-04-24 | 2004-11-18 | Yamaha Motor Co Ltd | Spray data collecting method of unmanned helicopter |
| CN1631733A (en) * | 2003-12-22 | 2005-06-29 | 上海雏鹰科技有限公司 | Beyond visual range autonomously flying unmanned helicopter system |
| CN201203426Y (en) * | 2008-05-30 | 2009-03-04 | 南京农业大学 | Agricultural aircraft operation navigation system based on embedded type GPS technology |
| CN201522628U (en) * | 2009-11-10 | 2010-07-07 | 农业部南京农业机械化研究所 | Intelligent super-low altitude application control system based on single chip microcomputer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101963806A (en) | 2011-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101963806B (en) | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation | |
| CN101979276A (en) | Intelligent pesticide application unmanned helicopter | |
| CN103770943B (en) | A kind of Intelligent pesticide application unmanned helicopter | |
| CN107688354B (en) | Unmanned aerial vehicle system capable of flying autonomously and control method thereof | |
| CN109032172A (en) | A kind of automatic pesticide spraying system of unmanned plane and method | |
| CN207096463U (en) | A kind of agricultural Big Dipper difference direction finding navigation control system | |
| CN106020233B (en) | Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method | |
| CN105223964B (en) | A kind of control system for UAV Formation Flight | |
| CN105222807B (en) | A kind of rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration | |
| CN205661666U (en) | Plant protection unmanned aerial vehicle intelligence system of giving medicine to poor free of charge | |
| CN107021225B (en) | Automatic spraying method for agricultural unmanned aerial vehicle and agricultural unmanned aerial vehicle | |
| US9382003B2 (en) | Aerial farm robot system for crop dusting, planting, fertilizing and other field jobs | |
| CN104407586B (en) | Drive decoupled plant protection unmanned aerial vehicle control system and control method | |
| CN105539852A (en) | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof | |
| CN106643697B (en) | A kind of aviation plant protection operation navigation system and method | |
| CN106200680A (en) | A kind of unmanned plane cluster management system and control method thereof | |
| CN205455559U (en) | Automatic spray formula agricultural unmanned aerial vehicle | |
| CN104002974A (en) | Dragging type unmanned liquid application system based on multi-rotor craft | |
| CN206573944U (en) | The accurate pesticide spraying system of rotor wing unmanned aerial vehicle | |
| CN104049625A (en) | Internet-of-things irrigation facility regulating and controlling platform and method based on unmanned aerial vehicle | |
| CN106965932A (en) | A kind of intelligent plant protection unmanned plane | |
| CN106843277A (en) | Unmanned plane mapping, spray and monitoring integration of operation method and system | |
| CN106647795A (en) | Plant protection unmanned plane flight control system | |
| CN107807670A (en) | A kind of unmanned plane cluster flight control system | |
| CN106483978A (en) | A kind of unmanned machine operation voice guide devices and methods therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |