CN102591302A - Operating method of spraying pesticides by unmanned aerial vehicle - Google Patents
Operating method of spraying pesticides by unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an operating method of spraying a pesticide by an unmanned aerial vehicle, which comprises the following steps: calculating parameters W and K of a spraying system and a spraying dosage P in a unit area, and transmitting W, K and P to a flight control system of the unmanned aerial vehicle through a ground station; obtaining a flight speed V of the unmanned aerial vehicle by a GPS (global positioning system) module; calculating a control voltage U of a liquid pump by the flight control system according to the parameters W and K of the spraying system, the spraying dosage P in the unit area and the flight speed V; and driving the liquid pump to work by the control voltage U of the liquid pump and spraying the pesticide through a nozzle. By adoption of the operating method, the control voltage U of the liquid pump can be calculated precisely according to the characteristics of different farm crops, pesticide types, a dilution ratio of pesticide, the spraying dosage P in the unit area and the flight speed V of the unmanned aerial vehicle, accurate control on the spraying flow is implemented, thereby making the pesticide spraying dosage in the unit area be uniform, improving the adaptation of spraying pesticides by the unmanned aerial vehicle and effectively reducing the waste of pesticides and the environment pollutions.
Description
Technical field
The present invention relates to a kind of operational method of spraying insecticide, relate in particular to a kind of operational method of spraying insecticide, belong to agricultural technology field based on the unmanned plane of GPS module.
Background technology
As everyone knows, spray insecticide with traditional field manual work and to compare, the unmanned plane significant advantage of having sprayed insecticide.Its operating efficiency is high, and agricultural chemicals is less to operating personnel's harm, alleviates operator's labour intensity greatly.In addition, unmanned plane is sprayed insecticide higher to the adaptability of environment, and especially depopulated helicopter has excellent adaptability to complex-terrain.
In the prior art, the translational speed of unmanned plane is more a lot of soon than the speed of ground locomotive driving, and dispenser has delay opportunity slightly, will cause large-area agricultural chemicals to leak and spray or spray more phenomenon.Therefore the dose control during dispenser seems very important.So all there is very high requirement in the dispenser system that loads on the unmanned plane at arithmetic speed, instruction transmission and feedback speed and each inter-agency communication speed.Precision Control Technology uses the CAN bus to add the method for PLC usually, but this method is not suitable for aloft dispenser operation, can not be complementary with flight control system, also exists the not good shortcoming of adaptability simultaneously.
Publication number is the Chinese invention patent of CN101963806A, discloses a kind of unmanned plane dispenser operation automatic control system and method based on GPS navigation.This system is applied to the operation of depopulated helicopter pesticide spraying with the depopulated helicopter control method of routine, and the unmanned helicopter flight flight path is pre-set, and control system control depopulated helicopter carries out the dispenser operation along subscribing airline operation.But this system and method can't be made real-time adjustment to the external influence factors such as flying speed of the characteristics of different crops, pesticide variety, agricultural chemicals dilution ratio, unmanned plane, therefore exists strong, the uneven problem of pesticide spraying of adaptability that unmanned plane is sprayed insecticide.
In view of this, be necessary the operational method that unmanned plane is sprayed insecticide is improved, to address the above problem.
Summary of the invention
The operational method that the object of the present invention is to provide a kind of unmanned plane to spray insecticide; It can be according to the flying speed V of the characteristics of different crops, pesticide variety, agricultural chemicals dilution ratio, unmanned plane, and accurate Calculation Pump for giving-out control voltage U is to realize the accurate control of pesticide spraying flow; Thereby make pesticide spraying amount uniformity on the unit area; Improve the adaptability that unmanned plane is sprayed insecticide, reduce the waste of agricultural chemicals, reduce the pollution of agricultural chemicals environment.
Be realization foregoing invention purpose, the operational method that a kind of unmanned plane of the present invention is sprayed insecticide, said method comprises the steps:
S1, calculate the sprinkling dose P of sprinkling system parameter W, K and unit area, and be transferred in the flight control system of unmanned plane through land station;
S2, GPS module are obtained the flying speed V of unmanned plane;
S3, flight control system calculate liquid pump control voltage U according to the sprinkling dose P and the flying speed V of sprinkling system parameter W, K, unit area;
S4, liquid pump control voltage U drive liquid pump work, and through shower nozzle pesticide spraying are gone out.
As further improvement of the present invention, said step S1 is specially:
Land station and unmanned plane all are provided with a wireless station;
Before unmanned plane is sprayed insecticide,, calculate the sprinkling dose P of unit area according to crops kind to be sprayed, pesticide variety, agricultural chemicals dilution ratio and crop growth stage;
Calculate the sprinkling system parameter W of unmanned plane, said sprinkling system parameter W is the spray width of unmanned plane;
Calculate the sprinkling system parameter K of unmanned plane, the scale-up factor between capacity of sprinkler that said sprinkling system parameter K is a unmanned plane and the liquid pump control voltage U;
Wireless station through land station is transferred to the sprinkling dose P of sprinkling system parameter W, K and unit area in the flight control system of unmanned plane.
As further improvement of the present invention, said step S2 is specially:
The GPS module of unmanned plane set inside receives the flying speed V of unmanned plane in real time, and said flying speed V is fed back in the flight control system.
As further improvement of the present invention, said step S2 also comprises: judge whether flying speed V reaches the threshold value that drives liquid pump work, if then liquid pump control voltage U drives liquid pump work, then liquid pump control voltage U does not drive liquid pump work if not.
As further improvement of the present invention, the sprinkling dose P of said unit area is the pesticide spraying dose of each mu.
As further improvement of the present invention, said step S1 also comprises:
Calculation control coefficient C, said control coefrficient C are the function of the sprinkling dose P of sprinkling system parameter W, K and unit area,
C=(W * P * 1000)/(666.7 * K) wherein.
As further improvement of the present invention, said step S3 is specially:
Flight control system is calculated liquid pump control voltage U according to control coefrficient C and flying speed V, and the computing formula of said liquid pump control voltage U is U=C * V.
As further improvement of the present invention, said unmanned plane comprises depopulated helicopter and/or unmanned fixed wing aircraft.
Compared with prior art; The invention has the beneficial effects as follows: this operational method can and combine the flying speed V of unmanned plane according to the sprinkling dose P of the characteristics of different crops, pesticide variety, agricultural chemicals dilution ratio, unit area; Accurate Calculation Pump for giving-out control voltage U realizes spraying the accurate control of flow, thereby makes pesticide spraying amount uniformity on the unit area; Improved the adaptability that unmanned plane is sprayed insecticide, the waste that has reduced agricultural chemicals effectively reaches the pollution to environment.
Description of drawings
Fig. 1 is the high-level schematic functional block diagram of the operational method that unmanned plane is sprayed insecticide in the embodiment of the invention;
Fig. 2 is the workflow diagram of the operational method that unmanned plane is sprayed insecticide in the embodiment of the invention.
Embodiment
Below in conjunction with each embodiment shown in the drawings the present invention is elaborated; But should be noted that; These embodiments are not limitation of the present invention; The function that those of ordinary skills do according to these embodiments, method, or structural equivalent transformation or substitute all belong within protection scope of the present invention.
Join shown in Figure 1, the high-level schematic functional block diagram of the operational method of spraying insecticide for unmanned plane in the embodiment of the invention.In this embodiment, the unmanned plane 100 that is used to spray insecticide at least by: GPS module 10, flight control system 20, liquid pump 30, medicine-chest 50 and 40 in shower nozzle are formed.In the operation process that unmanned plane is sprayed insecticide, send correlation parameter and/or signal to unmanned plane 100 by land station 60, accurately to control the operation process of spraying insecticide of unmanned plane 100 in real time.
In this embodiment, the GPS module 10 of unmanned plane 100 set inside can receive the flying speed V of unmanned plane 100 in real time, and flying speed V is fed back in the flight control system 20.
In this embodiment; Land station 60 can be placed on movably vehicle interior (not shown); Or be fixedly installed in the middle of the farmland (not shown); It is the control terminal of unmanned plane 100, and wireless station (not shown) carries out communication contact in the flight control system 20 of the wireless station (not shown) through land station 60 and unmanned plane 100.Land station 60 be responsible for receiving and send all fly with unmanned plane 100 or the operation process of spraying insecticide in related data, spray insecticide flight attitude data in the process, course data etc. of unmanned plane 100 for example.Land station 60 also is responsible for the data relay task of unmanned plane 100 in the operation process of spraying insecticide simultaneously.
Flight control system 20 is receiving the flying speed V that GPS module 10 feeds back; And combined ground station 60 is sent to the sprinkling dose P of unmanned plane sprinkling system parameter W, K and unit area in the flight control system 20 of unmanned plane 100 through wireless station; Calculate suitable liquid pump control voltage U; And driving liquid pump 30 work, liquid pump 30 extracts agricultural chemicals (not shown) from medicine-chest 50, and through shower nozzle 40 pesticide spraying is gone out.
In this embodiment, unmanned plane 100 is the unmanned plane helicopter, can certainly be other unmanned planes, for example: unmanned fixed wing aircraft etc.
To shown in Figure 2, in the embodiment of the invention, the method for the operational method that a kind of unmanned plane is sprayed insecticide comprises the steps: in conjunction with Fig. 1
S1, calculate the sprinkling dose P of sprinkling system parameter W, K and unit area, and be transferred in the flight control system 20 of unmanned plane 100 through land station 60.
Before unmanned plane 100 is sprayed insecticide,, calculate the sprinkling dose P of unit area according to crops kind to be sprayed, pesticide variety, agricultural chemicals dilution ratio and crop growth stage.In this embodiment, the sprinkling dose P of this unit area is the pesticide spraying dose of each mu, and its measurement unit is a liter/mu.Calculate the sprinkling system parameter W of unmanned plane 100, this sprinkling system parameter W is the spray width of unmanned plane 100; Calculate the sprinkling system parameter K of unmanned plane 100, the scale-up factor between capacity of sprinkler that this sprinkling system parameter K is a unmanned plane 100 and the liquid pump control voltage U, its measurement unit is a milliliter/volt; Wireless station through land station 60 is transferred to the sprinkling dose P of sprinkling system parameter W, K and unit area in the flight control system 20 of unmanned plane 100 at last.
In this embodiment, the sprinkling dose P of unit area is to identical crops, and under the situation of identical crop growth stage, identical pesticide variety and identical agricultural chemicals dilution ratio, the sprinkling dose P of unit area is constant value.For the sprinkling system of confirming, its sprinkling system parameter W and K are constant value.So; In carrying out the operation process that unmanned plane sprays insecticide each time; Under the situation for identical crop growth stage, identical pesticide variety and identical agricultural chemicals dilution ratio, the sprinkling dose P of this sprinkling system parameter W, K and unit area is constant value.Simultaneously, along with the production of crops, the sprinkling dose P of its unit area also can do corresponding adjustment.
In this embodiment, also comprise among the step S1: flight control system 20 calculation control coefficient C.This control coefrficient C is the function of the sprinkling dose P of sprinkling system parameter W, K and unit area.Flight control system 20 can combine the sprinkling dose P of sprinkling system parameter W, K and unit area to calculate control coefrficient C, wherein C=(W * P * 1000)/(666.7 * K).
S2, GPS module 10 are obtained the flying speed V of unmanned plane 100.
GPS module 10 can be arranged on the internal body of unmanned plane 100, is used for obtaining in real time the flying speed V of unmanned plane 100, and its measurement unit is a meter per second, and this flying speed V is fed back in the flight control system 20 of unmanned plane 100.
In this embodiment, step S2 also comprises: judge whether flying speed V reaches the threshold value that drives liquid pump work, if then liquid pump control voltage U drives liquid pump 30 work, then liquid pump control voltage U does not drive liquid pump 30 work if not.So just can avoid depopulated helicopter hover or situation that flying speed is extremely low under, liquid pump 30 extracts agricultural chemicals (not shown) and sprays away from medicine-chest 50, thereby avoids the excessive sprinkling of agricultural chemicals.
S3, flight control system 20 calculate liquid pump control voltage U according to the sprinkling dose P and the flying speed V of sprinkling system parameter W, K, unit area.
In S1, flight control system 20 can combine the sprinkling dose P of sprinkling system parameter W, K and unit area to calculate control coefrficient C.Then, the flying speed V of the unmanned plane 100 that flight control system 20 is obtained according to control coefrficient C and GPS module 10 calculates liquid pump control voltage U, and its measurement unit be volt.The computing formula of this liquid pump control voltage U is U=C * V.Can derive liquid pump control voltage U thus is the sprinkling dose P of sprinkling system parameter W, K, unit area and the function of flying speed V.Like this, flight control system 20 just can calculate liquid pump control voltage U according to the sprinkling dose P and the flying speed V of sprinkling system parameter W, K, unit area,
Wherein, U=(W * P * V * 1000)/(666.7 * K).
In carrying out the operation process that unmanned plane sprays insecticide each time; Under the situation for identical crop growth stage, identical pesticide variety and identical agricultural chemicals dilution ratio; The sprinkling dose P of this sprinkling system parameter W, K and unit area is constant value, and the flying speed V that has only unmanned plane 100 is a variable.Like this, unmanned plane 100 just can be adjusted liquid pump control voltage U according to the flying speed V of unmanned plane 100 in real time in the process of spraying insecticide.
For the sprinkling system of confirming, the flow of its shower nozzle is directly proportional with the delivery rate of liquid pump, and the delivery rate of liquid pump is directly proportional with liquid pump control voltage U.Therefore can accurately control the flow of shower nozzle in the sprinkling system indirectly, to realize the accurate sprinkling of agricultural chemicals through accurately controlling liquid pump control voltage U.
S4, liquid pump control voltage U drives liquid pump 30 work, and through shower nozzle 40 pesticide spraying is gone out.
Receive the liquid pump control voltage U of flight control system 20 transmissions when liquid pump 30 after, liquid pump 30 is under the driving of liquid pump control voltage U, and liquid pump 30 extracts agricultural chemicals from medicine-chest 50, and through shower nozzle 40 agricultural chemicals is sprayed away uniformly.
The operational method that the disclosed a kind of unmanned plane of the present invention is sprayed insecticide can be calculated the scale-up factor K between capacity of sprinkler and the liquid pump control voltage U in advance; Calculate the spray width W of unmanned plane, set the sprinkling dose P of unit area, and be transferred in the flight control system through land station according to characteristics, pesticide variety, the agricultural chemicals dilution ratio of different crops; Simultaneously according to the real-time flying speed V of unmanned plane; Accurate Calculation Pump for giving-out control voltage U is sprayed insecticide to drive liquid pump, thereby has realized the accurate control of pesticide spraying flow; Thereby make pesticide spraying amount uniformity on the unit area; To improve the adaptability that unmanned plane is sprayed insecticide, reduce the waste of agricultural chemicals, reduce the pollution of agricultural chemicals to environment.
The listed a series of detailed description of preceding text only is specifying to feasibility embodiment of the present invention; They are not in order to restriction protection scope of the present invention, allly do not break away from equivalent embodiment or the change that skill of the present invention spirit done and all should be included within protection scope of the present invention.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and under the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore; No matter from which point; All should regard embodiment as exemplary; And be nonrestrictive, scope of the present invention is limited accompanying claims rather than above-mentioned explanation, therefore is intended to the implication of the equivalents that drops on claim and all changes in the scope are included in the present invention.Should any Reference numeral in the claim be regarded as limit related claim.
In addition; Describing according to embodiment though should be appreciated that this instructions, is not that each embodiment only comprises an independently technical scheme; This narrating mode of instructions only is for clarity sake; Those skilled in the art should make instructions as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (8)
1. the operational method that unmanned plane is sprayed insecticide is characterized in that, said method comprises the steps:
S1, calculate the sprinkling dose P of sprinkling system parameter W, K and unit area, and be transferred in the flight control system of unmanned plane through land station;
S2, GPS module are obtained the flying speed V of unmanned plane;
S3, flight control system calculate liquid pump control voltage U according to the sprinkling dose P and the flying speed V of sprinkling system parameter W, K, unit area;
S4, liquid pump control voltage U drive liquid pump work, and through shower nozzle pesticide spraying are gone out.
2. the operational method that unmanned plane according to claim 1 is sprayed insecticide is characterized in that, said step S1 is specially:
Land station and unmanned plane all are provided with a wireless station;
Before unmanned plane is sprayed insecticide,, calculate the sprinkling dose P of unit area according to crops kind to be sprayed, pesticide variety, agricultural chemicals dilution ratio and crop growth stage;
Calculate the sprinkling system parameter W of unmanned plane, said sprinkling system parameter W is the spray width of unmanned plane;
Calculate the sprinkling system parameter K of unmanned plane, the scale-up factor between capacity of sprinkler that said sprinkling system parameter K is a unmanned plane and the liquid pump control voltage U;
Wireless station through land station is transferred to the sprinkling dose P of sprinkling system parameter W, K and unit area in the flight control system of unmanned plane.
3. the operational method that unmanned plane according to claim 1 is sprayed insecticide is characterized in that, said step S2 is specially:
The GPS module of unmanned plane set inside receives the flying speed V of unmanned plane in real time, and said flying speed V is fed back in the flight control system.
4. according to any operational method that described unmanned plane is sprayed insecticide in claim 1 or 3; It is characterized in that; Said step S2 also comprises: judge whether flying speed V reaches the threshold value that drives liquid pump work; If then liquid pump control voltage U drives liquid pump work, then liquid pump control voltage U does not drive liquid pump work if not.
5. the operational method that unmanned plane according to claim 1 is sprayed insecticide is characterized in that: the sprinkling dose P of said unit area is the pesticide spraying dose of each mu.
6. the operational method that unmanned plane according to claim 5 is sprayed insecticide is characterized in that, said step S1 also comprises:
Calculation control coefficient C, said control coefrficient C are the function of the sprinkling dose P of sprinkling system parameter W, K and unit area,
C=(W * P * 1000)/(666.7 * K) wherein.
7. the operational method that unmanned plane according to claim 6 is sprayed insecticide is characterized in that, said step S3 is specially:
Flight control system is calculated liquid pump control voltage U according to control coefrficient C and flying speed V, and the computing formula of said liquid pump control voltage U is U=C * V.
8. the operational method that unmanned plane according to claim 1 is sprayed insecticide is characterized in that, said unmanned plane comprises depopulated helicopter and/or unmanned fixed wing aircraft.
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Application publication date: 20120718 |