CN104002974A - Dragging type unmanned liquid application system based on multi-rotor craft - Google Patents
Dragging type unmanned liquid application system based on multi-rotor craft Download PDFInfo
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- CN104002974A CN104002974A CN201410267014.XA CN201410267014A CN104002974A CN 104002974 A CN104002974 A CN 104002974A CN 201410267014 A CN201410267014 A CN 201410267014A CN 104002974 A CN104002974 A CN 104002974A
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- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
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- 238000012544 monitoring process Methods 0.000 claims 1
- 238000005086 pumping Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
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- 239000002689 soil Substances 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
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Abstract
The invention discloses a dragging type unmanned liquid application system based on a multi-rotor craft. The system comprises a mobile workstation and the multi-rotor craft, wherein the mobile workstation is used for transmitting task path information specified by a user in the mobile workstation to the multi-rotor craft, processing and displaying information sent by the multi-rotor craft and providing a power supply for the multi-rotor craft, and pumping application liquid to the multi-rotor craft through a liquid conveying pipe. The multi-rotor craft is used for dragging a power supplying line and the liquid conveying pipe, flying to control liquid application according to the task path information sent by the mobile workstation, and sending the acquired information and state information to the mobile workstation. In the dragging type unmanned liquid application system based on the multi-rotor craft, the mobile workstation drags the multi-rotor craft to complete liquid application operation in a manual or automatic mode according to a planed task. The dragging type unmanned liquid application system based on the multi-rotor craft can safely and reliably conduct the liquid application operation in a large range with high precision at high speed.
Description
Technical field
The present invention relates to agricultural automation field, nobody executes liquid system to relate in particular to a kind of towed based on multi-rotor aerocraft.
Background technology
As large agricultural country, the degree of automation of agricultural and the height of efficiency thereof are important indicators of China's modernization construction.In agricultural production process, executing liquid operation (water, fertilising, dispenser) is the work that labor content is larger, in vast rural area, roughly there are at present two kinds of modes: 1. pure manual type, carrying out after the output-based contract responsibility system, the soil of every household is less, mainly adopts back carried hand or power spraye; 2. aircraft spraying medicine, includes people and drives two kinds of modes of (fixed-wing, helicopter, delta wing, propeller-parachuting etc.) and driverless operation (fixed-wing, many rotors, helicopter etc.).
The advantage of pure manual type is that equipment cost is low, is applicable to the less family in soil and uses, and its major defect is that efficiency is low, want close contact institute applying liquid when work, and safety is lower, especially, in the time of sprinkling highly toxic pesticide, is easy to cause intoxication accident.Contrast, aircraft spraying medicine efficiency is high, but, its basic problem is to involve great expense, to manipulation personnel require highly (have the man-machine chaufeur that needs, unmanned plane needs operator), the large-scale place of needs, therefore except large-scale national farm, forest farm, general family is difficult to bear, in fact, adopting aircraft to execute liquid (water, fertilising, dispenser) at south China seldom sees.In addition, along with the development of aeronautical technology, the particularly development and improvement of unmanned plane technology in recent years, nobody taking unmanned plane as carrier executes liquid system report or Demonstration Application, for example, adopts unmanned conventional helicopters or unmanned many rotors as carrier.But the problem of this mode maximum is that cost is high, load capacity is low, short in the empty time, operation easier is large.In actual field, in order to ensure pesticide supplying effect, General Requirements low-altitude low-velocity flight, in this case, operates careless slightlyly, will cause serious accident, and the people's the security of the lives and property is existed to very large threat.Be limited to these unfavorable factors, the liquid system of executing taking unmanned plane as carrier in rural area application seldom.
Therefore, be intended to overcome the technological deficiency of existed system, nobody executes liquid system to the present invention proposes a kind of towed based on multi-rotor aerocraft.
Summary of the invention
The present invention aims to provide a kind of towed based on multi-rotor aerocraft, and nobody executes liquid system, can with higher precision, faster speed, safety, execute in the larger context liquid operation (watering, apply fertilizer, spill agricultural chemicals etc.) reliably.
Nobody executes liquid system a kind of towed based on multi-rotor aerocraft that the present invention proposes, and comprising: mobile workstation and multi-rotor aerocraft, wherein:
Described mobile workstation passes to described multi-rotor aerocraft for the task path information that user is specified at mobile workstation, and the information that described multi-rotor aerocraft is sent processs and displays; For described multi-rotor aerocraft provides power supply; And give and execute liquid liquid to described multi-rotor aerocraft pump by hydraulic pipe;
Described multi-rotor aerocraft is used for pulling supply line and hydraulic pipe, and the flight of task path information, the control that send according to described mobile workstation are executed liquid, and the information collecting and status information are sent to described mobile workstation.
According to technique scheme, the present invention has following beneficial effect:
1. safe: its towed mode of operation can either make people and execute liquid liquid to keep a safe distance, ensure that again multi-rotor aerocraft also can be subject to pulling the constraint of hydraulic pipe and supply line under limiting case, can unrest out of control not fly, so that threaten people life property safety;
2. long in the empty time, working area is large: its distinctive structure (power supply and execute liquid liquid all on mobile workstation), multi-rotor aerocraft is without carrying battery and executing liquid liquid, it is unrestricted in the empty time in theory, in addition, because mobile workstation can move flexibly, therefore its working area is large, and being far better than is only at present the existed system of tens minutes in the empty time;
3. physical construction is simple: with respect to conventional helicopters, system mechanics mechanism involved in the present invention is simple, easily safeguards;
4. precision is high, speed is fast: adopt GPS location technology to merge baroceptor and determine hightech, three-dimensional localization precision is higher, thereby liquid effect is executed in guarantee, and in addition, multi-rotor aerocraft can aloft move with fast speed, therefore executes that liquid speed is fast, efficiency is high.
Brief description of the drawings
Fig. 1 be the present invention is based on multi-rotor aerocraft towed nobody execute the structured flowchart of liquid system.
Fig. 2 be according to an embodiment of the invention towed nobody execute the structural representation of liquid system.
Fig. 3 is the structured flowchart of automatically controlled according to an embodiment of the invention subsystem 10.
Fig. 4 is the structured flowchart of autopilot 23 according to an embodiment of the invention.
Fig. 5 be according to an embodiment of the invention towed nobody execute the workflow schematic diagram of liquid system.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 be the present invention is based on multi-rotor aerocraft towed nobody execute the structured flowchart of liquid system, as shown in Figure 1, nobody executes the described towed based on multi-rotor aerocraft liquid system and comprises: mobile workstation 1 and multi-rotor aerocraft 2, wherein:
Described mobile workstation 1 passes to described multi-rotor aerocraft 2 for the task path information that user is specified at mobile workstation, and the information that described multi-rotor aerocraft 2 is sent processs and displays; For described multi-rotor aerocraft 2 provides power supply; And give and execute liquid liquid to described multi-rotor aerocraft 2 pumps by hydraulic pipe; Described multi-rotor aerocraft 2 is for pulling supply line and hydraulic pipe, the flight of task path information, the control that send according to described mobile workstation 1 are executed liquid, and the information such as the relevant position collecting, image, video and status information are sent to described mobile workstation 1.
Nobody principle of work of executing liquid system of the described towed based on multi-rotor aerocraft can be sketched and be: mobile workstation 1 can move freely (along highway, tractor road, simple and easy dirt road) executing liquid scene, after point of its arrival is fixing, multi-rotor aerocraft 2 can be centered by this point, executes liquid operation taking the hydraulic pipe that pulls and the extreme length (as 100 meters) of power transmission line in the border circular areas of radius.That is to say, pass through mode manually or automatically by mobile workstation 1, controlling multi-rotor aerocraft 2 takes off, and it completes and executes liquid operation according to the mission requirements of having planned to utilize 23 controls of the self-contained autopilot of multi-rotor aerocraft 2, and the relevant informations such as the position collecting, image, video are returned to mobile workstation 1 in wireless or wired mode as the number number of delivering a letter/figure number of delivering a letter, surface work personnel can adjust planning in real time according to the situation of zones of different (vegetation growth state, disease and pest degree etc.).
Fig. 2 be according to an embodiment of the invention towed nobody execute the structural representation of liquid system, as shown in Figure 2, described mobile workstation 1 comprises: automatically controlled subsystem 10, carrier loader 11, electrical generator 12, liquid tank 13, liquor pump 14, hydraulic pipe 15, supply line 16, automatic winding frame 17, expansion link 18, expansion link servomotor 19, expansion link change speed gear box 1A, wherein:
Described carrier loader 11 is for each component part of delivering described mobile workstation 1 to executing liquid scene, and wherein, the concrete form of carrier loader 11 can need to adopt flexibly according to scene;
Described automatically controlled subsystem 10 is arranged in carrier loader 11, for described task path information is passed to described multi-rotor aerocraft 2, and communicates with described multi-rotor aerocraft 2;
Described electrical generator 12 is for generation of described multi-rotor aerocraft 2 and the needed electric energy of mobile workstation 1, without special explanation, professional person can be according to voltage class, the watt level that need to select voluntarily electrical generator of real system, or can be understood as and do as required corresponding amendment;
Described liquid tank 13 is executed liquid liquid for storage, and the while is as the landing platform of described multi-rotor aerocraft 2;
Described liquor pump 14 is for giving described multi-rotor aerocraft 2 by the liquid of described liquid tank 13 with specific force lift;
Described hydraulic pipe 15 is supplied with described multi-rotor aerocraft 2 for the liquid carrying that described liquor pump 14 is pumped and is executed liquid operation to complete;
Described supply line 16 is given described multi-rotor aerocraft 2 for delivery of electrical energy that described electrical generator 12 is produced;
Described automatic winding frame 17 is for receiving described hydraulic pipe 15 and supply line 16, automatically to unreel in the time that described multi-rotor aerocraft 2 takes off, execute in liquid or removal process at described multi-rotor aerocraft 2, according to its position automatic winding, to regulate in time described multi-rotor aerocraft 2 to pull the length of pipeline, avoid the long generation of pipeline be wound around, with the phenomenon such as crops collision;
Described expansion link 18 is for regulating the height of described automatic winding frame 17;
Described expansion link servomotor 19 and expansion link change speed gear box 1A are for controlling the fore and aft motion of described expansion link 18, thus the height of adjusting automatic winding frame 17.
Fig. 3 is the structured flowchart of automatically controlled according to an embodiment of the invention subsystem 10, and it comprises: data radio station 101, figure conduct electricity platform 102, ground-based computer 103, remote controller 104 and mobile workstation power supply 105, wherein:
Described data radio station 101 flies to control by described multi-rotor aerocraft 2 information that data radio station 232 sends over for receiving;
Described figure conducts electricity platform 102 for receiving the control figure information that image, video etc. that platform 231 sends over collect that conducts electricity that flies by described multi-rotor aerocraft 2;
Described ground-based computer 103 is cores of described mobile workstation 1, and it is communicated by letter with conduct electricity platform 102, remote controller 104 of data radio station 101, figure, with the planning of finishing the work, task upload, the function such as manually control, information recording, detection, analysis;
Described remote controller 104 is for manually controlling described multi-rotor aerocraft 2;
Described mobile workstation power supply 105 is used to whole mobile workstation 1 to power, need to carry out voltage transformation by the electric energy being transported by electrical generator 12 according to mobile workstation 1, without special explanation, professional person can according to real system need to select voluntarily voltage class, watt level, or can be understood as required and to do corresponding amendment.
As shown in Figure 2, described multi-rotor aerocraft 2 comprises: screw propeller 21, gps antenna 22, autopilot 23, electric machine support 24, left side nozzle 25, right side nozzle 26, alighting gear 27, brushless motor 28, wherein:
Described screw propeller 21 is driven its rotation and is produced lift by described brushless motor 28;
Described gps antenna 22 is for receiving GPS (global positioning system) signal, to complete the real-time location of described multi-rotor aerocraft 2;
Described autopilot 23 is for accepting the flight of multi-rotor aerocraft 2 described in the instruction control of described mobile workstation 1;
Fig. 4 is the structured flowchart of autopilot 23 according to an embodiment of the invention, as shown in Figure 4, described autopilot 23 comprises: fly control figure conduct electricity platform 231, fly to control data radio station 232, GPS module 233, remote control receiver 234, fly to control central process unit 235, image acquisition device 236, Multi-path electricity adjust 237, barometric altimeter 238,3-axis acceleration are taken into account three-axis gyroscope 239, three axle magnetometers 2310, flown to control power supply 2311, wherein:
The described control figure platform 231 that conducts electricity that flies sends described mobile workstation 1 for the image that described image acquisition device 236 is collected to by wireless mode;
Describedly fly to control data radio station 232 for by the status information of described multi-rotor aerocraft 2, comprise that position, detection time etc., status information was passed to described mobile workstation 1 by wireless mode;
Described GPS module 233 is for locating information such as receive gps antenna 22 gps signal transmitting the longitude that calculates described multi-rotor aerocraft 2, latitude, height;
Described remote control receiver 234 is for receiving the remote manual control signal being transmitted by the remote controller 104 of described mobile workstation 1, in order to manually controlling described multi-rotor aerocraft 2;
Describedly fly to control the core that central process unit 235 is whole autopilots 23, its with fly control figure conduct electricity platform 231, fly to control that data radio station 232, GPS module 233, remote control receiver 234, image acquisition device 236, Multi-path electricity adjust 237, barometric altimeter 238,3-axis acceleration are taken into account three-axis gyroscope 239, three axle magnetometer 2310 various pieces are communicated by letter, obtain the signals such as the attitude, position, remote control that need, to complete the control manually or automatically of multi-rotor aerocraft 2;
Described image acquisition device 236 is for gathering image or video information;
Described Multi-path electricity adjusts 237 for controlling the rotation of multichannel brushless motor 28 and regulating its rotating speed;
Described barometric altimeter 238 is for carrying out the sea level elevation with multi-rotor aerocraft 2 described in higher accuracy computation by measuring bar pressure and ambient temperature;
Described 3-axis acceleration is taken into account three-axis gyroscope 239 for measuring 3-axis acceleration, three rotating rate of shaft of multi-rotor aerocraft 2;
Described three axle magnetometers 2310 are for measuring the three axle components of earth magnetism on multi-rotor aerocraft 2, and send to and fly to control central process unit 235 together with taking into account 3-axis acceleration that three-axis gyroscope 239 measures, three rotating rate of shaft with 3-axis acceleration, to calculate the attitude of described multi-rotor aerocraft 2 by Kalman filtering method;
Describedly fly to control power supply 2311 and be used to whole autopilot 23 to power, it comprises the assemblies such as voltage transformation module, radical function is that the electric energy being transported by surface power supply line 16 need to be carried out to voltage transformation according to autopilot 23, without special explanation, professional person can according to real system need to select voluntarily voltage class, watt level, or can be understood as required and to do corresponding amendment.
Described electric machine support 24 is for installing described brushless motor 28 and miscellaneous equipment;
Described left side nozzle 25 and right side nozzle 26 are arranged on described electric machine support 24, execute liquid liquid (such as water, agricultural chemicals etc.) for spraying;
Described alighting gear 27 is for producing cushioning and protection when described multi-rotor aerocraft 2 landing;
The setting corresponding to described screw propeller 21 of described brushless motor 28, for driving described screw propeller 21 and producing lift.
Fig. 5 be according to an embodiment of the invention towed nobody execute the workflow schematic diagram of liquid system, as shown in Figure 5, nobody mainly comprises following step while executing liquid system works described towed:
Step S1: user is according to the needs of operation field, planning tasks input, be exactly particularly position and the height of inputting each destination in the flight path of multi-rotor aerocraft 2, and at executing of the each destination work that surges;
Step S2: multi-rotor aerocraft 2 takes off from ground station, flies to specifying destination according to mission requirements;
Step S3: execute liquid operation specifying destination to complete, be exactly particularly according to each destination execute liquid action request, complete and execute liquid operation with the orientation that specifies and intensity;
Step S4: judge whether to execute liquid complete, if complete and execute liquid operation according to the requirement of planning tasks, carry out next step, if do not complete, re-execute step S3;
Step S5: complete after the task of planning, automatically control multi-rotor aerocraft 2 safe fallings.
Above to the present invention is based on multi-rotor aerocraft towed nobody execute liquid system and have been described in detail.From above disclosed technical scheme, the present invention has following beneficial effect:
1. safe: its towed mode of operation can either make people and execute liquid liquid to keep a safe distance, ensure that again multi-rotor aerocraft 2 also can be subject to pulling the constraint of hydraulic pipe and supply line under limiting case, can unrest out of control not fly, so that threaten people life property safety;
2. long in the empty time, working area is large: its distinctive structure (power supply and execute liquid liquid all on mobile workstation 1), multi-rotor aerocraft 2 is without carrying battery and executing liquid liquid, it is unrestricted in the empty time in theory, in addition, because mobile workstation can move flexibly, therefore its working area is large, and being far better than is only at present the existed system of tens minutes in the empty time;
3. physical construction is simple: with respect to conventional helicopters, system mechanics mechanism involved in the present invention is simple, easily safeguards;
4. precision is high, speed is fast: adopt GPS location technology to merge baroceptor and determine hightech, three-dimensional localization precision is higher, thereby liquid effect is executed in guarantee, and in addition, multi-rotor aerocraft 2 can aloft move with fast speed, therefore executes that liquid speed is fast, efficiency is high.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
- Towed based on multi-rotor aerocraft nobody execute a liquid system, it is characterized in that, this system comprises: mobile workstation and multi-rotor aerocraft, wherein:Described mobile workstation passes to described multi-rotor aerocraft for the task path information that user is specified at mobile workstation, and the information that described multi-rotor aerocraft is sent processs and displays; For described multi-rotor aerocraft provides power supply; And give and execute liquid liquid to described multi-rotor aerocraft pump by hydraulic pipe;Described multi-rotor aerocraft is used for pulling supply line and hydraulic pipe, and the flight of task path information, the control that send according to described mobile workstation are executed liquid, and the information collecting and status information are sent to described mobile workstation.
- 2. system according to claim 1, is characterized in that, described mobile workstation takes off by multi-rotor aerocraft described in mode control manually or automatically.
- 3. system according to claim 1, it is characterized in that, described mobile working stands in to be executed liquid scene and moves freely, after point of its arrival is fixing, multi-rotor aerocraft is centered by this point, executes liquid operation taking the hydraulic pipe that pulls and the extreme length of power transmission line in the border circular areas of radius.
- 4. system according to claim 1, it is characterized in that, described mobile workstation comprises: automatically controlled subsystem, carrier loader, electrical generator, liquid tank, liquor pump, hydraulic pipe, supply line, automatic winding frame, expansion link, expansion link servomotor, expansion link change speed gear box, wherein:Each component part that described carrier loader is used for delivering described mobile workstation is to executing liquid scene;Described automatically controlled subsystem is arranged in carrier loader, for described task path information is passed to described multi-rotor aerocraft, and communicates with described multi-rotor aerocraft;Described electrical generator is for generation of described multi-rotor aerocraft and the needed electric energy of mobile workstation;Described liquid tank is executed liquid liquid for storage, and the while is as the landing platform of described multi-rotor aerocraft;Described liquor pump is for giving described multi-rotor aerocraft by the liquor pump of described liquid tank;Described hydraulic pipe is supplied with described multi-rotor aerocraft for the liquid carrying that described liquor pump is pumped and is executed liquid operation to complete;Described supply line is for giving described multi-rotor aerocraft by the delivery of electrical energy of described electrical generator generation;Described automatic winding frame is used for receiving described hydraulic pipe and supply line, automatically to unreel in the time that described multi-rotor aerocraft takes off, executes in liquid or removal process at described multi-rotor aerocraft, according to its position automatic winding;Described expansion link is for regulating the height of described automatic winding frame;Described expansion link servomotor and expansion link change speed gear box are for controlling the fore and aft motion of described expansion link.
- 5. system according to claim 4, is characterized in that, described automatically controlled subsystem comprises: data radio station, figure conduct electricity platform, ground-based computer, remote controller and mobile workstation power supply, wherein:Described data radio station flies to control by described multi-rotor aerocraft the information that data radio station sends over for receiving;The described figure platform that conducts electricity flies the control figure Information Monitoring that platform sends over that conducts electricity for receiving by described multi-rotor aerocraft;Conduct electricity platform, remote controller of described ground-based computer and data radio station, figure communicated by letter;Described remote controller is for manually controlling described multi-rotor aerocraft;Described mobile workstation power supply is used to whole mobile workstation power supply.
- 6. system according to claim 1, is characterized in that, described multi-rotor aerocraft comprises: screw propeller, gps antenna, autopilot, electric machine support, left side nozzle, right side nozzle, alighting gear, brushless motor, wherein:Described screw propeller is driven its rotation and is produced lift by described brushless motor;Described gps antenna is used for receiving gps signal, to complete the real-time location of described multi-rotor aerocraft;Described autopilot is for accepting the flight of multi-rotor aerocraft described in the instruction control of described mobile workstation;Described electric machine support is used for installing described brushless motor;Described left side nozzle and right side nozzle are arranged on described electric machine support, execute liquid liquid for spraying;Described alighting gear for producing cushioning and protection in the time of described multi-rotor aerocraft landing;The setting corresponding to described screw propeller of described brushless motor, for driving described screw propeller and producing lift.
- 7. system according to claim 6, it is characterized in that, described autopilot comprises: fly control figure conduct electricity platform, fly to control data radio station, GPS module, remote control receiver, fly to control central process unit, image acquisition device, Multi-path electricity tune, barometric altimeter, 3-axis acceleration take into account three-axis gyroscope, three axle magnetometers, fly to control power supply, wherein:The described control figure platform that conducts electricity that flies sends described mobile workstation for the image that described image acquisition device is collected to by wireless mode;Describedly fly to control data radio station for the status information of described multi-rotor aerocraft is passed to described mobile workstation by wireless mode;The locating information such as gps signal the longitude, latitude, height that calculates described multi-rotor aerocraft that described GPS module transmits for receiving gps antenna;Described remote control receiver is for receiving the remote manual control signal being transmitted by the remote controller of described mobile workstation, in order to manually controlling described multi-rotor aerocraft;Describedly fly to control central process unit and communicate by letter with miscellaneous part, to control manually or automatically for described multi-rotor aerocraft;Described image acquisition device is used for gathering image or video information;Described Multi-path electricity calls in controlling the rotation of multichannel brushless motor and regulating its rotating speed;Described barometric altimeter is for calculating the sea level elevation of described multi-rotor aerocraft;Described 3-axis acceleration is taken into account three-axis gyroscope for measuring 3-axis acceleration and three rotating rate of shaft of multi-rotor aerocraft;Described three axle magnetometers are for measuring the three axle components of earth magnetism on multi-rotor aerocraft;Describedly fly to control power supply and be used to the power supply of whole autopilot.
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| CN201410267014.XA CN104002974A (en) | 2014-06-16 | 2014-06-16 | Dragging type unmanned liquid application system based on multi-rotor craft |
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| CN201410267014.XA CN104002974A (en) | 2014-06-16 | 2014-06-16 | Dragging type unmanned liquid application system based on multi-rotor craft |
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