CN104977935A - Unmanned gyroplane wind field electrostatic spraying device and wind field electrostatic spraying method - Google Patents
Unmanned gyroplane wind field electrostatic spraying device and wind field electrostatic spraying method Download PDFInfo
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Abstract
The present invention relates to the aerial spray technology field, in particular to an unmanned gyroplane wind field electrostatic spraying device. The unmanned gyroplane wind field electrostatic spraying device comprises an unmanned gyroplane, an ultrasonic sensor arranged on the unmanned gyroplane and used for detecting the position data of crops, a laser sensor used for detecting the topographic data, a wind speed sensor used for measuring the wind field data under the unmanned gyroplane, an electrostatic sprayer used for carrying out the electrostatic spraying, and a controller used for receiving a signal and controlling the unmanned gyroplane. According to the present invention, the height of an airplane can be adjusted flexibly according to the topography, the relative distance with the crop canopy does not change, the spraying pressure and the droplet size are adjusted according to the wind field under the gyroplane, and the working precision of the aerial spray is improved effectively.
Description
Technical field
The present invention relates to aerial application control techniques field, particularly relate to a kind of rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device and method.
Background technology
Aerial spray because its speed is fast, efficiency is high, the long-pending large and effect of spraying pesticide of spray powder is good etc., and advantage has been widely used in agricultural sprays in medicine, especially remotely pilotless machine is made to spray medicine, wherein, rotor wing unmanned aerial vehicle is relative to general unmanned plane, it takes off and does not limit by runway, aerial statue is more flexible, so be also more suitable for carrying out aerial application.But current rotor wing unmanned aerial vehicle aerial application is usually all by manual operation, intelligent not, effectively can not spray medicine, have impact on the effect of spray medicine, cause the waste of liquid according to different weather conditions and topographic features.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention solves the intelligent not and problem of effect of spraying pesticide difference of rotor wing unmanned aerial vehicle of the prior art spray medicine.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device, comprise that rotor wing unmanned aerial vehicle and described rotor wing unmanned aerial vehicle be provided with for detect crop location data sonac, for detect terrain data laser sensor, for measure described rotor wing unmanned aerial vehicle machine leeward field data air velocity transducer, for carry out electrostatic medicine electrostatic chemical sprayer, control the controller of described rotor wing unmanned aerial vehicle for Received signal strength.
Preferably, described electrostatic chemical sprayer comprises electrostatic atomiser, electrostatic bar, electrostatic pulse high-voltage device, variable spray medicine system and medicine-chest.
Preferably, described rotor wing unmanned aerial vehicle is provided with the EO-1 hyperion sensor for taking disease spectrum.
Preferably, described rotor wing unmanned aerial vehicle is provided with GPS receiving antenna and wireless receiving antenna.
Present invention also offers a kind of rotor wing unmanned aerial vehicle wind field electrostatic spray method, the step of described method comprises:
S1. rotor wing unmanned aerial vehicle is by sonac detection crop location data, and obtain terrain simulation data by laser sensor, the data of collection are sent to controller by sonac and laser sensor;
S2. controller is according to the flying height of the adjustment rotor wing unmanned aerial vehicle of its crop location data received and terrain simulation Data Dynamic, to make rotor wing unmanned aerial vehicle, crop is kept to the spray medicine height of specifying;
S3. rotor wing unmanned aerial vehicle measures rotor wing unmanned aerial vehicle machine leeward field data by air velocity transducer, and the data of collection are sent to controller by air velocity transducer;
S4. machine leeward field data control variable spray medicine system of receiving according to it of controller, adjustable spraying pressure and droplet size also mate with wind speed;
S5. controller controls electrostatic pulse high-voltage device according to droplet size, produces the pulse electric charge of coupling;
S6. rotor wing unmanned aerial vehicle adopts above-mentioned spray medicine height, atomisation pressure, droplet size and pulse electric charge to carry out electrostatic medicine.
Preferably, described sonac calculates the flying distance of rotor wing unmanned aerial vehicle in rotor wing unmanned aerial vehicle flight course according to ultrasonic signal emission and the time interval of reception and the flying speed of rotor wing unmanned aerial vehicle, thus calculate the height of rotor wing unmanned aerial vehicle distance crop canopies, the spray medicine height that controller makes rotor wing unmanned aerial vehicle reach to specify by controlling the rotating speed of engine according to the height calculated, described spray medicine height is 0.5m-1.5m.
Preferably, the laser covering of the fan of described laser transmitter projects 120 °, detection terrain data, landform three-dimensional data is drawn by accepting laser reflection light, and terrain simulation is carried out to data, obtain terrain simulation data, controller adjusts the flying height of rotor wing unmanned aerial vehicle dynamically according to landform emulated data, makes rotor wing unmanned aerial vehicle keep the spray medicine height of specifying to crop.
Preferably, described air velocity transducer measures the size of wind field size and natural wind under rotor wing unmanned aerial vehicle machine automatically, controller regulates the injection direction of spray medicine according to the wind direction angle of natural wind, controller obtains size variable adjustable spraying pressure and droplet size according to air speed value, arrives crop leaf to enable the liquid droplet ejected.
Preferably, described controller regulates electrostatic pulse high-voltage device according to droplet size, produces the pulse electric charge of the 150kv-250kv of coupling, and detects droplet carried charge by charged sensor, feeds back to controller, carries out the fine adjustment that droplet is charged.
Preferably, rotor wing unmanned aerial vehicle constantly takes the disease spectrum of crop in flight course by EO-1 hyperion sensor, and described disease spectrum is sent to controller, calibrating sensors is placed on ground, the gps data of calibration point is sent to controller by calibrating sensors, and controller is calibrated defect information and gps data storehouse according to disease spectrum and gps data.
(3) beneficial effect
Technique scheme tool of the present invention has the following advantages: adopt electrostatic spray technique to make droplet electrically charged, plant surface negative charge and droplet positive charge attract, make droplet be evenly distributed on traditional pesticide application technologies such as the back side of crop be difficult to arrive place, by terrain simulation function, can realize according to landform flexible aircraft altitude, the relative distance realizing distance crop canopies is constant, and according to wind field adjustment atomisation pressure and droplet size under machine, effectively improves the homework precision of aerial application.
Accompanying drawing explanation
Fig. 1 is the structural representation of the rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device of the embodiment of the present invention.
In figure: 1: electrostatic atomiser; 2: laser sensor; 3: EO-1 hyperion sensor; 4: sonac; 5: wireless receiving antenna; 6: controller; 7:GPS receiving antenna; 8: engine; 9: electrostatic bar; 10: variable spray medicine system; 11: air velocity transducer; 12: medicine-chest; 13: electrostatic pulse high-voltage device.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figure 1, the rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device of the present embodiment comprises rotor wing unmanned aerial vehicle and (comprising: fuselage, rotor, empennage and engine 8) and the sonac 4 for detecting crop location data that is provided with of described rotor wing unmanned aerial vehicle, for detecting the laser sensor 2 of terrain data, for measuring the air velocity transducer 11 of described rotor wing unmanned aerial vehicle machine leeward field data, for carrying out the electrostatic chemical sprayer of electrostatic medicine, the controller 6 of described rotor wing unmanned aerial vehicle is controlled for Received signal strength, for taking the EO-1 hyperion sensor 3 of disease spectrum, GPS receiving antenna 7 and wireless receiving antenna 5, described electrostatic chemical sprayer comprises electrostatic atomiser 1, electrostatic bar 9, electrostatic pulse high-voltage device 13, variable spray medicine system 10 and medicine-chest 12.
The step of the rotor wing unmanned aerial vehicle wind field electrostatic spray method that the rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device applying above-mentioned the present embodiment carries out comprises:
S1. rotor wing unmanned aerial vehicle detects crop location data by sonac 4, obtains terrain simulation data by laser sensor 2, and the data of collection are sent to controller 4 by sonac 4 and laser sensor 2;
S2. controller 6 is according to the flying height of the adjustment rotor wing unmanned aerial vehicle of its crop location data received and terrain simulation Data Dynamic, to make rotor wing unmanned aerial vehicle, crop is kept to the spray medicine height of specifying;
In above process, sonac 4 calculates the flying distance of rotor wing unmanned aerial vehicle in rotor wing unmanned aerial vehicle flight course according to ultrasonic signal emission and the time interval of reception and the flying speed of rotor wing unmanned aerial vehicle, thus the height calculating rotor wing unmanned aerial vehicle distance crop canopies (sets the distance of ultrasonic signal emission point and crop as a, the distance of ultrasonic signal acceptance point and crop is b, flying distance is c, then a, b, c forms a right-angle triangle, wherein, b is hypotenuse, a equals flying speed and is multiplied by interval time, b adds c and equals ultrasonic signal velocity of propagation and be multiplied by interval time), the spray medicine height that controller 6 makes rotor wing unmanned aerial vehicle reach to specify by controlling the rotating speed of engine 8 according to the height calculated, and and distance between crop canopies keep described spray medicine height constant, described spray medicine height is 0.5m-1.5m, effectively can ensure best effect of spraying pesticide like this.
The laser covering of the fan of 120 ° launched by laser sensor 2, detection terrain data, landform three-dimensional data is drawn by accepting laser reflection light, and terrain simulation is carried out to data, obtain terrain simulation data, controller 6 adjusts flying height and the flying medicine spraying attitude of rotor wing unmanned aerial vehicle dynamically according to landform emulated data, makes rotor wing unmanned aerial vehicle keep the spray medicine height of specifying to crop, realizes the aerial high precision dispenser of unmanned plane.
S3. rotor wing unmanned aerial vehicle measures rotor wing unmanned aerial vehicle machine leeward field data by air velocity transducer 11, and the data of collection are sent to controller 6 by air velocity transducer 11;
S4. machine leeward field data control variable spray medicine system 10 of receiving according to it of controller 6, adjustable spraying pressure and droplet size also mate with wind speed;
In said process, the size of wind field size and natural wind under air velocity transducer 11 automatic measurement rotor wing unmanned aerial vehicle machine, controller 6 regulates the injection direction of spray medicine according to the wind direction angle of natural wind, controller 6 obtains size variable adjustable spraying pressure and droplet size according to air speed value, to enable the liquid droplet ejected arrive crop leaf, avoid elegant with the wind.
S5. controller 6 controls electrostatic pulse high-voltage device 13 according to droplet size, produces the pulse electric charge of coupling;
In said process, controller 6 regulates electrostatic pulse high-voltage device 13 according to droplet size, produces the pulse electric charge of the 150kv-250kv of coupling, and detects droplet carried charge by charged sensor, feeds back to controller 6, carries out the fine adjustment that droplet is charged.Because crop leaf is to negative charge, droplet adds positive charge, due to electric charge, there is a natural attraction between the sexes solves the evenly all charged object of droplet, the charged rear dead angle being directly adsorbed on the tradition spray prescription formulas such as the leaf back side and root and cannot arriving of pesticide droplet, and dose is saved and traditional dispenser is compared, and saves the agricultural chemicals of 90%
S6. rotor wing unmanned aerial vehicle adopts above-mentioned spray medicine height, atomisation pressure, droplet size and pulse electric charge to carry out electrostatic medicine.
In addition, rotor wing unmanned aerial vehicle constantly takes the disease spectrum of crop in flight course by EO-1 hyperion sensor 3, and described disease spectrum is sent to controller 6, calibrating sensors is placed on ground, the gps data of calibration point is sent to controller by calibrating sensors, and controller is calibrated defect information and gps data storehouse according to disease spectrum and gps data.
Also can in advance by plot disease and insect information and the comprehensive building database of corresponding GPS information, send to controller 6, current according to the unmanned plane in the air gps coordinate Query Database of unmanned plane realizes the differentiation variable spray medicine of plot diverse location, meets high precision spray medicine demand quantitatively of fixed place and time.
The EO-1 hyperion sensor 3 that aeroplane nose installs additional, it can constantly be taken surface crops spectrum awing and send to controller 6, adopt EO-1 hyperion sensor 3 to take the disease spectrum of fruit tree in plot, spectroscopic data sends to controller 6, realizes carrying out the object to target spray medicine online in real time.
Because mountain area physical features is uneven, fruit-tree orchard blocks, calibrating sensors is arranged in region with a varied topography, the spectral information of coordinate points position and GPS information are wirelessly sent to the unmanned plane arriving in upper empty position by plane, after unmanned aerial vehicle (UAV) control device 6 receives these information by GPS receiving antenna 7 and wireless receiving antenna 5, unmanned plane is calibrated according to the information of standard point, be used for quick dynamic calibration EO-1 hyperion sensing data, plot disease and insect information and corresponding GPS information integrated data base, realize high precision operation object.
Technique scheme tool of the present invention has the following advantages: adopt electrostatic spray technique to make droplet electrically charged, plant surface negative charge and droplet positive charge attract, make droplet be evenly distributed on traditional pesticide application technologies such as the back side of crop be difficult to arrive place, by terrain simulation function, can realize according to landform flexible aircraft altitude, the relative distance realizing distance crop canopies is constant, and according to wind field adjustment atomisation pressure and droplet size under machine, effectively improves the homework precision of aerial application.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device, is characterized in that: comprise that rotor wing unmanned aerial vehicle and described rotor wing unmanned aerial vehicle be provided with for detect crop location data sonac, for detect terrain data laser sensor, for measure described rotor wing unmanned aerial vehicle machine leeward field data air velocity transducer, for carry out electrostatic medicine electrostatic chemical sprayer, control the controller of described rotor wing unmanned aerial vehicle for Received signal strength.
2. rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device according to claim 1, is characterized in that: described electrostatic chemical sprayer comprises electrostatic atomiser, electrostatic bar, electrostatic pulse high-voltage device, variable spray medicine system and medicine-chest.
3. rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device according to claim 1, is characterized in that: described rotor wing unmanned aerial vehicle is provided with the EO-1 hyperion sensor for taking disease spectrum.
4. rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device according to claim 1, is characterized in that: described rotor wing unmanned aerial vehicle is provided with GPS receiving antenna and wireless receiving antenna.
5. application rights requires that the rotor wing unmanned aerial vehicle wind field electrostatic spraying chemical device in 1-4 described in any one carries out a method for wind field electrostatic medicine, it is characterized in that: the step of described method comprises:
S1. rotor wing unmanned aerial vehicle is by sonac detection crop location data, and obtain terrain simulation data by laser sensor, the data of collection are sent to controller by sonac and laser sensor;
S2. controller is according to the flying height of the adjustment rotor wing unmanned aerial vehicle of its crop location data received and terrain simulation Data Dynamic, to make rotor wing unmanned aerial vehicle, crop is kept to the spray medicine height of specifying;
S3. rotor wing unmanned aerial vehicle measures rotor wing unmanned aerial vehicle machine leeward field data by air velocity transducer, and the data of collection are sent to controller by air velocity transducer;
S4. machine leeward field data control variable spray medicine system of receiving according to it of controller, adjustable spraying pressure and droplet size also mate with wind speed;
S5. controller controls electrostatic pulse high-voltage device according to droplet size, produces the pulse electric charge of coupling;
S6. rotor wing unmanned aerial vehicle adopts above-mentioned spray medicine height, atomisation pressure, droplet size and pulse electric charge to carry out electrostatic medicine.
6. rotor wing unmanned aerial vehicle wind field electrostatic spray method according to claim 5, it is characterized in that: described sonac calculates the flying distance of rotor wing unmanned aerial vehicle in rotor wing unmanned aerial vehicle flight course according to ultrasonic signal emission and the time interval of reception and the flying speed of rotor wing unmanned aerial vehicle, thus calculate the height of rotor wing unmanned aerial vehicle distance crop canopies, the spray medicine height that controller makes rotor wing unmanned aerial vehicle reach to specify by controlling the rotating speed of engine according to the height calculated, described spray medicine height is 0.5m-1.5m.
7. rotor wing unmanned aerial vehicle wind field electrostatic spray method according to claim 5, it is characterized in that: the laser covering of the fan of described laser transmitter projects 120 °, detection terrain data, landform three-dimensional data is drawn by accepting laser reflection light, and terrain simulation is carried out to data, obtain terrain simulation data, controller adjusts the flying height of rotor wing unmanned aerial vehicle dynamically according to landform emulated data, makes rotor wing unmanned aerial vehicle keep the spray medicine height of specifying to crop.
8. rotor wing unmanned aerial vehicle wind field electrostatic spray method according to claim 5, it is characterized in that: described air velocity transducer measures the size of wind field size and natural wind under rotor wing unmanned aerial vehicle machine automatically, controller regulates the injection direction of spray medicine according to the wind direction angle of natural wind, controller obtains size variable adjustable spraying pressure and droplet size according to air speed value, arrives crop leaf to enable the liquid droplet ejected.
9. rotor wing unmanned aerial vehicle wind field electrostatic spray method according to claim 5, it is characterized in that: described controller regulates electrostatic pulse high-voltage device according to droplet size, produce the pulse electric charge of the 150kv-250kv of coupling, and detect droplet carried charge by charged sensor, feed back to controller, carry out the fine adjustment that droplet is charged.
10. according to the rotor wing unmanned aerial vehicle wind field electrostatic spray method in claim 5-9 described in any one, it is characterized in that: rotor wing unmanned aerial vehicle constantly takes the disease spectrum of crop in flight course by EO-1 hyperion sensor, and described disease spectrum is sent to controller, calibrating sensors is placed on ground, the gps data of calibration point is sent to controller by calibrating sensors, and controller is calibrated defect information and gps data storehouse according to disease spectrum and gps data.
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