CN105197243B - Airborne variable pesticide application system and method for agricultural unmanned aerial vehicle - Google Patents

Abstract

The invention relates to the technical field of agricultural pesticide application, in particular to an airborne variable pesticide application system and method for an agricultural unmanned aerial vehicle. The airborne variable pesticide application system comprises the unmanned aerial vehicle, a prescription map aerial pesticide application system, a monitoring center, a GPS positioning mechanism and a meteorological station. The prescription map aerial pesticide application system is installed on the unmanned aerial vehicle and used for decision making of pesticide application prescriptions of the unmanned aerial vehicle. Decision making signals are sent to a lower computer through an upper computer, and the lower computer is used for carrying out online dynamic adjustment on the pesticide application mechanism of the unmanned aerial vehicle. The monitoring center is used for monitoring the work speed and the drifting condition of the unmanned aerial vehicle. The GPS positioning mechanism is used for positioning the geographic position of the GPS positioning mechanism. According to variable pesticide application, the system combines the advantages of equipment and decision making software to carry out prescription map generation and research on guiding variable work of pesticide application equipment, and use and popularization are facilitated.

Description

Airborne variable pesticide application system and method of agricultural unmanned aerial vehicle

technical field

The invention relates to the technical field of agricultural pesticide application, in particular to an agricultural drone airborne variable pesticide application system and method.

Background technique

China is a large agricultural country, and its pesticide production technology has reached the international advanced level, but the current situation of pesticide use technology is seriously backward and its rapid development of pesticide level is extremely disproportionate. The irrational use of pesticides has caused a series of negative effects and has become a restrictive factor for the development of my country's agricultural economy. At present, the development of agricultural equipment such as drones is very rapid, and research on variable spraying is carried out through hardware innovations. However, the current airborne pesticide application system does not have the functions of field positioning and prescription map information execution. Sufficient information on pests and weeds is supported, which makes it impossible to achieve real precision drug use in the actual application process, and the control effect is not obvious or even inferior to traditional spraying methods; Although these research results have played an important guiding role in the actual application process and greatly improved the efficiency of drug use, but because their design and application are only limited to providing information to the operator, they have not participated in the actual application process. Therefore, the best control effect cannot be achieved. Moreover, there are very few studies on the instant automatic spraying system combining these two parts.

Contents of the invention

(1) Technical problems to be solved

The technical problem to be solved by the present invention is to provide an agricultural UAV airborne variable pesticide application system and method, so that the functions of intelligent decision-making, automatic positioning, and precise pesticide application can be realized.

(2) Technical solutions

In order to solve the above-mentioned technical problems, the present invention provides an airborne variable pesticide application system for agricultural drones, which includes:

An unmanned aerial vehicle, which is equipped with a prescription map aerial drug application system, and the prescription map aerial drug application system is used to make a decision on the prescription of the unmanned aerial vehicle, and sends the decision signal to the A lower computer, the lower computer is used to dynamically adjust the spraying mechanism of the drone online;

A monitoring center, the monitoring center is used to monitor the operating speed and drift of the drone;

A GPS positioning mechanism, the GPS positioning mechanism communicates with the host computer for locating the geographic location of the drone;

A weather station, the weather station is used to provide weather information for the operation of the drone, and sends it to the host computer through multiple first wind speed and direction instruments.

Wherein, the spraying mechanism includes a medicine box, a DC pump, a high-frequency solenoid valve, and a centrifugal atomizing disc nozzle connected in sequence; the centrifugal atomizing disc nozzle is arranged on the spray rod at the top of the drone for Responding to the decision signal to adjust its rotational speed and droplet size.

Wherein, the spray boom is provided with a second wind speed and direction instrument, and the second wind speed and wind direction instrument is connected with the host computer through communication, and is used to detect the wind field around the nozzle of the centrifugal atomizing disc.

Wherein, multiple channels of the first anemometers are correspondingly installed in different work areas on the ground.

Wherein, the first anemometer and the host computer are connected by wireless communication.

Wherein, a remote control device is also included, and a wireless communication connection is adopted between the remote control device and the UAV, and is used to control the spraying operation posture of the UAV.

Wherein, the host computer is externally connected with a mobile storage device, and the mobile storage device is used to carry information about a drug application prescription map for the prescription map aerial drug delivery system to make a decision on drug application prescriptions.

Wherein, the mobile storage device is a USB flash drive.

The present invention also provides a method of using the agricultural drone airborne variable pesticide application system, which includes the following steps:

S1. Read the drug application prescription map information through the host computer, and obtain the GPS signal after the drone is lifted into the air to determine the amount of drug application at the current coordinate position;

S2. According to the meteorological information obtained by the first wind speed and direction instrument and the second wind speed and direction instrument, the prescription map aviation spraying system completes the decision-making of the spraying prescription of the drone, and sends the decision signal to the lower computer through the upper computer;

S3. Adjust the spraying mechanism of the drone online through the lower computer, so that the nozzle of the centrifugal atomizing disc responds to the decision signal to adjust its own speed and the particle size of the atomized droplets, and finally make the droplets fall into the preset position on the ground area.

Wherein, the method further includes step S4: monitoring the operating speed and drift of the UAV through the monitoring center, so as to correct the information of the prescription map online.

(3) Beneficial effects

The above-mentioned technical solution of the present invention has the following beneficial effects: the present invention provides an airborne variable pesticide application system and method of an agricultural drone, and the intelligent decision-making of variable pesticide application can be realized through the prescription chart aerial pesticide application system, which can be used for different fields in the field. Differential application of pesticides at different positions and different wind speeds at different time points can solve the serious drift of drone spraying due to different wind speeds, thereby reducing pesticide drift and improving effective utilization, which is conducive to popularization and application.

Description of drawings

Fig. 1 is a schematic structural view of an agricultural drone airborne variable pesticide application system according to an embodiment of the present invention;

Fig. 2 is the working status chart of agricultural unmanned aerial vehicle airborne variable pesticide application system of the embodiment of the present invention;

Fig. 3 is the principle block diagram of agricultural UAV airborne variable pesticide application system according to the embodiment of the present invention;

Fig. 4 is a flow chart of the control of the centrifugal atomizing disc spray head according to the embodiment of the present invention.

Among them, 1: medicine box; 2: DC pump; 3: lower computer; 4: upper computer; 5: prescription map aviation spraying system; 6: GPS positioning mechanism; 7: first wind speed and direction instrument; 8: high-frequency electromagnetic Valve; 9: Centrifugal atomizing disc nozzle; 10: Second anemometer; 11: UAV; 12: Wind direction.

detailed description

Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", "inner ", "outside", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

As shown in Figures 1-4, the agricultural drone airborne variable pesticide application system provided by this embodiment includes a drone 11, and a prescription map aerial pesticide application system 5 is installed on the drone 11. The medicine dispensing system 5 is used to make a decision on the medicine application prescription for the UAV 11, and sends the decision signal to the lower computer 3 through the host computer 4, and the lower computer 3 is used for online dynamic adjustment of the medicine dispensing mechanism of the UAV 11 The system also includes a monitoring center, which is used to monitor the operating speed and drift of the unmanned aerial vehicle 11; The geographic location of the man-machine 11; the system also includes a weather station, which is used to provide weather information for the operation of the UAV 11, and sends it to the host computer 4 through the multi-channel first anemometer 7.

Specifically, as shown in Figure 3, the prescription map aerial pesticide application system 5 is installed on the UAV 11, which can realize system management, farmer management, flight parameters, farmland data, pesticide application model, instruction support, operation query, decision-making, etc. Support, data communication, status monitoring, program download and other eleven functions. Divided according to different authorities, the prescription map aerial drug application system 5 is installed on the drone 11 as the control core of the variable drug application of the UAV 11 to realize the decision-making of autonomous drug application prescriptions under the condition of unmanned monitoring.

The monitoring center monitors the operating speed and drift of the drone 11, and can issue commands through simulated wind speed signals to test the response of the drone 11 to spray control parameters under windy weather conditions. At the same time, it analyzes and evaluates the data of missing spraying and drift overlapping areas, and realizes online correction of prescription maps.

At the same time, farmers can query the video to obtain the operation quality of their own plots. According to different permissions, farmers can query their own plot data to obtain the spraying quality of their own plots.

The meteorological information provided by the weather station for the operation of the UAV 11 can be sent to the host computer 4 through the multi-channel anemometer, which becomes the decision basis of the host computer 4 . The upper computer 4 sends the decision signal to the lower computer 3 to realize online dynamic adjustment. Correspondingly, the multi-channel first anemometers 7 are correspondingly arranged in different work areas on the ground. Preferably, the first anemometer 7 and the host computer 4 are connected by wireless communication.

In addition, the spraying mechanism includes a medicine box 1, a DC pump 2, a high-frequency solenoid valve 8, and a centrifugal atomizing disc nozzle 9 that are connected in sequence; In response to the decision signal to adjust its rotational speed and droplet size. The centrifugal atomizing disc nozzle 9 can respond to the signal of the host computer 4, and realize the adjustment of its rotating speed and droplet size, thereby effectively eliminating the influence of wind speed on the droplet drift.

In addition, a second anemometer 10 (miniature anemometer) is provided on the spray boom, and the second anemometer 10 communicates with the host computer 4 to detect the wind field around the nozzle 9 of the centrifugal atomizing disc. In other words, the miniature anemometer is fixed on the spray boom to detect the wind field near the nozzle after the airframe wind field is coupled with the crosswind, and to provide auxiliary calibration for the decision-making system. At the same time, the high-frequency solenoid valve 8 can quickly adjust the rotation speed of each atomizing disc, so as to realize the width change and width combination of different nozzles at different wind speeds, and eliminate the influence of drift on spraying.

The airborne variable spraying system of the agricultural UAV also includes a remote control device, and the remote control device and the UAV 11 are connected by wireless communication for controlling the spraying attitude of the UAV 11 . The aircraft operator can adjust the aircraft in an emergency through the wireless communication device and the handheld terminal. During normal operation, the automatic mode can be selected, and manual operation is not required at this time; of course, manual operation can also be performed on the drone 11 on the ground. Manual and automatic attitude adjustment can force the UAV 11 to stop working and return automatically or manually. It can also plan the flight route in advance, directly import it into the prescription map, or temporarily modify the flight route, and download it wirelessly after authorization. In the unmanned aerial vehicle 11, a new route is started and the work is performed.

Of course, the upper computer 4 can also be connected with a mobile storage device, and the mobile storage device is used to carry the medicine prescription map information for the prescription map aerial medicine dispensing system 5 to make a decision on the medicine prescription. Further, the mobile storage device is a USB flash drive. The prescription map and operation data can be stored in the U disk to realize fast operation, and the data monitoring information of the operation can be quickly downloaded to the U disk to realize the portable management of information after spraying.

The present invention also provides a method of using the above-mentioned agricultural drone airborne variable pesticide application system, which includes the following steps:

S1. Read the drug application prescription map information through the host computer, and obtain the GPS signal after the drone is lifted into the air to determine the amount of drug application at the current coordinate position;

S2. According to the meteorological information obtained by the first wind speed and direction instrument and the second wind speed and direction instrument, the prescription map aviation spraying system completes the decision-making of the spraying prescription of the drone, and sends the decision signal to the lower computer through the upper computer;

S3. Adjust the spraying mechanism of the drone online through the lower computer, so that the nozzle of the centrifugal atomizing disc responds to the decision signal to adjust its own speed and the particle size of the atomized droplets, and finally make the droplets fall into the preset position on the ground area.

The method also includes step S4: monitoring the operating speed and drift of the UAV through the monitoring center, so as to correct the information of the medicine prescription map online.

Specifically, when spraying medicine, first save the spraying prescription map information into the U disk or download it to the spraying host computer through other wireless methods, and then after the drone is lifted into the air, it can automatically obtain the GPS signal to read the spraying information at the current location. According to the meteorological data sent by the wind speed and wind direction sensors of different operating areas arranged on the ground, the upper computer calculates the drifted drug amount and position according to the simulation software and test results, and then adjusts the atomization disc to use the most The optimal atomization adjustment software eliminates the influence of droplet drift, and the wind direction changes at any time. When a certain threshold is reached, the decision-making system will automatically perform another adjustment cycle to realize the application of variable prescription maps under different time stamps. The specific decision-making calculation is: the formula for calculating the income SY of spraying per unit area of drone spraying is as follows:

Y——yield per unit area without pests and weeds, kg/m ² ; L—predicted yield loss rate of crops, %; Pc—unit price of crops, yuan/kg; Q——application of pesticides per unit area Amount, l/m2; Pp—unit price of pesticide, yuan/l; E——chemical control efficiency (0～1); Ep—cost of construction, yuan/m ² ; Loss cost, yuan/m ² .

As shown in Figure 2-4, for example: First, the GPS coordinates are used as the baseline, and the dosage information of the prescription map is also associated with the GPS. After reading the prescription map, the current position and current altitude of the aircraft may be obtained. The spraying amount of the point coordinates that automatically fall on the crops, the operation area is divided into P, L, R, and S areas, and the L and R areas are related to the forward speed of the aircraft and the initial velocity of the droplets, such as the position of the aircraft in the air When it is above the L2 and R2 areas, its drop point should be in the L1 and R1 area. When there is a crosswind (wind direction 12 shown in Figure 2) blowing from the right, as shown in the figure, its drop point It will change, respectively in the P1 and L1 areas. At this time, the wind speed information (including the wireless wind speed and direction and the wind speed and direction of the fuselage) is obtained through the wireless wind speed sensor and the wind speed sensor of the fuselage, and the position of the drop point is corrected by changing the spraying control parameters. , so that it falls as much as possible in the L1 and R1 areas, different drop points will affect the deposition of the drug droplets, and then the control system changes the droplet particle size (the particle size is increased when the wind speed is large) and the drug amount according to the location of the drug droplet deposition. , The rotation speed of the atomization disk (the rotation speed of the atomization disk on the side close to the upper air outlet is accelerated) to make the droplets fall within the ideal range as much as possible, so as to realize scientific and reasonable application.

In summary, based on the prescription map technology, the present invention discloses a light-duty agricultural UAV airborne variable pesticide application system and method, which adopts an intelligent decision-making method to carry out differential application of pesticides for different positions in the field, and for wind speeds at different time points. Differentiated pesticide application solves the serious drift of drone spraying due to different wind speeds, reduces pesticide drift and improves the effective utilization rate. This invention aims at variable spraying and combines the advantages of equipment and decision-making software to generate prescription maps. And it guides the research on the variable operation of spraying equipment, and realizes the decision support system with software, which is beneficial to popularization and application.

The embodiments of the present invention have been presented for purposes of illustration and description, but are not intended to be exhaustive or to limit the invention to the form disclosed. Many modifications and changes will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention and design various embodiments with various modifications as are suited to the particular use.

Claims (8)

1. a kind of agricultural unmanned aerial vehicle onboard variable farm chemical applying system, it is characterised in that include：

Unmanned plane, is provided with prescription map aerial pesticide system on the unmanned plane, it is right that the prescription map aerial pesticide system is used for The unmanned plane carries out the decision-making of dispenser prescription, and decision signal is sent to into slave computer by host computer, and the slave computer is used Online dynamic regulation is carried out in the administering mechanism to the unmanned plane；

Monitoring center, the monitoring center is used to be monitored the operating speed and drift situation of the unmanned plane；

GPS location mechanism, the GPS location mechanism is connected with the upper machine communication, for positioning the geography of the unmanned plane Position；

Weather station, the weather station is used to provide weather information for the unmanned machine operation, and by the wind speed and direction of multichannel first Instrument is sent to the host computer；

The administering mechanism includes medicine-chest, straightway pump, high-frequency electromagnetic valve and the centrifugal atomizing disk shower nozzle being sequentially connected；The centrifugation Atomizing disk shower nozzle is arranged on the spray boom at the top of the unmanned plane, for responding the decision signal to adjust its rotating speed and droplet Particle diameter；

The second anemoclinograph is provided with the spray boom, second anemoclinograph is connected with the upper machine communication, is used Wind field situation around the detection centrifugal atomizing disk shower nozzle.

2. agricultural unmanned aerial vehicle onboard variable farm chemical applying system according to claim 1, it is characterised in that the first wind described in multichannel Fast anemoscope is correspondingly arranged at respectively the different operating area in ground.

3. agricultural unmanned aerial vehicle onboard variable farm chemical applying system according to claim 2, it is characterised in that first wind speed and wind Connected using wireless telecommunications between host computer described in Xiang Yiyu.

4. agricultural unmanned aerial vehicle onboard variable farm chemical applying system according to claim 1, it is characterised in that also fill including remote control Put, connected using wireless telecommunications between the remote control unit and the unmanned plane, for the spray drug operation appearance to the unmanned plane State is controlled.

5. agricultural unmanned aerial vehicle onboard variable farm chemical applying system according to claim 1, it is characterised in that the host computer is external There is movable storage device, the movable storage device is used to carry dispenser prescription map information, for the prescription map aerial pesticide System carries out the decision-making of dispenser prescription.

6. agricultural unmanned aerial vehicle onboard variable farm chemical applying system according to claim 5, it is characterised in that the mobile storage sets Standby is USB flash disk.

7. the method for the agricultural unmanned aerial vehicle onboard variable farm chemical applying system any one of a kind of employing claim 1-6, it is special Levy and be, comprise the steps：

S1, dispenser prescription map information is read by host computer, and gps signal is obtained after unmanned plane lift-off determining changing coordinates The formulation rate of position；

S2, the weather information obtained according to the first anemoclinograph, the second anemoclinograph, prescription map aerial pesticide system is completed Decision-making to unmanned plane dispenser prescription, and decision signal is sent to by slave computer by host computer；

S3, by the administering mechanism of slave computer on-line control unmanned plane, make centrifugal atomizing disk shower nozzle Response Decision signal to adjust Its own rotating speed and the mist droplet particle size being atomized, the predeterminable area for finally making droplet fall on ground.

8. according to the method described in claim 7, it is characterised in that also including step S4：By monitoring center to unmanned plane Operating speed and drift situation be monitored, to carry out on-line amending to dispenser prescription map information.