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

Airborne variable pesticide application system and method for agricultural unmanned aerial vehicle Download PDF

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Publication number
CN105197243B
CN105197243B CN201510608705.6A CN201510608705A CN105197243B CN 105197243 B CN105197243 B CN 105197243B CN 201510608705 A CN201510608705 A CN 201510608705A CN 105197243 B CN105197243 B CN 105197243B
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unmanned plane
aerial vehicle
unmanned aerial
dispenser
prescription map
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CN105197243A (en
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赵春江
马伟
王秀
邹伟
王松林
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Beijing Research Center for Information Technology in Agriculture
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Beijing Research Center for Information Technology in Agriculture
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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

A kind of agricultural unmanned aerial vehicle onboard variable farm chemical applying system and method
Technical field
The present invention relates to agriculture pesticide application technology field, more particularly to a kind of agricultural unmanned aerial vehicle onboard variable farm chemical applying system and side Method.
Background technology
China is a large agricultural country, and pesticide production technology has been in international most advanced level, but technique in using agriculture chemical is serious Backward present situation is unbecoming with the pesticide water mean pole of its high speed development.The unreasonable use of pesticide causes a series of negative shadow Ring, have become the restraining factors of China's agro based economic development.At present, the development of the agricultural equipment such as unmanned plane is very fast, passes through Hardware aspect innovation is studied variable spray, but current airborne dispenser system does not carry out field positioning and prescription map letter The function that breath is performed, because the control system of agricultural equipment lacks enough disease pest and weed Informational supports, this is caused in reality In application process and not up to real accurate medication, prevention effect is not substantially even such as traditional application method;Additionally, other Plant protection work person diagnoses to disease pest and weed, prediction and distribution situation carry out substantial amounts of research, although these achievements in research are in reality Dispenser process serve important directive function, and substantially increase medication efficiency, but due to their design application all only It is confined to provide information to operator, actual dispenser control is not engaged in, so being also unable to reach optimal prevention effect.And And, the research of the instant automatization's pesticide spraying system for combining for this two parts at present is even more few.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention there is provided a kind of agricultural unmanned aerial vehicle onboard variable farm chemical applying system and method, make Can realize intelligent decision, be automatically positioned, the function of accuracy pesticide applying.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of agricultural unmanned aerial vehicle onboard variable farm chemical applying system, its bag Include:
Unmanned plane, is provided with prescription map aerial pesticide system on the unmanned plane, the prescription map aerial pesticide system is used In the decision-making that dispenser prescription is carried out to the unmanned plane, and decision signal is sent to by slave computer, the bottom by host computer Machine is used to carry out online dynamic regulation to the administering mechanism of 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 unmanned plane Geographical position;
Weather station, the weather station is used to provide weather information for the unmanned machine operation, and by the wind speed of multichannel first Anemoscope is sent to the host computer.
Wherein, the administering mechanism includes medicine-chest, straightway pump, high-frequency electromagnetic valve and the spray of centrifugal atomizing disk being sequentially connected Head;The centrifugal 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 mist droplet particle size.
Wherein, the second anemoclinograph is provided with the spray boom, second anemoclinograph is logical with the host computer News connection, for detecting the wind field situation around the centrifugal atomizing disk shower nozzle.
Wherein, the first anemoclinograph described in multichannel is correspondingly arranged at respectively the different operating area in ground.
Wherein, connected using wireless telecommunications between first anemoclinograph and the host computer.
Wherein, also including remote control unit, connected using wireless telecommunications between the remote control unit and the unmanned plane, be used for The spray drug operation attitude of the unmanned plane is controlled.
Wherein, the host computer is circumscribed with movable storage device, and the movable storage device is used to carry dispenser prescription map Information, so that the prescription map aerial pesticide system carries out the decision-making of dispenser prescription.
Wherein, the movable storage device is USB flash disk.
The present invention also provides a kind of method using described agricultural unmanned aerial vehicle onboard variable farm chemical applying system, and it includes as follows Step:
S1, dispenser prescription map information is read by host computer, and it is current to determine to obtain gps signal after unmanned plane lift-off The formulation rate of coordinate position;
S2, the weather information obtained according to the first anemoclinograph, the second anemoclinograph, prescription map aerial pesticide system The decision-making to unmanned plane dispenser prescription is completed, 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 with Adjust its own rotating speed and the mist droplet particle size being atomized, the predeterminable area for finally making droplet fall on ground.
Wherein, the method also includes step S4:The operating speed and drift situation of unmanned plane are carried out by monitoring center Monitoring, to carry out on-line amending to dispenser prescription map information.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the advantages that:The invention provides a kind of agricultural unmanned aerial vehicle onboard becomes Amount dispenser system and method, by prescription map aerial pesticide system the intelligent decision to variable farm chemical applying is realized, can be for field not Difference dispenser is carried out with position, for different time points wind speed differentiation dispenser is carried out, solution is caused because wind speed is not of uniform size Unmanned plane dispenser drift is serious, so as to reducing pesticide drift and improving effective rate of utilization, beneficial to popularization and application.
Description of the drawings
Fig. 1 is the structural representation of the agricultural unmanned aerial vehicle onboard variable farm chemical applying system of the embodiment of the present invention;
Fig. 2 is the working state figure of the agricultural unmanned aerial vehicle onboard variable farm chemical applying system of the embodiment of the present invention;
Fig. 3 is the functional-block diagram of the agricultural unmanned aerial vehicle onboard variable farm chemical applying system of the embodiment of the present invention;
Fig. 4 is the control flow chart of embodiment of the present invention centrifugal atomizing disk shower nozzle.
Wherein, 1:Medicine-chest;2:Straightway pump;3:Slave computer;4:Host computer;5:Prescription map aerial pesticide system;6:GPS location Mechanism;7:First anemoclinograph;8:High-frequency electromagnetic valve;9:Centrifugal atomizing disk shower nozzle;10:Second anemoclinograph;11:Nobody Machine;12:Wind direction.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following examples are used for The present invention is illustrated, but can not be used for limiting the scope of the present invention.
In describing the invention, it should be noted that unless otherwise stated, " multiple " be meant that two or two with On;Term " on ", D score, "left", "right", " interior ", " outward ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody " Or position relationship is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify description, and Be not indicate or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore It is not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for describing purpose, and can not It is interpreted as indicating or implying relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or integratedly connect Connect;Can be mechanically connected, or electrically connect;Can be joined directly together, it is also possible to be indirectly connected to by intermediary.It is right For one of ordinary skill in the art, visual concrete condition understands above-mentioned term concrete meaning in the present invention.
As Figure 1-4, the agricultural unmanned aerial vehicle onboard variable farm chemical applying system that the present embodiment is provided, it includes unmanned plane 11, Prescription map aerial pesticide system 5 is installed on unmanned plane 11, prescription map aerial pesticide system 5 is used to apply unmanned plane 11 The decision-making of effective prescription, and decision signal is sent to by slave computer 3 by host computer 4, slave computer 3 is used for the dispenser to unmanned plane 11 Mechanism carries out online dynamic regulation;The system also includes monitoring center, monitoring center be used for the operating speed of unmanned plane 11 and Drift situation is monitored;The system also includes GPS location mechanism 6, and GPS location mechanism 6 is connected with the communication of host computer 4, is used for The geographical position of positioning unmanned plane 11;The system also includes weather station, and weather station is used to provide meteorological letter for the operation of unmanned plane 11 Breath, and host computer 4 is sent to by the first anemoclinograph of multichannel 7.
Specifically, as shown in figure 3, installing prescription map aerial pesticide system 5, feasible system pipe on unmanned plane 11 Reason, peasant household's management, flight parameter, farm field data, dispenser model, instruction support, operation inquiry, decision support, data communication, shape A kind of function of state monitoring, download program etc. ten.Divided according to different rights, prescription map aerial pesticide system 5 is used as nobody The control core of the variable farm chemical applying of machine 11, on unmanned plane 11, realizes the decision-making of autonomous dispenser prescription under the conditions of no worker monitor.
Surveillance center is monitored to the operating speed of unmanned plane 11 and drift situation, can be sent by simulating wind velocity signal Instruction, tests unmanned plane 11 and the spraying control parameter under strong wind meteorological condition is responded.Simultaneously to drain spray, the number of drift overlay region According to being analyzed and assessing, the on-line amending of prescription map is realized.
Meanwhile, peasant household can inquire about the operation quality that video recording obtains oneself plot of correspondence, different according to authority, and peasant household can inquire about The plot data of oneself, obtain the sprinkling quality in oneself plot.
Weather station can be sent to host computer 4 for the weather information that the operation of unmanned plane 11 is provided by multichannel anemoclinograph, Become the decision-making foundation of host computer 4.The decision signal of host computer 4 is sent to slave computer 3, realizes online dynamic regulation.It is corresponding, it is many The first anemoclinograph of road 7 is correspondingly arranged at respectively the different operating area in ground.Preferably, the first anemoclinograph 7 with it is upper Connected using wireless telecommunications between the machine 4 of position.
Additionally, the administering mechanism includes medicine-chest 1, straightway pump 2, high-frequency electromagnetic valve 8 and the spray of centrifugal atomizing disk being sequentially connected 9;Centrifugal atomizing disk shower nozzle 9 is arranged on the spray boom at the top of unmanned plane 11, for Response Decision signal with adjust its rotating speed and Mist droplet particle size.Centrifugal atomizing disk shower nozzle 9 can respond the signal of host computer 4, and realize the regulation of its rotating speed and droplet size, so as to Effectively eliminate the impact that wind speed drifts about to droplet.
Additionally, being additionally provided with the second anemoclinograph 10 (minisize wind speed anemoscope), the second anemoclinograph 10 on spray boom It is connected with the communication of host computer 4, for detecting the wind field situation around centrifugal atomizing disk shower nozzle 9.In other words, minisize wind speed anemoscope It is fixed on spray boom, for the wind field situation after detecting fuselage wind field and crosswind coupling near shower nozzle, for decision system Provided auxiliary is calibrated.Meanwhile, high-frequency electromagnetic valve 8 is capable of achieving the velocity of rotation of each road atomizing disk of quick regulation, to realize difference The fabric width change under different wind speed of shower nozzle and fabric width combination, eliminate impact of the drift to dispenser.
The agricultural unmanned aerial vehicle onboard variable farm chemical applying system also includes remote control unit, adopts between remote control unit and unmanned plane 11 Wireless telecommunications connect, for being controlled to the spray drug operation attitude of unmanned plane 11.Air vehicle operator can be filled by wireless telecommunications Put and handheld terminal is in case of emergency adjusted to aircraft, automatic mode is may be selected during normal operation, now without the need for artificial Operation;Certainly, manually also manual adjust automatically can be carried out in the face of the spray drug operation attitude of unmanned plane 11 on ground, unmanned plane can be forced 11 stop operation, and auto-returned or artificial operation are returned, and also can in advance plan the line of flight, in being introduced directly into prescription map, or Person changes the line of flight temporarily, wirelessly downloads to after mandate in unmanned plane 11, starts new course line and is made Industry.
Certainly, host computer 4 can also be circumscribed with movable storage device, and movable storage device is used to carry dispenser prescription map letter Breath, so that prescription map aerial pesticide system 5 carries out the decision-making of dispenser prescription.Further, movable storage device is USB flash disk.Prescription Figure and work data are storable in the existing sharp work of USB flash disk interior-excess, and the data monitoring information of operation can be downloaded to quickly in USB flash disk, Realize the portable management of the information after dispenser.
The present invention also provides a kind of method using above-mentioned agricultural unmanned aerial vehicle onboard variable farm chemical applying system, and it includes following step Suddenly:
S1, dispenser prescription map information is read by host computer, and it is current to determine to obtain gps signal after unmanned plane lift-off The formulation rate of coordinate position;
S2, the weather information obtained according to the first anemoclinograph, the second anemoclinograph, prescription map aerial pesticide system The decision-making to unmanned plane dispenser prescription is completed, 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 with Adjust its own rotating speed and the mist droplet particle size being atomized, the predeterminable area for finally making droplet fall on ground.
The method also includes step S4:The operating speed and drift situation of unmanned plane are monitored by monitoring center, To carry out on-line amending to dispenser prescription map information.
Specifically, first dispenser prescription map information is stored in USB flash disk or is downloaded to by other wireless modes during dispenser and applied Medicine host computer, then after unmanned plane lift-off, by automatically obtaining gps signal, reads the formulation rate of current location, then base area The meteorological data that the wind speed and direction sensor of the different work cell of face arrangement sends, host computer is according to simulation softward and examination Test after result is calculated the dose and location records of drift to get off, the atomization for adjusting atomizing disk to adopt optimum adjusts software To eliminate the impact of droplet drift, wind direction changes at any time, and after certain threshold value is reached, decision system can automatically carry out other one Individual regulating cycle, realizes the variable prescription map dispenser under different time stamp.Concrete decision-making computing is:Unmanned plane dispenser unit area The computing formula of dispenser income SY is as follows:
Y --- without the yield per unit area in the case of disease pest and weed, kg/m2;The crop yield loss of L --- prediction Rate, %;The unit price of Pc --- crop, unit/kg;The formulation rate of Q --- unit area, l/m2;Pp --- pesticide unit price, unit/l; E --- chemical control efficiency (0~1);Ep --- cost, unit/m2;Eo --- droplet drift is to periphery crop and people and animals' loss Expense, unit/m2
As in Figure 2-4, illustrate:Be first using gps coordinate as baseline, the formulation rate information of prescription map also and GPS is associated, read after prescription map or aircraft current location and present level medicine are dropped in and automatically fallen on crop under calm condition Position point coordinates formulation rate, operating area is divided into P, L, R, S region, L therein and Zone R domain and aircraft pace with And the initial velocity of droplet is relevant, for example on L2 and R2 regions during null point, its droplet drop point should be in L1 and R1 for Aircraft Air position Region, when there is crosswind (wind direction 12 shown in Fig. 2) to blow from right side, as shown in FIG., its drop point can change, respectively in P1 and L1 regions, now obtain wind speed information (including wireless wind speed wind in the air velocity transducer by wireless wind speed sensor and fuselage To with fuselage wind speed and direction), have modified the position of drop point by changing dispenser control parameter so that fall as far as possible in L1 and R1 areas Domain, different drop point can affect the deposition that medicine drips, and then control system drips the location point of deposition by changing droplet grain according to medicine Footpath (particle diameter is tuned up when wind speed is big) and dose, atomizing disk rotating speed (near the side atomizing disk faster rotational speed of uptake) are causing mist Drop falls as far as possible in the ideal range, realizes scientific and reasonable dispenser.
In sum, the present invention discloses a kind of light type agricultural unmanned aerial vehicle onboard variable farm chemical applying system based on prescription diagram technology And method, using the method for intelligent decision, difference dispenser is carried out for field diverse location, carry out for different time points wind speed Differentiation dispenser, solution causes unmanned plane dispenser drift serious because wind speed is not of uniform size, reduces pesticide drift and improves effective Utilization rate, the present invention, with reference to equipment and the two-part advantage of decision-making software, carries out prescription map generation and its refers to for variable spray The research of spray equipment variable operation is led, real off the shelf software realizes the DSS, beneficial to popularization and application.
Embodiments of the invention in order to example and description for the sake of and be given, and be not exhaustively or by this It is bright to be limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Choosing It is to more preferably illustrate the principle and practical application of the present invention, and making one of ordinary skill in the art to select and describe embodiment It will be appreciated that the present invention is so as to designing the various embodiments with various modifications for being suitable to special-purpose.

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.
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