CN106094532A - A kind of agricultural unmanned plane spraying system self-checking device and control method - Google Patents
A kind of agricultural unmanned plane spraying system self-checking device and control method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a kind of agricultural unmanned plane spraying system self-checking device and control method, device includes current state acquisition module, condition judgment module, job parameter acquisition module, processes computing unit, instruction acquisition module and perform control module；After described condition judgment module judges that the job state of the current agricultural unmanned plane that described current state acquisition module obtains is predetermined state, unmanned plane during flying height and the airspeed information of acquisition are sent to described process computing unit by parameter acquisition module, process computing unit by control instruction being sent to after calculating execution control module, described execution control module is adjusted spraying assembly according to received instruction, thus completes spraying swath size and the regulation spraying flow.Present invention, avoiding due to flying height or unstable and cause the generation of the situations such as spray many to crops, few spray or drain spray when spraying operation, it is ensured that spray working performance and the prevention effect of operation, there is the biggest economic outlook.
Description
Technical field
The present invention relates to agricultural aviation plant protection field, particularly to a kind of agricultural unmanned plane spraying system self-checking device
And control method.
Background technology
In recent years, have that operating cost is low, assault ability strong, operation safety owing to agricultural unmanned plane sprays, and not by agriculture
The advantages such as the restriction of crop growing state, spray operating type as the aviation of one of the important symbol of agricultural aviation and have obtained rapidly should
With and development.
Along with agricultural unmanned plane sprays the gradually expansion of range of application, agricultural unmanned plane aviation sprays some drawbacks of mode
With shortcoming coming out the most gradually, wherein, the mist droplet deposition effect that unmanned plane sprays has become restriction unmanned plane and has led in agricultural
Territory application and the bottleneck of development.Owing to during agricultural unmanned plane operation, flying height and flight speed are difficult to keep stable, and spray
The spraying swath of system and flow can not occur corresponding change according to the change of its job parameter, cause the mist droplet deposition sprayed in agriculture
Crop surface is the most uneven, easily causes the many sprays to crops, few spray, even drain spray, it is difficult to reach preferable prevention effect,
Cause the economic loss of peasant household.
Summary of the invention
Present invention is primarily targeted at the shortcoming overcoming prior art with not enough, it is provided that a kind of agricultural unmanned plane sprays and is
System self-checking device and control method, present invention employs the method being automatically adjusted spraying swath and flow, it is to avoid due to
The instability of operation height when agricultural unmanned plane carries out spraying operation and cause spraying system spray many to crops, few spray or drain spray
Generation etc. situation, it is ensured that agricultural unmanned plane sprays working performance and the prevention effect of operation.
In order to achieve the above object, the present invention is by the following technical solutions:
The invention provides a kind of agricultural unmanned plane spraying system self-checking device, including current state acquisition module,
Condition judgment module, job parameter acquisition module, process computing unit, instruction acquisition module and execution control module；Described shape
After state judge module judges that the job state of the current agricultural unmanned plane that described current state acquisition module obtains is predetermined state,
Unmanned plane during flying height and the airspeed information of acquisition are sent to described process computing unit by described parameter acquisition module, place
Reason computing unit by being sent to execution control module by control instruction after calculating, described execution control module is according to received
Instruction be adjusted spraying assembly, thus complete spraying swath size and the regulation spraying flow.
As preferred technical scheme, described current state acquisition module, for obtaining what agricultural unmanned plane was presently in
Status information, current state information includes treating that takeoff condition, positive takeoff condition, pre-job state, positive job state, operation complete
State and landing state, wherein, predetermined state is pre-job state and just any one in job state.
As preferred technical scheme, described condition judgment module is for judging currently without whether man-machine state is predetermined
State, if current state is described predetermined state, under described parameter acquisition module acquisition current work state, unmanned plane flies
Line height and airspeed information, and send information to process computing unit；If current state is not described predetermined state,
Described current state acquisition module reacquires the current state information of unmanned plane, processes computing unit and does not produce regulation and control instruction.
As preferred technical scheme, described process computing unit for obtain currently without man-machine flying height and fly
Line speed information and generate the regulation and control instruction spraying assembly, wherein, regulation and control instruction mainly includes spraying swath size and spray stream
The regulating command of amount size.
Further, the generating principle of described regulation and control instruction includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents in unit interval t
Droplet sprays total amount, and L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula
(2), (3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays operation when unmanned plane aviation
Flying height is h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on uniformly
In the range of spraying swath；When flying height reduces, for avoiding unmanned plane lower zone that drain spray occurs, spraying swath should be adjusted and diminish, flow
Also should reduce accordingly；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone that few spray occurs,
The flow of spraying system should be increased accordingly；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, spraying system should be reduced accordingly
Flow or increase spraying system spraying swath；When flight speed increases, for avoiding unmanned plane lower zone that few spray, Ying Xiang occur
The flow of spraying system should be increased.
As preferred technical scheme, the regulation and control that described instruction acquiring unit is generated for obtaining process computing unit refer to
Order, and its regulation and control instruction is sent to described execution control module.
As preferred technical scheme, described execution control module is for the regulation and control sent according to described instruction acquisition module
Instruction performs to regulate and control accordingly action, and wherein, regulation and control action mainly includes moving spraying swath size and the regulation spraying uninterrupted
Make, particularly as follows:
Set prearranged altitude h0, flight speed v0, job parameter acquisition module obtains and flies described in current flight parameter
Parameter includes that flying height h, flight speed v, spraying swath size and the regulation process spraying uninterrupted include:
As real-time flight height h > h0Or h < h0、v>v0Or v < v0Time, process computing unit and produce bar spray assembly and sprinkling
The regulating command of system, instruction acquisition module acquisition processes the instruction that computing unit produces, and is sent to perform control module, holds
Bar spray assembly and sprinkling system are regulated in real time by row control module according to command adapted thereto, it is achieved spraying swath and the increase of flow or
Reduce.
Present invention also offers the control method of a kind of agricultural unmanned plane spraying system self-checking device, including following step
Rapid:
After the most agricultural unmanned plane takes off, described current state acquisition module obtains the status information of current agricultural unmanned plane；
B., after obtaining status information, described condition judgment module judges whether current agricultural unmanned plane state is predetermined shape
State, the most pre-job state or just at job state, if current state is not described predetermined state, described current state obtains mould
Block reacquires the current state information of unmanned plane, processes computing unit and does not produce regulation and control instruction；
C. if current state is described predetermined state, described parameter acquisition module obtains unmanned plane under current work state
Flying height and airspeed information, and parameter information is sent to process computing unit；
The most described process computing unit generates corresponding regulation and control instruction according to the job parameter information of unmanned plane；
The most described instruction acquiring unit acquisition processes the regulation and control instruction that computing unit is generated, and its regulation and control instruction is sent
To described execution control module；
The most described execution control module performs to regulate and control action accordingly according to the regulation and control instruction that instruction acquisition module sends, complete
Spraying swath size and the real-time regulation spraying uninterrupted in pairs；
G. changing such as flying height and flight speed, described adjusting means repeats above step and is adjusted.
As preferred technical scheme, in described step b, condition judgment module is judged currently without man-machine by following method
Whether it is predetermined state:
Set treat the logical value of takeoff condition, positive takeoff condition, Job completion status and landing state as 0, and predetermined shape
The logical value of state is 1, and described predetermined state includes pre-job state and positive job state, condition adjudgement variable n and state logic
It is worth recycle ratio relatively:
When condition adjudgement variable n ≠ 1, condition adjudgement variable continues compared with next stage logical value, until finding
Condition adjudgement variable n=1；As condition adjudgement variable n=1, i.e. can determine that currently without man-machine state be predetermined state.
As preferred technical scheme, in described step d,
The generating principle of described regulation and control instruction includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents in unit interval t
Droplet sprays total amount, and L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula
(2), (3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays operation when unmanned plane aviation
Flying height is h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on uniformly
In the range of spraying swath；When flying height reduces, for avoiding unmanned plane lower zone that drain spray occurs, spraying swath should be adjusted and diminish, flow
Also should reduce accordingly；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone that few spray occurs,
The flow of spraying system should be increased accordingly；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, spraying system should be reduced accordingly
Flow；When flight speed increases, for avoiding unmanned plane lower zone that few spray occurs, the stream of spraying system should be increased accordingly
Amount.
The present invention compared with prior art, has the advantage that and beneficial effect:
1, present configuration is simple, and integration degree is high, and application flexibly, can work by full automation, not only do not interferes with
Agricultural unmanned plane uses space, nor can affect the payload that unmanned plane is limited.
2, the present invention is fully functional, and real-time is good, is possible not only to simultaneously according to flying height and flight speed two kinds input
Spraying system is adjusted by parameter, but also can spraying swath size and uninterrupted two kinds output to spraying system simultaneously
Parameter is made and being regulated the most accordingly.
3, the agricultural unmanned plane spraying system Automatic adjustment method of the present invention can be joined according to flight during unmanned plane operation
Spraying swath and flow are automatically adjusted by number (flying height and flight speed) in real time, it is to avoid owing to agricultural unmanned plane sprays
Flying height and the instability of flying height when applying industry and cause the situations such as spraying system spray many to crops, few spray or drain spray
Generation, it is ensured that agricultural unmanned plane sprays working performance and the prevention effect of operation, has the biggest economic outlook.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the agricultural unmanned plane spraying system self-checking device of the present invention.
Fig. 2 is the flow chart of the agricultural unmanned plane spraying system Automatic adjustment method of the present invention.
Fig. 3 is the condition judgment module of present invention logical schematic when carrying out condition adjudgement.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment
As it is shown in figure 1, the one of the present embodiment agricultural unmanned plane spraying system self-checking device, described device includes working as
Front state acquisition module 10, condition judgment module 20, job parameter acquisition module 30, process computing unit 40, instruction obtain mould
Block 50 and execution control module 60；
Described method includes: described condition judgment module 20 judges the current agriculture that described current state acquisition module 10 obtains
After being predetermined state with the job state of unmanned plane, described parameter acquisition module 30 is by the unmanned plane during flying height obtained and flight
Velocity information is sent to described process computing unit 40, processes after computing unit 40 is processed by calculating and control instruction is sent to
Performing control module 60, described execution control module 60 is adjusted spraying assembly according to received instruction, thus complete
Spraying swath size and the regulation spraying flow in pairs.
Spraying swath and the flow of spraying system can be entered by described adjusting means according to flight parameter information during unmanned plane operation
Row in real time, automatically regulate.
Described current state acquisition module 10 is for obtaining the status information that agricultural unmanned plane is presently in, and current state is believed
Breath includes treating takeoff condition, positive takeoff condition, pre-job state, positive job state, Job completion status and landing state, its
In, predetermined state is pre-job state and just any one in job state.
Described condition judgment module 20 is for judging that, currently without whether man-machine state is predetermined state, current state is institute
When stating predetermined state, described parameter acquisition module 30 obtains flying height and the flight speed letter of unmanned plane under current work state
Breath, and send information to process computing unit 40；When current state is not described predetermined state, described current state obtains mould
Block 10 reacquires the current state information of unmanned plane, processes computing unit 40 and does not produce regulation and control instruction.
The generating principle of described regulation and control instruction includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents in unit interval t
Droplet sprays total amount, and L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula
(2), (3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays operation when unmanned plane aviation
Flying height is h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on uniformly
In the range of spraying swath；When flying height reduces, for avoiding unmanned plane lower zone that drain spray occurs, spraying swath should be adjusted and diminish, flow
Also should reduce accordingly；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone that few spray occurs,
The flow of spraying system should be increased accordingly；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, spraying system should be reduced accordingly
Flow；When flight speed increases, for avoiding unmanned plane lower zone that few spray occurs, the stream of spraying system should be increased accordingly
Amount.
Described process computing unit 40 generates currently without man-machine flying height and airspeed information for obtain
To spraying the regulation and control instruction of assembly, wherein, regulation and control instruction mainly includes spraying swath size and the regulating command spraying uninterrupted.
Described instruction acquiring unit 50 processes, for obtaining, the regulation and control instruction that computing unit 40 is generated, and is regulated and controled to refer to
Order is sent to described execution control module 60.
Described execution control module 60 performs corresponding regulation and control for the regulation and control instruction sent according to instruction acquisition module 50
Action, wherein, regulation and control action mainly includes spraying swath size and the regulation action spraying uninterrupted.
Described execution control module performs corresponding regulation and control for the regulation and control instruction sent according to described instruction acquisition module
Action, wherein, regulation and control action mainly includes spraying swath size and the regulation action spraying uninterrupted, particularly as follows:
Set prearranged altitude h0, flight speed v0, job parameter acquisition module obtains and flies described in current flight parameter
Parameter includes that flying height h, flight speed v, spraying swath size and the regulation process spraying uninterrupted include:
As real-time flight height h > h0Or h < h0、v>v0Or v < v0Time, process computing unit and produce bar spray assembly and sprinkling
The regulating command of system, instruction acquisition module acquisition processes the instruction that computing unit produces, and is sent to perform control module, holds
Bar spray assembly and sprinkling system are regulated in real time by row control module according to command adapted thereto, it is achieved spraying swath and the increase of flow or
Reduce.
As in figure 2 it is shown, the control method of the agricultural unmanned plane spraying system self-checking device of the present embodiment, including following
Step:
After the most agricultural unmanned plane takes off, described current state acquisition module obtains the status information of current agricultural unmanned plane；
B., after obtaining status information, described condition judgment module judges whether current agricultural unmanned plane state is predetermined shape
State, the most pre-job state or just at job state, if current state is not described predetermined state, described current state obtains mould
Block reacquires the current state information of unmanned plane, processes computing unit and does not produce regulation and control instruction；As it is shown on figure 3, condition adjudgement
Module by following method judge currently without man-machine whether be predetermined state:
Set treat the logical value of takeoff condition, positive takeoff condition, Job completion status and landing state as 0, and predetermined shape
The logical value of state is 1, and described predetermined state includes pre-job state and positive job state, condition adjudgement variable n and state logic
It is worth recycle ratio relatively:
When condition adjudgement variable n ≠ 1, condition adjudgement variable continues compared with next stage logical value, until finding
Condition adjudgement variable n=1；As condition adjudgement variable n=1, i.e. can determine that currently without man-machine state be predetermined state.
C. if current state is described predetermined state, described parameter acquisition module obtains unmanned plane under current work state
Flying height and airspeed information, and parameter information is sent to process computing unit；
The most described process computing unit generates corresponding regulation and control instruction according to the job parameter information of unmanned plane；
In described step d,
The generating principle of described regulation and control instruction includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents in unit interval t
Droplet sprays total amount, and L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula
(2), (3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays operation when unmanned plane aviation
Flying height is h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on uniformly
In the range of spraying swath；When flying height reduces, for avoiding unmanned plane lower zone that drain spray occurs, spraying swath should be adjusted and diminish, flow
Also should reduce accordingly；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone that few spray occurs,
The flow of spraying system should be increased accordingly；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, spraying system should be reduced accordingly
Flow；When flight speed increases, for avoiding unmanned plane lower zone that few spray occurs, the stream of spraying system should be increased accordingly
Amount；
The most described instruction acquiring unit acquisition processes the regulation and control instruction that computing unit is generated, and its regulation and control instruction is sent
To described execution control module；
The most described execution control module performs to regulate and control action accordingly according to the regulation and control instruction that instruction acquisition module sends, complete
Spraying swath size and the real-time regulation spraying uninterrupted in pairs；
G. changing such as flying height and flight speed, described adjusting means repeats above step and is adjusted.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. an agricultural unmanned plane spraying system self-checking device, it is characterised in that include current state acquisition module, state
Judge module, job parameter acquisition module, process computing unit, instruction acquisition module and execution control module；Described state is sentenced
After disconnected module judges that the job state of the current agricultural unmanned plane that described current state acquisition module obtains is predetermined state, described
Unmanned plane during flying height and the airspeed information of acquisition are sent to described process computing unit by parameter acquisition module, process meter
Calculation unit by being sent to execution control module by control instruction after calculating, described execution control module is according to received finger
Make and being adjusted spraying assembly, thus complete spraying swath size and the regulation spraying flow.
Agricultural unmanned plane spraying system self-checking device the most according to claim 1, it is characterised in that described current shape
State acquisition module, for obtaining the status information that agricultural unmanned plane is presently in, current state information includes treating takeoff condition, just
Takeoff condition, pre-job state, positive job state, Job completion status and landing state, wherein, predetermined state is pre-operation shape
State and just any one in job state.
Agricultural unmanned plane spraying system self-checking device the most according to claim 1, it is characterised in that described state is sentenced
Disconnected module is for judging currently without whether man-machine state is predetermined state, if current state is described predetermined state, described
Parameter acquisition module obtains flying height and the airspeed information of unmanned plane under current work state, and sends information to place
Reason computing unit；If current state is not described predetermined state, described current state acquisition module reacquires unmanned plane
Current state information, processes computing unit and does not produce regulation and control instruction.
Agricultural unmanned plane spraying system self-checking device the most according to claim 1, it is characterised in that described process meter
Calculate unit and generate the regulation and control instruction spraying assembly for obtain currently without man-machine flying height and airspeed information,
Wherein, regulation and control instruction mainly includes spraying swath size and the regulating command spraying uninterrupted.
Agricultural unmanned plane spraying system self-checking device the most according to claim 4, it is characterised in that described regulation and control refer to
The generating principle of order includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents the droplet in unit interval t
Spraying total amount, L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula (2),
(3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays the flight of operation when unmanned plane aviation
It is highly h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on spraying swath uniformly
In the range of；When flying height reduces, for avoiding unmanned plane lower zone drain spray occur, should adjust spraying swath and diminish, flow also should
Corresponding reduction；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone few spray, Ying Xiang occur
The flow of spraying system should be increased；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, the stream of spraying system should be reduced accordingly
Amount or the spraying swath of increase spraying system；When flight speed increases, for avoiding unmanned plane lower zone that few spray occurs, should increase accordingly
The flow of big spraying system.
Agricultural unmanned plane spraying system self-checking device the most according to claim 1, it is characterised in that described instruction obtains
Take unit and process, for obtaining, the regulation and control instruction that computing unit is generated, and its regulation and control instruction is sent to described execution control mould
Block.
Agricultural unmanned plane spraying system self-checking device the most according to claim 1, it is characterised in that described execution control
Molding block performs to regulate and control action, wherein, regulation and control action accordingly for the regulation and control instruction sent according to described instruction acquisition module
Mainly include spraying swath size and the regulation action spraying uninterrupted, particularly as follows:
Set prearranged altitude h0, flight speed v0, job parameter acquisition module obtains flight parameter described in current flight parameter
Include including flying height h, flight speed v, spraying swath size and the regulation process spraying uninterrupted:
As real-time flight height h > h0Or h < h0、v>v0Or v < v0Time, process computing unit and produce bar spray assembly and sprinkling system
Regulating command, instruction acquisition module acquisition process computing unit produce instruction, and be sent to perform control module, perform control
Bar spray assembly and sprinkling system are regulated in real time by molding tuber according to command adapted thereto, it is achieved spraying swath and the increase of flow or subtract
Little.
8. according to the control method of the agricultural unmanned plane spraying system self-checking device according to any one of claim 1-7,
It is characterized in that, comprise the steps:
After the most agricultural unmanned plane takes off, described current state acquisition module obtains the status information of current agricultural unmanned plane；
B., after obtaining status information, described condition judgment module judges whether current agricultural unmanned plane state is predetermined state, i.e.
Pre-job state or just at job state, if current state is not described predetermined state, described current state acquisition module weight
The new current state information obtaining unmanned plane, processes computing unit and does not produce regulation and control instruction；
C. if current state is described predetermined state, under described parameter acquisition module acquisition current work state, unmanned plane flies
Line height and airspeed information, and be sent to parameter information process computing unit；
The most described process computing unit generates corresponding regulation and control instruction according to the job parameter information of unmanned plane；
The most described instruction acquiring unit acquisition processes the regulation and control instruction that computing unit is generated, and its regulation and control instruction is sent to institute
State execution control module；
The most described execution control module performs to regulate and control action accordingly according to the regulation and control instruction that instruction acquisition module sends, and it is right to complete
Spraying swath size and the real-time regulation spraying uninterrupted；
G. changing such as flying height and flight speed, described adjusting means repeats above step and is adjusted.
The control method of agricultural unmanned plane spraying system self-checking device the most according to claim 8, it is characterised in that
In described step b, condition judgment module by following method judge currently without man-machine whether be predetermined state:
Set treat the logical value of takeoff condition, positive takeoff condition, Job completion status and landing state as 0, and predetermined state
Logical value is 1, and described predetermined state includes that pre-job state and positive job state, condition adjudgement variable n follow with state logic value
Chain rate is relatively:
When condition adjudgement variable n ≠ 1, condition adjudgement variable continues compared with next stage logical value, until finding state
Judgment variable n=1；As condition adjudgement variable n=1, i.e. can determine that currently without man-machine state be predetermined state.
The control method of agricultural unmanned plane spraying system self-checking device the most according to claim 8, its feature exists
In, in described step d,
The generating principle of described regulation and control instruction includes:
D=Q/s (1)
Q=q*t (2)
S=L*w (3)
L=v*t (4)
Wherein, D represents droplet effective precipitation in unit interval t, unit are s, and Q represents the droplet in unit interval t
Spraying total amount, L represents the distance advanced in unit interval t, and w represents spraying swath when unmanned plane sprays operation, by formula (2),
(3), (4) are brought formula (1) into and can be obtained:
D=q/vw (5)
And in plant protection unmanned plane, spraying swath w ∝ h, h represents flying height；
The deposition rule spraying droplet according to aviation sets a standard reference value, i.e. sprays the flight of operation when unmanned plane aviation
It is highly h0, flight speed v0Time, spraying swath is W0, to spray flow be q0Unmanned plane spray droplet and can be deposited on spraying swath uniformly
In the range of；When flying height reduces, for avoiding unmanned plane lower zone drain spray occur, should adjust spraying swath and diminish, flow also should
Corresponding reduction；When flying height raises, unmanned plane spraying swath becomes big, for avoiding unmanned plane lower zone few spray, Ying Xiang occur
The flow of spraying system should be increased；
When flight speed slows down, excessively spray for avoiding unmanned plane lower zone to occur, the stream of spraying system should be reduced accordingly
Amount；When flight speed increases, for avoiding unmanned plane lower zone that few spray occurs, the flow of spraying system should be increased accordingly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610673650.1A CN106094532A (en) | 2016-08-16 | 2016-08-16 | A kind of agricultural unmanned plane spraying system self-checking device and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610673650.1A CN106094532A (en) | 2016-08-16 | 2016-08-16 | A kind of agricultural unmanned plane spraying system self-checking device and control method |
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| CN107991142A (en) * | 2017-11-13 | 2018-05-04 | 华南农业大学 | It is a kind of to spray fog droplet acquisition device and its application method suitable for agricultural unmanned plane |
| CN107992078A (en) * | 2017-12-15 | 2018-05-04 | 西安天问智能科技有限公司 | A kind of autonomous paths planning method of plant protection unmanned plane |
| CN108090893A (en) * | 2017-11-23 | 2018-05-29 | 华南农业大学 | Plant protection unmanned plane medicament sprinkling optimization method and device based on thermal infrared identification |
| CN108353709A (en) * | 2018-01-31 | 2018-08-03 | 深圳春沐源控股有限公司 | Control method and device are implemented in plant protection |
| CN108402021A (en) * | 2018-06-14 | 2018-08-17 | 华南农业大学 | A kind of agricultural plant protection unmanned plane sprinkling system compensated automatically with droplet drift detection |
| CN108482676A (en) * | 2018-03-19 | 2018-09-04 | 中国农业大学 | A kind of adaptive spraying swath regulation device of more rotor plant protection drones and method |
| WO2019137135A1 (en) * | 2018-05-11 | 2019-07-18 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle operation effect evaluation method |
| WO2020173306A1 (en) * | 2019-02-27 | 2020-09-03 | 广州极飞科技有限公司 | Method and device for adjusting broadcasting amount, unmanned aerial vehicle, and storage medium |
| CN112198900A (en) * | 2020-09-30 | 2021-01-08 | 广州极飞科技有限公司 | Method and device for controlling operation of unmanned equipment, computer equipment and storage medium |
| CN112327610A (en) * | 2019-06-15 | 2021-02-05 | 沈阳工业大学 | Modeling and position tracking control method for double-pendulum spray rod suspension |
| CN114442657A (en) * | 2021-12-22 | 2022-05-06 | 广州极飞科技股份有限公司 | Unmanned equipment operation method, device, equipment and storage medium |
| CN114615885A (en) * | 2020-11-09 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Spraying operation method and device, unmanned aerial vehicle and storage medium |
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| CN107991142A (en) * | 2017-11-13 | 2018-05-04 | 华南农业大学 | It is a kind of to spray fog droplet acquisition device and its application method suitable for agricultural unmanned plane |
| CN107907162A (en) * | 2017-11-15 | 2018-04-13 | 成都天麒科技有限公司 | A kind of unmanned plane spraying swath and spray effect detection method and operational method |
| CN108090893B (en) * | 2017-11-23 | 2021-10-15 | 华南农业大学 | Thermal infrared identification-based method and device for optimizing pesticide spraying of plant protection unmanned aerial vehicle |
| CN108090893A (en) * | 2017-11-23 | 2018-05-29 | 华南农业大学 | Plant protection unmanned plane medicament sprinkling optimization method and device based on thermal infrared identification |
| CN107992078A (en) * | 2017-12-15 | 2018-05-04 | 西安天问智能科技有限公司 | A kind of autonomous paths planning method of plant protection unmanned plane |
| CN108353709A (en) * | 2018-01-31 | 2018-08-03 | 深圳春沐源控股有限公司 | Control method and device are implemented in plant protection |
| CN108482676A (en) * | 2018-03-19 | 2018-09-04 | 中国农业大学 | A kind of adaptive spraying swath regulation device of more rotor plant protection drones and method |
| CN108482676B (en) * | 2018-03-19 | 2020-08-28 | 中国农业大学 | Self-adaptive spray amplitude regulation and control device and method for multi-rotor plant protection unmanned aerial vehicle |
| WO2019137135A1 (en) * | 2018-05-11 | 2019-07-18 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle operation effect evaluation method |
| CN108402021A (en) * | 2018-06-14 | 2018-08-17 | 华南农业大学 | A kind of agricultural plant protection unmanned plane sprinkling system compensated automatically with droplet drift detection |
| CN108402021B (en) * | 2018-06-14 | 2023-06-27 | 华南农业大学 | Agricultural plant protection unmanned aerial vehicle spraying system with fog drop drift detection automatic compensation function |
| WO2020173306A1 (en) * | 2019-02-27 | 2020-09-03 | 广州极飞科技有限公司 | Method and device for adjusting broadcasting amount, unmanned aerial vehicle, and storage medium |
| CN112327610B (en) * | 2019-06-15 | 2022-06-24 | 沈阳工业大学 | Modeling and position tracking control method for double-pendulum spray rod suspension |
| CN112327610A (en) * | 2019-06-15 | 2021-02-05 | 沈阳工业大学 | Modeling and position tracking control method for double-pendulum spray rod suspension |
| CN112198900A (en) * | 2020-09-30 | 2021-01-08 | 广州极飞科技有限公司 | Method and device for controlling operation of unmanned equipment, computer equipment and storage medium |
| CN112198900B (en) * | 2020-09-30 | 2024-04-30 | 广州极飞科技股份有限公司 | Operation control method and device of unmanned equipment, computer equipment and storage medium |
| CN114615885A (en) * | 2020-11-09 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Spraying operation method and device, unmanned aerial vehicle and storage medium |
| CN114615885B (en) * | 2020-11-09 | 2024-03-15 | 深圳市大疆创新科技有限公司 | Spraying operation method, device, unmanned aerial vehicle and storage medium |
| CN114442657A (en) * | 2021-12-22 | 2022-05-06 | 广州极飞科技股份有限公司 | Unmanned equipment operation method, device, equipment and storage medium |
| CN114442657B (en) * | 2021-12-22 | 2023-12-05 | 广州极飞科技股份有限公司 | Unmanned equipment operation method, unmanned equipment operation device, unmanned equipment operation equipment and storage medium |
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