CN106094878A - A kind of agricultural UAS framework - Google Patents
A kind of agricultural UAS framework Download PDFInfo
- Publication number
- CN106094878A CN106094878A CN201610697805.5A CN201610697805A CN106094878A CN 106094878 A CN106094878 A CN 106094878A CN 201610697805 A CN201610697805 A CN 201610697805A CN 106094878 A CN106094878 A CN 106094878A
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- China
- Prior art keywords
- microprocessor
- module
- electrically connected
- agricultural
- uas
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 17
- 230000000087 stabilizing effect Effects 0.000 claims description 14
- 238000005507 spraying Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 5
- 239000000575 pesticide Substances 0.000 abstract description 16
- 239000002699 waste material Substances 0.000 abstract description 4
- 239000007921 spray Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 239000002917 insecticide Substances 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a kind of agricultural UAS framework, including unmanned plane body and ground monitoring center, this internal flight subsystem and tasks carrying subsystem, described flight subsystem and tasks carrying subsystem of being provided with of described unmanned plane carries out radio communication with ground monitoring center respectively；Described flight subsystem includes first microprocessor and the second microprocessor, connected by universal serial bus between described first microprocessor and the second microprocessor, the output port of described first microprocessor connects has electron speed regulator, described electron speed regulator to be electrically connected with servomotor.Agricultural unmanned plane described in the invention, it is achieved that self-navigation, distinguish the orientation of last sprinkling automatically, it is to avoid the repeating of pesticide is sprayed and waste.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, especially relates to a kind of agricultural UAS framework.
Background technology
As a large agricultural country, farm machinery usage degree is the important symbol of the National agricultural productivity, along with labor
The increase of power cost and the development of science and technology, agricultural unmanned plane is increasingly paid close attention to by wide the sending out of countries in the world all circles.
Agricultural unmanned plane is made up of three parts: flying platform, task system (such as camera system, sprinkling system etc.) and fly
Ore-controlling Role, has controlled location by ground remote control or GPS, can detect plant growth and the situation of pest and disease damage, spray medicine
Agent, seed and powder, it has advantage simple to operate, that efficiency is high, spray effect is good, has been widely used in agricultural plant protection
Field.
But existing agricultural unmanned plane is in the course of the work, generally use the mode of manual remote control, it is impossible to realize automatically
Navigation, when spraying insecticide, it is impossible to learn the surplus of pesticide, when unmanned plane supplements pesticide return working region, it is impossible to determine
Continuing wherefrom to spray, that certainly will cause pesticide repeats sprinkling and waste.
Summary of the invention
In view of this, the invention is directed to a kind of agricultural UAS framework, to realize self-navigation, automatically
Distinguish the orientation of last sprinkling, it is to avoid the repeating of pesticide is sprayed and waste.
For reaching above-mentioned purpose, the technical scheme of the invention is achieved in that
A kind of agricultural UAS framework, including unmanned plane body and ground monitoring center, described unmanned plane is the most internal
Be provided with flight subsystem and tasks carrying subsystem, described flight subsystem and tasks carrying subsystem respectively with ground
Face Surveillance center carries out radio communication；
Described flight subsystem includes first microprocessor and the second microprocessor, described first microprocessor and
Being connected by universal serial bus between two microprocessors, the output port of described first microprocessor connects electron speed regulator, institute
Stating electron speed regulator and be electrically connected with servomotor, the input port of described second microprocessor has been electrically connected pressure altitude and has passed
Sensor, Temperature Humidity Sensor, IMU module and GPS module, described second microprocessor is also electrically connected with data memory module；
Described tasks carrying subsystem includes the 3rd microprocessor, described 3rd microprocessor respectively with first microprocessor
With the second microprocessor electrical connection, the outfan of described 3rd microprocessor connects electronic control valve, described electronic control valve
Control the keying of chemical spraying device.
Further, described flight subsystem also includes that the first power module, the first power module are electronic speed regulation
Device is powered, and described first power module is electrically connected with the first Voltage stabilizing module, and the first power module is by the first Voltage stabilizing module respectively
For first microprocessor and the second microprocessor power supply.
Further, described tasks carrying subsystem also includes that second source module, second source module are Electronic Control
Valve is powered, and described second source module is electrically connected with the second Voltage stabilizing module, and second source module is by the second Voltage stabilizing module
Three microprocessor power supplies.
Further, the input port of described 3rd microprocessor is electrically connected with high definition Flying Camera head, described 3rd micro-
Processor is also electrically connected with video storage modules.
Further, described first microprocessor, described second microprocessor and described 3rd microprocessor connect respectively
There is jtag interface circuit.
Further, described ground control centre includes ground monitoring computer, remote controller and the 3rd power module, described
Ground monitoring computer connects has the first display, second display, the first data radio station, the first figure to conduct electricity platform, and the described 3rd
Power module is powered by power management module respectively ground monitoring computer, the first data radio station and the first figure platform that conducts electricity.
Further, the input port of described first microprocessor is electrically connected with and first connects for receive remote controller signal
Receipts machine, the input port of described 3rd microprocessor is electrically connected with the second receiver for receiving remote controller signal.
Further, described second microprocessor is electrically connected with the second number biography for communicating with the first data radio station
Radio station, described 3rd microprocessor is electrically connected with for conducting electricity platform with the first figure the second figure that platform communicates that conducts electricity.
Further, the universal serial bus connected between described first microprocessor and described second microprocessor is that SPI is total
Line.
Relative to prior art, the one agricultural UAS framework described in the invention has the advantage that
Agricultural unmanned plane of the present invention both can manual control, it is possible to self-navigation, when spraying insecticide, can automatically count
Calculating the surplus of pesticide, when surplus reaches the predetermined threshold value set, unmanned plane makes a return voyage supplementary pesticide, after having supplemented pesticide,
Unmanned plane can make a return voyage to unmanned plane the position in moment by Automatic-searching, continue executing with sprinkling task, it is to avoid the repeating of pesticide is sprayed
And waste；Additionally, unmanned plane can gather the image information of crops, monitor the water regime of crops, upgrowth situation and be
No generation disease.
Accompanying drawing explanation
The accompanying drawing of the part constituting the invention is used for providing being further appreciated by the invention, and the present invention creates
The schematic description and description made, for explaining the invention, is not intended that the improper restriction to the invention.?
In accompanying drawing:
Fig. 1 is the overall system structure block diagram described in the invention embodiment；
Fig. 2 is the flight subsystem structured flowchart described in the invention embodiment；
Fig. 3 is the tasks carrying subsystem structure block diagram described in the invention embodiment；
Fig. 4 is the ground monitoring division center block diagram described in the invention embodiment.
Description of reference numerals:
1-unmanned plane body；11-flight subsystem；111-first microprocessor；112-the second microprocessor；113-
First receiver；114-JTAG interface；115-electron speed regulator；116-the first power module；117-the second data radio station；118-
Data memory module；119-GPS module；1110-IMU module；1111-Temperature Humidity Sensor；1112-pressure-altitude sensor；
1113-the first Voltage stabilizing module；1114-servomotor；12-tasks carrying subsystem；121-the 3rd microprocessor；122-the second figure
Conduct electricity platform；123-the second receiver；124-the second Voltage stabilizing module；125-electronic control valve；126-second source module；127-regards
Frequently memory module；128-high definition Flying Camera head；129-chemical spraying device；2-ground monitoring center；211-ground monitoring computer；
212-the first data radio station；213-power management module；214-the 3rd power module；215-the first figure conducts electricity platform；216-second
Display；217-the first display；22-remote controller.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the invention and the feature in embodiment can
To be mutually combined.
In the description of the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " on ", D score,
Orientation or the position relationship of the instruction such as "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description rather than instruction
Hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be not understood that
For the restriction to the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicate
Or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the invention, unless separately
Being described, " multiple " are meant that two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", should be interpreted broadly " being connected ", " connection ", for example, it may be fix connection, it is also possible to be to removably connect, or integratedly
Connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on can being understood by concrete condition
State term concrete meaning in the invention.
Describe the invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As it is shown in figure 1, a kind of agricultural UAS framework, including unmanned plane body 1 and ground monitoring center 2, described
Flight subsystem 11 and tasks carrying subsystem 12 it is provided with, described flight subsystem 11 and appointing in unmanned plane body 1
Business executive subsystem 12 carries out radio communication with ground monitoring center 2 respectively.
As in figure 2 it is shown, described flight subsystem 11 includes first microprocessor 111 and the second microprocessor 112, institute
State and connected by SPI universal serial bus between first microprocessor 111 and the second microprocessor 112, described first microprocessor 111
Output port connect and have electron speed regulator 115, described electron speed regulator 115 to be electrically connected with servomotor 1114, described second
The input port of microprocessor 112 has been electrically connected pressure-altitude sensor 1112, Temperature Humidity Sensor 1111, IMU module
1110 and GPS module 119, described second microprocessor 112 is also electrically connected with data memory module 118；Described flight controls son
System 11 also includes that the first power module 116, the first power module 116 are powered for electron speed regulator 115, described first power supply mould
Block 116 is electrically connected with the first Voltage stabilizing module 1113, and it is micro-that the first power module 116 is respectively first by the first Voltage stabilizing module 1113
Processor 111 and the second microprocessor 112 are powered.
As it is shown on figure 3, described tasks carrying subsystem 12 includes the 3rd microprocessor 121, described 3rd microprocessor 121
Electrically connecting with first microprocessor 111 and the second microprocessor 112 respectively, the outfan of described 3rd microprocessor 121 connects
Electronic control valve 125, described electronic control valve 125 is had to control the keying of chemical spraying device 129；Described tasks carrying subsystem 12 is also
Including second source module 126, second source module 126 is powered for electronic control valve 125, described second source module 126 electricity
Connecting and have the second Voltage stabilizing module 124, second source module 126 is that the 3rd microprocessor 121 supplies by the second Voltage stabilizing module 124
Electricity；The input port of described 3rd microprocessor 121 is electrically connected with high definition Flying Camera head 128, described 3rd microprocessor 121
Also it is electrically connected with video storage modules 127.
As shown in Figure 4, described ground control centre 2 includes ground monitoring computer 211, remote controller 22 and the 3rd power supply mould
Block 214, described ground monitoring computer 211 connect have the first display 217, second display the 216, first data radio station 212,
First figure conducts electricity platform 215, and described 3rd power module 214 is respectively ground monitoring computer by power management module 213
211, the first data radio station 212 and the first figure platform 215 that conducts electricity is powered.
As Figure 2-3, described first microprocessor 111, described second microprocessor 112 and described 3rd microprocessor
121 are connected to jtag interface 114 circuit, and the input port of described first microprocessor 111 is electrically connected with for receiving distant
First receiver 113 of control device 22 signal, the input port of described 3rd microprocessor 121 is electrically connected with for receiving remote controller
Second receiver 123 of 22 signals；Described second microprocessor 112 is electrically connected with for leading to the first data radio station 212
Second data radio station 117 of letter, described 3rd microprocessor 121 is electrically connected with for communicating with the first figure platform 215 that conducts electricity
The second figure conduct electricity platform 122.
The work process of the present embodiment: during unmanned plane during flying, the second microprocessor 112 Real-time Collection pressure altitude passes
Sensor 1112, Temperature Humidity Sensor 1111, IMU module 1110 and the data of GPS module 119, be saved in data storage after process
Module 118, it is micro-that the data of pressure-altitude sensor 1112, IMU module 1110 and GPS module 119 are sent to first through spi bus
Processor 111, first microprocessor 111 calls control algolithm and the data received is converted into corresponding pwm control signal work
For electron speed regulator 115, it is used for driving servomotor 1114, adjusts the state of flight of unmanned plane in real time；Meanwhile, second micro-place
The sensing data of collection is sent the first data radio station to ground monitoring system by the second data radio station 117 by reason device 112
212, ground monitoring computer 211 reads the data that the first data radio station 212 receives, and shows, and protect in the first display 217
Exist in ground monitoring computer 211；
During unmanned plane during flying, high definition Flying Camera head 128 gathers the video information of crops, sends to the 3rd micro-place
Reason device 121, the 3rd microprocessor 121 will be saved in after video information process in video storage modules 127, meanwhile, through the second figure
The first figure that the platform 122 that conducts electricity sends to ground monitoring system conducts electricity platform 215, and ground monitoring computer 211 reads the first figure and conducts electricity
The video data that platform 215 receives, shows in second display 216, and is saved in ground monitoring computer 211, according to regarding
Frequently the image information of crops in information, monitors the water regime of crops, upgrowth situation, whether disease occurs；
When spraying insecticide, the remote controller 22 at ground monitoring center is utilized to send control instruction to the second receiver 123, the
Three microprocessors 121 read the control instruction that the second receiver 123 receives, and send corresponding control to electronic control valve 125
Signal processed, electronic control valve 125 drives chemical spraying device 129 according to the control signal received, carries out the sprinkling of pesticide；
During pesticide spraying, the 3rd microprocessor 121 calculates according to default spray rate and the pesticide volume preloaded
The surplus of pesticide, when pesticide surplus reaches predetermined threshold value, the 3rd microprocessor 121 sends to the second microprocessor 112
Alarm signal, the second microprocessor 112 will receive the pressure-altitude sensor 1112 in alarm signal moment, Temperature Humidity Sensor
1111, during the data of IMU module 1110 and GPS module 119 are individually saved in data memory module 118, meanwhile, the 3rd micro-process
Device 121 sends, to first microprocessor 111, order of making a return voyage, and first microprocessor 111 receives the backward electron speed regulator of order of making a return voyage
115 send corresponding pwm control signal, and act on servomotor 1114, make unmanned plane return to ground and carry out supplementing of pesticide；
Unmanned plane continues executing with task after supplementing pesticide, the second microprocessor 112 Real-time Collection pressure-altitude sensor
1112, Temperature Humidity Sensor 1111, IMU module 1110 and the data of GPS module 119, and it is stored separately on number with the moment of making a return voyage
Compare according to the sensing data of memory module 118, when two groups of data are of substantially equal, determine that unmanned plane position now is i.e.
For the unmanned plane position in moment of making a return voyage, the second microprocessor 111 sends task signal to the 3rd microprocessor 121, thus position
Continue executing with sprinkling task.
During unmanned plane during flying, ground handling operator is possible with remote controller 22 and sends control to the first receiver 113
Instruction, reaches manually-operated purpose.
The foregoing is only the preferred embodiment of the invention, not in order to limit the invention, all at this
Within the spirit of innovation and creation and principle, any modification, equivalent substitution and improvement etc. made, should be included in the invention
Protection domain within.
Claims (9)
1. an agricultural UAS framework, it is characterised in that: include unmanned plane body (1) and ground monitoring center (2), institute
Being provided with flight subsystem (11) and tasks carrying subsystem (12) in stating unmanned plane body (1), described flight controls subsystem
System (11) and tasks carrying subsystem (12) carry out radio communication with ground monitoring center (2) respectively；
Described flight subsystem (11) includes first microprocessor (111) and the second microprocessor (112), described first micro-
Connected by universal serial bus between processor (111) and the second microprocessor (112), described first microprocessor (111) defeated
Go out port to connect and have electron speed regulator (115), described electron speed regulator (115) to be electrically connected with servomotor (1114), described the
The input port of two microprocessors (112) be electrically connected pressure-altitude sensor (1112), Temperature Humidity Sensor (1111),
IMU module (1110) and GPS module (119), described second microprocessor (112) is also electrically connected with data memory module (118)；
Described tasks carrying subsystem (12) includes the 3rd microprocessor (121), and described 3rd microprocessor (121) is respectively with
One microprocessor (111) and the second microprocessor (112) electrical connection, the outfan of described 3rd microprocessor (121) connects to be had
Electronic control valve (125), described electronic control valve (125) controls the keying of chemical spraying device (129).
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described flight subsystem
(11) also include that the first power module (116), the first power module (116) are electron speed regulator (115) power supply, described first electricity
Source module (116) is electrically connected with the first Voltage stabilizing module (1113), and the first power module (116) passes through the first Voltage stabilizing module (1113)
It is respectively first microprocessor (111) and the second microprocessor (112) power supply.
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described tasks carrying subsystem
(12) also include that second source module (126), second source module (126) are electronic control valve (125) power supply, described second electricity
Source module (126) is electrically connected with the second Voltage stabilizing module (124), and second source module (126) by the second Voltage stabilizing module (124) is
3rd microprocessor (121) power supply.
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described 3rd microprocessor
(121) input port is electrically connected with high definition Flying Camera head (128), and described 3rd microprocessor (121) is also electrically connected with and regards
Frequently memory module (127).
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described first microprocessor
(111), described second microprocessor (112) and described 3rd microprocessor (121) are connected to jtag interface (114) electricity
Road.
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described ground control centre
(2) ground monitoring computer (211), remote controller (22) and the 3rd power module (214), described ground monitoring computer are included
(211) connect and have the first display (217), second display (216), the first data radio station (212), the first figure to conduct electricity platform
(215), described 3rd power module (214) by power management module (213) be respectively ground monitoring computer (211), the
One data radio station (212) and the first figure conduct electricity platform (215) power supply.
One the most according to claim 6 agricultural UAS framework, it is characterised in that: described first microprocessor
(111) input port is electrically connected with the first receiver (113) for receiving remote controller (22) signal, described 3rd micro-process
The input port of device (121) is electrically connected with the second receiver (123) for receiving remote controller (22) signal.
One the most according to claim 6 agricultural UAS framework, it is characterised in that: described second microprocessor
(112) it is electrically connected with the second data radio station (117) for communicating, described 3rd micro-place with the first data radio station (212)
Reason device (121) is electrically connected with for conducting electricity platform (122) with the first figure the second figure that platform (215) communicates that conducts electricity.
One the most according to claim 1 agricultural UAS framework, it is characterised in that: described first microprocessor
(111) universal serial bus and connected between described second microprocessor (112) is spi bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610697805.5A CN106094878A (en) | 2016-08-18 | 2016-08-18 | A kind of agricultural UAS framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610697805.5A CN106094878A (en) | 2016-08-18 | 2016-08-18 | A kind of agricultural UAS framework |
Publications (1)
| Publication Number | Publication Date |
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| CN106094878A true CN106094878A (en) | 2016-11-09 |
Family
ID=58070817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610697805.5A Pending CN106094878A (en) | 2016-08-18 | 2016-08-18 | A kind of agricultural UAS framework |
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| Country | Link |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108255194A (en) * | 2018-01-08 | 2018-07-06 | 江苏工程职业技术学院 | A kind of agricultural plant protection unmanned plane precise positioning spraying control method based on UWB |
| CN109470932A (en) * | 2018-11-13 | 2019-03-15 | 中国舰船研究设计中心 | A kind of the field strength automatic measurement system and measurement method of UAV flight |
| WO2019129085A1 (en) * | 2017-12-27 | 2019-07-04 | 深圳常锋信息技术有限公司 | Flight control system, unmanned aerial vehicle, and unmanned aerial vehicle system |
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