CN106167098A - A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space - Google Patents
A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space Download PDFInfo
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- CN106167098A CN106167098A CN201610807404.0A CN201610807404A CN106167098A CN 106167098 A CN106167098 A CN 106167098A CN 201610807404 A CN201610807404 A CN 201610807404A CN 106167098 A CN106167098 A CN 106167098A
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- aerial vehicle
- unmanned aerial
- rotor wing
- wing unmanned
- dispenser
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space, this system includes rotor wing unmanned aerial vehicle, relative altitude measurement module, tree crown image measurement module, dispenser decision-making module, dispenser control module；The method comprises the following steps: pre-typing dispenser decision information in ground-based computer；Control rotor wing unmanned aerial vehicle to hover over directly over fruit tree；Record relative altitude △ H, GPS location data and the crown surface volume data of distance tree crown；Dispenser decision-making module, according to relative altitude △ H, GPS location data and crown surface volume data, sends regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction；Dispenser control module, according to the control information of remote control module, regulation flight attitude and shower nozzle quantity, then carries out spraying agent.The System and method for of the present invention, surveys high precision, range and greatly and adjusts simple；Measurement low cost, exhaustive, error are little；Avoid dispenser waste or dispenser is not enough；Dispenser is accurate.
Description
Technical field
The invention belongs to agricultural aviation plant protection technology field, a kind of rotor wing unmanned aerial vehicle based on measurement in space is automatic
Dispenser System and method for.
Background technology
In plant growing process, effective prevention and control of pest and disease damage are to ensure that grain security produces requisite important ring
Joint, directly affects yield and the quality of grain.In China cereal crops production process, herbal sprinkling is still with craft, half machine
Toolization operation be main, this migrating property not only having with pest and disease damage, popularity and burst do not match that, while and modern agriculture
The implantation in large scale produced is not mated, and result causes monitoring and warning to be prevented with system, governance disconnects mutually, thus causes serious economy
Loss, the labour that operation simultaneously puts into is many, labor intensity big, and dispenser personnel's poisoning happens occasionally.
Rotor wing unmanned aerial vehicle pesticide application technology is to utilize small-sized rotor wing unmanned aerial vehicle for carrier, carries pesticide spray on board the aircraft
Equipment, researchs and solves the reasonable deposition distribution of droplet, and plans, in GPS system introducing rotor wing unmanned aerial vehicle dispenser operation, have operation
The advantages such as flight speed is fast, spraying operation efficiency is high, reply burst fire-disaster ability is strong, overcome agricultural machinery or manually cannot enter
A difficult problem for ground operation, it is achieved precision operation, realizes low latitude low amounts aerial pesticide for proportion of crop planting and provides technical support, for carrying
The agricultural production of high China is information-based, level of digital provides technical support.Rotor wing unmanned aerial vehicle dispenser with tradition spraying equipment compared with,
Have the advantage that and 1. save medicine, water-saving, minimizing pollution, effectively reduce the problems such as pesticide residues, soil pollution and shortage of water；②
Working performance is high, is more than 60 times of Traditional Man dispenser efficiency, effectively solves current rural laborer's shortage problem, in disease pest
Evil can carry out rapidly preventing and treating when breaking out on a large scale, reduces the loss that pest and disease damage causes；3. prevention effect is good, rotor produce
Downdraught contributes to increasing the droplet penetrance to crop, and air-flow takes blade back and the root of plant to droplet, can reduce and waft
Moving, improve pesticide adhesive rate on target, prevention effect is more preferable；4. dispenser personal security coefficient is high, uses manual remote control skill
Art and autonomous navigation technology combine, and manipulation personnel just can issue an instruction to control nothing by wireless remote-measuring system outside applying area
Man-machine action, is automatically performed the overall process of unmanned plane dispenser；5. the suitability is good, can VTOL, not by geographic factor system
About, no matter mountain area or Plain, paddy field or dry land, and different crops, it is respectively provided with good adaptability；6. crop damage
Little, crop will not be rolled as large-scale ground spraying equipment.
Rotor wing unmanned aerial vehicle dispenser, as the means of a kind of novel prevention and elimination of disease and pests, is compared traditional area spray and has people to drive
Sail aircraft spraying medicine and have the advantage of its uniqueness, be applicable not only to plains region crop, also will in Hills, in flakes terraced fields etc. special
Area carries out agricultural disease pest and weed preventing and treating, and plays irreplaceable effect in the operation such as locust, health and epidemic prevention of going out.
Although using rotor wing unmanned aerial vehicle dispenser development very fast at present, but still suffer from more problem, such as: dispenser precision is still
The most poor, during especially for the crop dispenser that spacing is bigger, generally require expansion spray area, cause the most again waste；
And dispenser is uniform not, pesticide supplying effect is had a greatly reduced quality.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space
With method, this system and method passes through measurement in space, is accurately positioned, it is achieved rotor wing unmanned aerial vehicle dispenser precisely and uniformly.
For achieving the above object, technical scheme is as follows:
A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space, including rotor wing unmanned aerial vehicle, relative altitude measurement module,
Tree crown image measurement module, dispenser decision-making module, dispenser control module.
Described relative altitude measurement module includes: ultrasonic sensor, GPS locating module, circuit board, be wirelessly transferred mould
Block, power supply, shell；Described GPS locating module, circuit board, wireless transport module and power supply are respectively mounted in the enclosure, and ultrasound wave passes
Sensor is outside shell, and described relative altitude measurement module is arranged on rotor wing unmanned aerial vehicle undercarriage, and specifically, described shell is solid
Dingan County is contained on rotor wing unmanned aerial vehicle undercarriage；Described ultrasonic sensor forms array of ultrasonic sensors, is installed on undercarriage
On support bar, described ultrasonic sensor is used for below real-time sense aircraft from tree crown relative altitude, multiple supersonic sensings
The array of device composition, effective scope of detection overlaps in investigative range edge, avoids omitting covering all around tree crown, logical
Cross the relative distance from tree crown that real-time judge detects, obtain minima, be the distance from tree crown.Described GPS positions mould
Block is used for obtaining current institute assize wood gps coordinate；Described circuit board is for each functional module of integrating control and stores, calculate and obtained
Obtain data；Described wireless transport module is by surveyed relative altitude data, green information and the location of GPS locating module institute assize wood
Coordinate data real-time Transmission returns ground-based computer；Described power supply is array of ultrasonic sensors, GPS locating module, preposition green
Sensor, circuit board, wireless transport module are powered；Described shell is used for installing protection GPS locating module, circuit board, wireless biography
Defeated module, power supply are also fixed with undercarriage.
Described tree crown image measurement module includes: Flying Camera head, fixed support, turning arm, regulation motor, be wirelessly transferred
Module；Described tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly.Described turning arm, regulate motor, be wirelessly transferred mould
Block is fixedly mounted on fixed support；Described Flying Camera head is fixedly mounted on turning arm；Described Flying Camera head is used for clapping
Take the photograph tree crown area below rotor wing unmanned aerial vehicle center；Described regulation motor is used for regulating the turning arm anglec of rotation；Described wireless biography
Defeated module is by institute's assize crown is long-pending and green information real-time Transmission returns ground-based computer.Use Flying Camera head, be effectively prevented
Rotor wing unmanned aerial vehicle shake swings, with fruit tree, the focus issues brought, and can shoot picture real-time.
Described dispenser decision-making module includes: ground-based computer, remote control module, information receiving device, data base, dispenser
Decision system.It is characterized in that: described ground-based computer is arranged on terrestrial operation space；Described remote control module, data base,
Dispenser decision system is integrated in a computer；Described information receiving device includes that ultrasound wave receives equipment, GPS receiver equipment, green
Colour sensor receives equipment, Flying Camera head receives equipment；The each ingredient of described information receiving device is fixedly mounted on rotor
Inside unmanned plane；Described ultrasound wave receives equipment for receiving the relative altitude signal of array of ultrasonic sensors detection；Described
The location data that GPS receiver equipment is measured for GPS locating module；Described green sensor receives equipment and is used for receiving preposition green
Colour sensor and the green information of underlying green sensor measurement；Described Flying Camera head receives equipment and is used for receiving high-definition camera
The photographic intelligence of head shooting；Institute's measurement information is transferred to ground-based computer by described information receiving device；Described data management system
Including orchard disease and insect information, orchard seeds information, age information, optimal dispenser conditional information；Described dispenser decision system is tied
Close fruit tree steric information, automatically select optimal insecticide-applying way；Described dispenser decision system passes through remote control module real-time monitoring
Rotor wing unmanned aerial vehicle insecticide-applying way；Described dispenser decision-making module is by preposition green sensor；Described ground-based computer is used for ground
Personnel receive and storage relative altitude data, green information and GPS location data and reception and storage crown surface volume data and
Green information.
Described dispenser control module includes consisting of part: medicine-chest, tube for transfusion, shower nozzle, microcontroller, motor, shower nozzle
Enter medicine electromagnetic valve.Described medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle abdominal part；Described shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and rises and falls
On frame；Described tube for transfusion connects medicine-chest and shower nozzle；Described microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle；Described microcontroller
For receiving the decision information of dispenser decision-making module；Described motor is fixedly mounted on unmanned rotary wing axial location；Described microcontroller
Device according to remote control information, real-time governor motor rotating speed；The change of described motor rotary speed causes rotor wing unmanned aerial vehicle height change；Institute
State shower nozzle to enter medicine electromagnetic valve and be arranged on tube for transfusion；Described microcontroller is opened according to remote control information, real-time monitoring electromagnetic valve
Close；Described electromagnetic valve opening and closing determines that whether corresponding shower nozzle circulates
Further, the described automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space also include preposition green sensor and,
Described preposition green sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.Described preposition green sensor levels is surveyed forward
Amount, is used for detecting rotor wing unmanned aerial vehicle front green information, it is to avoid collide higher tree crown crashproof to realize.Described underlying green biography
Sensor is fixedly mounted on fixed support；Described underlying green sensor is measured straight down, is used for detecting under rotor wing unmanned aerial vehicle
Side's green information, judges green edge in conjunction with graphical analysis, can determine whether to be taken a picture whether tree crown is completely covered, it is to avoid leakage occur
Clap.
Further, by arranging described shower nozzle installation site so that spray area imbricate between adjacent shower nozzle, can
Ensure that every fruit tree is sprayed completely and medicinal liquid consumption is little.
The method using the above-mentioned automatic dispenser systemic administration of rotor wing unmanned aerial vehicle based on measurement in space, comprises the following steps:
Pre-typing dispenser decision information in ground-based computer；
Rotor wing unmanned aerial vehicle carries the automatic dispenser system flight of rotor wing unmanned aerial vehicle based on measurement in space；Judge that whether surveyed fruit tree is
Medicine fruit tree to be painted, controls rotor wing unmanned aerial vehicle and hovers over directly over fruit tree；
Array of ultrasonic sensors records relative altitude △ H, the GPS locating module of distance tree crown in real time and obtains this tree location in real time
Data, Flying Camera head obtains tree crown image；Above-mentioned relative altitude △ H, GPS location data and crown surface volume data are by wireless
Transport module is transmitted back to ground-based computer；Tree crown area is calculated by tree crown image described in Threshold segmentation；By in ground-based computer
Put module and program stores and shows surveyed relative altitude △ H data, GPS location data and crown surface volume data；
Dispenser decision-making module generates dispenser prescription, sends regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction；
Dispenser control module, according to the control information of remote control module, regulation flight attitude and shower nozzle quantity, is then sprayed
Spill medicament.
Further, it is judged that whether described surveyed fruit tree is that the method for medicine fruit tree to be painted is: positioned by gps coordinate, fortune
Real time imaging or the range estimation of dynamic collected by camera judge.
Further, the process of the relative altitude △ H that described array of ultrasonic sensors records distance tree crown in real time is:
First, rotor wing unmanned aerial vehicle is placed on surveyed orchard ground and carries out surveying high benchmark calibration；Then, remote pilot rotor is unmanned
Machine flies to high-altitude, top, orchard, is judged whether by the GPS elements of a fix, the real time imaging of airborne moving camera collection or range estimation
Fruit tree to be measured also carries out orientation adjustment, so that rotor wing unmanned aerial vehicle bottom is just to surveyed top fruit sprayer center；By adjusting flight height
Degree is so that the detection sound wave that array of ultrasonic sensors is launched is completely covered tree crown surface and mutually partially overlaps, to measured
Data carry out minima judgement, record the rotor wing unmanned aerial vehicle relative altitude △ H from surveyed top fruit sprayer.
Further, described by described in Threshold segmentation tree crown image calculate tree crown area detailed process be:
Mark off the tree crown region in tree crown image and calculate its area, being detected green marginal information with underlying green sensor
Comparing, it is judged that taken a picture and whether tree crown is completely covered, if being completely covered, recording result, if not being completely covered, then real
Time adjust and continue to take pictures behind rotor wing unmanned aerial vehicle position and combining with green edge judges, until result being counted on ground after being completely covered
Calculation machine stores and shows.
Further, the process of described dispenser control module regulation flight attitude and shower nozzle quantity is: according to trunk center
Positional information, controls rotor wing unmanned aerial vehicle and moves horizontally, regulation rotor wing unmanned aerial vehicle center and trunk center superposition, it is ensured that spray all
Even；According to aircraft from tree crown relative altitude △ H data, control rotor wing unmanned aerial vehicle and move up and down so that rotor wing unmanned aerial vehicle and fruit
Tree relative altitude is constant, to reduce the medicinal liquid drift during dispenser；According to crown surface volume data, control each shower nozzle opening and closing,
I.e. control shower nozzle quantity, make spraying range reasonable, thus reduce the medicinal liquid amount of spraying.
Further, rotor wing unmanned aerial vehicle is replaced by the spot hover aircraft such as helicopter, many gyroplanes, and described fixed
Point hovering flight device can manual remote control or foundation GPS elements of a fix programme path unmanned independent navigation flight.
The automatic dispenser System and method for of a kind of based on measurement in space rotor wing unmanned aerial vehicle of the present invention, has following useful effect
Really:
1. rotor wing unmanned aerial vehicle technology is incorporated in tree height measurement, utilizes it to hover, move quick advantage, overcome tradition
Method is easily limited to the shortcoming of natural environment, and such as the measurement inconvenience that trunk blocks, the forest is dense causes, ground measures spacing to be had
The problems such as limit, can cause surveying the problems such as height is inaccurate, the adjustment of range finite sum is loaded down with trivial details；And under rotor wing unmanned aerial vehicle, press wind field to improve
Penetration of droplets.
2. GPS positioned, carry moving camera observation and range estimation combination, can remotely be accurately positioned tree positions to be measured, overcome
That tradition ground test method instrument carries and move is inconvenient, by safety and the problem such as waste time and energy；
3. use multiple ultrasonic sensors array range measurement principle, low cost, exhaustive, overcome laser distance measurement method cost high
Being produced error with easily affecting by tree crown density, image distance-finding method is easily by imageing sensor image quality and dense forest
The shortcoming that trees are intersected impact and produce error；
4. tree crown area can be changed shower nozzle according to tree crown size as the parameter regulating and controlling rotor wing unmanned aerial vehicle dispenser, rotor wing unmanned aerial vehicle
Quantity, overcomes dispenser waste or dispenser deficiency that fruit tree individual growth difference causes, controls spray medicine scope and tree crown is completely covered
And without departing from；
5. use the stereoscopic measurement method that combines with tree crown area measurement of tree height measurement, it is to avoid rotor wing unmanned aerial vehicle is away from tree crown mistake
The medicinal liquid drift that height causes covers not exclusively away from the too low dispenser caused of tree crown with rotor wing unmanned aerial vehicle, solves tree crown area
The dispenser caused is uneven, improves target performance, presses wind field can improve penetration of droplets, it is achieved accurately to execute under rotor wing unmanned aerial vehicle
Medicine；
6. use ground-based computer to store display pomology information and rotor wing unmanned aerial vehicle attitude information in real time, it is achieved visualized operation,
Generate information collecting device at the same time as orchard to use.
Accompanying drawing explanation
Fig. 1 is that array of ultrasonic sensors measures the aircraft ultimate principle figure from tree crown relative altitude；
Fig. 2 is that Flying Camera head measures tree crown image and calculates the ultimate principle figure of tree crown area；
Fig. 3 is that preposition green sensor realizes crashproof ultimate principle figure；
Fig. 4 is that unmanned plane controls shower nozzle opening and closing quantity schematic diagram in real time according to lower section tree crown area.
Detailed description of the invention
Below in conjunction with the accompanying drawings, to the present invention propose the automatic dispenser system of a kind of based on measurement in space rotor wing unmanned aerial vehicle with
Method is described in detail.In describing the invention, it is to be understood that term " front ", " left side ", " right side ", " on
Portion ", " bottom ", the orientation of the instruction such as " bottom " or position relationship be based on orientation shown in the drawings or position relationship, be only for
It is easy to describe the present invention and simplifying describe rather than instruction or the device of hint indication or element must have a specific side
Position, with specific azimuth configuration and operation, " first ", " second " etc. are not offered as the significance level of parts, therefore can not manage
Solve as limitation of the present invention.
The automatic dispenser system of a kind of based on measurement in space rotor wing unmanned aerial vehicle of the present invention, including rotor wing unmanned aerial vehicle, relatively
Elevation carrection module, tree crown image measurement module, dispenser decision-making module, dispenser control module.
Described relative altitude measurement module includes: ultrasonic sensor, GPS locating module, circuit board, be wirelessly transferred mould
Block, power supply, shell.Described GPS locating module, circuit board, wireless transport module and power supply are respectively mounted in the enclosure, described relatively
Elevation carrection module is arranged on rotor wing unmanned aerial vehicle undercarriage；For convenient disassembly, described elevation carrection module is unmanned with rotor
Can use threaded between machine undercarriage；Described ultrasonic sensor forms array of ultrasonic sensors, is installed on undercarriage
On support bar, it is preferred that described array of ultrasonic sensors is made up of the ultrasonic sensor of four and above quantity, symmetrical peace
It is loaded on aircraft landing gear supported underneath bar, uses more than four ultrasonic sensors to obtain average height, can avoid ultrasonic
Wave sensor detects the erroneous judgement that tree crown gap is caused, to reduce error.
Described tree crown image measurement module includes: Flying Camera head, fixed support, turning arm, regulation motor, be wirelessly transferred
Module；Described tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly center.Described turning arm, regulation motor, wireless
Transport module is fixedly mounted on fixed support；Flying Camera head quantity is one, is arranged on rotor by fixed support unmanned
Machine belly center position.
Described dispenser decision-making module includes: ground-based computer, remote control module, information receiving device, data base, dispenser
Decision system.It is characterized in that: described ground-based computer is arranged on terrestrial operation space；Described remote control module, data base,
Dispenser decision system is integrated in a computer.
Described dispenser control module includes consisting of part: medicine-chest, tube for transfusion, shower nozzle, microcontroller, motor, shower nozzle
Enter medicine electromagnetic valve.Described medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle abdominal part；Described shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and rises and falls
On frame；Described tube for transfusion connects medicine-chest and shower nozzle；Described microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
The described automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space also include preposition green sensor and, described before
Put green sensor to be fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.Described underlying green sensor is fixedly mounted on fixing
On frame.
And it is possible to by arranging described shower nozzle installation site so that spray area imbricate between adjacent shower nozzle, can
Ensure that every fruit tree is sprayed completely and medicinal liquid consumption is little.
As shown in Figures 1 to 4, the method using the above-mentioned automatic dispenser systemic administration of rotor wing unmanned aerial vehicle based on measurement in space,
Realized by procedure below:
Pre-typing orchard seeds, age, disease and insect information and gps coordinate in ground-based computer, pre-typing sprinkler area
The overlay information of spray area between information with adjacent shower nozzle, does sprinkler area test, and record shower nozzle is high away from tree crown difference
Under degree difference, half range and full width spray the spray area of working method, generate Crop Information and spray area data base, according to data
Storehouse calculates optimal dispenser condition, i.e. ensures that single fruit tree is sprayed completely, dispenser is evenly distributed, under the minimum premise of medicinal liquid drift, rotation
Wing unmanned plane is away from height of tree crown and dispenser shower nozzle quantity.
Carry array of ultrasonic sensors, GPS locating module, Flying Camera head, circuit of measurement and control (i.e. circuit board), electricity
Source, wireless transport module rotor wing unmanned aerial vehicle through remote control or TRAJECTORY CONTROL take off arrival upper end, orchard in the air and hover, by fortune
Dynamic the gathered real-time pictures of camera, GPS location data or range estimation judge whether rotor wing unmanned aerial vehicle is in above tree crown to be measured, rotor
Unmanned plane front portion is installed preposition green sensor and is detected green information in real time, prevents from colliding the tree crown exceeding current flight height,
Calculate relative altitude data via array of ultrasonic sensors, shoot tree crown view data, the data obtained via Flying Camera head
Send back ground-based computer.
Wherein array of ultrasonic sensors measuring and calculating relative altitude method is as follows: first, is placed in by rotor wing unmanned aerial vehicle and is surveyed fruit
Carry out on face, field surveying high benchmark calibration；Then, remote pilot rotor wing unmanned aerial vehicle flies to high-altitude, top, orchard, is positioned by GPS
Coordinate, the real time imaging of airborne moving camera collection or range estimation judge whether fruit tree to be measured and carry out orientation adjustment, so that rotation
Wing unmanned plane bottom is just to surveyed top fruit sprayer center；By adjust flying height so that array of ultrasonic sensors launch spy
Survey sound wave tree crown surface is completely covered and mutually partially overlaps, measured data are carried out minima judgement, record rotor without
The man-machine relative altitude △ H from surveyed top fruit sprayer；Finally, it is transmitted back to ground-based computer through wireless transport module store and show
Show.
Wherein Flying Camera head shooting tree crown image and computer measuring and calculating tree crown area method are as follows: rotor wing unmanned aerial vehicle is transported
Move above fruit tree to be measured and rotor wing unmanned aerial vehicle center adjusts with top fruit sprayer center after overlapping, gathered by airborne moving camera
Tree crown real time imaging, is transmitted back to ground-based computer through wireless transport module, the dispenser decision system being integrated in ground-based computer
Use thresholding method to be classified by image slices vegetarian refreshments, mark off tree crown region and calculate its area, with underlying green sensor institute
The green marginal information of detection compares, it is judged that being taken a picture and whether tree crown is completely covered, if being completely covered, recording result, if
It is not completely covered, continues to take pictures after adjusting rotor wing unmanned aerial vehicle position the most in real time and combining with green edge judges, until being completely covered
After result stored in ground-based computer and show.
Dispenser decision-making module analyzes measured rotor wing unmanned aerial vehicle away from tree crown relative altitude and tree crown area information, and most preferably executes
Medicated strip part compares, it is judged that whether actual measurement tree crown area overlaps with spray area in data base, generates corresponding dispenser prescription, i.e.
For the control instruction of rotor wing unmanned aerial vehicle flying height Yu shower nozzle quantity, send this control instruction to executing by remote control module
Medicine control module.
Microcontroller within rotor wing unmanned aerial vehicle is according to the control instruction of remote control module, regulation flight attitude and shower nozzle
Quantity, adjusts rotor wing unmanned aerial vehicle flying height by controlling motor rotary speed, so change rotor wing unmanned aerial vehicle away from tree crown relatively away from
From, adjust shower nozzle by control transfusion electromagnetic valve opening and closing and whether circulate, and then change dispenser shower nozzle quantity.
Rotor wing unmanned aerial vehicle can also be replaced by the spot hover aircraft such as helicopter, and rotor wing unmanned aerial vehicle can also select many
Rotor wing unmanned aerial vehicle, and described spot hover aircraft can manual remote control or unmanned from leading according to GPS elements of a fix programme path
Boat flight.
Based on description of the preferred embodiment of the present invention, it should be apparent that the basis being defined by the appended claims
Invention is not limited only to the specific detail that illustrated in specification above, without departing from present inventive concept or scope to this
Bright many obvious change is equally possible reaches the purpose of the present invention.
Claims (9)
1. the automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space, it is characterised in that include rotor wing unmanned aerial vehicle, relatively
Elevation carrection module, tree crown image measurement module, dispenser decision-making module, dispenser control module；
Described relative altitude measurement module includes: ultrasonic sensor, GPS locating module, circuit board, wireless transport module, electricity
Source, shell；Described GPS locating module, circuit board, wireless transport module and power supply are respectively mounted in the enclosure, ultrasonic sensor
Outside shell；Described relative altitude measurement module is arranged on rotor wing unmanned aerial vehicle undercarriage；
Described tree crown image measurement module includes: Flying Camera head, fixed support, turning arm, regulation motor, be wirelessly transferred mould
Block；Described tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly；Described turning arm, regulation motor, wireless transport module
It is fixedly mounted on fixed support；Described Flying Camera head is fixedly mounted on turning arm；
Described dispenser decision-making module includes: ground-based computer, remote control module, information receiving device, data base, dispenser decision-making
System；Described ground-based computer is arranged on terrestrial operation space；Described remote control module, data base, dispenser decision system collection
Become in a computer；
Described dispenser control module includes: medicine-chest, tube for transfusion, shower nozzle, microcontroller, motor, shower nozzle enter medicine electromagnetic valve；Described medicine
Case is fixedly mounted on rotor wing unmanned aerial vehicle abdominal part；Described shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle undercarriage；Described tube for transfusion is even
Connect medicine-chest and shower nozzle；Described microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
The described automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 1, it is characterised in that
The automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space also includes preposition green sensor and underlying green sensor；Described
Preposition green sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear；Described underlying green sensor is fixedly mounted on fixing
On support.
The described automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 1, it is characterised in that
By arranging described shower nozzle installation site so that spray area imbricate between adjacent shower nozzle.
4. the method for use rotor wing unmanned aerial vehicle based on measurement in space automatic dispenser systemic administration described in claim 2 or 3, its
It is characterised by, comprises the following steps:
Pre-typing dispenser decision information in ground-based computer；
Rotor wing unmanned aerial vehicle carries the automatic dispenser system flight of rotor wing unmanned aerial vehicle based on measurement in space；Judge that whether surveyed fruit tree is
Medicine fruit tree to be painted, controls rotor wing unmanned aerial vehicle and hovers over directly over fruit tree；
Array of ultrasonic sensors records relative altitude △ H, the GPS locating module of distance tree crown in real time and obtains this tree location in real time
Data, Flying Camera head obtains tree crown image；Above-mentioned relative altitude △ H, GPS location data and crown surface volume data are by wireless
Transport module is transmitted back to ground-based computer；Tree crown area is calculated by tree crown image described in Threshold segmentation；By in ground-based computer
Put module and program stores and shows surveyed relative altitude △ H data, GPS location data and crown surface volume data；
Dispenser decision-making module generates dispenser prescription, sends regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction；
Dispenser control module, according to the control information of remote control module, regulation flight attitude and shower nozzle quantity, is then sprayed
Spill medicament.
The described automatic application method of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 4, it is characterised in that
Judge that whether described surveyed fruit tree is that the method for medicine fruit tree to be painted is: positioned by gps coordinate, real-time figure that moving camera gathers
Picture or range estimation judge.
The described automatic application method of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 4, it is characterised in that
The process of the relative altitude △ H that described array of ultrasonic sensors records distance tree crown in real time is:
First, rotor wing unmanned aerial vehicle is placed on surveyed orchard ground and carries out surveying high benchmark calibration；Then, remote pilot rotor is unmanned
Machine flies to high-altitude, top, orchard, is judged whether by the GPS elements of a fix, the real time imaging of airborne moving camera collection or range estimation
Fruit tree to be measured also carries out orientation adjustment, so that rotor wing unmanned aerial vehicle bottom is just to surveyed top fruit sprayer center；By adjusting flight height
Degree is so that the detection sound wave that array of ultrasonic sensors is launched is completely covered tree crown surface and mutually partially overlaps, to measured
Data carry out minima judgement, record the rotor wing unmanned aerial vehicle relative altitude △ H from surveyed top fruit sprayer.
The described automatic application method of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 4, it is characterised in that
Described by described in Threshold segmentation tree crown image calculate tree crown area detailed process be:
Mark off the tree crown region in tree crown image and calculate its area, being detected green marginal information with underlying green sensor
Comparing, it is judged that taken a picture and whether tree crown is completely covered, if being completely covered, recording result, if not being completely covered, then real
Time adjust and continue to take pictures behind rotor wing unmanned aerial vehicle position and combining with green edge judges, until result being counted on ground after being completely covered
Calculation machine stores and shows.
The described automatic application method of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 4, it is characterised in that
The process of described dispenser control module regulation flight attitude and shower nozzle quantity is:
According to trunk center location information, control rotor wing unmanned aerial vehicle and move horizontally, regulation rotor wing unmanned aerial vehicle center and trunk center
Overlap, it is ensured that spray uniformly；According to aircraft from tree crown relative altitude △ H data, control rotor wing unmanned aerial vehicle and move up and down, make
Rotor wing unmanned aerial vehicle is constant with fruit tree relative altitude, drift about reducing the medicinal liquid during dispenser；According to crown surface volume data, control
Make each shower nozzle opening and closing, i.e. control shower nozzle quantity, make spraying range reasonable, thus reduce the medicinal liquid amount of spraying.
The described automatic application method of rotor wing unmanned aerial vehicle based on measurement in space the most according to claim 4, it is characterised in that
Rotor wing unmanned aerial vehicle is replaced by the spot hover aircraft such as helicopter, many gyroplanes, and described spot hover aircraft can people
Work remote control or the foundation GPS unmanned independent navigation of elements of a fix programme path fly.
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Application publication date: 20161130 Assignee: Nanjing Healy Kurt Safe Technology Ltd Assignor: Nanjing Forestry University Contract record no.: 2018320000259 Denomination of invention: Unmanned rotorcraft automatic pesticide applying system and method based on stereoscopic measurement Granted publication date: 20180925 License type: Common License Record date: 20181029 Application publication date: 20161130 Assignee: Safe Technology Ltd, Nanjing Assignor: Nanjing Forestry University Contract record no.: 2018320000260 Denomination of invention: Unmanned rotorcraft automatic pesticide applying system and method based on stereoscopic measurement Granted publication date: 20180925 License type: Common License Record date: 20181029 |
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Effective date of registration: 20191031 Address after: Office 88-150, feizhuang group, Gaohua community, Tangquan street, Pukou District, Nanjing City, Jiangsu Province Patentee after: Nanjing Linwei Ecological Agricultural Technology Co., Ltd Address before: Nanjing City, Jiangsu province 210037 Longpan Road No. 159 Patentee before: Nanjing Forestry University |
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