CN106167098B - 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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- CN106167098B CN106167098B CN201610807404.0A CN201610807404A CN106167098B CN 106167098 B CN106167098 B CN 106167098B CN 201610807404 A CN201610807404 A CN 201610807404A CN 106167098 B CN106167098 B CN 106167098B
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- 238000005259 measurement Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 32
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 32
- 239000003814 drug Substances 0.000 claims abstract description 12
- 239000007921 spray Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000002420 orchard Substances 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 8
- 210000001015 abdomen Anatomy 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 241001269238 Data Species 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 4
- 238000007910 systemic administration Methods 0.000 claims description 3
- 229940079593 drug Drugs 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 3
- 201000010099 disease Diseases 0.000 description 8
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 8
- 241000607479 Yersinia pestis Species 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 5
- 230000002265 prevention Effects 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 3
- 235000013339 cereals Nutrition 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
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- 238000010191 image analysis Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000003900 soil pollution Methods 0.000 description 1
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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; ARRANGEMENT 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
-
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space, which includes rotor wing unmanned aerial vehicle, relative altitude measurement module, tree crown image measurement module, dispenser decision-making module, dispenser control module；This approach includes the following steps：The pre- typing dispenser decision information in ground-based computer；Control rotor wing unmanned aerial vehicle hovers over right over fruit tree；Relative altitude △ H, GPS positioning data and the tree crown area data of measured distance tree crown；Dispenser decision-making module sends out regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction according to relative altitude △ H, GPS positioning data and tree crown area data；Dispenser control module adjusts flight attitude and nozzle quantity, then carries out sprinkling medicament according to the control information of remote control module.The System and method for of the present invention, surveys high precision, range greatly and adjustment is simple；Measurement cost is low, exhaustive, error are small；It avoids dispenser waste or dispenser is insufficient；Dispenser is accurate.
Description
Technical field
The invention belongs to agricultural aviation plant protection technology field, specifically 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 essential important ring
Section, directly affects the yield and quality of grain.In China cereal crops production process, herbal sprinkling is still with craft, half machine
Based on toolization operation, this migrating property not only having with pest and disease damage, popularity and burst do not match that, while and modern agriculture
The large-scale planting of production also mismatches, and as a result causes monitoring and warning mutually to disconnect with anti-, governance of uniting, to cause serious economy
Loss, while the labour of operation input is more, labor intensity is big, dispenser personnel's poisoning happens occasionally.
It is carrier that rotor wing unmanned aerial vehicle pesticide application technology, which is using small-sized rotor wing unmanned aerial vehicle, carries pesticide spray on board the aircraft
Equipment researchs and solves the reasonable deposition distribution of droplet, and plans GPS system and be introduced into rotor wing unmanned aerial vehicle dispenser operation, has operation
The advantages that flying speed is fast, spraying operation is efficient, reply burst fire-disaster ability is strong, overcomes agricultural machinery or manually can not be into
The problem of ground operation realizes precision operation, realizes that low latitude low amounts aerial pesticide provides technical support for proportion of crop planting, to carry
High China's agricultural production is information-based, level of digital provides technical support.Rotor wing unmanned aerial vehicle dispenser compared with traditional spraying equipment,
It has the advantage that：1. the problems such as saving medicine, water-saving, reducing pollution, effectively reduce pesticide residue, soil pollution and shortage of water；②
Operating efficiency is high, is 60 times of traditional artificial spray pattern or more, current rural laborer's shortage problem is effectively solved, in disease pest
Evil can carry out rapidly prevention when breaking out on a large scale, be lost caused by reducing pest and disease damage；3. control effect is good, generated by rotor
Downdraught contributes to the penetrability for increasing droplet to crop, air-flow droplet to be taken to blade back and the root of plant, can reduce and float
It moves, improves adhesive rate of the pesticide on target, control effect is more preferable；4. dispenser personnel safety factor is high, using manual remote control skill
Art and autonomous navigation technology are combined, and operator can issue an instruction to control nothing outside applying area by wireless remote-measuring system
Man-machine action is automatically performed the overall process of unmanned plane dispenser；5. applicability is good, can VTOL, not by geographic factor system
About, no matter mountain area or Plain, paddy field or dry land and different crops, all have good adaptability；6. crop damage
It is small, crop will not be rolled as large-scale ground spraying equipment.
Rotor wing unmanned aerial vehicle dispenser is driven as a kind of means of novel prevention pest and disease damage compared to traditional area spray and someone
Sailing aircraft spraying medicine has its unique advantage, is applicable not only to plains region crop, will also be in Hills, terraced fields etc. are special in flakes
Area carries out playing irreplaceable role in the operations such as agriculture diseases, insect pests and weeds prevention, and locust of going out, health and epidemic prevention.
Although very fast using rotor wing unmanned aerial vehicle dispenser development at present, there are still more problems, such as：Dispenser precision is still
It is so poor, when especially for the larger crop dispenser of spacing, generally requires to expand spray area, cause waste again in this way；
And dispenser is not uniform enough, and pesticide supplying effect is had a greatly reduced quality.
Invention content
The technical problem to be solved in the present invention is to provide a kind of automatic dispenser systems of rotor wing unmanned aerial vehicle based on measurement in space
With method, which is accurately positioned by measurement in space, realizes the accurate and uniform of rotor wing unmanned aerial vehicle dispenser.
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 measure
Module, tree crown image measurement module, dispenser decision-making module, dispenser control module.
The relative altitude measurement module includes：Ultrasonic sensor, GPS positioning module, circuit board, wireless transmission mould
Block, power supply, shell；The GPS positioning module, circuit board, wireless transport module and power supply are respectively mounted inside the shell, and ultrasonic wave passes
Outside shell, the relative altitude measurement module is mounted on rotor wing unmanned aerial vehicle undercarriage sensor, and specifically, the shell is solid
Dingan County is on rotor wing unmanned aerial vehicle undercarriage；The ultrasonic sensor forms array of ultrasonic sensors, is installed on undercarriage
On supporting rod, the ultrasonic sensor is for real-time sense aircraft lower section from tree crown relative altitude, multiple supersonic sensings
The array of device composition, effective scope of detection overlap in investigative range edge, avoid omitting to cover all around tree crown, lead to
The relative distance from tree crown that real-time judge detects is crossed, minimum value is obtained, as with a distance from tree crown.The GPS positioning mould
Block is for obtaining current institute's assize wood GPS coordinate；The circuit board is for each function module of integrated control and stores, calculates and obtained
Obtain data；The wireless transport module is by surveyed relative altitude data, the positioning of green information and GPS positioning module institute assize wood
Coordinate data real-time Transmission returns ground-based computer；The power supply is array of ultrasonic sensors, GPS positioning module, preposition green
Sensor, circuit board, wireless transport module power supply；The shell is for installing protection GPS positioning module, circuit board, wireless biography
Defeated module, power supply are simultaneously fixed with undercarriage.
The tree crown image measurement module includes：Flying Camera head, fixing bracket, rotating arm, regulation motor, wireless transmission
Module；The tree crown area measurement is mounted on rotor wing unmanned aerial vehicle belly.The rotating arm, regulation motor, wireless transmission mould
Block is fixedly mounted on fixing bracket；The Flying Camera head is fixedly mounted on rotating arm；The Flying Camera head is for clapping
Take the photograph lower section tree crown area at rotor wing unmanned aerial vehicle center；The regulation motor is for adjusting rotating arm rotation angle；The wireless biography
Institute's assize crown product and green information real-time Transmission are returned ground-based computer by defeated module.Using Flying Camera head, it is effectively prevented
Rotor wing unmanned aerial vehicle is shaken swings the focus issues brought with fruit tree, can shoot picture real-time.
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser
Decision system.It is characterized in that：The ground-based computer is mounted on terrestrial operation space；The remote control module, database,
Dispenser decision system is integrated in a computer；Described information receiving device includes ultrasonic wave receiving device, GPS receiver equipment, green
Colour sensor receiving device, Flying Camera head receiving device；Each component part of described information receiving device is fixedly mounted on rotor
Inside unmanned plane；The ultrasonic wave receiving device is used to receive the relative altitude signal of array of ultrasonic sensors detection；It is described
GPS receiver equipment is used for the location data that GPS positioning module measures；The green sensor receiving device is preposition green for receiving
The green information of colour sensor and underlying green sensor measurement；The Flying Camera head receiving device is for receiving high-definition camera
The photographic intelligence of head shooting；Measured information is transferred to ground-based computer by described information receiving device；The data management system
Including orchard disease and insect information, orchard seeds information, age information, best dispenser conditional information；The dispenser decision system knot
Fruit tree steric information is closed, best insecticide-applying way is automatically selected；The dispenser decision system passes through remote control module real-time monitoring
Rotor wing unmanned aerial vehicle insecticide-applying way；The dispenser decision-making module passes through preposition green sensor；The ground-based computer is used for ground
Personnel receive and storage relative altitude data, green information and GPS positioning data and reception and storage tree crown area data and
Green information.
The dispenser control module includes consisting of part：Medicine-chest, woven hose, nozzle, microcontroller, motor, nozzle
Into medicine solenoid valve.The medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle abdomen；The nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and rises and falls
On frame；The woven hose connection medicine-chest and nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle；The microcontroller
Decision information for receiving dispenser decision-making module；The motor is fixedly mounted on unmanned rotary wing axial location；The microcontroller
Device adjusts motor rotary speed in real time according to remote control information；The motor rotary speed variation causes rotor wing unmanned aerial vehicle height change；Institute
Nozzle is stated to be mounted on woven hose into medicine solenoid valve；The microcontroller is opened according to remote control information, real-time monitoring solenoid valve
It closes；Whether the solenoid valve opening and closing determines corresponding nozzle circulation
Further, the automatic dispenser system of the rotor wing unmanned aerial vehicle based on measurement in space further includes preposition green sensor
With the preposition green sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.The preposition green sensor levels to
Preceding measurement avoids collision higher tree crown to realize anticollision for detecting green information in front of rotor wing unmanned aerial vehicle.It is described underlying green
Colour sensor is fixedly mounted on fixing bracket；The underlying green sensor measures straight down, for detect rotor nobody
Green information below machine judges green edge in conjunction with image analysis, can determine whether to take a picture whether tree crown is completely covered, avoid out
Now leakage is clapped.
Further, by the way that the nozzle installation site is arranged so that spray area imbricate between adjacent nozzle, it can
Ensure every fruit tree sprinkling completely and liquid consumption is small.
Using the method for the automatic dispenser systemic administration of the above-mentioned rotor wing unmanned aerial vehicle based on measurement in space, include the following steps：
The 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；Judging surveyed fruit tree is
No is fruit tree to be sprayed, and control rotor wing unmanned aerial vehicle hovers over right over fruit tree；
The relative altitude △ H of the real-time measured distance tree crown of array of ultrasonic sensors, GPS positioning module obtain the tree in real time
Location data, Flying Camera head obtain tree crown image；Above-mentioned relative altitude △ H, GPS positioning data and tree crown area data pass through
Wireless transport module is transmitted back to ground-based computer；Tree crown area is calculated by tree crown image described in Threshold segmentation；It is calculated by ground
Machine built-in module and program store and show surveyed relative altitude △ H datas, GPS positioning data and tree crown area data；
Dispenser decision-making module generates dispenser prescription, sends out regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction；
Dispenser control module adjusts flight attitude and nozzle quantity according to the control information of remote control module, then into
Row sprinkling medicament.
Further, judge whether the surveyed fruit tree is that the method for fruit tree to be sprayed is：Pass through GPS coordinate positioning, fortune
The realtime graphic of dynamic camera acquisition or range estimation judge.
Further, the process of the relative altitude △ H of the real-time measured distance tree crown of the array of ultrasonic sensors is：
First, rotor wing unmanned aerial vehicle is placed on surveyed orchard ground and carries out surveying high benchmark calibration；Then, remote control rotor
Unmanned plane flies to high-altitude at the top of orchard, and the realtime graphic or range estimation acquired by GPS positioning coordinate, airborne moving camera judges
Whether fruit tree to be measured and orientation adjustment is carried out, so that the surveyed top fruit sprayer center of rotor wing unmanned aerial vehicle lower part face；By adjusting winged
Row height is so that the detection sound wave of array of ultrasonic sensors transmitting is completely covered tree crown surface and mutually partially overlaps, to being surveyed
The data obtained carry out minimum value judgement, measure relative altitude △ H of the rotor wing unmanned aerial vehicle from surveyed top fruit sprayer.
Further, the detailed process that tree crown area is calculated by tree crown image described in Threshold segmentation is：
It marks off the tree crown region in tree crown image and calculates its area, green edge is detected with underlying green sensor
Information compares, and judges to take a picture whether tree crown is completely covered, if record is not as a result, be completely covered if being completely covered,
Then continue to take pictures behind adjustment rotor wing unmanned aerial vehicle position in real time and combining with green edge judges, until by result on ground after being completely covered
It stores and shows in the computer of face.
Further, the dispenser control module adjusts flight attitude and the process of nozzle quantity is：According to trunk center
Location information, control rotor wing unmanned aerial vehicle move horizontally, and adjust rotor wing unmanned aerial vehicle center and are overlapped with trunk center, ensure that sprinkling is equal
It is even；According to aircraft from tree crown relative altitude △ H datas, control rotor wing unmanned aerial vehicle moves up and down so that rotor wing unmanned aerial vehicle and fruit
Tree relative altitude is constant, is drifted about with reducing the liquid during dispenser；According to tree crown area data, each nozzle opening and closing is controlled,
Nozzle quantity is controlled, keeps spraying range reasonable, to reduce the liquid amount of spraying.
Further, rotor wing unmanned aerial vehicle is changed to the spot hovers aircraft such as helicopter, more gyroplanes, and described fixed
Point hovering flight device can manual remote control or according to the unmanned independent navigation flight of GPS positioning coordinate programme path.
A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space of the present invention has below beneficial to effect
Fruit：
1. rotor wing unmanned aerial vehicle technology is introduced into tree height measurement, it can be hovered using it, move quick advantage, overcome
Conventional method is easy the shortcomings that being limited to natural environment, and it is inconvenient to be measured as caused by blocking trunk, the forest is dense, between ground measures
Away from it is limited the problems such as, can lead to survey that high inaccurate, the adjustment of range finite sum is cumbersome；And rotor wing unmanned aerial vehicle pushing wind field can
Improve penetration of droplets
2. by GPS positioning, carrying moving camera observation and range estimation combination, tree positions to be measured can be remotely accurately positioned, gram
Taken traditional ground test method instrument carry and it is mobile it is inconvenient, by safety and it is time-consuming and laborious the problems such as；
3. use multiple ultrasonic sensors array range measurement principle, at low cost, exhaustive, overcome laser distance measurement method at
It this height and is easily influenced by tree crown density and generates error, image distance measuring method is easily by imaging sensor image quality and dense gloomy
The shortcomings that trees intersection influences and generates error in woods；
4. using tree crown area as the parameter of regulation and control rotor wing unmanned aerial vehicle dispenser, rotor wing unmanned aerial vehicle can change according to tree crown size
Nozzle quantity, overcomes dispenser waste caused by fruit tree individual growth difference or dispenser is insufficient, and control spray range is completely covered
Tree crown and without departing from；
5. the stereoscopic measurement method being combined with tree crown area measurement using tree height measurement, avoids rotor wing unmanned aerial vehicle away from tree
It is preced with excessively high caused liquid drift to cover not exclusively away from the too low caused dispenser of tree crown with rotor wing unmanned aerial vehicle, solves tree crown area
Dispenser caused by not equal is uneven, is improved to target performance, and rotor wing unmanned aerial vehicle pushes wind field and penetration of droplets can be improved, and realizes accurate
Dispenser；
6. storing display pomology information and rotor wing unmanned aerial vehicle posture information in real time using ground-based computer, visualization behaviour is realized
Make, generating information collecting device at the same time as orchard uses.
Description of the drawings
Fig. 1 is that array of ultrasonic sensors measures basic principle figure of the aircraft from tree crown relative altitude；
Fig. 2 is that Flying Camera head measures tree crown image and calculates the basic principle figure of tree crown area；
Fig. 3 is the basic principle figure that preposition green sensor realizes anticollision；
Fig. 4 is that unmanned plane is opened and closed quantity schematic diagram according to lower section tree crown area real-time control nozzle.
Specific implementation mode
Below in conjunction with the accompanying drawings, to a kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space proposed by the present invention with
Method is described in detail.In the description of the present invention, it is to be understood that, term " front ", " left side ", " right side ", " on
The orientation or positional relationship of the instructions such as portion ", " lower part ", " bottom " be based on the orientation or positional relationship shown in the drawings, be only for
Convenient for the description present invention and simplify description, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, " first ", " second " etc. are not offered as the significance level of parts, therefore cannot manage
Solution is limitation of the present invention.
A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space of the present invention, including it is rotor wing unmanned aerial vehicle, opposite
Elevation carrection module, tree crown image measurement module, dispenser decision-making module, dispenser control module.
The relative altitude measurement module includes：Ultrasonic sensor, GPS positioning module, circuit board, wireless transmission mould
Block, power supply, shell.The GPS positioning module, circuit board, wireless transport module and power supply are respectively mounted inside the shell, described opposite
Elevation carrection module is mounted on rotor wing unmanned aerial vehicle undercarriage；For convenient disassembly, the elevation carrection module and rotor nobody
Threaded connection can be used between machine undercarriage；The ultrasonic sensor forms array of ultrasonic sensors, is installed on undercarriage
On supporting rod, it is preferred that the array of ultrasonic sensors is made of the ultrasonic sensor of four and the above quantity, symmetrical to pacify
Loaded on aircraft landing gear supported underneath bar, average height is obtained using four or more ultrasonic sensors, can avoid ultrasound
Wave sensor is judged by accident caused by detecting tree crown gap, to reduce error.
The tree crown image measurement module includes：Flying Camera head, fixing bracket, rotating arm, regulation motor, wireless transmission
Module；The tree crown area measurement is mounted at rotor wing unmanned aerial vehicle belly center.It is the rotating arm, regulation motor, wireless
Transmission module is fixedly mounted on fixing bracket；Flying Camera head quantity be one, by fixing bracket be mounted on rotor nobody
Machine belly center position.
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser
Decision system.It is characterized in that：The ground-based computer is mounted on terrestrial operation space；The remote control module, database,
Dispenser decision system is integrated in a computer.
The dispenser control module includes consisting of part：Medicine-chest, woven hose, nozzle, microcontroller, motor, nozzle
Into medicine solenoid valve.The medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle abdomen；The nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and rises and falls
On frame；The woven hose connection medicine-chest and nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
The automatic dispenser system of the rotor wing unmanned aerial vehicle based on measurement in space further include preposition green sensor and, before described
Green sensor is set to be fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.The underlying green sensor is fixedly mounted on fixed branch
On frame.
And it is possible to by the way that the nozzle installation site is arranged so that spray area imbricate between adjacent nozzle, it can
Ensure every fruit tree sprinkling completely and liquid consumption is small.
As shown in Figures 1 to 4, using the method for the automatic dispenser systemic administration of the above-mentioned rotor wing unmanned aerial vehicle based on measurement in space,
It is realized by following procedure：
Pre- typing orchard seeds, age, disease and insect information and GPS coordinate in ground-based computer, pre- typing nozzle sprinkling
The overlay information of spray area between area information and adjacent nozzle, do nozzle spray area experiment, record nozzle away from tree crown not
With under difference in height, the spray area of half range and full width sprinkling working method generates Crop Information and spray area database, according to
Database calculates best dispenser condition, that is, ensureing single, fruit tree sprinkling is complete, dispenser is evenly distributed, the minimum premise of liquid drift
Under, rotor wing unmanned aerial vehicle is away from height of tree crown and dispenser nozzle quantity.
Carry array of ultrasonic sensors, GPS positioning module, Flying Camera head, circuit of measurement and control（That is circuit board）, electricity
Source, wireless transport module rotor wing unmanned aerial vehicle take off that reach orchard upper end aerial and hover through remote control or TRAJECTORY CONTROL, pass through fortune
The acquired real-time pictures of dynamic camera, GPS positioning data or range estimation judge rotor wing unmanned aerial vehicle whether above tree crown to be measured, rotor
Installation preposition green sensor in unmanned plane front detects green information in real time, and it is more than the tree crown of current flight height to prevent collision,
Calculate relative altitude data via array of ultrasonic sensors, tree crown image data, the data obtained are shot via Flying Camera head
Send back ground-based computer.
Wherein array of ultrasonic sensors measuring and calculating relative altitude method is as follows：First, rotor wing unmanned aerial vehicle is placed in surveyed fruit
It carries out surveying high benchmark calibration on the face of field；Then, remote control rotor wing unmanned aerial vehicle flies to high-altitude at the top of orchard, passes through GPS positioning
Coordinate, the realtime graphic of airborne moving camera acquisition or range estimation judge whether fruit tree to be measured and carry out orientation adjustment, so that rotation
Wing unmanned plane lower part the surveyed top fruit sprayer center of face；By adjusting flying height so that the spy of array of ultrasonic sensors transmitting
Survey sound wave tree crown surface is completely covered and mutually partially overlaps, minimum value judgement carried out to measured data, measure rotor without
The man-machine relative altitude △ H from surveyed top fruit sprayer；Finally, ground-based computer is transmitted back to through wireless transport module to 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
It moves above fruit tree to be measured and rotor wing unmanned aerial vehicle center is adjusted with top fruit sprayer center after overlapping, acquired by airborne moving camera
Tree crown realtime graphic is transmitted back to ground-based computer through wireless transport module, the dispenser decision system being integrated in ground-based computer
Image slices vegetarian refreshments is classified using thresholding method, mark off tree crown region and calculates its area, with underlying green sensor institute
The green marginal information of detection compares, and judges to take a picture whether tree crown is completely covered, if if being completely covered record as a result,
It is not completely covered, then continues to take pictures behind adjustment rotor wing unmanned aerial vehicle position in real time and combining with green edge judges, until being completely covered
Result is stored and shown in ground-based computer afterwards.
The measured rotor wing unmanned aerial vehicle of dispenser decision-making module analysis and is most preferably applied away from tree crown relative altitude and tree crown area information
Medicinal strip part compares, and judges to survey whether tree crown area overlaps with spray area in database, generates corresponding dispenser prescription, i.e.,
For the control instruction of rotor wing unmanned aerial vehicle flying height and nozzle quantity, which is sent to applying by remote control module
Medicine control module.
Microcontroller inside rotor wing unmanned aerial vehicle adjusts flight attitude and nozzle according to the control instruction of remote control module
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 it is opposite away from
From, whether circulation by control infusion solenoid valve opening and closing to adjust nozzle, and then change dispenser nozzle quantity.
Rotor wing unmanned aerial vehicle can also be changed to the spot hovers aircraft such as helicopter, rotor wing unmanned aerial vehicle can also select more
Rotor wing unmanned aerial vehicle, and the spot hover aircraft can manual remote control or according to GPS positioning coordinate programme path nobody from leading
Boat flight.
Based on description of the preferred embodiment of the present invention, it should be apparent that the sheet being defined by the appended claims
Invention is not limited only to the specific detail that is illustrated in specification above, without departing from present inventive concept or range to this hair
Bright many obviously change equally possible reaches the purpose of the present invention.
Claims (9)
1. a kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space, which is characterized in that including rotor wing unmanned aerial vehicle, relatively
Elevation carrection module, tree crown image measurement module, dispenser decision-making module, dispenser control module；
The relative altitude measurement module includes：Ultrasonic sensor, GPS positioning module, circuit board, wireless transport module, electricity
Source, shell；The GPS positioning module, circuit board, wireless transport module and power supply are respectively mounted inside the shell, ultrasonic sensor
Outside shell；The relative altitude measurement module is mounted on rotor wing unmanned aerial vehicle undercarriage；
The tree crown image measurement module includes：Flying Camera head, fixing bracket, rotating arm, regulation motor, wireless transmission mould
Block；The tree crown image measurement module is mounted on rotor wing unmanned aerial vehicle belly；The rotating arm, regulation motor, wireless transmission
Module is fixedly mounted on fixing bracket；The Flying Camera head is fixedly mounted on rotating arm；
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser decision
System；The ground-based computer is mounted on terrestrial operation space；The remote control module, database, dispenser decision system collection
At in a computer；
The dispenser control module includes：Medicine-chest, woven hose, nozzle, microcontroller, motor, nozzle are into medicine solenoid valve；The medicine
Case is fixedly mounted on rotor wing unmanned aerial vehicle abdomen；The nozzle is fixedly mounted on rotor wing unmanned aerial vehicle undercarriage；The woven hose connects
Connect medicine-chest and nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
2. the automatic dispenser system of rotor wing unmanned aerial vehicle according to claim 1 based on measurement in space, which is characterized in that based on vertical
The automatic dispenser system of rotor wing unmanned aerial vehicle of bulk measurement further includes preposition green sensor and underlying green sensor；It is described preposition green
Colour sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear；The underlying green sensor is fixedly mounted on fixing bracket
On.
3. the automatic dispenser system of rotor wing unmanned aerial vehicle according to claim 1 based on measurement in space, which is characterized in that by setting
Set the nozzle installation site so that spray area imbricate between adjacent nozzle.
4. using the method for the automatic dispenser systemic administration of the rotor wing unmanned aerial vehicle based on measurement in space described in Claims 2 or 33,
It is characterized in that, includes the following steps：
The 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 surveyed fruit tree whether be
Fruit tree to be sprayed, control rotor wing unmanned aerial vehicle hover over right over fruit tree；
The relative altitude △ H of the real-time measured distance tree crown of array of ultrasonic sensors, GPS positioning module obtain tree positioning in real time
Data, Flying Camera head obtain tree crown image；Above-mentioned relative altitude △ H, GPS positioning data and tree crown image data pass through wireless
Transmission 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
It sets module and program stores and shows surveyed relative altitude △ H datas, GPS positioning data and tree crown image data；
Dispenser decision-making module generates dispenser prescription, sends out regulation and control rotor wing unmanned aerial vehicle insecticide-applying way instruction；
Dispenser control module adjusts flight attitude and nozzle quantity, is then sprayed according to the control information of remote control module
Spill medicament.
5. the automatic application method of rotor wing unmanned aerial vehicle according to claim 4 based on measurement in space, which is characterized in that judge institute
State whether surveyed fruit tree is that the method for fruit tree to be sprayed is：By GPS coordinate positioning, moving camera acquisition realtime graphic or
Range estimation judges.
6. the automatic application method of rotor wing unmanned aerial vehicle according to claim 4 based on measurement in space, which is characterized in that described super
The process of the relative altitude △ H of the real-time measured distance tree crown of sonic sensor array is：
First, rotor wing unmanned aerial vehicle is placed on surveyed orchard ground and carries out surveying high benchmark calibration；Then, remote control rotor nobody
Machine flies to high-altitude at the top of orchard, and the realtime graphic or range estimation acquired by GPS positioning coordinate, airborne moving camera judges whether
Fruit tree to be measured simultaneously carries out orientation adjustment, so that the surveyed top fruit sprayer center of rotor wing unmanned aerial vehicle lower part face；It is high by adjusting flight
It spends so that the detection sound wave of array of ultrasonic sensors transmitting is completely covered tree crown surface and mutually partially overlaps, to measured
Data carry out minimum value judgement, measure relative altitude △ H of the rotor wing unmanned aerial vehicle from surveyed top fruit sprayer.
7. the automatic application method of rotor wing unmanned aerial vehicle according to claim 4 based on measurement in space, which is characterized in that described logical
It crosses tree crown image described in Threshold segmentation and calculates the detailed process of tree crown area and be：
It marks off the tree crown region in tree crown image and calculates its area, green marginal information is detected with underlying green sensor
It compares, judges to take a picture whether tree crown is completely covered, if record is not as a result, be completely covered, in fact if being completely covered
When adjustment rotor wing unmanned aerial vehicle position after continue to take pictures and combining with green edge judges, until result is counted on ground after being completely covered
It stores and shows in calculation machine.
8. the automatic application method of rotor wing unmanned aerial vehicle according to claim 4 based on measurement in space, which is characterized in that described to apply
Medicine control module adjusts flight attitude and the process of nozzle quantity is：
According to trunk center location information, control rotor wing unmanned aerial vehicle moves horizontally, and adjusts rotor wing unmanned aerial vehicle center and trunk center
It overlaps, ensures that sprinkling is uniform；According to aircraft from tree crown relative altitude △ H datas, control rotor wing unmanned aerial vehicle moves up and down, makes
It obtains rotor wing unmanned aerial vehicle and fruit tree relative altitude is constant, drifted about with reducing the liquid during dispenser；According to tree crown area data, control
Each nozzle opening and closing is made, that is, controls nozzle quantity, keeps spraying range reasonable, to reduce the liquid amount of spraying.
9. the automatic application method of rotor wing unmanned aerial vehicle according to claim 4 based on measurement in space, which is characterized in that by rotor
Unmanned plane is changed to helicopter, more gyroplane spot hover aircraft, and the spot hover aircraft passes through manual remote control
Or according to the unmanned independent navigation flight of GPS positioning coordinate programme path.
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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 |