CN106218892A - Unmanned plane makes a return voyage apparatus and method automatically - Google Patents
Unmanned plane makes a return voyage apparatus and method automatically Download PDFInfo
- Publication number
- CN106218892A CN106218892A CN201610823369.1A CN201610823369A CN106218892A CN 106218892 A CN106218892 A CN 106218892A CN 201610823369 A CN201610823369 A CN 201610823369A CN 106218892 A CN106218892 A CN 106218892A
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- China
- Prior art keywords
- liquid
- unmanned plane
- return voyage
- control system
- pipeline
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Classifications
-
- 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
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
nullThe open a kind of unmanned plane of the present invention makes a return voyage apparatus and method automatically，Its device that automatically makes a return voyage includes: liquid-detecting、Control circuit、Flight control system and dynamical system，Liquid-detecting electrically connects with control circuit，Control circuit electrically connects with flight control system，Flight control system directly electrically connects with the dynamical system of unmanned plane again，The unmanned plane of the present invention makes a return voyage apparatus and method automatically，Apparatus structure is simple，In implementation method the most simple and convenient，During spraying，Supervise without the artificial moment，Carry out the sprinkling of medicine voluntarily，After herbal sprinkling，Flight control system records the coordinate of sprinkling automatically，And it is sent to Terminal Server Client，Simultaneously，Carry out making a return voyage voluntarily installing medicine additional，Band medicine is filled，Fly again to the coordinate position stopping sprinkling before，Continue to be carried forward sprinkling，Whole process is without manual oversight，Automatic Control，Save human cost，And record sprays coordinate position automatically，Avoid drain spray to respray phenomenon，Spraying range is more accurate，More save.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of plant protection class sprinkling unmanned plane automatically make a return voyage device and
Method.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", utilizes radio robot and provides for oneself
The most manned aircraft that presetting apparatus is handled.Unmanned plane presses application, can be divided into military and civilian.Military aspect, unmanned
Machine is divided into reconnaissance plane and target drone.Civilian aspect, unmanned plane+sector application, is real just the needing of unmanned plane；At present taking photo by plane, agriculture
Industry, plant protection, auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric power patrol
The application in inspection, the disaster relief, movies-making, manufacture romance etc. field, has greatly expanded the purposes of unmanned plane itself, developed country
Also at actively extension sector application and development unmanned air vehicle technique.
Along with the development of science and technology, in large-area agricultural industry, the unmanned plane of band medicine-chest can be used to carry out crops
Spraying, be so greatly saved human resources, the most remotely operation can be prevented effectively from the phenomenon of personnel's poisoning, and efficiency is high.But
Current existing plant protection class unmanned plane, is generally needed when medicine liquid spray artificially to be monitored by Video Remote, sees and have medicinal liquid or not
Judge whether that needing manually makes a return voyage and add injecting medical liquid, or at the internally installed a kind of medicine level sensor of medicine-chest, check current medicinal liquid
Position, and sent to operator by supporting wireless transmitter, if operator observes after not having medicinal liquid, manually making a return voyage adds injection
Liquid.So necessary to attention for operator moment high concentration, otherwise will occur without medicinal liquid and also continue flight
Spray, cause drain spray phenomenon；Simultaneously as manual operation be by operation general last make a return voyage a little, due at a distance
There is the collimation error in operation, it will usually causes drain spray or the phenomenon resprayed the most prominent.
Summary of the invention
For weak point present in above-mentioned technology, the present invention provides a kind of plant protection class sprinkling unmanned plane automatically to make a return voyage
Apparatus and method.
In order to achieve the above object, the open a kind of unmanned plane of the present invention makes a return voyage device automatically, including:
Liquid-detecting: described liquid-detecting is provided with the pipeline and the electrode of liquid in detection pipeline flowed for liquid
Group, described liquid is the liquid of band electric conductivity, and described electrode group inserts the flowing of liquid in detection pipeline in pipeline, when in pipeline
When having liquid flowing to carry out normal spraying operation, electrode group turns on, and when no liquid flowing in pipeline, electrode group disconnects；
Control circuit: electrically connect with electrode group, and be energized to the anelectrode of electrode group, the signal that electrode group disconnects is changed into one
Individual low level signal is sent to flight control system；
Flight control system: simultaneously electrically connect with control circuit and unmanned plane dynamical system, reception control circuit send about electrode
The signal that group disconnects, and process, the information processed is sent the dynamical system to unmanned plane, controls unmanned plane and make a return voyage.
Wherein, described electrode group has two, respectively anelectrode and negative electrode, and described anelectrode is inserted simultaneously into negative electrode
In liquid in same pipeline, form one between loop, and anelectrode and negative electrode at a distance of 1cm.
Wherein, liquid-detecting described in described duct penetration, described conduit is provided with water pump, and described water pump is arranged on and leans on
On the pipeline of one end of nearly liquid storage box, and by liquid from liquid storage box in suction pipeline, described water pump also with fly control
System electrically connects, and one end of pipeline is connected with liquid storage box, and the other end connects the shower nozzle for spraying liquid.
Wherein, described flight control system also with for fly location locating module electrically connect, locating module real time record without
The position of man-machine flight.
Wherein, described unmanned plane makes a return voyage device automatically, it is characterised in that is additionally provided with in described flight control system and automatically returns
Boat function, described automatically make a return voyage function when Terminal Server Client transmission make a return voyage information to the flight control system of unmanned plane after, flight control system
Activate function of automatically making a return voyage immediately to make a return voyage operation, record simultaneously locating module generation changing coordinates information.
A kind of method that unmanned plane makes a return voyage automatically, including:
Liquid-detecting arranges the pipeline being available for liquid communication, and liquid selects the liquid of band electric conductivity, by electrode group one end
In insertion pipeline, the other end electrically connects with control circuit；Control circuit is energized to electrode group, when there being liquid to flow in pipeline,
Electrode group turns on, and control circuit is properly functioning, and when not having liquid to flow in pipeline, electrode group disconnects；
When electrode group disconnects, control circuit detects the signal that electrode group disconnects, and this signal changes into a low level
Signal is sent to flight control system；
Flight control system receives low level signal, activates function of automatically making a return voyage and sends the instruction maked a return voyage, simultaneously by signal
Sending the dynamical system to unmanned plane after reason, unmanned plane makes a return voyage.
Wherein, the anelectrode of electrode group and negative electrode are inserted simultaneously in same pipeline, and phase between anelectrode with negative electrode
Away from 1cm, when control circuit is energized to anelectrode, and when liquid conductive in pipeline flows through, anelectrode and negative electrode with
Liquid is medium, connects conducting, and when no liquid flows through, anelectrode is connected without medium with negative electrode, and loop disconnects.
Wherein, liquid is contained in the liquid storage box of pipeline one end, takes out past by water pump by the liquid in liquid storage box
In the other end of pipeline, and being gone out by sprinkler, wherein, pipeline passes liquid-detecting, and accesses liquid detecting dress
Electrode group in putting.
Wherein, unmanned plane is in flight course, and locating module generates the positional information of unmanned plane in real time, and by data transmission
Giving the flight control system being electrically connected, flight control system controls the dynamical system being electrically connected, and meanwhile, flight control system is also supported certainly
Dynamic function of making a return voyage.
Wherein, when Terminal Server Client send make a return voyage information to the master control system of unmanned plane after, master control system transmission letter
Ceasing lives to flight control system, and function of automatically making a return voyage is maked a return voyage operation immediately, records the changing coordinates generated by locating module simultaneously
Information.
The invention has the beneficial effects as follows:
Compared with prior art, the unmanned plane of the present invention makes a return voyage apparatus and method automatically, and apparatus structure is simple, it is achieved in method also
Simple and convenient, during spraying, it is not necessary to artificial moment supervision, carry out the sprinkling of medicine voluntarily, when herbal sprinkling is complete
After, locating module records the position of sprinkling automatically, and is sent to Terminal Server Client, and meanwhile, carrying out voluntarily makes a return voyage installs medicine additional, band
Medicine is filled, and flies again to the place stopping sprinkling before, continues to be carried forward sprinkling, and whole process is without manual oversight, the most certainly
Dynamic controlling, save human cost, and record sprays position automatically, it is to avoid drain spray phenomenon, spraying range is more accurate, more saves
About.
Accompanying drawing explanation
Fig. 1 is that the unmanned plane in the embodiment of the present invention makes a return voyage the structural representation of device automatically；
Fig. 2 is the schematic flow sheet of the method that the unmanned plane in the embodiment of the present invention makes a return voyage automatically.
Main element symbol description:
1, dynamical system 2, flight control system
3, locating module 4, conduit
5, water pump 6, liquid storage box
7, shower nozzle 8, liquid-detecting
9, control circuit 81, electrode group
811, anelectrode 812, negative electrode.
Detailed description of the invention
In order to more clearly state the present invention, below in conjunction with the accompanying drawings the present invention is further described.
Referring to Fig. 1, the open a kind of unmanned plane of the present invention makes a return voyage device automatically, including: liquid-detecting 8, controls electricity
Road 9 and flight control system 2, liquid-detecting 8 electrically connects with control circuit 9, and control circuit 9 electrically connects with flight control system 2, flies control
System 2 directly electrically connects with the dynamical system 1 of unmanned plane again, and specifically, liquid-detecting 8 is provided with and flows for liquid
The electrode group 81 of liquid in pipeline 4 and detection pipeline, liquid is the liquid of band electric conductivity, and electrode group 81 is inserted in pipeline 4 and detected
The flowing of liquid in pipeline, when having liquid to flow in pipeline 4 and carrying out spraying operation, electrode group 81 turns on, when nothing in pipeline 4
During liquid flowing, electrode group disconnects；Control circuit 9 is electrically connected with liquid-detecting 8 by electrode group 81, and to electrode group 81
Anelectrode 811 be energized, the signal that electrode group 81 disconnects is changed into a low level signal and is sent to flight control system 2；Fly control
System 9 electrically connects with control circuit 9 and unmanned plane dynamical system 1 simultaneously, and what reception control circuit 9 sent breaks about electrode group 81
The signal opened, and process, the information processed is sent the flight control system 1 to unmanned plane, controls unmanned plane and make a return voyage.
The simple in construction of the present invention, electrode group 81 has two, respectively anelectrode 811 and negative electrode 812, anelectrode 811
Be inserted simultaneously in the liquid in same pipeline 4 with negative electrode 812, form a loop, and anelectrode 811 and negative electrode 812 it
Between at a distance of 1cm so that anelectrode 811 and negative electrode 812 insert the distance with 1cm in conduit 4, it is ensured that this conduction can be passed through
Property liquid carries out electric energy connection as medium, when having liquid in liquid storage box 6, carries out liquid and take out under the effect of water pump 5
Taking, liquid flows in conduit 4, when to 811 1 electric energy of anelectrode, near anelectrode 811 liquid conduction, due to liquid
Body flowing is to flow to negative electrode 812 one end from anelectrode 811 one end, and anelectrode 811 is also switched on negative electrode 812, thus controls
Normal circuit operation in circuit 9, when normally working in control circuit 9, control circuit 9 does not send any information, but, when
When liquid in liquid storage box 6 does not has or can not be drawn in pipeline by water pump 5, no liquid in pipeline 4, this is, just
The medium being not turned between electrode 811 and negative electrode 812, therefore electrode group 81 disconnects, and now detects this circuit in control circuit 9
Region disconnect, control circuit 9 experiences this change in time, therefore, the flight control system 2 that control circuit 9 can be attached thereto sends one
Individual low level signal, flight control system 2 receives this low level signal, and now activation is maked a return voyage function by flight control system 2 automatically, so that
Flight control system 2 controls whole unmanned plane and makes a return voyage.Meanwhile, flight control system 2 is remote with client (not shown) by wireless connections pattern
Journey connects, thus transmits the information maked a return voyage to Terminal Server Client.
In the present embodiment, pipeline 4 penetrates liquid-detecting 8, and the water pump 5 that conduit 4 is provided with holds near liquid
Put the one end to 6, conveniently more effectively the liquid in liquid storage box 6 is extracted, the most more save ability, the electricity of water pump 5
Flight control system 2 can be come from, water pump 5 upper once be not drawn into liquid during stops work, but when unmanned
The when that machine needing again to carry out spraying operation after the most again filling liquid, flight control system 2 can send an instruction feed pump
3, after water pump 3 receives instruction, to open, start working, thus from liquid storage box 6, extract again liquid, liquid passes through pipeline 4,
Flow to liquid-detecting 8,；After the detection of the electrode group 81 in liquid-detecting 8 completes, continue towards shower nozzle 7 and carry out
Spraying operation.
In the present embodiment, being also associated with locating module 3 in flight control system 2, locating module 3 can by GPS module also
Big Dipper locating module, or other locating module, locating module 3 can be used to be used for the flight of unmanned plane is positioned,
In common unmanned plane position fixing process, locating module 3 sends location information to flight control system 2 always in real time, and by position
Information is sent to Terminal Server Client, monitors in real time, and when the liquid in liquid storage box 6 can not be extracted by water pump 5
Time, when i.e. control circuit 9 sends a low level signal to flight control system 2, locating module 3 also can position this stopping in time and spray
The geographical position of operation, concrete longitude the most residing and latitude, and send flight control system 2, flight control system 2 by this position
Putting coordinate to preserve, after liquid storage box 6 fills liquid next time, unmanned plane flies to last stopping spraying operation automatically
Coordinate position, and continue the place to not spraying and spray, make sprinkling more efficiently, the most more save medicinal liquid.
In the present embodiment, flight control system 2 electrically connects with locating module 3 and unmanned plane dynamical system 1, and Terminal Server Client can
Send information of making a return voyage at any time to the flight control system 2 of unmanned plane, after flight control system 2 activates function of automatically making a return voyage, will communicate information to
Unmanned plane dynamical system 1 performs to make a return voyage operation, and flight control system 2 records the coordinate information that locating module 3 is current simultaneously.When flying control
When system 2 receives the low level signal that control circuit 9 sends, flight control system 2 also can activate function of automatically making a return voyage, and returns
Boat, meanwhile, records changing coordinates information by locating module 3.
Refer to Fig. 2, invention additionally discloses a kind of method that unmanned plane makes a return voyage automatically, comprise the following steps:
S1, water pump 5 are opened, water pump 5 from liquid storage box 6 extraction belt conductive liquid in pipeline；
S2, being inserted in pipeline 4 electrode group 81 one end, the other end electrically connects with control circuit 9；Control circuit 9 is to electrode group 81
Energising, when having liquid to flow in pipeline 4, electrode group 81 turns on, and carries out S8 step, oil spout spraying liquid, and control circuit 9 is normal
Running, when not having liquid to flow in pipeline 4, electrode group 81 disconnects, and carries out S3 step；
S3, when electrode group 81 disconnects, control circuit 9 detects the signal that electrode group 81 disconnects, and this signal is changed into one
Individual low level signal is sent to flight control system 2；
S4, water pump 5 quit work under the control of flight control system 2, and current for record location module 3 is determined by flight control system 2 simultaneously
Position coordinate information, meanwhile, activates function of automatically making a return voyage, makes a return voyage, and send the relevant information maked a return voyage to Terminal Server Client；
S5, unmanned plane return to original coordinates set in advance point, after again liquid storage box is filled it up with liquid, again rise
Boat；
In S6, flight course, locating module 3 carries out real-time positioning, when unmanned plane flies to the out-of-work coordinate points of water pump 5 before
Time, flight control system 2 controls water pump 5 and reopens the work of extraction liquid；
S7, conduit 4 have liquid to flow through, re-start S2 step, liquid after the detection of electrode group 81, sprinkler liquid
Body, proceeds spraying operation.
Present invention have an advantage that
1) unmanned plane of the present invention makes a return voyage apparatus and method automatically, and apparatus structure is simple, it is only necessary to arrange a liquid detecting dress
Whether put, liquid can be had to flow through in automatic decision liquid storage box, shower nozzle the most normally works, when no liquid flows through, and nothing
Man-machine automatically make a return voyage, it is not necessary to whole device is carried out big design for change；
It is 2) the most simple and convenient, during spraying in the implementation method that unmanned plane makes a return voyage automatically, it is not necessary to artificial moment supervision,
Carrying out the sprinkling of medicine voluntarily, after herbal sprinkling, locating module records the position of sprinkling automatically, and is sent to long-range visitor
Family end, meanwhile, carrying out voluntarily makes a return voyage installs medicine additional, and band medicine is filled, and flies again to the place stopping sprinkling before, continues to march forward
Row sprays, and whole process, without manual oversight, Automatic Control, saves human cost, and record sprays position automatically, it is to avoid
Drain spray phenomenon, spraying range is more accurate, more saves.
The several specific embodiments being only the present invention disclosed above, but the present invention is not limited to this, any ability
What the technical staff in territory can think change all should fall into protection scope of the present invention.
Claims (10)
1. a unmanned plane makes a return voyage device automatically, it is characterised in that including:
Liquid-detecting: described liquid-detecting is provided with the pipeline and the electrode of liquid in detection pipeline flowed for liquid
Group, described liquid is the liquid of band electric conductivity, and described electrode group inserts the flowing of liquid in detection pipeline in pipeline, when in pipeline
When having liquid flowing to carry out normal spraying operation, electrode group turns on, and when no liquid flowing in pipeline, electrode group disconnects；
Control circuit: electrically connect with electrode group, and be energized to the anelectrode of electrode group, the signal that electrode group disconnects is changed into one
Individual low level signal is sent to flight control system；
Flight control system: simultaneously electrically connect with control circuit and unmanned plane dynamical system, reception control circuit send about electrode
The signal that group disconnects, and process, the information processed is sent the flight control system to unmanned plane, controls unmanned plane and make a return voyage.
Unmanned plane the most according to claim 1 makes a return voyage device automatically, it is characterised in that described electrode group has two, respectively
For anelectrode and negative electrode, described anelectrode and negative electrode are inserted simultaneously in the liquid in same pipeline, form a loop, and
At a distance of 1cm between anelectrode and negative electrode.
Unmanned plane the most according to claim 1 makes a return voyage device automatically, it is characterised in that liquid inspection described in described duct penetration
Surveying device, described conduit is provided with water pump, on the pipeline of one end that described water pump is positioned close to liquid storage box, and by liquid
From liquid storage box in suction pipeline, described water pump also electrically connects with flight control system, pipeline one end connect liquid house to, separately
One end connects the shower nozzle for spraying liquid.
Unmanned plane the most according to claim 1 makes a return voyage device automatically, it is characterised in that described flight control system also be used for flying
The locating module electrical connection of row location, the coordinate of locating module real-time positioning unmanned plane during flying, and it is sent to flight control system.
Unmanned plane the most according to claim 4 makes a return voyage device automatically, it is characterised in that be additionally provided with in described flight control system
Automatically make a return voyage function, described automatically make a return voyage function when Terminal Server Client send information of making a return voyage to the flight control system of unmanned plane after, fly
Ore-controlling Role activates function of automatically making a return voyage and immediately makes a return voyage operation, simultaneously flight control system also will record by locating module generate ought
Front coordinate information.
6. the method that a unmanned plane makes a return voyage automatically, it is characterised in that including:
Liquid-detecting arranges the pipeline being available for liquid communication, and liquid selects the liquid of band electric conductivity, by electrode group one end
In insertion pipeline, the other end electrically connects with control circuit；Control circuit is energized to electrode group, carries out when there being liquid flowing in pipeline
During spraying operation, electrode group turns on, and control circuit is properly functioning, and when not having liquid to flow in pipeline, electrode group disconnects；
When electrode group disconnects, control circuit detects the signal that electrode group disconnects, and this signal changes into a low level
Signal is sent to flight control system, and flight control system activates function of automatically making a return voyage, and unmanned plane makes a return voyage.
The method that unmanned plane the most according to claim 6 makes a return voyage automatically, it is characterised in that the anelectrode of electrode group and negative electricity
Pole is inserted simultaneously in same pipeline, and at a distance of 1cm between anelectrode and negative electrode, when control circuit is energized to anelectrode, and
When liquid conductive in pipeline flows through, anelectrode and negative electrode, with liquid as medium, connect conducting, when no liquid flows through
Time, anelectrode is connected without medium with negative electrode, and loop disconnects.
The method that unmanned plane the most according to claim 6 makes a return voyage automatically, it is characterised in that liquid is contained in the liquid of pipeline one end
In body storage box, by water pump, the liquid in liquid storage box is taken out in the other end of pipeline, and is gone out by sprinkler,
Wherein, pipeline passes liquid-detecting, and accesses the electrode group in liquid-detecting.
The method that unmanned plane the most according to claim 6 makes a return voyage automatically, it is characterised in that unmanned plane in flight course,
The flight position of locating module real time record unmanned plane, and transfer data to the flight control system being electrically connected, meanwhile, fly control
System also supports function of automatically making a return voyage.
The method that unmanned plane the most according to claim 9 makes a return voyage automatically, it is characterised in that return when Terminal Server Client sends
After boat information is to the flight control system of unmanned plane, flight control system activates function of automatically making a return voyage, and controls dynamical system and immediately makes a return voyage
Operation, is recorded, by flight control system, the changing coordinates dot information that locating module generates simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823369.1A CN106218892A (en) | 2016-09-14 | 2016-09-14 | Unmanned plane makes a return voyage apparatus and method automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823369.1A CN106218892A (en) | 2016-09-14 | 2016-09-14 | Unmanned plane makes a return voyage apparatus and method automatically |
Publications (1)
| Publication Number | Publication Date |
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| CN106218892A true CN106218892A (en) | 2016-12-14 |
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ID=58075047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610823369.1A Pending CN106218892A (en) | 2016-09-14 | 2016-09-14 | Unmanned plane makes a return voyage apparatus and method automatically |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992081A (en) * | 2017-12-25 | 2018-05-04 | 衢州量智科技有限公司 | Plant protection unmanned aerial vehicle (UAV) control method and control device |
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