CN106292746B - A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job - Google Patents
A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job Download PDFInfo
- Publication number
- CN106292746B CN106292746B CN201610670374.3A CN201610670374A CN106292746B CN 106292746 B CN106292746 B CN 106292746B CN 201610670374 A CN201610670374 A CN 201610670374A CN 106292746 B CN106292746 B CN 106292746B
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- plant protection
- medicine
- signal
- trailer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of trailers for plant protection drone synthetic job, comprising: chassis system, for load-bearing and delivery unmanned plane；Landing platform comprising the trailer carriage plate and roof carriage of trailer side are set, and the trailer carriage plate can be unfolded to the left and right；Medicine-chest is arranged in trailer Vehicular body front；Two way water pump is arranged inside the medicine-chest, for sucking external liquid medicine in medicine-chest, and medical fluid in medicine-chest can be pumped into plant protection drone medicine-chest；Controller connects the two way water pump, for controlling the two way water pump switch and medical fluid flow direction；It is with landing platform, medicine-chest make-up system, charging system and maintenance of equipment, it can complete a variety of synthetic jobs, transportation cost is saved, additionally provide a kind of plant protection drone medicine liquid spray amount autocontrol method, according to unmanned plane during flying speed and height and deflection angle, unmanned plane nozzle flow is corrected, accuracy pesticide applying is realized and ensure that the uniformity of sprinkling dose.
Description
Technical field
The present invention relates to agricultural plant protection unmanned plane field more particularly to a kind of trailers for plant protection drone synthetic job
Amount control method is sprayed with a kind of plant protection drone.
Background technique
Plant protection drone be widely used to agriculture and forestry plant protection operation, small-sized pilotless aircraft have flying platform GPS fly control,
Spraying mechanism three parts composition flies control by ground remote control or GPS, and Lai Shixian spraying operation can spray medicament, seed, powder
Agent etc., but there are still following problems at present: and one, transport is inconvenient.Since plant protection operation point is scattered, plant protection drone needs frequent
Transition operation.Although current plant protection drone mostly uses greatly folding mode to reduce transportation clearance, still difficult using small vehicle
With transport, is such as transported using cargo, increase operation cost；Two, field operation is inconvenient, and plant protection drone is in operation field
It needs to prepare liquid medicine, selection landing site, replacement battery etc., at present still in more original state, reduces operating efficiency；
Three, charging and maintenance are inconvenient, and plant protection drone height relies on battery supplied, cannot be by increasing due to battery higher cost
Number of batteries improves plant protection drone Sortie, can only improve operating efficiency based on on-site generated power, quick charge.But separately
Generator, gasoline etc. are carried, expansion is inconvenient, takes a long time.Another plant protection drone needs the work such as maintenance in operation process,
The reduction of spraying efficiency is also resulted in, therefore is badly in need of a kind of comprehensive spraying operation platform of unmanned plane, is able to solve the above problem.
Summary of the invention
The present invention has designed and developed a kind of trailer for plant protection drone synthetic job, and there is landing platform, medicine-chest to mend
To system, charging system and maintenance of equipment, a variety of synthetic jobs can be completed.
A further object of the invention is the additional equipment on box trailer, and carriage expansion is solved as landing platform, i.e.
Transportation problem, and transportation cost has been saved, while reducing maintenance difficulties.
It is a further object to provide a kind of plant protection drone medicine liquid spray amount autocontrol methods, according to nobody
Machine flying speed and height and deflection angle, correct unmanned plane nozzle flow, realize accuracy pesticide applying and ensure that sprinkling dose
Uniformity.
Technical solution provided by the invention are as follows:
A kind of trailer for plant protection drone synthetic job, comprising:
Chassis system, for load-bearing and delivery unmanned plane；
Landing platform comprising the trailer carriage plate and roof carriage of trailer side be set, and the trailer carriage plate can be to
Left and right expansion；
Medicine-chest is arranged in trailer Vehicular body front；
Two way water pump is arranged inside the medicine-chest, for external liquid medicine to be sucked in medicine-chest, and can will be in medicine-chest
Medical fluid is pumped into plant protection drone medicine-chest；
Controller connects the two way water pump, for controlling the two way water pump switch and medical fluid flow direction；
Integrated power generation and charging system, are arranged inside trailer, for in vehicle complete in trailer power supply and plant protection aircraft
Set battery charging.
Preferably, the chassis system, comprising:
Main shaft selects common compact Automobile shaft；
Longitudinal main spandrel girder is rectangular steel tube, and quantity is two, is arranged between the main shaft, is used for bearing vehicle body
Weight；
Towing pin is arranged in trailer front end, being capable of selective connection bulb draw hook or usual endless draw hook.
It preferably, further include light and signal system, comprising:
Tail-light is arranged in trailer tail, convenient for operation of illumination condition when bad；
Reflective strip, setting is in trailer surrounding, when being used for night work, marks trailer profile.
Preferably, the integrated power generation and charging system, comprising:
Generator is arranged in trailer body front end, using gas-liquid-liquid three-phase flow, and has the function of to electrically activate；
Power supply system connects the generator, for starting generator and the power supply of full vehicle；
Distribution box is used to place the generator and power supply system, for distributing electric power energy.
Preferably, the integrated medicine-chest and suction water system, further includes:
Filtration system, setting prevent blocking plant protection drone spray for impurity in filtering liquid medicine in the medicine-chest bottom
Spill system.
Preferably, further includes:
Aircraft fixing seat, according to aircraft size, bottom uses sponge to fix as aircraft and cushion socket.
Aircraft fixing belt, use of seat belts the fixed plant protection drone for being in folded state.
The purpose of the present invention can also be realized further by a kind of plant protection drone medicine liquid spray amount autocontrol method, wrap
Include following steps:
Unmanned plane during flying speed is detected, is compared with UAV targets' flying speed value, output speed deviation signal, and
Drone flying height is detected by distance measuring sensor, is compared with target flight height, exports height tolerance signal；
The speed deviation signal and the height tolerance signal are inputted into the first fuzzy controller；
The first fuzzy controller output is that unmanned plane sprays medical fluid flow velocity；
Speed deviation signal is obtained into percentage speed variation signal by differential calculation, detects unmanned plane during flying deflection angle,
And angular rate signal is obtained after differential；
The percentage speed variation signal and angular rate signal are inputted into the second fuzzy controller；
The second fuzzy controller output is unmanned plane sprinkling amendment flow velocity；
According to the sum of the unmanned plane sprinkling medical fluid flow velocity and amendment flow velocity, unmanned machine nozzle flow velocity is controlled.
Preferably, the fuzzy set of the speed deviation signal and height tolerance signal be NB, NM, NS, PZ, NZ, PS,
PM, PB }, PB indicates honest, and PM indicates center, and PS indicates just small, and PZ indicates positive zero, and NZ indicates negative zero, and small, NM table is born in NS expression
Show in negative, NB indicates negative big, the percentage speed variation signal, angular rate signal, unmanned plane sprinkling flow velocity and amendment flow velocity
Fuzzy set are as follows: { NB, NM, NS, ZR, PS, PM, PB }, NB indicate negative big, and during NM indicates negative, NS expression is born small, and ZR indicates zero,
PS indicates just small, and PM indicates center, and PB indicates honest, their domain are as follows: -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,
6}。
Preferably, the subordinating degree function for outputting and inputting variable of the fuzzy controller selects triangle degree of membership
Function.
Preferably, the target flight height calculation formula are as follows:
Wherein, Kr、KβFor retardation coefficient, Q0For crop target formulation rate, v0For plant protection drone regulating flow quantity nozzle
Minimum spray value；
The target flight speed calculation formula are as follows:
Beneficial effects of the present invention
1. the present invention has designed and developed a kind of trailer for plant protection drone synthetic job, there is landing platform, medicine-chest
Make-up system, charging system and maintenance of equipment, can complete a variety of synthetic jobs, and plant protection drone can be prepared in operation field
Liquid medicine, using trailer as landing site, charging etc., improve operating efficiency.
2, the present invention is the additional equipment on box trailer, and carriage expansion is used as landing platform, meets plant protection drone
The demand of frequent transition operation is needed, while being transported using trailer without folding unmanned plane during transportation, solving fortune
Defeated problem, and transportation cost has been saved, while reducing maintenance difficulties.
3, a kind of plant protection drone medicine liquid spray amount autocontrol method provided by the invention, according to unmanned plane during flying speed
With height and deflection angle, unmanned plane nozzle flow is corrected, realizes accuracy pesticide applying, and ensure that the uniformity of sprinkling dose,
Conducive to plant growth, crop yield is improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the trailer of the present invention for plant protection drone synthetic job.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, a kind of trailer for plant protection drone synthetic job provided by the invention, comprising: chassis system
100, landing platform 200, integrated medicine-chest and suction water system 300, integrated power generation and charging system 400 and unmanned plane guidance recycling
Device.
Wherein, chassis system 100, for load-bearing and delivery unmanned plane, comprising: main shaft 110 selects common compact automobile
Axle, versatility are good；
Longitudinal main spandrel girder is rectangular steel tube, and quantity is two, is arranged between two main shafts 110, being capable of carrying vehicle
Weight within 500 kilograms with it；
Trailer system 130 comprising bulb draw hook and usual endless draw hook, and can be realized between the two quick
Replacement.
Landing platform 200 comprising the trailer carriage plate and roof carriage, trailer carriage plate that trailer side is arranged in can be to the left
Right expansion, trailer carriage plate and roof carriage 22 are all made of aluminium alloy light weight board；
Integrated medicine-chest and suction water system 300, are arranged inside trailer, are used to match medical fluid and take to plant protection aircraft
Medical fluid is filled automatically in band medicine-chest；Include:
Medicine-chest is arranged in trailer Vehicular body front, capacity 100L-200L；
Two way water pump is arranged inside the medicine-chest, for external liquid medicine to be sucked in medicine-chest, and can will be in medicine-chest
Medical fluid is pumped into plant protection drone medicine-chest；
Filtration system, setting prevent blocking plant protection drone spray for impurity in filtering liquid medicine in the medicine-chest bottom
Spill system.
Integrated power generation and charging system 400, are arranged inside trailer, for vehicle complete in trailer power supply and plant protection aircraft
Internal battery charging；Include:
Generator is arranged in trailer body front end, using gas-liquid-liquid three-phase flow, and has the function of to electrically activate；
Power supply system connects the engine, powers for air motor and full vehicle；
Distribution box is used to place the generator and power supply system, for distributing electric power energy.
Unmanned plane guides recyclable device, positioning of the setting in trailer roof carriage position, for plant protection drone recycling
And guidance, comprising:
Draw drop signal lamp, quantity is three or more, and the top of compartment board is arranged in, can emit optical signal, for marking
Remember that unmanned plane recycles landing place.
Optical tracking system is arranged in the uav bottom, for detecting the posture information of unmanned plane, comprising:
Scan follow-up mechanism comprising multiple lens can be rotated around installation axle, and drawn drop signal lamp described in capture and issued
Optical signal, and then measure described in draw drop the distance between signal lamp and the scanning follow-up mechanism, obtain the position of unmanned plane
Information；
Angular transducer is arranged in the uav bottom, be able to detect it is described draw drop signal lamp with without described man-machine
Angle in direction of advance.
Light and signal system, comprising:
Tail-light is arranged in trailer tail, convenient for operation of illumination condition when bad
Reflective strip, setting is in trailer surrounding, when being used for night work, marks trailer profile.
Maintenance system 600, comprising:
Tool rack, institute is arranged according to the tool that may be used in upkeep operation in trailer bottom in tool rack, setting
There is tool to be both secured in the sponge of tool rack, guarantees convenient transportation.
Inspection rack is unfolded into downwards using compartment tailgate, is used for maintenance.
Plant protection drone transportation system, comprising:
Aircraft fixing seat, according to aircraft size, bottom uses sponge to fix as aircraft and cushion socket.
Aircraft fixing belt, use of seat belts the fixed plant protection drone for being in folded state.
Implement by taking the course of work of the trailer of plant protection drone synthetic job as an example, be described further,
Firstly, by the trailer of plant protection drone synthetic job by small vehicle or tractor-drawn to job site,
It is middle when carrying out distant range traction with small vehicle, using bulb draw hook, using common ring when carrying out field traction with tractor
Shape draw hook；
Then by the trailer carriage plate of trailer side and roof carriage, expansion forms the landing platform that unmanned plane stops drop, nobody
Medicine-chest in the medicine-chest connection trailer of machine, medical fluid is pumped into medicine-chest by filtration system by two way water pump, or by medical fluid from nobody
Medicine-chest in the medicine-chest sucking trailer of machine；
When unmanned machine operation is completed or medical fluid is needed to feed, unmanned plane is hovered near trailer first, is chased after by optics
Track system is positioned and is recycled to unmanned plane, is issued optical signal by drawing drop signal lamp, is drawn drop described in scanning follow-up mechanism capture
The optical signal that signal lamp issues, and then draw drop the distance between signal lamp and the scanning follow-up mechanism described in measurement, obtain nothing
Man-machine location information, angular transducer are arranged in the uav bottom, are able to detect and described draw drop signal lamp and no institute
The angle in man-machine direction of advance is stated, thereby determines that the posture information of unmanned plane, ambient wind velocity and wind direction, corrects the position of unmanned plane
It sets and azimuth, unmanned plane is made to land track flight according to preset unmanned plane.
A kind of plant protection drone medicine liquid spray amount autocontrol method, comprising:
Unmanned plane during flying speed is detected, is compared with UAV targets' flying speed value, output speed deviation signal e1,
And drone flying height is detected by distance measuring sensor, it is compared with target flight height, exports height tolerance signal e2；
Wherein, target flight height calculation formula are as follows:
Wherein, Kr、KβFor retardation coefficient, Kr=1.02；Kβ=0.95, Q0For crop target formulation rate, v0For plant protection nobody
The minimum spray value of machine regulating flow quantity nozzle；
Target flight speed calculation formula are as follows:
By speed deviation signal e1With height tolerance signal e2Input the first fuzzy controller, the output of the first fuzzy controller
Medical fluid flow velocity q is sprayed for unmanned plane；
Wherein, e1、e2, q actual change range be respectively [- 30,30], [- 24,24], [- 36,36]；E1、E2, Q from
Scattered domain is { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }
Then scale factor k1=6/30, k2=6/24, k3=6/36
Ambiguity in definition subset and membership function
Speed deviation signal is divided into 8 fringes: PB (honest), PM (center), PS (just small), PZ (positive zero), NZ
(negative zero), NS (are born small), and NM (in negative), NB (negative big) obtain speed deviation signal e in conjunction with experience1Subordinating degree function table, such as
Shown in table 1.
1 velocity deviation e of table1Subordinating degree function table
| ec1 | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 |
| PZ | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 |
| NZ | 0 | 0 | 0 | 0 | 0.1 | 0.7 | 1.0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.1 | 0.7 | 1.0 | 0.7 | 0.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.7 | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Height tolerance signal e2It is divided into 8 fringes: PB (honest), PM (center), PS (just small), PZ (positive zero),
NZ (negative zero), NS (are born small), and NM (in negative), NB (negative big) obtain height tolerance signal e in conjunction with experience2Subordinating degree function table,
As shown in table 2.
2 height tolerance signal e of table2Subordinating degree function table
Medical fluid flow velocity signal q required for crop sprinkling unit area points are seven fringes: PB (honest), PM
(center), PS (just small), 0 (zero), NS (are born small), and NM (in negative), NB (negative big) obtain the work of sprinkling unit area in conjunction with experience
The subordinating degree function table of medical fluid flow velocity signal q required for object, as shown in table 3.
Table 3 sprays the subordinating degree function table of medical fluid flow velocity signal q required for the crop of unit area
| q | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 |
| 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | 1.0 | 0.5 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Fuzzy reasoning process has to carry out complicated matrix operation, and calculation amount is very big, and on-line implement reasoning is difficult to meet
The requirement of control system real-time, the present invention carry out fuzzy reasoning operation using look-up table, and Fuzzy inferential decision uses dual input
The mode singly exported, control rule are made of following reasoning language:
e is Ai and ec is Bi then ΔKj is Ci
Wherein, Ai, Bi, Ci are respectively ec1、ec2With q fuzzy subset.
The preliminary control rule of fuzzy controller can be summed up by experience, wherein parameter q controls rule and is shown in Table 4.
Table 4 is fuzzy control rule table
Fuzzy controller carries out defuzzification to output signal according to the fuzzy value obtained, obtains sprinkling crop medical fluid stream
Speed seeks fuzzy polling list, due to domain be it is discrete, fuzzy control rule and a fuzzy matrix can be expressed as, adopted
With single-point fuzzification, fuzzy polling list is found out, is shown in Table 5
5 fuzzy polling list of table
By speed deviation signal e1Percentage speed variation signal ec is obtained by differential calculation1, detect unmanned plane during flying deflection angle
Spend e3, and angular rate signal ec is obtained after differential3；
By the percentage speed variation signal ec1With angular rate signal ec3The second fuzzy controller is inputted, second is fuzzy
Controller output is unmanned plane sprinkling amendment flow velocity qc1；
Percentage speed variation signal ec1It is divided into seven fringes: PB (honest), PM (center), PS (just small), 0 (zero),
NS (is born small), and NM (in negative), NB (negative big) obtain percentage speed variation signal ec in conjunction with experience1Subordinating degree function table, be shown in Table 6
6 percentage speed variation signal ec of table1Subordinating degree function table
| q | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 |
| 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | 1.0 | 0.5 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Angular rate signal ec2It is divided into seven fringes: PB (honest), PM (center), PS (just small), 0 (zero), NS
(bearing small), NM (in negative), NB (negative big), obtains percentage speed variation signal ec in conjunction with experience2Subordinating degree function table, be shown in Table 7
7 percentage speed variation signal ec of table2Subordinating degree function table
| q | -6 | -5 | -4 | -3 | -2 | -1 | -0 | +1 | +2 | +3 | +4 | +5 | +6 |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.7 | 1.0 |
| PM | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 |
| 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | 1.0 | 0.5 | 0 | 0 | 0 | 0 | 0 |
| NB | 0 | 0 | 0.2 | 0.8 | 1.0 | 0.8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NM | 0.2 | 0.8 | 1.0 | 0.8 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| NS | 1.0 | 0.7 | 0.2 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Fuzzy reasoning process has to carry out complicated matrix operation, and calculation amount is very big, and on-line implement reasoning is difficult to meet
The requirement of control system real-time, the present invention carry out fuzzy reasoning operation using look-up table, and Fuzzy inferential decision uses dual input
The mode singly exported, control rule are made of following reasoning language:
e is Ai and ec is Bi then ΔKj is Ci
Wherein, Ai, Bi, Ci are respectively ec1、ec2With qc fuzzy subset.
The preliminary control rule of fuzzy controller can be summed up by experience, wherein parameter qc controls rule and is shown in Table 8.
8 fuzzy control rule table of table
Fuzzy controller carries out defuzzification to output signal according to the fuzzy value obtained, obtains sprinkling crop medical fluid stream
Speed seeks fuzzy polling list, due to domain be it is discrete, fuzzy control rule and a fuzzy matrix can be expressed as, adopted
With single-point fuzzification, fuzzy polling list is found out
9 fuzzy polling list of table
According to the unmanned plane sprinkling medical fluid flow velocity q and amendment flow velocity qc1The sum of, control unmanned machine nozzle flow velocity.
The present invention is the additional equipment on box trailer, and carriage expansion is used as landing platform, meets plant protection drone need
The demand of frequent transition operation is wanted, while being transported using trailer without folding unmanned plane during transportation, solving transport
Problem, and transportation cost has been saved, while reducing maintenance difficulties, and according to unmanned plane during flying speed and height and deflection angle
Degree corrects unmanned plane nozzle flow, realizes accuracy pesticide applying and ensure that the uniformity of sprinkling dose.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (4)
1. a kind of plant protection drone medicine liquid spray amount autocontrol method, which comprises the following steps:
Unmanned plane during flying speed is detected, is compared with UAV targets' flying speed value, output speed deviation signal, and pass through
Distance measuring sensor detects drone flying height, is compared with target flight height, exports height tolerance signal；
The speed deviation signal and the height tolerance signal are inputted into the first fuzzy controller；
The first fuzzy controller output is that unmanned plane sprays medical fluid flow velocity；
Speed deviation signal is obtained into percentage speed variation signal by differential calculation, detects unmanned plane during flying deflection angle, and pass through
Angular rate signal is obtained after crossing differential；
The percentage speed variation signal and angular rate signal are inputted into the second fuzzy controller；
The second fuzzy controller output is unmanned plane sprinkling amendment flow velocity；
According to the sum of the unmanned plane sprinkling medical fluid flow velocity and amendment flow velocity, unmanned machine nozzle flow velocity is controlled.
2. plant protection drone medicine liquid spray amount autocontrol method according to claim 1, which is characterized in that the speed
Deviation signal and the fuzzy set of height tolerance signal are { NB, NM, NS, PZ, NZ, PS, PM, PB }, and PB indicates honest, and PM is indicated just
In, PS indicates just small, and PZ indicates positive zero, and NZ indicates negative zero, and NS expression is born small, and during NM indicates negative, NB indicates negative big, the speed
Change rate signal, angular rate signal, unmanned plane sprinkling flow velocity and amendment flow velocity fuzzy set are as follows: NB, NM, NS, ZR, PS,
PM, PB }, NB indicates negative big, and during NM indicates negative, NS expression is born small, and ZR indicates that zero, PS indicates just small, and PM indicates center, and PB is indicated
It is honest, their domain are as follows: { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }.
3. plant protection drone medicine liquid spray amount autocontrol method according to claim 1 or 2, which is characterized in that described
The subordinating degree function for outputting and inputting variable of fuzzy controller selects Triangleshape grade of membership function.
4. plant protection drone medicine liquid spray amount autocontrol method according to claim 3, which is characterized in that the target
Flying height calculation formula are as follows:
Wherein, Kr、KβFor retardation coefficient, Q0For crop target formulation rate, v0For the minimum of plant protection drone regulating flow quantity nozzle
Spray value；
The target flight speed calculation formula are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670374.3A CN106292746B (en) | 2016-08-12 | 2016-08-12 | A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670374.3A CN106292746B (en) | 2016-08-12 | 2016-08-12 | A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106292746A CN106292746A (en) | 2017-01-04 |
| CN106292746B true CN106292746B (en) | 2019-09-03 |
Family
ID=57671719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610670374.3A Expired - Fee Related CN106292746B (en) | 2016-08-12 | 2016-08-12 | A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106292746B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110770129A (en) * | 2018-09-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Base station and vehicle with same |
| CN113917947B (en) * | 2021-12-14 | 2022-03-15 | 山东理工职业学院 | Unmanned aerial vehicle variable spraying control method and control system and unmanned aerial vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103299975A (en) * | 2013-06-14 | 2013-09-18 | 北京农业信息技术研究中心 | Automatic and accurate pesticide feeding device and method for agricultural UAV (unmanned aerial vehicle) |
| CN103587688A (en) * | 2013-11-25 | 2014-02-19 | 华南农业大学 | Sprayer stability augmentation device and method for multi-rotor-wing unmanned pesticide spraying machine |
| CN104386258A (en) * | 2014-08-20 | 2015-03-04 | 华南农业大学 | Feeding platform and feeding method suitable for field operation feeding for agricultural unmanned aerial vehicle |
| CN104767233A (en) * | 2014-08-08 | 2015-07-08 | 潘海洋 | Intelligent vehicle-mounted charging station used for charging power batteries of unmanned aerial vehicles |
| CN204607572U (en) * | 2015-05-04 | 2015-09-02 | 宁夏视博航空科技有限公司 | A kind of plant protection unmanned plane hovering liquid-adding device |
| CN204947636U (en) * | 2015-07-31 | 2016-01-06 | 深圳前海探鹿科技有限公司 | A kind of vehicle-mounted unmanned aerial vehicle charging device |
| CN105794758A (en) * | 2016-05-13 | 2016-07-27 | 谭圆圆 | Mooring-type unmanned aerial vehicle used for spraying continuously and continuous spraying method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103092211B (en) * | 2013-01-05 | 2015-05-13 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle emergent land method based on guidance of radio and laser |
| CN103308901B (en) * | 2013-05-27 | 2015-07-22 | 孙鲁 | Method and device for guiding polarized light |
| AU2015232048B2 (en) * | 2014-03-20 | 2020-12-03 | Mackenzie Research Group Limited | A calibration device, a spraying system and a method of calibration |
| CN103914076B (en) * | 2014-03-28 | 2017-02-15 | 浙江吉利控股集团有限公司 | Cargo transferring system and method based on unmanned aerial vehicle |
-
2016
- 2016-08-12 CN CN201610670374.3A patent/CN106292746B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103299975A (en) * | 2013-06-14 | 2013-09-18 | 北京农业信息技术研究中心 | Automatic and accurate pesticide feeding device and method for agricultural UAV (unmanned aerial vehicle) |
| CN103587688A (en) * | 2013-11-25 | 2014-02-19 | 华南农业大学 | Sprayer stability augmentation device and method for multi-rotor-wing unmanned pesticide spraying machine |
| CN104767233A (en) * | 2014-08-08 | 2015-07-08 | 潘海洋 | Intelligent vehicle-mounted charging station used for charging power batteries of unmanned aerial vehicles |
| CN104386258A (en) * | 2014-08-20 | 2015-03-04 | 华南农业大学 | Feeding platform and feeding method suitable for field operation feeding for agricultural unmanned aerial vehicle |
| CN204607572U (en) * | 2015-05-04 | 2015-09-02 | 宁夏视博航空科技有限公司 | A kind of plant protection unmanned plane hovering liquid-adding device |
| CN204947636U (en) * | 2015-07-31 | 2016-01-06 | 深圳前海探鹿科技有限公司 | A kind of vehicle-mounted unmanned aerial vehicle charging device |
| CN105794758A (en) * | 2016-05-13 | 2016-07-27 | 谭圆圆 | Mooring-type unmanned aerial vehicle used for spraying continuously and continuous spraying method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106292746A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109090076B (en) | Spraying planning method for unmanned aerial vehicle | |
| CN104407586A (en) | Drive decoupled plant protection unmanned aerial vehicle control system and control method | |
| EP3233634B1 (en) | Aerodynamically shaped, active towed body | |
| CN105875572A (en) | Intelligent agent-adding system of plant-protecting unmanned aerial vehicle | |
| CN106043086B (en) | A kind of trailer and unmanned plane for plant protection unmanned plane synthetic job positions recovery method | |
| CN106292746B (en) | A kind of trailer and unmanned plane sprinkling amount control method for plant protection drone synthetic job | |
| CN107539453A (en) | A kind of low-latitude flying operation unmanned plane and its control system and application | |
| CN102806990A (en) | Portable mapping unmanned aerial plane | |
| Wang et al. | Design and development of orchard autonomous navigation spray system | |
| CN102975852A (en) | Unmanned plane capable of continuously being supplied with pesticides and spraying pesticides | |
| AU2019440603A1 (en) | Rotor suspension-type wide range spray bar sprayer and control method therefor | |
| CN107161353A (en) | A kind of unmanned plane resupply vehicle from traveling | |
| CN107140195A (en) | A kind of agricultural unmanned plane | |
| CN205801547U (en) | A kind of trailer for plant protection unmanned plane synthetic job | |
| CN202935570U (en) | Portable mapping unmanned aerial plane | |
| CN202953175U (en) | Continuous-pesticide-feeding crop-dusting unmanned aerial vehicle | |
| CN207029575U (en) | A kind of unmanned plane resupply vehicle from traveling | |
| Wang et al. | Improvement design of agricultural plant protection UAV | |
| CN106849323A (en) | A kind of unmanned plane flies anti-management system | |
| CN113371200B (en) | Unmanned aerial vehicle accurate pesticide spraying system for planting crops in large scale | |
| CN110834725B (en) | Device and method for high-load omnibearing longitudinal axis two-rotor unmanned helicopter | |
| CN210793645U (en) | Unmanned ground effect aircraft for plant protection | |
| CN209852587U (en) | Pesticide spraying system of unmanned aerial vehicle for agricultural planting | |
| RU2703198C1 (en) | Aerostatic robot device for monitoring and application of plant protection agents, fertilizers in precision agriculture | |
| CN105438476A (en) | Equipment for automatically and precisely controlling spraying of crop chemical treatment agent based on unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191223 Address after: Room 1006, scientific research building, Dongting Lake Road, Gaoyou Economic Development Zone, Yangzhou City, Jiangsu Province Patentee after: Yangzhou geometry UAV Technology Co.,Ltd. Address before: Nanning City, the Guangxi Zhuang Autonomous Region Qingxiu District Kimpo road 530028 No. 6 Jinhu Dijing No. A-123 Patentee before: NANNING YUANZHUO NEW ENERGY TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190903 Termination date: 20210812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |