CN106681400B - A kind of variable spraying system suitable for unmanned plane - Google Patents
A kind of variable spraying system suitable for unmanned plane Download PDFInfo
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- CN106681400B CN106681400B CN201610973668.3A CN201610973668A CN106681400B CN 106681400 B CN106681400 B CN 106681400B CN 201610973668 A CN201610973668 A CN 201610973668A CN 106681400 B CN106681400 B CN 106681400B
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- medicine
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The invention discloses a kind of variable spraying systems suitable for unmanned plane, including spraying executive device and control system, the injection executive device includes medicine box, flow sensor, spray pump, spray head consistency controller and spray head, wherein, the medicine box includes multiple independent lattice medicine-chests, is sequentially connected the flow sensor, spray pump and spray head consistency controller by liquor piping below each lattice medicine-chest；Check valve and check valve control switch are serially connected on every pipeline；The control system includes the ground remote controller set on the ground and the machine upper controller being located on unmanned plane, and the machine upper controller includes wireless transport module, memory module and power module.Variable sprayer apparatus in the variable spraying system can realize that variable sprays at work under the premise of the flow of spray head is constant, and range is accurate, and spraying effect is good with spraying.
Description
Technical field
The present invention relates to unmanned plane plant protection to equip research field, and in particular to a kind of variable suitable for unmanned plane, which sprays, is
System.
Background technique
China is the highest country of the total amount of application of chemical fertilizer, pesticide in the world at present, accounts for about the 30% of world's aggregate consumption, with
This simultaneously, because chemical fertilizer, pesticide excessively use bring agricultural non-point source pollution problem increasingly severe, by its cause resource, environment,
The problems such as ecological, is prominent, causes adverse effect to agricultural sustainable development.In order to improve this problem from the root, the world is each
There is extensive common recognition in state to low amounts, efficient and accuracy pesticide applying technology development potentiality and application prospect, and numerous and confused research and development are based on machine
Vision, variable spray that (variable sprays the concrete condition referred to according to Crops Pests Control of Diseases Insects And Weeds Pests of Crops in zonule each in farmland, to aggrieved
Region uniformly accurately sprays desired amount of pesticide) etc. technologies precision agriculture unmanned plane pesticide application technology and equipment.
Unmanned plane variable sprayer apparatus is realized with electric signal to the switch control of valve or based on to spray mostly at present
It applies the speed regulation of system hydraulic pump or to the closed-loop control of servo-valve to realize the variable rate spray based on pressure, that is, keeps spray
The concentration for being administered liquid is constant, sprays the flow of medical fluid by change to change the amount of effective component in medical fluid, this method is in work
It is had the disadvantage that in work
1, the variation for spraying flow in process is to be realized by the variation of spouting pressure, and the atomizer of nozzle is at certain
Optimal atomizing effect is had under one specific pressure, therefore the variation of spouting pressure will lead to atomizer cannot be in optimal
Working condition causes atomizing effect to be deteriorated, and then influences the practical effect of pesticide.
2, the variation for spraying flow, the sphere of action that will lead to the medical fluid for spraying out change, this is easy for causing
There is drain spray or resprays in some crops region, so that medical fluid is unevenly distributed, influences pesticide supplying effect.
Summary of the invention
It is sprayed it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of variable suitable for unmanned plane and is
It unites, the variable sprayer apparatus in the variable spraying system can realize variable under the premise of the flow of spray head is constant at work
It sprays, and has and spray that range is accurate, the good advantage of spraying effect.
It is another object of the present invention to provide a kind of using the above-mentioned variable spraying system realization suitable for unmanned plane
Unmanned plane variable spraying method.
The technical solution that the present invention solves above-mentioned technical problem is:
A kind of variable spraying system suitable for unmanned plane, including spray executive device and control system；
The executive device that sprays includes medicine box, flow sensor, spray pump, spray head consistency controller and spray
Head, wherein the medicine box includes multiple independent lattice medicine-chests, is successively connected below each lattice medicine-chest by liquor piping
Connect the flow sensor, spray pump and spray head consistency controller；The spray head consistency controller includes M*N pipeline, the N
For the quantity of lattice medicine-chest, the M is the quantity of spray head, and the liquor piping connecting with each lattice medicine-chest is in spray head concentration
It is divided into M pipeline in controller to connect with M spray head respectively, check valve and check valve control switch is serially connected on every pipeline；
The quantity of the lattice medicine-chest and spray head is multiple；The pesticide of various concentration is stored in each lattice medicine-chest；
The control system includes the machine upper controller for setting ground remote controller on the ground and being located on unmanned plane,
The machine upper controller includes wireless transport module, memory module, control module and power module, wherein the control mould
Block is connect with the flow sensor, spray pump and check valve control switch respectively, and the ground remote controller is used for machine
Upper controller is remotely controlled, and the wireless transport module is described to deposit for carrying out wireless communication with ground remote controller
Store up module for storing data, the power module is used for as each electricity consumption module for power supply on machine upper controller；
The medical fluid for selecting specific lattice medicine-chest is opened by control check valve control switch, passes through the flow to spray pump
Control, it is ensured that the medicinal liquid flow of each pipeline, each spray head spray the pesticide of certain concentration with constant flow.
The working principle of above-mentioned variable spraying system is: before plant protection drone work, utilizing unmanned plane acquisition field of taking photo by plane
Between image information, while by Airborne GPS positioning system obtain field location information, then using computer to collected field
Between image information handled, analyze different plot crops by pest and disease damage situation, and then produce variable based on the analysis results
Prescription map is sprayed, prescription map is sprayed further according to variable and cooks up the flight path that unmanned plane variable sprays, finally spray variable
In the memory that the data compilation of prescription map and flight path is transferred at instruction code library, instruction is waited to be sent and executed.
In spraying executive device, prescription map is sprayed according to the variable of planning, determination will obtain needed for ideal spraying effect
Each lattice medicine-chest farm-chemical concentration blending and configure pesticide, in each lattice medicine-chest store various concentration pesticide.Plant protection nobody
When machine is started to work, ground remote controller instructs flight path and variable sprays instruction and is sent to unmanned plane execution, nobody
Machine is carried out spraying operation by specified flight path flight, and spray head consistency controller is respectively sprayed by predetermined planning control in operation process
Head sprays prescribed concentration pesticide, implements fixed point Variable Composition variable rate spray, the detailed process of fixed point Variable Composition variable rate spray is: variable
It sprays instruction to be sent to wireless transport module by ground remote controller and receive and store in memory module, and is held by control module
Row；The amount for the pesticide active ingredient that each spray head is sprayed on some job position according to variable spray prescription map in advance really
It is fixed, thus ensure to spray flow it is constant under the premise of, the concentration for the pesticide that spray head sprays in the job position can also be counted
Calculate determine, using the concentration be realization of goal scene allotment, be specifically calculated need to use the pesticide of which lattice medicine-chest with
And the amount of each lattice medicine-chest, the medical fluid for selecting specific lattice medicine-chest is opened by control check valve control switch, by right
The flow control of spray pump, it is ensured that the medicinal liquid flow of each pipeline, and real-time medicinal liquid flow is monitored by flow controller, it realizes
Closed-loop control finally realizes that each spray head sprays the pesticide of certain concentration with constant flow, realizes that variable precision sprays.
A preferred embodiment of the invention, wherein each individually lattice medicine-chest upper surface is equipped with feeding opening, on feeding opening
Equipped with medicine chest cover, it is provided with venthole on medicine chest cover, in order to dosing and ventilation；Lower part is equipped with medicine outlet and impurity diversion trench, institute
State medicine outlet and impurity diversion trench be located at each lattice medicine-chest least significant end, in order to medical fluid sufficiently spray and the discharge of impurity.
A preferred embodiment of the invention, wherein the multiple lattice medicine-chest along it is arranged in a straight line together, in this way, can be with
Mitigate the oscillation of medical fluid surge, mitigate unmanned plane and shake, increases flight stability and improve operation quality.
A preferred embodiment of the invention, wherein the spray pump is unmanned plane dedicated diaphragm pump, controls mould by receiving
The control signal of block changes fluid flow, and control precision is high, effect is good.
A kind of unmanned plane variable spraying method realized using the above-mentioned variable spraying system suitable for unmanned plane, including with
Lower step:
A, application plot is treated using remote sensing unmanned plane and carry out remote sensing information acquisition, obtain and required accurately spray target
Information；The remote sensing information is used to analyze the disease pest and weed degree of crops；
B, target plot prescription map is done, the content of the prescription map includes the concentration of each region pesticide to be sprayed, really
Surely it to obtain each lattice medicine-chest farm-chemical concentration blending needed for ideal spraying effect and configure pesticide；
C, planning unmanned plane precisely sprays each point spray head concentration variation combination along flight path and flight path and sprays
Mode；
D, UAV system medicine takes off, and flies according to programme path；
E, spray head consistency controller sprays prescribed concentration pesticide by each spray head of predetermined planning control, implements fixed point Variable Composition and becomes
Amount is spraying, and each spray head sprays flow constant, opens specific point of selection especially by control check valve control switch
The medical fluid of lattice medicine-chest passes through the flow control to spray pump, it is ensured that the medicinal liquid flow of each pipeline makes each spray head with constant stream
Amount sprays the pesticide for setting special concentration；Flow sensor, which records in real time and feeds back each lattice medicine-chest medical fluid, sprays situation；
F, spraying operation terminates, and unmanned plane makes a return voyage.
The present invention have compared with prior art it is below the utility model has the advantages that
1, Variable Composition variable can be carried out to the actual demand of liquor strength according to crop to spray, specific aim is stronger, effect
More directly, the characteristics of highlighting the accurate significant advantage of agricultural aviation application emergency significantly, meeting precision agriculture, reaches saving agriculture
The purpose of medicine and protection environment.
2, each spray head can both spray the medical fluid of same concentration, and the medical fluid that can also spray various concentration is mixed in the air
Medicine keeps pesticide more uniform in superficial deposit concentration, effectively increases pesticide utilization rate.
3, medicine box of the present invention becomes several lattice medicine-chests equipped with various concentration medical fluid from a whole medicine-chest, can be with
Mitigate the oscillation of medical fluid surge, mitigate unmanned plane and shake, increases flight stability and improve operation quality.
4, variable is carried out by the way of Variable Composition to spray, sprinkler pressure, flow can be made to be always maintained at constant, avoided
The change for spraying fluid passage and atomization mechanism, has been effectively ensured atomizing effect.
5, medicine-chest structure of the present invention is simple, at low cost, shape can and design variation wide according to the body types of different unmanned planes,
It is applicable to the accurate variable of most of plant protection drones progress and sprays operation.
6, since the flow of each spray head remains unchanged, make to spray range determination, therefore plant protection drone is sprayed in return
During the boundary that can clearly spray, be not in drain spray and respray phenomenon, keep spray regime more accurate.
Detailed description of the invention
Fig. 1 is to spray to hold an a kind of specific embodiment suitable for the variable spraying system of unmanned plane of the invention
The three-dimensional structure diagram that luggage is set.
Fig. 2 is a kind of structural block diagram of variable spraying system suitable for unmanned plane of the invention.
Fig. 3 is the structural schematic diagram of the spray head consistency controller shown in FIG. 1 sprayed in executive device.
Fig. 4 is that the structural diagrams shown in FIG. 1 for spraying the medicine-chest in executive device are intended to.
Fig. 5 is the structural schematic diagram shown in FIG. 1 for spraying the spray pump in executive device.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Referring to Fig. 1-Fig. 5, the variable spraying system suitable for unmanned plane of the invention includes spraying executive device 4 and control
System 5.
The executive device 4 that sprays includes medicine box 1, flow sensor 32, spray pump 31, spray head consistency controller 33
And spray head 21, wherein the medicine box 1 includes multiple independent lattice medicine-chests, passes through medical fluid below each lattice medicine-chest
Pipeline 2 is sequentially connected the flow sensor 32, spray pump 31 and spray head consistency controller 33；The spray head consistency controller 33
Including M*N pipeline, the N is the quantity of lattice medicine-chest, and the M is the quantity of spray head 21, is connect with each lattice medicine-chest
The liquor piping 2 is divided into M pipeline in spray head consistency controller 33 and connect respectively with M spray head 21, goes here and there on every pipeline
It is connected to check valve 331 and check valve control switch 332.
Referring to fig. 2, the control system 5 includes the ground remote controller 7 set on the ground and the machine being located on unmanned plane
Upper controller, the machine upper controller 6 include wireless transport module, memory module, control module 3 and power module,
In, the control module 3 is connect with the flow sensor 32, spray pump 31 and check valve control switch 332 respectively, described
For remotely being controlled machine upper controller 6, the wireless transport module is used to fill with ground remote control ground remote controller 7
It sets 7 to carry out wireless communication, for storing data, the power module is used for as on machine upper controller 6 memory module
Each electricity consumption module for power supply.
Referring to fig. 4, each individually lattice medicine-chest upper surface is equipped with feeding opening 11, and feeding opening 11 is equipped with medicine chest cover, medicine
Venthole is provided on case lid, in order to dosing and ventilation；Lower part is equipped with medicine outlet 13 and impurity diversion trench 12, the medicine outlet 13
Be located at each lattice medicine-chest least significant end with impurity diversion trench 12, in order to medical fluid sufficiently spray and the discharge of impurity.
Referring to Fig. 1 and Fig. 4, the multiple lattice medicine-chest along it is arranged in a straight line together, in this way, can mitigate medical fluid surge vibration
It swings, mitigates unmanned plane and shake, increase flight stability and improve operation quality.
Referring to Fig. 1 Fig. 5, the spray pump 31 is unmanned plane dedicated diaphragm pump, by the control signal for receiving control module 3
Change fluid flow, control precision is high, effect is good.
The working principle of the above-mentioned variable spraying system suitable for unmanned plane is further described with reference to the accompanying drawing:
Referring to Fig. 1-Fig. 5, before plant protection drone work, using unmanned plane acquisition field image information of taking photo by plane, while by
Airborne GPS positioning system obtain field location information, then using computer to collected field image information at
Reason, analyzes different plot crops by pest and disease damage situation, and then produce variable based on the analysis results and spray prescription map, further according to
Variable sprays prescription map and cooks up the flight path that unmanned plane variable sprays, and variable is finally sprayed prescription map and flight path
Data compilation is transferred in the memory of ground remote controller 7 at instruction code library, and instruction is waited to be sent and executed.
In spraying executive device 4, prescription map is sprayed according to the variable of planning, determination will obtain needed for ideal spraying effect
Each lattice medicine-chest farm-chemical concentration blending and configure pesticide, in each lattice medicine-chest store various concentration pesticide.Plant protection nobody
When machine is started to work, ground remote controller 7 instructs flight path and variable sprays instruction and is sent to unmanned plane execution, nobody
Machine is carried out spraying operation by specified flight path flight, and spray head consistency controller 33 is each by predetermined planning control in operation process
Spray head 21 sprays prescribed concentration pesticide, implements fixed point Variable Composition variable rate spray, the detailed process of fixed point Variable Composition variable rate spray is:
Variable sprays instruction and is sent to wireless transport module by ground remote controller 7 and receives and stores in memory module, and by controlling
Module 3 executes；The amount for the pesticide active ingredient that each spray head 21 is sprayed on some job position sprays prescription according to variable
Figure has predefined, thus ensure to spray flow it is constant under the premise of, spray head 21 sprays in the job position pesticide
Concentration can also calculate determination, deploy by realization of goal scene of the concentration, be specifically calculated and need using which lattice
The amount of the pesticide of medicine-chest and each lattice medicine-chest is opened by control check valve control switch 332 and selects specific lattice medicine
The medical fluid of case passes through the flow control to spray pump 31, it is ensured that the medicinal liquid flow of each pipeline, and monitored in fact by flow controller
When medicinal liquid flow, realize closed-loop control, finally realize that each spray head 21 sprays the pesticide of certain concentration with constant flow, it is real
Existing variable precision sprays.
Referring to Fig. 1-Fig. 5, the unmanned plane of the invention realized using the above-mentioned variable spraying system suitable for unmanned plane becomes
Measure spraying method, comprising the following steps:
A, application plot is treated using remote sensing unmanned plane and carry out remote sensing information acquisition, obtain and required accurately spray target
Information；
B, target plot prescription map is done, determination will obtain each lattice medicine-chest farm-chemical concentration blending needed for ideal spraying effect
And configure pesticide；
C, planning unmanned plane precisely sprays each 21 concentration of point spray head variation combination spray along flight path and flight path
Apply mode；
D, UAV system medicine takes off, and flies according to programme path；
E, spray head consistency controller 33 sprays prescribed concentration pesticide by each spray head 21 of predetermined planning control, implements fixed point and thickens
Variable rate spray is spent, flow sensor 32, which records in real time and feeds back each lattice medicine-chest medical fluid, sprays situation；
F, spraying operation terminates, and unmanned plane makes a return voyage.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
His any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (5)
1. a kind of variable spraying system suitable for unmanned plane, including spray executive device and control system, it is characterised in that:
The executive device that sprays includes medicine box, flow sensor, spray pump, spray head consistency controller and spray head,
In, the medicine box includes multiple independent lattice medicine-chests, is sequentially connected institute by liquor piping below each lattice medicine-chest
State flow sensor, spray pump and spray head consistency controller；The spray head consistency controller includes M*N pipeline, and the N is point
The quantity of lattice medicine-chest, the M are the quantity of spray head, and the liquor piping connecting with each lattice medicine-chest is controlled in spray head concentration
It is divided into M pipeline in device to connect with M spray head respectively, check valve and check valve control switch is serially connected on every pipeline；It is described
The quantity of lattice medicine-chest and spray head is multiple；The pesticide of various concentration is stored in each lattice medicine-chest；
The control system includes the machine upper controller for setting ground remote controller on the ground and being located on unmanned plane, described
Machine upper controller includes wireless transport module, memory module, control module and power module, wherein the control module point
It is not connect with the flow sensor, spray pump and check valve control switch, the ground remote controller is used for controlling on machine
Device processed is remotely controlled, and the wireless transport module with ground remote controller for carrying out wireless communication, the storage mould
For storing data, the power module is used for as each electricity consumption module for power supply on machine upper controller block；
The medical fluid for selecting specific lattice medicine-chest is opened by control check valve control switch, passes through the flow control to spray pump
System, it is ensured that the medicinal liquid flow of each pipeline, each spray head spray the pesticide of certain concentration with constant flow.
2. the variable spraying system according to claim 1 suitable for unmanned plane, which is characterized in that each individual lattice
Medicine-chest upper surface is equipped with feeding opening, and feeding opening is equipped with medicine chest cover, is provided with venthole on medicine chest cover；Lower part is equipped with medicine outlet and miscellaneous
Matter diversion trench, the medicine outlet and impurity diversion trench are located at each lattice medicine-chest least significant end.
3. the variable spraying system according to claim 1 suitable for unmanned plane, which is characterized in that the multiple lattice medicine
Case along it is arranged in a straight line together.
4. the variable spraying system according to claim 1 suitable for unmanned plane, which is characterized in that the spray pump is nothing
Man-machine dedicated diaphragm pump.
5. a kind of unmanned plane realized using the described in any item variable spraying systems suitable for unmanned plane of claim 1-4 becomes
Measure spraying method, which comprises the following steps:
A, application plot is treated using remote sensing unmanned plane and carry out remote sensing information acquisition, obtain the required letter for accurately spraying target
Breath；The remote sensing information is used to analyze the disease pest and weed degree of crops；
B, target plot prescription map is done, the content of the prescription map includes the concentration of each region pesticide to be sprayed, and determination is wanted
Each lattice medicine-chest farm-chemical concentration blending needed for obtaining ideal spraying effect simultaneously configures pesticide；
C, planning unmanned plane precisely sprays each point spray head concentration variation combination along flight path and flight path and sprays mode；
D, UAV system medicine takes off, and flies according to programme path；
E, spray head consistency controller sprays prescribed concentration pesticide by each spray head of predetermined planning control, implements fixed point Variable Composition variable spray
Mist, each spray head spray flow constant, open especially by control check valve control switch and select specific lattice medicine
The medical fluid of case passes through the flow control to spray pump, it is ensured that the medicinal liquid flow of each pipeline sprays each spray head with constant flow
The pesticide of certain concentration out, flow sensor, which records in real time and feeds back each lattice medicine-chest medical fluid, sprays situation；
F, spraying operation terminates, and unmanned plane makes a return voyage.
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| CN201610973668.3A CN106681400B (en) | 2016-10-28 | 2016-10-28 | A kind of variable spraying system suitable for unmanned plane |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108552149B (en) * | 2017-12-18 | 2020-07-31 | 华南农业大学 | Unmanned aerial vehicle smoke agent spraying system and method suitable for mountainous and hilly areas |
| CN109076761B (en) * | 2018-08-08 | 2021-01-08 | 安徽省现代农业装备产业技术研究院有限公司 | Variable fertilization method based on remote sensing image |
| CN109933079B (en) * | 2019-04-16 | 2021-08-27 | 瑞安市浙工大创新创业研究院 | Unmanned aerial vehicle pesticide spraying flow monitoring method |
| CN110367230A (en) * | 2019-08-22 | 2019-10-25 | 山东理工大学 | A kind of variable that spraying medicine concentration independently can be changed sprays plant protection vehicle |
| CN110697047A (en) * | 2019-11-12 | 2020-01-17 | 山东理工大学 | Variable concentration control method for aerial spraying |
| CN112083749B (en) * | 2020-08-14 | 2022-08-02 | 安徽农业大学 | Unmanned aerial vehicle spraying intelligence control system |
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| CN101716567A (en) * | 2009-11-05 | 2010-06-02 | 吉林大学 | Intelligent variable medicine spraying machine based on prescription chart control |
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| CN105667799A (en) * | 2016-03-16 | 2016-06-15 | 山东果壳信息科技有限公司 | Pesticide spraying system for agricultural unmanned aerial vehicle |
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| CN1617665A (en) * | 2001-12-14 | 2005-05-18 | 财团法人大阪产业振兴机构 | Animal breeding system and utilization of the system |
| US9078400B2 (en) * | 2004-03-01 | 2015-07-14 | Montec Pty. Ltd | Method and apparatus for environmental control according to perceived temperature |
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| CN101716567A (en) * | 2009-11-05 | 2010-06-02 | 吉林大学 | Intelligent variable medicine spraying machine based on prescription chart control |
| CN204017779U (en) * | 2014-06-17 | 2014-12-17 | 北京农业信息技术研究中心 | A kind of farmland Portable unmanned machine agricultural chemicals dispensation apparatus |
| CN105667799A (en) * | 2016-03-16 | 2016-06-15 | 山东果壳信息科技有限公司 | Pesticide spraying system for agricultural unmanned aerial vehicle |
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