CN106697291A - Intelligent unmanned plane pesticide spraying device - Google Patents
Intelligent unmanned plane pesticide spraying device Download PDFInfo
- Publication number
- CN106697291A CN106697291A CN201611200885.5A CN201611200885A CN106697291A CN 106697291 A CN106697291 A CN 106697291A CN 201611200885 A CN201611200885 A CN 201611200885A CN 106697291 A CN106697291 A CN 106697291A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- pesticide
- agricultural chemicals
- pesticide spraying
- controller
- 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.)
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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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention provides an intelligent unmanned plane pesticide spraying device. The intelligent unmanned plane pesticide spraying device comprises liquid pesticide tanks, pesticide spraying pumps, pesticide sprayers, a controller, a GPS navigator, a map storage, an unmanned plane drive device and a drive device fault detection system, wherein the multiple liquid pesticide tanks are fixedly connected to an unmanned plane body; the liquid pesticide tanks are filled with different types of pesticides, and each liquid pesticide tank is provided with one pesticide spraying pump and one pesticide sprayer; each liquid pesticide tank, the corresponding pesticide spraying pump and the corresponding pesticide sprayer communicate sequentially through a pipeline; the pesticide sprayers are arranged at the front end of the unmanned plane body; the controller is connected with the GPS navigator and the map storage, and the controller obtains the current navigation path of the unmanned plane according to the GPS navigator and the map storage; and the drive device fault detection system is used for conducting fault detection on the unmanned plane drive device.
Description
Technical field
The present invention relates to unmanned plane field of operation, and in particular to a kind of intelligent unmanned plane pesticide spraying device.
Background technology
Agricultural unmanned plane can be directed to different crops, according to the parameter and work for importing in advance under different environmental conditions
The parameter of collection in worksite in work, specific aim carries out spray drug operation, can significantly mitigate the cost of artificial spray, is a kind of emerging
Agricultural intelligent equipment.
Existing agricultural chemicals unmanned plane, often can only solely spray a kind of agricultural chemicals, and function is relatively simple, and automation is general
Than relatively low, it is therefore desirable to a kind of unmanned plane pesticide spraying device that can provide Multiple Pesticides spraying function.
The content of the invention
Regarding to the issue above, the present invention provides a kind of intelligent unmanned plane pesticide spraying device.
The purpose of the present invention is realized using following technical scheme：
A kind of intelligent unmanned plane pesticide spraying device, including spray tank, farm chemical spray pump, agricultural chemicals shower nozzle, controller, GPS lead
Boat instrument, map memory, unmanned machine actuating device and drive device fault detection system；Spray tank has multiple, and it is fixed in nothing
On man-machine body, the different agricultural chemicals of filling in each spray tank, each spray tank configuration 1 farm chemical spray pump and 1 agricultural chemicals shower nozzle, medicine
Liquid case, farm chemical spray pump and agricultural chemicals shower nozzle pass sequentially through pipeline communication, and agricultural chemicals shower nozzle is arranged at unmanned plane body front end；Controller is distinguished
Connection GPS navigator and map memory, controller obtain unmanned plane Present navigation road according to GPS navigator and map memory
Line；Drive device fault detection system is used to carry out fault detect to unmanned machine actuating device.
Preferably, flowmeter is additionally provided with farm chemical spray pump to the pipeline of agricultural chemicals shower nozzle, the value of feedback of flowmeter is sent to control
Device processed, liquid level gauge is provided with each spray tank.
Preferably, the unmanned plane is additionally provided with velocity sensor, and velocity sensor is electrically connected with the controller.
Beneficial effects of the present invention are：Spray tank of the configuration filled with different agricultural chemicals on unmanned plane, and by different
Shower nozzle and pipeline spray, and coordinate liquid level gauge, flowmeter etc., are capable of the sprinkling of precise control difference agricultural chemicals, and automation is high, is adapted to
Popularization and application.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but embodiment in accompanying drawing is not constituted to any limit of the invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to the following drawings
Other accompanying drawings.
Fig. 1 is the structural representation of the unmanned plane pesticide spraying device；
Fig. 2 is the structured flowchart of drive device fault detection system.
Reference：Spray tank -1；Farm chemical spray pump 2；Agricultural chemicals shower nozzle -3；Controller -4；GPS navigator -5；Map memory-
6；Unmanned machine actuating device -7；Drive device fault detection system -8；Flowmeter -9；Liquid level gauge -10；Velocity sensor -11；Pass
Sensor monitoring subsystem -100；Information fault diagnosis subsystem -200；Characteristic extracting module -201；Data screening module -202；
Fault detection module -203.
Specific embodiment
The invention will be further described with the following Examples.
A kind of intelligent unmanned plane pesticide spraying device as shown in Figure 1, including spray tank 1, farm chemical spray pump 2, agricultural chemicals shower nozzle
3rd, controller 4, GPS navigator 5, map memory 6, unmanned machine actuating device 7 and drive device fault detection system 8.Liquid
Case 1 has multiple, and it is fixed on unmanned plane body, and the different agricultural chemicals of filling in each spray tank 1, each spray tank 1 configures 1
Farm chemical spray pump 2 and 1 agricultural chemicals shower nozzle 3, spray tank 1, farm chemical spray pump 2 and agricultural chemicals shower nozzle 3 pass sequentially through pipeline communication, and agricultural chemicals shower nozzle 3 sets
It is placed in unmanned plane body front end.Controller 4 connects GPS navigator 5 and map memory 6 respectively, and controller 4 is according to GPS navigation
Instrument 5 and map memory 6 obtain unmanned plane Present navigation route.Drive device fault detection system 8 is used to drive unmanned plane
Device 7 carries out fault detect.The unmanned machine actuating device 7 is Diesel engine or heavy fuel burning engine.
Preferably, flowmeter 9, the value of feedback transmission of flowmeter 9 are additionally provided with farm chemical spray pump 2 to the pipeline of agricultural chemicals shower nozzle 3
To controller 4, liquid level gauge 10 is provided with each spray tank 1.Different agricultures can be controlled by controlling the rotating speed of each farm chemical spray pump 2
The spray value of medicine.
Preferably, the unmanned plane is additionally provided with velocity sensor 11, the flying speed for detecting unmanned plane, and speed is passed
Sensor 11 is electrically connected with controller 4.
The above embodiment of the present invention is filled with the spray tank of different agricultural chemicals by the configuration on unmanned plane, and by different
Shower nozzle and pipeline spray, and coordinate liquid level gauge, flowmeter etc., are capable of the sprinkling of precise control difference agricultural chemicals, and automation is high, is adapted to
Popularization and application.
Preferably, as shown in Fig. 2 drive device fault detection system 8 includes Sensor monitoring subsystem 100 and information event
Barrier diagnostic subsystem 200；The Sensor monitoring subsystem 100, for being entered to unmanned machine actuating device 7 using multiple sensors
Row monitoring, the sensor is including temperature sensor, pressure sensor, piston displacement sensor etc.；Information fault diagnosis subsystem
200, for carrying out fault detect to unmanned machine actuating device 7, including：
(1) characteristic extracting module 201, for multiple Sensor monitorings to information be filtered treatment, eliminate noise
Interference, then carry out the feature extraction of amplitude domain parameter respectively, signified feature is including temperature, pressure and displacement etc. herein；
(2) data screening module 202, for being screened to the feature extracted, draws the spy for carrying out fault diagnosis
Reference ceases；
(3) fault detection module 203, for carrying out fault detect according to the characteristic information for filtering out.
This preferred embodiment is provided with drive device fault detection system 8, has ensured the fortune of unmanned plane pesticide spraying device
Make.
Preferably, the data screening module 202 is screened according to following screening rules to the feature extracted：
(1) relative Link Importance of the characteristic variable in characteristic information is determined using following equation：
In formula, relative Link Importance refers to significance level of the characteristic variable to the performance impact of unmanned machine actuating device 7, Wi
It is characterized the relative Link Importance of ith feature variable in information, AjIt is the power determined according to historical experience by j-th expert group
Weight, J is the number of expert group, and B is the objective weight obtained using principal component analytical method, and ω is weight Dynamic gene, ω's
Value is adjusted by test of many times according to actual needs；
(2) by all characteristic variables, order sequence is carried out according to relative Link Importance order from big to small；
(3) preceding 80% characteristic variable is filtered out, as the characteristic variable data for carrying out fault diagnosis；20% by after
The corresponding relative Link Importance sum of characteristic variable is designated as ∑ W20, the relative Link Importance sum note of qualified all characteristic variables
It is ∑ W100, thus obtain screening and optimizing coefficientWherein J is the number of expert group.
This preferred embodiment carries out preferably, saving in data screening module 202 to the characteristic variable in characteristic information
Fault diagnosis improves the speed of fault diagnosis to the time of data processing；Characteristic variable is carried out relatively by above-mentioned formula
Importance degree is calculated, and can show attention degree of the expert to each characteristic variable, it is contemplated that the situation of characteristic variable physical meaning,
The subjectivity for reducing weighting is random, and sets weight Dynamic gene so that the relative Link Importance of characteristic variable calculate closer to
Actual conditions so as to the determination more science of the relative importance of each characteristic variable, further increase the essence of data screening
Degree, improves the precision of fault diagnosis such that it is able to relatively accurately carry out fault detect to unmanned machine actuating device 7, it is ensured that
Can be repaired in time when unmanned machine actuating device 7 breaks down, it is ensured that the sprinkling work of unmanned plane pesticide spraying device.
Preferably, fault detect is carried out to the characteristic variable data, it is specific to perform：
(1) metric range of each characteristic variable is calculated：
In formula, DkIt is characterized variable XkTo standard feature variable YkMetric range, wherein XkFor the feature of monitoring collection becomes
K-th characteristic variable, Y in amount datakIt is and XkIt is corresponding in health status when standard feature variable, MD (Xk,Yk) be
Characteristic variable XkTo standard feature variable YkMahalanobis distance, OD (Xk,Yk) it is characterized variable XkTo standard feature variable YkEurope
Family name's distance, CYkIt is standard feature variable YkCorrelation matrix；H is the screening and optimizing system obtained in data screening module 202
Number；
(2) different types of fault cluster threshold value is preset, if DkWithin certain fault cluster threshold value, then judge
It is this kind of failure.
This preferred embodiment carries out each characteristic variable X by the way of mahalanobis distance and Euclidean distance are combinedkMeasurement
The calculating of distance, has taken into account the correlation and independence of characteristic variable, can effectively improve fault diagnosis precision；After utilization 20% compared with
The characteristic variable of small relative Link Importance fits screening and optimizing coefficient, and the calculating to metric range is optimized, and is not increasing
Ensure the integrality that data are taken in the case of many amounts of calculation, further increase the accuracy of fault diagnosis.
Preferably, the specific setting that different types of fault cluster threshold value is carried out using following manner：Gather the unmanned plane
Sufficient amount of random sample Z (m) of the drive device 7 under m kind malfunctions1,Z(m)2,Z(m)3,…,Z(m)Ψ, wherein
Random sample Z (m)δRepresent characteristic variable XδMetric range, δ=1,2 ..., Ψ calculate the standard deviation sigma of the sample setmAnd the phase
Prestige value μm, then set the fault cluster threshold value of the unmanned machine actuating device 7 under m kind malfunctions asWhereinIt is desired value μmMaximal possibility estimation,It is standard deviation sigmamMaximal possibility estimation.
This preferred embodiment carries out the setting of fault cluster threshold value using aforesaid way, it is to avoid the influence of subjective factor,
Compared to more science by way of being determined expertise, relative improve carries out fault detect to unmanned machine actuating device 7
Precision.
Preferably, the fault detection module 203 also includes depth fault alarm mechanism occurred frequently, specially：Record is calculated
The actual metric range D for arrivingkWith the desired value μ under m kind malfunctionsmActual difference σ ', it is assumed that failure mode quantity is
N, if σ '≤σm, then bulk registration DkInto the times N of the scope, whenThen judge this kind
Failure is depth failure occurred frequently, and sends corresponding alarm, wherein σ ' to operations staffmaxWith σ 'minRespectively this kind failure
Maximum actual difference and minimum actual difference in historical record.
This preferred embodiment sets depth fault alarm mechanism occurred frequently, the mechanism can according to desired value μmActual difference
Value (i.e. failure depth), and carry out the mechanism of fault alarm into the number of times of the failure depth bounds so that the fault detect
Device is in addition to it effectively can recognize failure mode, moreover it is possible to the depth and frequency of failure are pointed out according to historical data, is at failure
Reason brings more scientific foundation, improves the fault detection accuracy to the unmanned machine actuating device 7 of unmanned plane pesticide spraying device.
Inventor has carried out a series of tests using the present embodiment, the following is test the experimental data that obtains：
Above-mentioned experimental data shows that the present invention accurately and fast can carry out fault detect to unmanned machine actuating device 7,
But also there is no in test any failure, it can be seen that, the present invention is being applied to the nothing of unmanned plane pesticide spraying device
The beneficial effect of highly significant will be produced during the fault detect of people's machine actuating device 7.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained to the present invention with reference to preferred embodiment, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention
Matter and scope.
Claims (3)
1. a kind of intelligent unmanned plane pesticide spraying device, it is characterized in that, including spray tank, farm chemical spray pump, agricultural chemicals shower nozzle, control
Device, GPS navigator, map memory, unmanned machine actuating device and drive device fault detection system；Spray tank has multiple, its
It is fixed on unmanned plane body, the different agricultural chemicals of filling in each spray tank, each spray tank configuration 1 farm chemical spray pump and 1 agriculture
Medicine shower nozzle, spray tank, farm chemical spray pump and agricultural chemicals shower nozzle pass sequentially through pipeline communication, and agricultural chemicals shower nozzle is arranged at unmanned plane body front end；
Controller connects GPS navigator and map memory respectively, and controller obtains unmanned plane according to GPS navigator and map memory
Present navigation route；Drive device fault detection system is used to carry out fault detect to unmanned machine actuating device.
2. a kind of intelligent unmanned plane pesticide spraying device according to claim 1, it is characterized in that, farm chemical spray pump to agricultural chemicals sprays
Flowmeter is additionally provided with the pipeline of head, the value of feedback of flowmeter is sent to controller, and liquid level gauge is provided with each spray tank.
3. a kind of intelligent unmanned plane pesticide spraying device according to claim 2, it is characterized in that, the unmanned plane also sets
Velocity sensor is equipped with, velocity sensor is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200885.5A CN106697291A (en) | 2016-12-22 | 2016-12-22 | Intelligent unmanned plane pesticide spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200885.5A CN106697291A (en) | 2016-12-22 | 2016-12-22 | Intelligent unmanned plane pesticide spraying device |
Publications (1)
| Publication Number | Publication Date |
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| CN106697291A true CN106697291A (en) | 2017-05-24 |
Family
ID=58895714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611200885.5A Withdrawn CN106697291A (en) | 2016-12-22 | 2016-12-22 | Intelligent unmanned plane pesticide spraying device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106697291A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839885A (en) * | 2017-12-12 | 2018-03-27 | 赵有科 | A kind of unmanned plane chemical spraying device |
| CN110274595A (en) * | 2018-03-16 | 2019-09-24 | 北京京东尚科信息技术有限公司 | The method and apparatus of aircraft landing detection |
| WO2022068041A1 (en) * | 2020-09-30 | 2022-04-07 | 深圳市大疆创新科技有限公司 | Spraying assembly, and movable platform having same |
| RU2811604C1 (en) * | 2023-10-03 | 2024-01-15 | Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) | Unmanned aerial vehicle for applying pesticides in fruit farming and nursery farms |
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