CN106719551A - A kind of automatic path planning pesticide spraying UAS and its control method - Google Patents
A kind of automatic path planning pesticide spraying UAS and its control method Download PDFInfo
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- 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
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- 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
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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
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Abstract
一种自动规划路径农药喷洒无人机系统，包括无人机本体和用于设在田块边界的红外虚拟墙发生器，所述无人机本体设有高度感应器和农药喷洒装置，所述无人机本体前左右三个端点均设有距离感应器，所述无人机本体设有通讯系统并且通过通讯系统与控制单元相连。红外虚拟墙发生器能够围住田块形成几何形状的红外虚拟墙，无人机能够感应到红外虚拟墙，在几何形状内沿控制单元提供的信号路径进行飞行及农药喷洒，实现自动规划路径农药喷洒。
An automatic planning path pesticide spraying unmanned aerial vehicle system, including an unmanned aerial vehicle body and an infrared virtual wall generator for setting at the border of a field, the unmanned aerial vehicle body is provided with a height sensor and a pesticide spraying device, and the Distance sensors are provided at the front, left, and right ends of the UAV body, and the UAV body is provided with a communication system and is connected to the control unit through the communication system. The infrared virtual wall generator can surround the field to form a geometric infrared virtual wall. The drone can sense the infrared virtual wall, fly and spray pesticides along the signal path provided by the control unit within the geometric shape, and automatically plan the path of pesticides. spray.
Description
技术领域technical field
本发明涉及农药喷洒管理领域，尤其是一种自动规划路径农药喷洒无人机系统。The invention relates to the field of pesticide spraying management, in particular to an automatic planning path pesticide spraying unmanned aerial vehicle system.
背景技术Background technique
现有技术中的农药喷洒方式是采用喷药机械，如喷雾机，通过人工操作的方式，由喷药员根据经验决定药剂的使用时间、地点和剂量。在整个农药喷洒作业中，操作人员的劳动强度巨大，而且操作人员直接接触农药，人身极易受到农药的伤害，同时由于人工操作，整个农药喷洒作业的效率并不高。因此，需要一种新的农药喷洒方式，改变人工喷洒的模式，通过机械自动携带预先配制好的农药进行预定区域的预定剂量喷洒，从而避免操作人员直接与农药接触，保障操作人员的人身健康，同时自动的农药喷洒模式，提高了农药喷洒的效率，使得大面积农田的快速喷药成为可能。以往在大型农田喷洒农药，会采用人工驾驶飞机进行高空喷洒的方式，这样的方式存在飞机高度过高，使得农药飘散度高，受风向影响较大，污染环境，从而渐渐的被小型无人机所替代。如公开号为CN104351157的中国专利公开了一种无人机的农药喷洒装置，包括机体、输送泵和药液箱，输送泵的出液口连接有喷洒管，药液箱有两个，两个药液箱分别固定焊接在机体的左脚支架内和右脚支架内，机体的左脚支架和右脚支架之间设置有横梁，输送泵安装在横梁中部，第一药液箱设置有第一抽液直管，第一抽液直管连接有通向第一药液箱底部的第一软管，第二药液箱设置有第二抽液直管，第二抽液直管连接有通向第二药液箱底部的第二软管，输送泵的抽液管通过三通管同时与第一抽液直管和第二抽液直管连接。本发明减小了无人机的空间结构体积，减小了无人的飞行损耗；不需要频繁的重复装载药液,节约了时间。该发明所述的无人机实现了机械化农药喷洒，但它没有一个完善的系统能够实现自动化规划路径，人工控制无人机容易造成漏喷或重复喷洒的问题。The pesticide spraying method in the prior art is to use a spraying machine, such as a sprayer, through manual operation, and the sprayer determines the time, place and dosage of the pesticide according to experience. In the entire pesticide spraying operation, the labor intensity of the operators is huge, and the operators are directly exposed to the pesticides, so they are extremely vulnerable to the injury of the pesticides. At the same time, due to manual operation, the efficiency of the entire pesticide spraying operation is not high. Therefore, a new method of pesticide spraying is needed, which changes the mode of manual spraying, and automatically carries the pre-prepared pesticides by the machine to spray the predetermined doses in the predetermined area, so as to avoid the direct contact of the operators with the pesticides and ensure the personal health of the operators. At the same time, the automatic pesticide spraying mode improves the efficiency of pesticide spraying and makes it possible to quickly spray pesticides on large areas of farmland. In the past, when spraying pesticides on large-scale farmland, artificially piloted aircrafts were used for high-altitude spraying. In this way, the height of the aircraft is too high, resulting in high dispersion of pesticides, which is greatly affected by the wind direction and pollutes the environment. Therefore, it is gradually used by small drones. replaced. For example, the Chinese patent with the publication number CN104351157 discloses a pesticide spraying device for an unmanned aerial vehicle, including a body, a delivery pump and a liquid medicine tank. The liquid outlet of the delivery pump is connected with a spray pipe. The liquid medicine tanks are respectively fixedly welded in the left foot support and the right foot support of the body, a crossbeam is arranged between the left foot support and the right foot support of the body, the delivery pump is installed in the middle of the crossbeam, and the first liquid medicine tank is provided with a first The straight pipe for pumping liquid, the first straight pipe for pumping liquid is connected with the first flexible pipe leading to the bottom of the first liquid medicine tank, the second liquid liquid tank is provided with the second straight pipe for liquid suction, the second straight pipe for liquid suction is connected with the To the second flexible pipe at the bottom of the second liquid medicine tank, the liquid suction pipe of the delivery pump is connected to the first liquid suction straight pipe and the second liquid suction straight pipe through a three-way pipe at the same time. The invention reduces the volume of the space structure of the unmanned aerial vehicle, reduces the loss of unmanned flight, does not need frequent repeated loading of medicinal liquid, and saves time. The UAV described in this invention realizes mechanized pesticide spraying, but it does not have a perfect system to realize automatic planning path, and manual control of the UAV is likely to cause the problem of missed spraying or repeated spraying.
发明内容Contents of the invention
本发明的目的是为了解决现有无人机无法自动规划农药喷洒路径，易出现重喷、漏喷问题，实现一种能够自动规划路径农药喷洒无人机系统。The purpose of the present invention is to solve the problem that the existing unmanned aerial vehicle cannot automatically plan the pesticide spraying path, which is prone to heavy spraying and missed spraying, and realizes a pesticide spraying unmanned aerial vehicle system that can automatically plan the path.
本发明的上述技术问题主要是通过下述技术方案得以解决的：一种自动规划路径农药喷洒无人机系统，包括无人机本体和用于设在田块边界的红外虚拟墙发生器，所述无人机本体设有高度感应器和农药喷洒装置，所述无人机本体前左右三个端点均设有距离感应器，所述无人机本体设有通讯系统并且通过通讯系统与控制单元相连。红外虚拟墙发生器能够围住田块形成几何形状的红外虚拟墙，无人机能够感应到红外虚拟墙，在几何形状内沿控制单元提供的信号路径进行飞行及农药喷洒，实现自动规划路径农药喷洒。The above-mentioned technical problems of the present invention are mainly solved by the following technical solutions: an automatic planning path pesticide spraying unmanned aerial vehicle system, including an unmanned aerial vehicle body and an infrared virtual wall generator for setting at the border of a field, so that The UAV body is provided with a height sensor and a pesticide spraying device, distance sensors are provided at the front, left, and right ends of the UAV body, and a communication system is provided on the UAV body, and the communication system communicates with the control unit. connected. The infrared virtual wall generator can surround the field to form a geometric infrared virtual wall. The drone can sense the infrared virtual wall, fly and spray pesticides along the signal path provided by the control unit within the geometric shape, and automatically plan the path of pesticides. spray.
作为优选：所述红外虚拟墙发生器根据田块边界长短设有一个或多个。多个红外虚拟墙发生器的红外线衔接一起之后，能形成远距离的红外虚拟墙，可根据需要决定红外虚拟墙发生器的个数，适用性广。As a preference: one or more infrared virtual wall generators are provided according to the length of the field boundary. After the infrared rays of multiple infrared virtual wall generators are connected together, a long-distance infrared virtual wall can be formed. The number of infrared virtual wall generators can be determined according to needs, and the applicability is wide.
作为优选：所述高度感应器和距离感应器采用红外线装置。红外线装置使用率高，器件功耗很小，价格低廉。As a preference: the height sensor and the distance sensor use infrared devices. The utilization rate of the infrared device is high, the power consumption of the device is small, and the price is low.
作为优选：所述高度感应器采用激光装置。激光更为灵敏，反应速度更快，测得的数据更精确。As a preference: the height sensor adopts a laser device. The laser is more sensitive, the response speed is faster, and the measured data is more accurate.
本发明还提供了一种自动规划路径农药喷洒无人机系统的控制方法分为以下几步：The present invention also provides a control method for an automatic planning path pesticide spraying UAV system, which is divided into the following steps:
1）沿田块边界设置红外虚拟墙发生器，形成几何形状的红外虚拟墙；1) Set infrared virtual wall generators along the border of the field to form a geometric infrared virtual wall;
2）无人机在红外虚拟墙内开机起飞升至设定高度，以一方向水平运动；2) The drone starts to take off within the infrared virtual wall and rises to the set height, moving horizontally in one direction;
3）无人机到达红外虚拟墙后，垂直于红外虚拟墙向内平移设定距离至初始喷洒农药位置并打开农药喷洒装置；3) After the drone arrives at the infrared virtual wall, it translates inwards a set distance perpendicular to the infrared virtual wall to the initial pesticide spraying position and turns on the pesticide spraying device;
4）控制单元发送行走周长信号给无人机，无人机平行于相对应的红外虚拟墙运动；4) The control unit sends the walking perimeter signal to the UAV, and the UAV moves parallel to the corresponding infrared virtual wall;
5）无人机走完设定周长时，控制单元发送信号使得无人机垂直于红外虚拟墙向内平移设定距离；5) When the UAV completes the set perimeter, the control unit sends a signal to make the UAV move inward for a set distance perpendicular to the infrared virtual wall;
6）控制单元发送下一圈行走周长信号给无人机，无人机平行于相对应的红外虚拟墙运动；6) The control unit sends the next circle walking perimeter signal to the UAV, and the UAV moves parallel to the corresponding infrared virtual wall;
7）重复第5和第6步骤，当行走周长小于控制单元的设定最小周长（设定距离的6倍）时，控制单元发送停止喷洒农药信号给无人机；7) Repeat steps 5 and 6. When the walking perimeter is less than the set minimum perimeter of the control unit (6 times the set distance), the control unit sends a signal to stop spraying pesticides to the drone;
8）无人机接收信号停止喷洒农药并以一方向水平运动至红外虚拟墙外降落。8) The UAV receives the signal to stop spraying pesticides and moves horizontally in one direction to land outside the infrared virtual wall.
有益效果：本发明实现了无人机自动规划农药喷洒的路径，无需人工控制，对各种几何形状的田地都适用并且能够规划出不重复的路径，不会出现漏喷或重复喷洒农药的问题。Beneficial effects: the invention realizes the automatic planning of the path of pesticide spraying by the drone without manual control, is applicable to fields of various geometric shapes and can plan non-repeated paths, and there will be no problem of missed spraying or repeated spraying of pesticides .
附图说明Description of drawings
附图1是本发明所述的自动规划路径农药喷洒无人机系统的系统图。Accompanying drawing 1 is a system diagram of the automatic planning path pesticide spraying UAV system of the present invention.
附图2是本发明所述的自动规划路径农药喷洒无人机系统的路径图。Accompanying drawing 2 is the path diagram of the automatic planning path pesticide spraying UAV system of the present invention.
1、无人机本体；2、红外虚拟墙发生器。1. UAV body; 2. Infrared virtual wall generator.
具体实施方式detailed description
下面通过实施例，并结合附图，对本发明的技术方案作进一步具体的说明。The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.
实施例一：如图1-2所示，本发明是一种自动规划路径农药喷洒无人机系统，包括无人机本体1和用于设在田块边界的红外虚拟墙发生器2，所述无人机本体1设有高度感应器和农药喷洒装置，所述无人机本体1前左右三个端点均设有距离感应器，所述无人机本体1设有通讯系统并且通过通讯系统与控制单元相连。红外虚拟墙发生器2能够围住田块形成几何形状的红外虚拟墙，无人机能够感应到红外虚拟墙，在几何形状内沿控制单元提供的信号路径进行飞行及农药喷洒，实现自动规划路径农药喷洒。Embodiment 1: As shown in Figure 1-2, the present invention is an automatic planning path pesticide spraying unmanned aerial vehicle system, including an unmanned aerial vehicle body 1 and an infrared virtual wall generator 2 for setting at the border of a field. The UAV body 1 is provided with a height sensor and a pesticide spraying device, the front, left, and right ends of the UAV body 1 are provided with distance sensors, and the UAV body 1 is provided with a communication system and through the communication system connected to the control unit. Infrared virtual wall generator 2 can surround the field to form a geometric infrared virtual wall. The drone can sense the infrared virtual wall and fly and spray pesticides along the signal path provided by the control unit within the geometric shape to realize automatic path planning. Pesticide spraying.
实施例二：如图 1-2所示，本发明是一种自动规划路径农药喷洒无人机系统，包括无人机本体1和用于设在田块边界的红外虚拟墙发生器2，所述无人机本体1设有高度感应器和农药喷洒装置，所述无人机本体1前左右三个端点均设有距离感应器，所述无人机本体1设有通讯系统并且通过通讯系统与控制单元相连。红外虚拟墙发生器2能够围住田块形成几何形状的红外虚拟墙，无人机能够感应到红外虚拟墙，在几何形状内沿控制单元提供的信号路径进行飞行及农药喷洒，实现自动规划路径农药喷洒。Embodiment 2: As shown in Figure 1-2, the present invention is an automatic planning path pesticide spraying unmanned aerial vehicle system, including an unmanned aerial vehicle body 1 and an infrared virtual wall generator 2 for setting at the border of a field. The UAV body 1 is provided with a height sensor and a pesticide spraying device, the front, left, and right ends of the UAV body 1 are provided with distance sensors, and the UAV body 1 is provided with a communication system and through the communication system connected to the control unit. Infrared virtual wall generator 2 can surround the field to form a geometric infrared virtual wall. The drone can sense the infrared virtual wall and fly and spray pesticides along the signal path provided by the control unit within the geometric shape to realize automatic path planning. Pesticide spraying.
作为优选：所述红外虚拟墙发生器2根据田块边界长短设有一个或多个。多个红外虚拟墙发生器2的红外线衔接一起之后，能形成远距离的红外虚拟墙，可根据需要决定红外虚拟墙发生器2的个数，适用性广。As a preference: the infrared virtual wall generator 2 is provided with one or more according to the length of the field boundary. After the infrared rays of multiple infrared virtual wall generators 2 are connected together, a long-distance infrared virtual wall can be formed. The number of infrared virtual wall generators 2 can be determined according to needs, and the applicability is wide.
作为优选：所述高度感应器和距离感应器采用红外线装置。红外线装置使用率高，器件功耗很小，价格低廉。As a preference: the height sensor and the distance sensor use infrared devices. The utilization rate of the infrared device is high, the power consumption of the device is small, and the price is low.
作为优选：所述高度感应器采用激光装置。激光更为灵敏，反应速度更快，测得的数据更精确。As a preference: the height sensor adopts a laser device. The laser is more sensitive, the response speed is faster, and the measured data is more accurate.
本发明还提供了一种自动规划路径农药喷洒无人机系统的控制方法分为以下几步：The present invention also provides a control method for an automatic planning path pesticide spraying UAV system, which is divided into the following steps:
1）沿田块边界设置红外虚拟墙发生器2，形成几何形状的红外虚拟墙；1) An infrared virtual wall generator 2 is set along the border of the field to form a geometric infrared virtual wall;
2）无人机在红外虚拟墙内开机起飞升至设定高度10m，以一方向水平运动；2) The drone starts to take off within the infrared virtual wall and rises to a set height of 10m, moving horizontally in one direction;
3）无人机到达红外虚拟墙后，垂直于红外虚拟墙向内平移设定距离5m至初始喷洒农药位置并打开农药喷洒装置；3) After the UAV arrives at the infrared virtual wall, it translates inwards a set distance of 5m perpendicular to the infrared virtual wall to the initial spraying position of pesticides and turns on the pesticide spraying device;
4）控制单元发送行走周长信号给无人机，无人机平行于相对应的红外虚拟墙运动；4) The control unit sends the walking perimeter signal to the UAV, and the UAV moves parallel to the corresponding infrared virtual wall;
5）无人机走完设定周长时，控制单元发送信号使得无人机垂直于红外虚拟墙向内平移设定距离5m；5) When the UAV completes the set perimeter, the control unit sends a signal to make the UAV move inward with a set distance of 5m perpendicular to the infrared virtual wall;
6）控制单元发送下一圈行走周长信号给无人机，无人机平行于相对应的红外虚拟墙运动；6) The control unit sends the next circle walking perimeter signal to the UAV, and the UAV moves parallel to the corresponding infrared virtual wall;
7）重复第5和第6步骤，当行走周长小于控制单元的设定最小周长30m时，控制单元发送停止喷洒农药信号给无人机；7) Repeat the 5th and 6th steps, when the walking circumference is less than the set minimum circumference of 30m of the control unit, the control unit sends a signal to stop spraying pesticides to the drone;
8）无人机接收信号停止喷洒农药并以一方向水平运动至红外虚拟墙外降落。8) The UAV receives the signal to stop spraying pesticides and moves horizontally in one direction to land outside the infrared virtual wall.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334080A (en) * | 2018-01-18 | 2018-07-27 | 大连理工大学 | A kind of virtual wall automatic generation method for robot navigation |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
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| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| US11219912B2 (en) | 2018-05-24 | 2022-01-11 | Deere & Company | Plugged sprayer/spreader detection using electromagnetic radiation |
| US11241004B2 (en) | 2018-05-24 | 2022-02-08 | Deere & Company | Plugged spray nozzle detection using radio-frequency transmissions |
| CN112867395A (en) * | 2018-10-30 | 2021-05-28 | 株式会社尼罗沃克 | Travel route generation system, travel route generation method, travel route generation program, and unmanned aerial vehicle |
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| CN113573582A (en) * | 2019-02-12 | 2021-10-29 | 拜耳公司 | Unmanned aerial vehicle |
| CN110597253A (en) * | 2019-09-05 | 2019-12-20 | 珠海市一微半导体有限公司 | Robot control method, chip and laser type cleaning robot |
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