CN106774465A - A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray - Google Patents
A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray Download PDFInfo
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- CN106774465A CN106774465A CN201611150804.5A CN201611150804A CN106774465A CN 106774465 A CN106774465 A CN 106774465A CN 201611150804 A CN201611150804 A CN 201611150804A CN 106774465 A CN106774465 A CN 106774465A
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- unmanned plane
- green
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- spray
- fruit tree
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- 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
- G05D7/0676—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 flow sources
- G05D7/0682—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 flow sources using a plurality of flow sources
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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 unmanned aerial vehicle (UAV) control method for fruit tree spray, the method is that orchard is surveyed and drawn by surveying and drawing unmanned plane, calculate the area of fruit tree region, plant protection unmanned plane is manipulated by ground controller again to get every fruit tree ready, video camera shoots tree crown picture and calculates tree crown area and home position, dropped to after plant protection unmanned plane during flying to home position at canopy h, control module sends instruction, plant protection unmanned plane starts spray.The present invention can realize variable spray agricultural chemicals according to the dense degree of crown canopy, dispenser precisely, efficiency high, it is to avoid dispenser waste.
Description
Technical field
The invention belongs to agricultural plant protection field, and in particular to a kind of unmanned aerial vehicle (UAV) control method for fruit tree spray.
Background technology
In our daily lifes, fruit is of common occurrence, but in production of fruit trees, pest and disease damage usually gives fruit tree again
Production causes serious harm so that the fruit tree underproduction and reduction quality, and greatly puzzlement is caused to orchard workers.With the hair of science and technology
Exhibition, unmanned plane spray has become a kind of means of new prevention and elimination of disease and pests, has the excellent of its uniqueness compared to traditional artificial dispenser
Gesture, huge effect is played in agricultural plant protection field, but there is also problem simultaneously, such as：Spray low precision, especially for
The larger crop of spacing, has often resulted in waste, and spray is not uniform enough, and effect is not fine.
The content of the invention
For the deficiency that above-mentioned technology is present, the invention provides a kind of unmanned aerial vehicle (UAV) control method for fruit tree spray,
Realize variable spray, dispenser precisely with uniformly, efficiency high.
To achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray, comprises the following steps：
Step 1：Start mapping unmanned plane, orchard is surveyed and drawn, calculate the area of fruit tree region；
Step 2：Start plant protection unmanned plane, plant protection unmanned plane is manipulated by ground controller, every fruit tree is got ready, nobody
Machine sends ground controller to by the elements of a fix that wireless communication module will be got ready, and ground controller receives all of information
Afterwards, the flight path and hovering point of plant protection unmanned plane are formulated further according to these information plannings and；
Step 3：Plant protection unmanned plane flies according to the route formulated, and reaches first hovering point, and the control module of unmanned plane sends
Instruction, video camera shoots top fruit sprayer picture, and ground controller is sent to by wireless communication module, and ground controller is received
The green edge detected after information and with underlying green sensor is analyzed, if video camera clap picture not will entirely fruit
Tree tree crown is filmed, then the attitude for adjusting unmanned plane by ground controller is shot again, if video camera claps picture
It is consistent with the information that underlying green sensor is detected, then ground controller can calculate whole top fruit sprayer according to algorithm
Area, and the geographical coordinate of round dot is calculated, the data is activation that ground controller will be calculated receives letter to unmanned plane, unmanned plane
Flown after breath to the round dot coordinate of crown canopy；
Step 4：At unmanned plane during flying to round dot coordinate, the control module of unmanned plane sends instruction, canopy relative altitude sensor
Start working, unmanned plane is adjusted attitude according to the detection information of canopy relative altitude sensor, when unmanned plane and crown canopy
Relative altitude when being h, control module sends instruction, and the servomotor operating of chemical spraying device, liquid medicine sprays from pressure nozzle；
Unmanned plane is sentenced to the circular sprinkling of the mode of external diffusion according to algorithm routine from round dot；
Step 5：Unmanned plane in flight to during next hovering point, the information in front of preposition green sensor detection, when
When preposition green sensor detects green tree crown information, the control module of unmanned plane sends instruction, and unmanned plane rises, until preceding
Put green sensor inspection and do not measure green tree crown information, fruit tree is sprayed according still further to step 3 and step 4, until completing right
The spray in whole orchard.
Unmanned plane is sprayed using the spraying method of square wave according to algorithm routine to fruit tree, and the video camera on unmanned plane will be clapped
The top fruit sprayer picture taken the photograph is sent to ground controller, and ground controller is received after information and examined with underlying green sensor
The green edge for measuring is analyzed, if video camera claps picture and is not filmed whole top fruit sprayer, then by ground
The attitude of face controller adjustment unmanned plane is shot again, if video camera claps the letter that picture is detected with underlying green sensor
Breath is consistent, then ground controller can calculate the area of whole top fruit sprayer according to algorithm, and calculate crown canopy left hand edge
The geographical coordinate at place, at unmanned plane during flying to crown canopy left hand edge；The control module of unmanned plane sends instruction, canopy relative altitude
Sensor is started working, and unmanned plane is adjusted attitude according to the detection information of canopy relative altitude sensor, when unmanned plane with
When the relative altitude of crown canopy is h, control module sends instruction, the servomotor operating of chemical spraying device, and liquid medicine is from pressure nozzle
Place sprays；The mode that unmanned plane sentences square wave from left hand edge is turned right sprinkling, and unmanned plane flies to next hovering point to fruit tree again
Spray, until completing whole spray.
Unmanned plane carries out variable spray according to the information that underlying green sensor is detected, if the green area face for detecting
Product is big, and than richer, the flow of pressure nozzle is big, if the green area area for detecting is small and sparse, the flow of pressure nozzle
Can diminish, there is no the place of green area, pressure nozzle can be closed；The border of unmanned plane dispenser is to overlap, it is to avoid second
Sprinkling or drain spray.
It is effectively bonded together with spraying equipment and drugs the beneficial effects of the invention are as follows by unmanned plane, agricultural chemicals is carried out to fruit tree
Variable spray, improves the sprinkling utilization rate of agricultural chemicals, while also substantially increasing the prevention effect of fruit tree diseases and pests.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the unmanned plane for fruit tree spray.
Fig. 2 is a kind of component units of the unmanned plane chemical spraying device for fruit tree spray.
Fig. 3 is a kind of spray flow chart of the unmanned plane for fruit tree spray.
Fig. 4 is the circular schematic diagram sprayed insecticide.
The schematic diagram that Fig. 5 sprays insecticide for the form of square wave.
In figure：1st, video camera；2nd, canopy relative altitude sensor；3rd, underlying green sensor；4th, chemical spraying device；5th, nobody
Machine；6th, base；7th, preposition green sensor.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
Such as Fig. 1, a kind of unmanned aerial vehicle control system for fruit tree spray, including unmanned plane 5, video camera 1, canopy are relatively high
Degree sensor 2, preposition green sensor 7, underlying green sensor 3, chemical spraying device 4 and base 6；The underlying green sensor
3 are arranged on before unmanned plane 5, and the preposition green sensor 7 is arranged on unmanned machine base 6.
Described unmanned plane 5 is multi-rotor unmanned aerial vehicle, including charging module, power module, control module, GPS location mould
Block, wireless communication module and indicating module.
Such as Fig. 2, described chemical spraying device 4, including servomotor, pressure nozzle, medicine-chest, support bar and grug transportation tube；Wherein
Medicine-chest is arranged on the lower section of unmanned plane；Pressure nozzle has 6, is fixed on support bar；Pressure nozzle is connected with grug transportation tube.
A kind of unmanned aerial vehicle control system for fruit tree spray, also including ground controller；Ground controller is remote control
Or ground-based computer.
A kind of such as Fig. 3, unmanned aerial vehicle (UAV) control method for fruit tree spray is comprised the following steps：
Step 1：Start mapping unmanned plane, orchard is surveyed and drawn, calculate the area of fruit tree region；
Step 2：Start plant protection unmanned plane, plant protection unmanned plane is manipulated by ground controller, every fruit tree is got ready, nobody
Machine sends ground controller to by the elements of a fix that wireless communication module will be got ready, and ground controller receives all of information
Afterwards, the flight path and hovering point of plant protection unmanned plane are formulated further according to these information plannings and；
Step 3：Plant protection unmanned plane flies according to the route formulated, and reaches hovering point, and the control module of unmanned plane sends instruction, takes the photograph
Camera shoots top fruit sprayer picture, ground controller is sent to by wireless communication module, after ground controller receives information
And the green edge detected with underlying green sensor is analyzed, if video camera claps picture not by whole top fruit sprayer
Be filmed, then by ground controller adjust unmanned plane attitude shot again, if video camera clap picture with it is underlying
The information that green sensor is detected is consistent, then ground controller can calculate the area of whole top fruit sprayer according to algorithm,
And calculate the geographical coordinate of round dot, the data is activation that ground controller will be calculated to unmanned plane, after unmanned plane receive information
At flight to the round dot coordinate of crown canopy；
Step 4：At unmanned plane during flying to round dot coordinate, the control module of unmanned plane sends instruction, canopy relative altitude sensor
Start working, unmanned plane is adjusted attitude according to the detection information of canopy relative altitude sensor, when unmanned plane and crown canopy
Relative altitude when being h, control module sends instruction, and the servomotor operating of chemical spraying device, liquid medicine sprays from pressure nozzle；
Unmanned plane is sentenced from round dot according to algorithm routine and sprayed to the mode of external diffusion is circular, as shown in Figure 4；
Step 5：Unmanned plane in flight to during next hovering point, the information in front of preposition green sensor detection, when
When preposition green sensor detects green tree crown information, the control module of unmanned plane sends instruction, and unmanned plane rises, until preceding
Put green sensor inspection and do not measure green tree crown information, fruit tree is sprayed according still further to step 3 and step 4, until completing right
The spray in whole orchard.
As Fig. 5, unmanned plane are sprayed in the form of square wave according to algorithm routine to fruit tree, the video camera on unmanned plane will
The top fruit sprayer picture for photographing is sent to ground controller, ground controller receive after information and with underlying green sensor
The green edge for detecting is analyzed, if video camera claps picture and is not filmed whole top fruit sprayer, then pass through
The attitude of ground controller adjustment unmanned plane is shot again, if video camera claps what picture and underlying green sensor were detected
Information is consistent, then ground controller can calculate the area of whole top fruit sprayer according to algorithm, and calculate the crown canopy left side
Geographical coordinate at edge, at unmanned plane during flying to crown canopy left hand edge；The control module of unmanned plane sends instruction, and canopy is relatively high
Degree sensor is started working, and unmanned plane is adjusted attitude, works as unmanned plane according to the detection information of canopy relative altitude sensor
When relative altitude with crown canopy is h, control module sends instruction, and the servomotor operating of chemical spraying device, liquid medicine sprays from pressure
Sprayed at head；The mode that unmanned plane sentences square wave from left hand edge is turned right sprinkling, and unmanned plane flies to next hovering point to fruit again
Tree spray, until completing whole spray.
Unmanned plane carries out variable spray according to the information that underlying green sensor is detected, if the green area face for detecting
Product is big, and than richer, the flow of pressure nozzle is big, if the green area area for detecting is small and sparse, the flow of pressure nozzle
Can diminish, there is no the place of green area, pressure nozzle can be closed；The border of unmanned plane dispenser is to overlap, it is to avoid second
Sprinkling or drain spray.
Claims (3)
1. it is a kind of for fruit tree spray unmanned aerial vehicle (UAV) control method, it is characterised in that comprise the following steps：
Step 1：Start mapping unmanned plane, orchard is surveyed and drawn, calculate the area of fruit tree region；
Step 2：Start plant protection unmanned plane, plant protection unmanned plane is manipulated by ground controller, every fruit tree is got ready, nobody
Machine sends ground controller to by the elements of a fix that wireless communication module will be got ready, and ground controller receives all of information
Afterwards, the flight path and hovering point of plant protection unmanned plane are formulated further according to these information plannings and；
Step 3：Plant protection unmanned plane flies according to the route formulated, and reaches hovering point, and the control module of unmanned plane sends instruction, takes the photograph
Camera shoots top fruit sprayer picture, ground controller is sent to by wireless communication module, after ground controller receives information
And the green edge detected with underlying green sensor is analyzed, if video camera claps picture not by whole top fruit sprayer
Be filmed, then by ground controller adjust unmanned plane attitude shot again, if video camera clap picture with it is underlying
The information that green sensor is detected is consistent, then ground controller can calculate the area of whole top fruit sprayer according to algorithm,
And calculate the geographical coordinate of round dot, the data is activation that ground controller will be calculated to unmanned plane, after unmanned plane receive information
At flight to the round dot coordinate of crown canopy；
Step 4：At unmanned plane during flying to round dot coordinate, the control module of unmanned plane sends instruction, canopy relative altitude sensor
Start working, unmanned plane is adjusted attitude according to the detection information of canopy relative altitude sensor, when unmanned plane and crown canopy
Relative altitude when being h, control module sends instruction, and the servomotor operating of chemical spraying device, liquid medicine sprays from pressure nozzle；
Unmanned plane is sentenced to the circular sprinkling of the mode of external diffusion according to algorithm routine from round dot；
Step 5：Unmanned plane in flight to during next hovering point, the information in front of preposition green sensor detection, when
When preposition green sensor detects green tree crown information, the control module of unmanned plane sends instruction, and unmanned plane rises, until preceding
Put green sensor inspection and do not measure green tree crown information, fruit tree is sprayed according still further to step 3 and step 4, until completing right
The spray in whole orchard.
2. it is according to claim 1 it is a kind of for fruit tree spray unmanned aerial vehicle (UAV) control method, it is characterised in that use square wave
Mode to fruit tree spray；The top fruit sprayer picture that video camera on unmanned plane will be photographed is sent to ground controller, ground
The green edge that controller is received after information and detected with underlying green sensor is analyzed, if video camera claps picture
Whole top fruit sprayer is not filmed, then the attitude for adjusting unmanned plane by ground controller is shot again, if taking the photograph
The information that camera claps picture with underlying green sensor is detected is consistent, then ground controller can calculate whole according to algorithm
The area of individual top fruit sprayer, and the geographical coordinate at crown canopy left hand edge is calculated, at unmanned plane during flying to crown canopy left hand edge；
The control module of unmanned plane sends instruction, and canopy relative altitude sensor is started working, and unmanned plane is passed according to canopy relative altitude
The detection information of sensor is adjusted attitude, and when the relative altitude of unmanned plane and crown canopy is h, control module sends instruction,
The servomotor operating of chemical spraying device, liquid medicine sprays from pressure nozzle；The mode that unmanned plane sentences square wave from left hand edge is turned right
Sprinkling, unmanned plane flies to next hovering point and fruit tree is sprayed again, until completing whole spray.
3. it is according to claim 2 it is a kind of for fruit tree spray unmanned aerial vehicle (UAV) control method, it is characterised in that unmanned plane root
The information detected according to underlying green sensor carries out variable spray, if the green area area for detecting is big, than richer, pressure
The flow of power shower nozzle is big, if the green area area for detecting is small and sparse, the flow of pressure nozzle can diminish, without green area
The place in domain, pressure nozzle can be closed；The border of unmanned plane dispenser is to overlap, it is to avoid second sprinkling or drain spray.
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Cited By (10)
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| CN107264806A (en) * | 2017-06-28 | 2017-10-20 | 苏州极目机器人科技有限公司 | A kind of plant protection spray method of unmanned plane |
| CN108482676A (en) * | 2018-03-19 | 2018-09-04 | 中国农业大学 | A kind of adaptive spraying swath regulation device of more rotor plant protection drones and method |
| CN109059869A (en) * | 2018-07-27 | 2018-12-21 | 仲恺农业工程学院 | A method of detection plant protection drone is to fruit tree spraying effect |
| CN109358642A (en) * | 2018-10-22 | 2019-02-19 | 江南大学 | A kind of fruit tree plant protection and picking method based on multi-rotor unmanned aerial vehicle |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109644749A (en) * | 2018-12-29 | 2019-04-19 | 浙江威尔达化工有限公司 | A kind of method of air-spraying prevention and treatment Pests of Tea-Plants |
| CN109717175A (en) * | 2019-03-06 | 2019-05-07 | 山东交通学院 | Orchard intelligence self-travel type spraying system and its control method |
| CN111226183A (en) * | 2019-04-28 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle, system and storage medium |
| CN111357523A (en) * | 2020-02-17 | 2020-07-03 | 柳州良丰生态科技有限公司 | Kumquat fruit retention method |
| CN112602690A (en) * | 2020-11-26 | 2021-04-06 | 中国农业大学 | Full-coverage intelligent three-dimensional plant protection system and method for fruit tree canopy |
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| CN107264806A (en) * | 2017-06-28 | 2017-10-20 | 苏州极目机器人科技有限公司 | A kind of plant protection spray method of unmanned plane |
| CN108482676A (en) * | 2018-03-19 | 2018-09-04 | 中国农业大学 | A kind of adaptive spraying swath regulation device of more rotor plant protection drones and method |
| CN108482676B (en) * | 2018-03-19 | 2020-08-28 | 中国农业大学 | Self-adaptive spray amplitude regulation and control device and method for multi-rotor plant protection unmanned aerial vehicle |
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| CN109059869A (en) * | 2018-07-27 | 2018-12-21 | 仲恺农业工程学院 | A method of detection plant protection drone is to fruit tree spraying effect |
| CN109358642A (en) * | 2018-10-22 | 2019-02-19 | 江南大学 | A kind of fruit tree plant protection and picking method based on multi-rotor unmanned aerial vehicle |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109631834B (en) * | 2018-12-19 | 2022-07-01 | 北京农业智能装备技术研究中心 | Aerial pesticide application system and method |
| CN109644749A (en) * | 2018-12-29 | 2019-04-19 | 浙江威尔达化工有限公司 | A kind of method of air-spraying prevention and treatment Pests of Tea-Plants |
| CN109717175A (en) * | 2019-03-06 | 2019-05-07 | 山东交通学院 | Orchard intelligence self-travel type spraying system and its control method |
| CN111226183A (en) * | 2019-04-28 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle, system and storage medium |
| CN111357523A (en) * | 2020-02-17 | 2020-07-03 | 柳州良丰生态科技有限公司 | Kumquat fruit retention method |
| CN112602690A (en) * | 2020-11-26 | 2021-04-06 | 中国农业大学 | Full-coverage intelligent three-dimensional plant protection system and method for fruit tree canopy |
| CN112602690B (en) * | 2020-11-26 | 2021-10-15 | 中国农业大学 | Full-coverage intelligent three-dimensional plant protection system and method for fruit tree canopy |
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Application publication date: 20170531 |