CN107089346A - A kind of full autonomous flight system and method for plant protection unmanned plane - Google Patents
A kind of full autonomous flight system and method for plant protection unmanned plane Download PDFInfo
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- CN107089346A CN107089346A CN201710437328.3A CN201710437328A CN107089346A CN 107089346 A CN107089346 A CN 107089346A CN 201710437328 A CN201710437328 A CN 201710437328A CN 107089346 A CN107089346 A CN 107089346A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims description 36
- 239000003814 drug Substances 0.000 claims description 14
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- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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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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- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of full autonomous flight system and method for plant protection unmanned plane, the system includes standardizing big plot, at least a plant protection unmanned plane and automatic replacing battery medicine-chest platform, the plant protection unmanned plane includes power module, flies control module, communication module, timing module, image capture module, battery electric quantity detection module and medicine-chest dose detection module, and the automatic replacing battery medicine-chest platform includes platform body, power supply, control unit, at least a battery storage area, at least a unmanned plane landing area and an at least medicine-chest memory block；Methods described includes surveying and drawing to standardizing big plot by surveying and drawing unmanned plane, planning flight path is simultaneously allocated to many plant protection unmanned planes, in flight operation, when battery electric quantity detection module detects not enough power supply or medicine-chest dose detection module detects that dose is not enough, plant protection unmanned plane will fly to automatic battery medicine-chest platform of changing and carry out changing battery or medicine-chest.Many plant protection unmanned planes collaboration flight of the present invention, it is to avoid many plant protection unmanned planes collide during making a return voyage, and realize the replacing of automatic battery and medicine-chest to plant protection unmanned plane, time saving and energy saving, efficiency high.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, and in particular to a kind of plant protection unmanned plane full autonomous flight system and its
Method.
Background technology
With the development of unmanned air vehicle technique, plant protection unmanned plane is agriculturally also widely applied.At present, for mark
The plant protection operation in the big plot of standardization, the separate unit plant protection unmanned plane that remains of use flies anti-operation, even if using many plant protection
Unmanned machine operation, also will be to standardizing big Parcel division, and every plant protection unmanned plane will once be surveyed and drawn, and program is cumbersome；
Further, since the limitation of battery technology, the cruising time of general plant protection UAS all within a hour, therefore not
It may work for a long time, this is accomplished by during plant protection operation carrying out manual powered to battery or changed, and medicine-chest is entered
The manual dosing of row or replacing.This not only causes waste of time, more also increases cost, and efficiency is very low.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of full autonomous flight system of plant protection unmanned plane and its side
Method, realizes many plant protection unmanned plane collaboration flight operations, it is not necessary to battery and medicine-chest are changed manually, continuation of the journey energy is improved
Power and the efficiency for flying anti-operation.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of full autonomous flight system of plant protection unmanned plane, including standardize big plot, at least two plant protection unmanned planes and automatic
Change battery medicine-chest platform.
The plant protection unmanned plane includes power module, flies control module, communication module, timing module, image capture module, electricity
Pond electric power detection module and medicine-chest dose detection module.
The autonomous flight positioning of the plant protection unmanned plane uses RTK technologies or ultra-wide band technology, many plant protection unmanned plane collaborations
Flight operation.
The automatic replacing battery medicine-chest platform include platform body, power supply, control unit, at least two battery storage areas,
At least two unmanned plane landing areas and at least two medicine-chest memory blocks；
Further, the power supply and control unit are placed on inside platform body；
Further, the battery storage area includes battery, charger and lifting platform, and the battery and charger are arranged on lifting
Above mechanism, and charger and power on；
Further, the unmanned plane landing area includes unmanned plane fixed mechanism, GPS positioning device and changes manipulator；
Further, the medicine-chest memory block includes being filled with liquid medicine in medicine-chest and lifting platform, the medicine-chest.
Further, the machinery hand of changing includes base, support frame, mechanical arm, universal joint, telescoping mechanism, claw, height
Spend sensor and camera；
The height sensor and camera are installed on the robotic arm.
A kind of full autonomous flight method of plant protection unmanned plane, comprises the following steps：
Step 1：Surveyed and drawn by surveying and drawing unmanned plane to standardizing big plot, planning flight path and be allocated to many plant protection without
It is man-machine；
Step 2：When battery electric quantity detection module detects not enough power supply or medicine-chest dose detection module detects that dose is not enough, plant
Unmanned plane is protected to carry out changing battery or medicine-chest by flight to automatic battery medicine-chest platform of changing.
Further, the step 1 includes being surveyed and drawn to standardizing big plot with mapping unmanned plane, plans flight optimization
Route, and flight path is divided, each section of route one plant protection unmanned plane of correspondence flies anti-plant protection；Record every section of route
Starting geographical coordinate and terminal geographical coordinate, be input in corresponding plant protection unmanned plane.
Further, the step 2 includes entirely flying realizing automatic replacing battery and medicine-chest during anti-plant protection；Work as plant protection
Unmanned plane is in flight, and battery electric quantity detection module and medicine-chest dose detection module detect battery electric quantity and medicine-chest dose in real time,
When detecting that not enough power supply or dose are not enough, instruction will be sent by flying control module, and unmanned plane will be judged automatically by communication module
The GPS location coordinate of battery medicine-chest platform is changed, unmanned plane during flying is changed after battery medicine-chest platform to automatic, the image of unmanned plane
Acquisition module starts acquisition platform information, and carries out information matches, after the match is successful, nothing to corresponding unmanned plane landing area
The man-machine unmanned plane fixed mechanism information collected according to image capture module is landed, and fixed mechanism fixes unmanned plane
Afterwards, manipulator is changed to battery and medicine-chest；After plant protection unmanned plane is fixed, battery corresponding with unmanned plane landing area is deposited
The lifting platform of storage area and medicine-chest memory block rises, when upper plane and the automatic upper plane for changing battery medicine-chest platform of lifting platform exist
When on one horizontal plane, lifting platform stops rising；The automatic control unit for changing battery medicine-chest platform sends instruction, changes machinery
The mechanical arm of hand is bent downwardly, and the camera on mechanical arm gathers the information of plant protection unmanned plane, when camera collects battery
During information, control module sends instruction, changes the claw crawl battery of manipulator and is taken off from unmanned plane, works as highly sensing
When the claw and the distance of the automatic upper plane for changing battery medicine-chest platform that device detects manipulator are h meters, manipulator rotation is changed
Turn direction, change the charger information that manipulator is collected by camera, battery is slowly put down, makes the electric shock of battery with filling
The electric shock of electrical equipment is fully contacted, and now battery is in charged state, and the claw for changing manipulator unclamps battery；In the work of camera
The battery taken under in battery storing area, when the distance between above height sensor detects the claw and platform of manipulator
When being m meters, manipulator conversion direction is changed, when camera collects the region of placing battery on unmanned plane, manipulator is changed
Battery is slowly put down, after camera, which collects battery, is put into cell area completely, the claw pine of manipulator is changed
Battery is opened, the now replacing of battery is completed；Change the camera of machinery on hand to start to gather medicine-chest information, control module sends finger
Order, the claw for changing manipulator starts to capture the handle on medicine-chest, and the mechanical hand strap of replacing medicine-chest and moved upwards, works as highly sensing
Device the distance between is detected above the claw and platform of manipulator when being h meters, is changed manipulator and is moved to medicine-chest memory block,
When the white space that camera collects medicine-chest memory block is, changes manipulator and stop operating and start to move downward, work as shooting
Head collects medicine-chest bottom surface and is completely placed in behind medicine-chest memory block, and the claw for changing manipulator unclamps and moves s meters, shooting upwards
Head starts to gather the medicine-chest information for filling liquid medicine, changes manipulator and starts to move downward, when camera collects the handle of medicine-chest
Afterwards, control unit sends instruction, and the claw for changing manipulator starts to capture the medicine-chest handle for filling liquid medicine and moved upwards, when away from
From sensor the distance between collect above the claw and platform of manipulator be h meters when, change manipulator stop motion, shooting
Head starts medicine-chest placement region on collection unmanned plane, collects after information, changes manipulator rotation direction and simultaneously moves downward, when taking the photograph
It is put into completely behind medicine-chest rest area as head collects medicine-chest, control unit sends instruction, the claw for changing manipulator unclamps medicine
The handle of case, now, the replacing of medicine-chest are completed.
Further, many plant protection unmanned plane collaboration flights, when battery electric quantity detection module detects not enough power supply or medicine-chest
When dose detection module detects that dose is not enough, plant protection unmanned plane will fly to automatic battery medicine-chest platform of changing and carry out changing electricity
Pond or medicine-chest；When two or more plant protection unmanned planes are during the automatic replacing battery medicine-chest that flies to, handed in certain
During remittance, the initial time for returning to platform is sent to mutually other side by plant protection unmanned plane by communication module, and plant protection unmanned plane leads to again
Cross logic judgment program and judge the time, that plant protection unmanned plane of morning departure times on reverse is first flown, and remaining plant protection unmanned plane is in
Floating state, many plant protection unmanned planes are performed successively, until all plant protection unmanned planes in intersection all fly to automatic replacing
Battery medicine-chest platform.
Flight operation is cooperateed with the beneficial effects of the invention are as follows many plant protection unmanned planes, electricity is detected by battery electric quantity detection module
Amount and medicine-chest dose detection module detect dose, using communication, location technology and logic judgment program cause many plant protection nobody
Machine flies to automatic to change battery medicine-chest platform in an orderly manner, then gathers information by camera, changes manipulator and changes battery and medicine
Case, realizes autonomous replacing, is not required to artificial operation, simple and efficiency high.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of the full autonomous flight system of plant protection unmanned plane.
Fig. 2 is the automatic front view schematic diagram for changing battery medicine-chest platform.
Fig. 3 is the automatic top view schematic diagram for changing battery medicine-chest platform.
Fig. 4 is the flow chart of a kind of full autonomous flight method of plant protection unmanned plane.
Wherein：1. lifting platform；2. battery；3. plant protection unmanned plane；4. unmanned plane fixed mechanism；5. lifting platform；6. medicine-chest；7.
Charger；8. change manipulator；9. battery storage area；10. unmanned plane landing area；11.GPS positioners；12. medicine-chest is stored
Area；13. platform body；14. control unit；15. power supply；81. camera；82. height sensor；83. claw；84. telescopic machine
Structure；85. mechanical arm；86. universal joint；87. support frame；88. base.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1, a kind of full autonomous flight system of plant protection unmanned plane, including standardize big plot, at least two plants
Protect unmanned plane and automatic replacing battery medicine-chest platform.
The plant protection unmanned plane includes power module, flies control module, communication module, timing module, image capture module, electricity
Pond electric power detection module and medicine-chest dose detection module.
The autonomous flight positioning of the plant protection unmanned plane uses RTK technologies or ultra-wide band technology, many plant protection unmanned plane collaborations
Flight operation.
The automatic replacing battery medicine-chest platform includes platform body 13, power supply 15, control unit 14, at least two batteries and deposited
Storage area 9, at least two unmanned plane landing areas 10 and at least two medicine-chest memory blocks 12, as shown in Figure 2 and Figure 3；
Further, the power supply 15 and control unit 14 are placed on inside platform body 13；
Further, the battery storage area 9 includes battery 2, charger 7 and lifting platform 1, and the battery 2 and charger 7 are installed
On lifting platform 1, and charger 7 is connected with power supply 15；
Further, the unmanned plane landing area 10 includes unmanned plane fixed mechanism 4, GPS positioning device 11 and changes manipulator
8；
Further, the medicine-chest memory block 12 includes being filled with liquid medicine in medicine-chest 6 and lifting platform 5, the medicine-chest 6.
Further, the replacing manipulator 8 includes base 88, support frame 87, mechanical arm 85, universal joint 86, telescopic machine
Structure 84, claw 83, height sensor 82 and camera 81；
The height sensor 82 and camera 81 are arranged on mechanical arm 85.
A kind of full autonomous flight method of plant protection unmanned plane, comprises the following steps, as shown in Figure 4：
Step 1：Surveyed and drawn by surveying and drawing unmanned plane to standardizing big plot, planning flight path and be allocated to many plant protection without
It is man-machine；
Step 2：When battery electric quantity detection module detects not enough power supply or medicine-chest dose detection module detects that dose is not enough, plant
Unmanned plane is protected to carry out changing battery or medicine-chest by flight to automatic battery medicine-chest platform of changing.
Further, the step 1 includes being surveyed and drawn to standardizing big plot with mapping unmanned plane, plans flight optimization
Route, and flight path is divided, each section of route one plant protection unmanned plane of correspondence flies anti-plant protection；Record every section of route
Starting geographical coordinate and terminal geographical coordinate, be input in corresponding plant protection unmanned plane.
Further, the step 2 includes entirely flying realizing automatic replacing battery and medicine-chest during anti-plant protection；Work as plant protection
Unmanned plane is in flight, and battery electric quantity detection module and medicine-chest dose detection module detect battery electric quantity and medicine-chest dose in real time,
When detecting that not enough power supply or dose are not enough, instruction will be sent by flying control module, and unmanned plane will be judged automatically by communication module
The GPS location coordinate of battery medicine-chest platform is changed, unmanned plane during flying is changed after battery medicine-chest platform to automatic, the image of unmanned plane
Acquisition module starts acquisition platform information, and carries out information matches, after the match is successful, nothing to corresponding unmanned plane landing area
The man-machine unmanned plane fixed mechanism information collected according to image capture module is landed, and fixed mechanism fixes unmanned plane
Afterwards, manipulator is changed to battery and medicine-chest；After plant protection unmanned plane is fixed, battery corresponding with unmanned plane landing area is deposited
The lifting platform of storage area and medicine-chest memory block rises, when upper plane and the automatic upper plane for changing battery medicine-chest platform of lifting platform exist
When on one horizontal plane, lifting platform stops rising；The automatic control unit for changing battery medicine-chest platform sends instruction, changes machinery
The mechanical arm of hand is bent downwardly, and the camera on mechanical arm gathers the information of plant protection unmanned plane, when camera collects battery
During information, control module sends instruction, changes the claw crawl battery of manipulator and is taken off from unmanned plane, works as highly sensing
When the claw and the distance of the automatic upper plane for changing battery medicine-chest platform that device detects manipulator are h meters, manipulator rotation is changed
Turn direction, change the charger information that manipulator is collected by camera, battery is slowly put down, makes the electric shock of battery with filling
The electric shock of electrical equipment is fully contacted, and now battery is in charged state, and the claw for changing manipulator unclamps battery；In the work of camera
The battery taken under in battery storing area, when the distance between above height sensor detects the claw and platform of manipulator
When being m meters, manipulator conversion direction is changed, when camera collects the region of placing battery on unmanned plane, manipulator is changed
Battery is slowly put down, after camera, which collects battery, is put into cell area completely, the claw pine of manipulator is changed
Battery is opened, the now replacing of battery is completed；Change the camera of machinery on hand to start to gather medicine-chest information, control module sends finger
Order, the claw for changing manipulator starts to capture the handle on medicine-chest, and the mechanical hand strap of replacing medicine-chest and moved upwards, works as highly sensing
Device the distance between is detected above the claw and platform of manipulator when being h meters, is changed manipulator and is moved to medicine-chest memory block,
When the white space that camera collects medicine-chest memory block is, changes manipulator and stop operating and start to move downward, work as shooting
Head collects medicine-chest bottom surface and is completely placed in behind medicine-chest memory block, and the claw for changing manipulator unclamps and moves s meters, shooting upwards
Head starts to gather the medicine-chest information for filling liquid medicine, changes manipulator and starts to move downward, when camera collects the handle of medicine-chest
Afterwards, control unit sends instruction, and the claw for changing manipulator starts to capture the medicine-chest handle for filling liquid medicine and moved upwards, when away from
From sensor the distance between collect above the claw and platform of manipulator be h meters when, change manipulator stop motion, shooting
Head starts medicine-chest placement region on collection unmanned plane, collects after information, changes manipulator rotation direction and simultaneously moves downward, when taking the photograph
It is put into completely behind medicine-chest rest area as head collects medicine-chest, control unit sends instruction, the claw for changing manipulator unclamps medicine
The handle of case, now, the replacing of medicine-chest are completed.
Further, many plant protection unmanned plane collaboration flights, when battery electric quantity detection module detects not enough power supply or medicine-chest
When dose detection module detects that dose is not enough, plant protection unmanned plane will fly to automatic battery medicine-chest platform of changing and carry out changing electricity
Pond or medicine-chest；When two or more plant protection unmanned planes are during the automatic replacing battery medicine-chest that flies to, handed in certain
During remittance, the initial time for returning to platform is sent to mutually other side by plant protection unmanned plane by communication module, and plant protection unmanned plane leads to again
Cross logic judgment program and judge the time, that plant protection unmanned plane of morning departure times on reverse is first flown, and remaining plant protection unmanned plane is in
Floating state, many plant protection unmanned planes are performed successively, until all plant protection unmanned planes in intersection all fly to automatic replacing
Battery medicine-chest platform.
Claims (10)
1. the full autonomous flight system of a kind of plant protection unmanned plane, it is characterised in that including standardizing big plot, at least two plant protection
Unmanned plane and automatic replacing battery medicine-chest platform.
2. a kind of full autonomous flight system of plant protection unmanned plane according to claim 1, it is characterised in that the plant protection without
It is man-machine including power module, fly control module, communication module, timing module, image capture module, battery electric quantity detection module and medicine
Case dose detection module.
3. a kind of full autonomous flight system of plant protection unmanned plane according to claim 2, it is characterised in that plant protection unmanned plane
Autonomous flight positioning use RTK technologies or ultra-wide band technology.
4. a kind of full autonomous flight system of plant protection unmanned plane according to claim 3, it is characterised in that many plant protection nobody
Machine cooperates with flight operation.
5. a kind of full autonomous flight system of plant protection unmanned plane according to claim 1, it is characterised in that it is described it is automatic more
Changing battery medicine-chest platform includes platform body, power supply, control unit, at least at least two battery storage areas, two unmanned plane landing areas
At least two medicine-chest memory blocks；
The power supply and control unit are placed on inside platform body；
The battery storage area includes battery, charger and lifting platform, and the battery and charger are arranged on above lifting platform, and
Charger and power on；
The unmanned plane landing area includes unmanned plane fixed mechanism, GPS positioning device and changes manipulator；
The medicine-chest memory block includes being filled with liquid medicine in medicine-chest and lifting platform, the medicine-chest.
6. a kind of full autonomous flight system of plant protection unmanned plane according to claim 5, it is characterised in that the changing machine
Tool hand includes base, support frame, mechanical arm, universal joint, telescoping mechanism, claw, height sensor and camera；
The height sensor and camera are installed on the robotic arm.
7. a kind of full autonomous flight method of plant protection unmanned plane, it is characterised in that comprise the following steps：
Step 1：Surveyed and drawn by surveying and drawing unmanned plane to standardizing big plot, planning flight path and be allocated to many plant protection without
It is man-machine；
Step 2：When battery electric quantity detection module detects not enough power supply or medicine-chest dose detection module detects that dose is not enough, plant
Unmanned plane is protected to carry out changing battery or medicine-chest by flight to automatic battery medicine-chest platform of changing.
8. a kind of full autonomous flight method of plant protection unmanned plane according to claim 7, it is characterised in that the step 1
Including being surveyed and drawn with mapping unmanned plane to standardizing big plot, flight optimization route is planned, and flight path is drawn
Point, each section of route one plant protection unmanned plane of correspondence flies anti-plant protection；The starting geographical coordinate and terminal for recording every section of route are geographical
Coordinate, is input in corresponding plant protection unmanned plane.
9. a kind of full AUTONOMOUS TASK method of plant protection unmanned plane according to claim 7, it is characterised in that the step 2
Including entirely flying to realize automatic replacing battery and medicine-chest during anti-plant protection；When plant protection unmanned plane is in flight, battery electric quantity inspection
Survey module and medicine-chest dose detection module and detect battery electric quantity and medicine-chest dose in real time, when detecting that not enough power supply or dose are not enough
When, instruction will be sent by flying control module, and unmanned plane will judge that the automatic GPS location for changing battery medicine-chest platform is sat by communication module
Mark, unmanned plane during flying is changed after battery medicine-chest platform to automatic, and the image capture module of unmanned plane starts acquisition platform information, and
Information matches are carried out to corresponding unmanned plane landing area, after the match is successful, unmanned plane is collected according to image capture module
Unmanned plane fixed mechanism information landed, after fixed mechanism fixes unmanned plane, manipulator is carried out to battery and medicine-chest
Change；After plant protection unmanned plane is fixed, the lifting platform in corresponding with unmanned plane landing area battery storage area and medicine-chest memory block
Rise, when the upper plane of lifting platform with changing the upper plane of battery medicine-chest platform on a horizontal plane automatically, lifting platform stops
Only rise；The automatic control unit for changing battery medicine-chest platform sends instruction, and the mechanical arm for changing manipulator is bent downwardly, machinery
Camera on arm gathers the information of plant protection unmanned plane, and when camera collects the information of battery, control module sends instruction,
The claw crawl battery for changing manipulator is simultaneously taken off from unmanned plane, when height sensor detect the claw of manipulator with from
When the distance of the dynamic upper plane for changing battery medicine-chest platform is h meters, manipulator direction of rotation is changed, manipulator is changed and passes through shooting
The charger information that head is collected, battery is slowly put down, the electric shock of battery is fully contacted with the electric shock of charger, now electric
Pond is in charged state, and the claw for changing manipulator unclamps battery；The electricity taken in the presence of camera in battery storing area
Pond, when being m meters the distance between above height sensor detects the claw and platform of manipulator, changes manipulator conversion side
To when camera collects the region of placing battery on unmanned plane, replacing manipulator slowly puts down battery, when camera is adopted
Collect battery to be put into after cell area completely, the claw for changing manipulator unclamps battery, the now replacing of battery is completed；
Change the camera of machinery on hand to start to gather medicine-chest information, control module sends instruction, and the claw for changing manipulator starts to grab
Handle on medicine fetching case, the mechanical hand strap of replacing medicine-chest and moved upwards, when height sensor detects the claw of manipulator with putting down
When being h meters the distance between above platform, change manipulator and moved to medicine-chest memory block, when camera collects medicine-chest memory block
White space be, change manipulator stop operating and start to move downward, placed completely when camera collects medicine-chest bottom surface
Behind medicine-chest memory block, the claw for changing manipulator unclamps and s meters of motion upwards, and camera starts to gather the medicine-chest for filling liquid medicine
Information, changes manipulator and starts to move downward, after camera collects the handle of medicine-chest, control unit sends instruction, change
The claw of manipulator starts to capture the medicine-chest handle for filling liquid medicine and moved upwards, when range sensor collects the pawl of manipulator
Son with platform above the distance between be h meter when, change manipulator stop motion, camera start gather unmanned plane on medicine-chest put
Region is put, is collected after information, manipulator rotation direction is changed and moves downward, be put into completely when camera collects medicine-chest
Behind medicine-chest rest area, control unit sends instruction, and the claw for changing manipulator unclamps the handle of medicine-chest, now, the replacing of medicine-chest
Complete.
10. a kind of full autonomous flight method of plant protection unmanned plane according to claim 9, it is characterised in that many plant protection without
Man-machine coordination is flown；When battery electric quantity detection module detects not enough power supply or medicine-chest dose detection module detects that dose is not enough
When, plant protection unmanned plane will fly to automatic battery medicine-chest platform of changing and carry out changing battery or medicine-chest；When two or more
Plant protection unmanned plane is during the automatic replacing battery medicine-chest that flies to, and when being crossed in certain, plant protection unmanned plane passes through the mould that communicates
The initial time for returning to platform is sent to mutually other side by block, and plant protection unmanned plane judges the time by logic judgment program again, returned
That early plant protection unmanned plane of ETS estimated time of sailing first flies, and remaining plant protection unmanned plane is in floating state, many plant protection unmanned planes according to
It is secondary to perform, until all plant protection unmanned planes in intersection all fly to automatic replacing battery medicine-chest platform.
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| CN107390699A (en) * | 2017-09-04 | 2017-11-24 | 广西民族大学 | The route planning system and its route planning method of a kind of sugarcane planting machine |
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| CN107390699A (en) * | 2017-09-04 | 2017-11-24 | 广西民族大学 | The route planning system and its route planning method of a kind of sugarcane planting machine |
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| CN108099746A (en) * | 2017-12-08 | 2018-06-01 | 成都天麒科技有限公司 | A kind of plant protection unmanned plane continuation of the journey system |
| CN107817739A (en) * | 2017-12-12 | 2018-03-20 | 赵有科 | A kind of Automatic Alignment System of unmanned plane apparatus for automatically loading |
| CN108058843A (en) * | 2018-01-22 | 2018-05-22 | 北京蜂巢农科科技有限责任公司 | Plant protection unmanned plane base station and plant protection unmanned plane base station system |
| CN108255163A (en) * | 2018-01-24 | 2018-07-06 | 衢州职业技术学院 | The control system and control method of plant protection unmanned plane |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| CN108415458A (en) * | 2018-05-21 | 2018-08-17 | 深圳市易飞方达科技有限公司 | Unmanned plane pesticide spraying system and method |
| CN108762299A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of unmanned plane formation method and fleet system |
| CN108762299B (en) * | 2018-05-30 | 2020-04-24 | 上海交通大学 | Unmanned aerial vehicle formation method and formation system |
| CN108819743A (en) * | 2018-06-06 | 2018-11-16 | 西昌飓源风电开发有限公司 | The method and device of unmanned plane automatic localization wireless charging |
| CN108803665A (en) * | 2018-09-10 | 2018-11-13 | 朱彬 | Full-automatic unmanned machine group operation device and method |
| CN108803665B (en) * | 2018-09-10 | 2024-05-14 | 朱彬 | Full-automatic unmanned aerial vehicle cluster operation device and method |
| CN109774959A (en) * | 2019-01-10 | 2019-05-21 | 山东理工大学 | The unmanned plane landing platform of the automatic replacement cell apparatus of band |
| CN113226024A (en) * | 2019-01-16 | 2021-08-06 | 株式会社尼罗沃克 | Unmanned aerial vehicle system, unmanned aerial vehicle, moving body, partition member, control method for unmanned aerial vehicle system, and unmanned aerial vehicle system control program |
| CN113271772A (en) * | 2019-01-22 | 2021-08-17 | 株式会社尼罗沃克 | Unmanned aerial vehicle system and control method of unmanned aerial vehicle system |
| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN112306094A (en) * | 2020-10-30 | 2021-02-02 | 山东理工大学 | Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle |
| CN114180065A (en) * | 2020-11-05 | 2022-03-15 | 北星空间信息技术研究院(南京)有限公司 | Method for throwing plug-in accessories of plant protection type unmanned aerial vehicle |
| CN117284526A (en) * | 2023-11-25 | 2023-12-26 | 陕西德鑫智能科技有限公司 | Automatic power-changing management method and device for unmanned device based on battery detection |
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