CN107444644A - 一种用于果园作业的无人机移动补给平台及无人机 - Google Patents

一种用于果园作业的无人机移动补给平台及无人机 Download PDF

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Publication number
CN107444644A
CN107444644A CN201710395305.0A CN201710395305A CN107444644A CN 107444644 A CN107444644 A CN 107444644A CN 201710395305 A CN201710395305 A CN 201710395305A CN 107444644 A CN107444644 A CN 107444644A
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unmanned plane
supply platform
movement supply
unmanned
plane movement
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崔永杰
刘浩洲
徐灿
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Northwest A&F University
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Northwest A&F University
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    • 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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

本发明公开了一种用于果园作业的无人机移动补给平台及无人机，属于无人机和机器人领域，包括1一种无人机移动补给平台，2车辆行走机构、3自动导航系统、4停机坪，其中停机坪上设有停机位、5充电装置、6补给装置。7一种用于喷雾作业的无人机，8无人机上设有CCD相机、9喷雾机构、10微型药箱、自动导航系统。一个无人机移动补给平台可搭载多架无人机并对其进行电量和药液补给，无人机可进行对靶的喷药或喷雾授粉作业。

Description

一种用于果园作业的无人机移动补给平台及无人机
技术领域
本发明涉及无人机和机器人领域，是一种无人机移动补给平台及无人机。
背景技术
精准农业、智能农业是农业未来发展的趋势，这就要求农业机器能够智能、自动的对作业对象进行识别并精确的工作。使用无人机可以实现喷洒农药和喷雾授粉的作业，为保证作业效率和时长，需要有补给平台对无人机进行电力和药液的补给。
发明内容
本发明的目的是提供一种可在果园中自动工作的农业机器人。
为达到这个目的，采用如下方案：1一种无人机移动补给平台，包括、2车辆行走机构、3自动导航系统、4停机坪，其中停机坪上设有停机位、5充电装置、6补给装置。7一种用于喷雾作业的无人机，8无人机上设有CCD相机、9 喷雾机构、10微型药箱、自动导航系统。一个无人机移动补给平台可搭载多架无人机并对其进行电量和药液补给，无人机可进行对靶的喷药或喷雾授粉作业。
多台无人机通过自动导航系统在果园行间巡航，通过CCD相机进行作业对象物的识别，通过喷雾机构进行喷药或授粉，当用完药液储备或电量不足时返回移动补给平台，由移动补给平台对其进行药液和电能的补给。
采用这个方案后，可以大大延长无人机在大型果园里的作业时间，并实现果园作业机械的智能化、精准化。
附图说明
图1为本发明提供的果园作业无人机及其移动补给平台的方案示意图。
附图标号说明：1一种无人机移动补给平台，包括、2车辆行走机构、3自动导航系统、4停机坪，其中停机坪上设有停机位、5充电装置、6补给装置。7 一种用于喷雾作业的无人机，8无人机上设有CCD相机、9喷雾机构、10微型药箱、自动导航系统。
具体实施方式
1一种无人机移动补给平台，包括、2车辆行走机构、3自动导航系统、4停机坪，其中停机坪上设有停机位、5充电装置、6补给装置。7一种用于喷雾作业的无人机，8无人机上设有CCD相机、9喷雾机构、10微型药箱、自动导航系统。一个无人机移动补给平台可搭载多架无人机并对其进行电量和药液补给，无人机可进行对靶的喷药或喷雾授粉作业。
移动补给平台上有基于图像的导航系统及行走系统，使之能在果园中果树纵行间巡航，每行进至一果树横行间时停下，同时该移动补给平台会给停靠其上的无人机一个工作信号，此时多架无人机会有次序的从平台上起飞，在移动平台所停靠的果树行间巡航(巡航方向与移动平台的巡航方向垂直)，在无人机巡航过程中，其上的CCD相机会收集图像信息，无人机上的信号收发装置会将这些信息传回到移动补给平台，这些信息被图像处理系统处理后，控制信号会被传回无人机，使之能对作业对象物进行识别，如需要进行授粉作业时，无人机会对花朵进行识别并通过喷雾系统进行喷雾授粉。
在无人机缺乏电力或缺乏工作药液时，会自动返回移动补给平台，移动补给平台上的每个无人机停机坪上，都设有电力和药液补充的接口，在无人机停靠时会为其自动补充电力和药液，补给完毕后，无人机起飞，继续在行间工作。
当无人机完成了移动平台所在果树行间的巡航作业后，全部返回移动补给平台，此时移动补给平台自动行走至下一果树行，开始进行下一轮作业。
除上述优选实施例外，本发明还有其他的实施方式，本领域技术人员可以根据本发明作出各种改变和变形，只要不脱离本发明的精神，均应属于本发明所附权利要求所定义的范围。

Claims (2)

1.一种无人机移动补给平台，其特征在于：车辆行走机构，自动导航系统，停机坪，充电装置，补给装置。
2.与权利要求1所述的一种无人机移动补给平台匹配的无人机，其特征在于：所述无人机带有可用于目标识别的CCD相机、用于喷药或喷雾授粉作业的喷雾机构、用于储存药液的微型药箱、自动导航系统。
CN201710395305.0A 2017-05-19 2017-05-19 一种用于果园作业的无人机移动补给平台及无人机 Pending CN107444644A (zh)

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CN110440800A (zh) * 2018-05-02 2019-11-12 世博生态环保技术股份有限公司 一种果园喷药机器人导航系统
CN111846235A (zh) * 2020-07-03 2020-10-30 陆则龙 一种用于高续航植保无人机的中继补给装置
CN112665594A (zh) * 2020-12-31 2021-04-16 广州极飞科技有限公司 作业路径规划方法及相关装置
CN112741063A (zh) * 2020-12-17 2021-05-04 南京林业大学 一种具有自动补给功能的农用施药机器人系统

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110440800A (zh) * 2018-05-02 2019-11-12 世博生态环保技术股份有限公司 一种果园喷药机器人导航系统
CN111846235A (zh) * 2020-07-03 2020-10-30 陆则龙 一种用于高续航植保无人机的中继补给装置
CN112741063A (zh) * 2020-12-17 2021-05-04 南京林业大学 一种具有自动补给功能的农用施药机器人系统
CN112665594A (zh) * 2020-12-31 2021-04-16 广州极飞科技有限公司 作业路径规划方法及相关装置
CN112665594B (zh) * 2020-12-31 2023-11-21 广州极飞科技股份有限公司 作业路径规划方法及相关装置

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Application publication date: 20171208