CN108069027A - The plant protection system and method for multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane - Google Patents
The plant protection system and method for multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane Download PDFInfo
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Spectroscopy & Molecular Physics (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, including multispectral fixed-wing unmanned plane, software on ground analysis system and plant protection unmanned plane；Multispectral fixed-wing unmanned plane is by carrying multi-spectral imager on fixed-wing unmanned plane；GPS locator is housed on fixed-wing unmanned plane, there are four the narrowband monochromatic sensor of 1,200,000 pixels and the RGB three primary colors sensors of 16,000,000 pixels on multi-spectral imager, the narrowband monochromatic sensor of four 1,200,000 pixels is green light narrowband monochromatic sensor, feux rouges narrowband monochromatic sensor, red marginal ray narrowband monochromatic sensor, near-infrared narrowband monochromatic sensor, is provided on multi-spectral imager convenient for the SD card slot of export data.Plastics medicine-chest is carried on plant protection unmanned plane.The present invention is fully understood by land resource and crop groups variation situation, adaptation to local conditions according to the concrete condition of each operating unit in field, finely adjust the amount of various management measures and every goods and materials input exactly, obtain maximum economic benefit.
Description
Technical field
The present invention relates to modern agricultural technologies, coordinate plant protection unmanned plane more particularly to multispectral fixed-wing unmanned plane
Plant protection system and method.
Background technology
According to statistics, the equipment for plant protection that China uses at present is moved with manual and minicomputer (electricity) based on spraying machine, wherein manually
Dispenser medical instruments, power knapsack medical instruments account for the 93.07% and 5.53% of domestic equipment for plant protection ownership respectively, tractor mounted
Equipment for plant protection accounts for 0.57%, and the labour that plant protection operation is put into is more, labor intensity is big, and dispenser personnel's poisoning happens occasionally.
It is reported that daily 200 yuan of cities of Guangdong area is please less than artificial dispenser.Country's pesticide dosage is increasing at present, operation
Of high cost, waste is serious, and utilization of resources rate is low, and crop yield and quality are difficult to be protected, and particularly traditional is big
Area, the operations such as fertilising that formula is repeated several times, at the same bring serious water and soil resources pollution, the ecosystem is unbalance, agricultural product product
The problems such as matter declines, can not adapt to the requirement of modern agricultural development.
Precision agriculture is the 2l century agricultural Models that the developed countries such as U.S. initiative development gets up, it is modern information technologies
The product applied in agricultural production.2O beginning of the eighties in century, the U.S. are put forward for the first time the concept and imagination of precision agriculture, and
The 1st precision agriculture scientific seminar is held in April, 1992, hereafter precision agriculture enters produce reality application.Precision agriculture
It is one of advanced subject of the most rich attraction of world today's agricultural, represents the direction of 21 century Global Agriculture development, is agricultural
A revolution, the new technology of agricultural geared to the 21st century.
Precision agriculture (precision agriculture) is also referred to as precision agriculture or accurate agricultural, is the 1980s
Just grow up by realize agricultural year, it is high-quality, efficiently for the purpose of modern agricultural production pattern and technical system.It is
On the basis of positioning, navigation, according to the soil characteristic of administrative unit and the needs of crop growth, crop each is managed
The dispensing (such as fertilizer, herbicide, insecticide, seed) of growth course and various agriculture goods and materials, plays soil to greatest extent
With the potentiality of crop, accomplish the needs for not only meeting crop growth, but also reduce the input of agriculture goods and materials, disappear so as to reduce goods and materials
Consumption increases profit, preserves the ecological environment, and realizes agricultural sustainable development.
Precision agriculture is existing agricultural production measure and the combination of new and high technology, it is made of 10 systems, i.e., complete
Ball alignment system, design of system for farmland, farmland remote sense monitoring system, farmland geographic information system, agriculture specialist system, intelligence
Agricultural machinery and implement system, environmental monitoring system, the system integration, Web-based Service System and training system can be changed.
It is the fundamental state policy of China to ensure Crop securify.However in China cereal crops production process, plant protection
Still based on craft, semi-mechanized operation.Ministry of Agriculture expert predicts the conditions of demand of China Aviation plant protection technology.Point
Analysis prediction shows that Chinese agriculture Aerobiz is a big industry not yet really started, Science in Future in China agricultural aviation market
Demand will have explosive growth, and newly-increased type input is pulled to be up to 46,500,000,000 yuan or more.With relevant institutions and mating core
The constantly improve of technology, Chinese precision agriculture Aerobiz will obtain health, orderly and high speed development, be advantageously implemented agricultural
Pest and disease damage Unifying control realizes accurate operation, the process for the Modern Agriculture in China that greatly raises speed.
The content of the invention
The present invention provides a kind of plant protection system and method for multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, abundant
Under conditions of understanding land resource and crop groups variation situation, adaptation to local conditions according to the specific feelings of each operating unit in field
Condition finely adjusts the amount of various management measures and every goods and materials input, obtains maximum economic benefit exactly.
The technical scheme is that：
The plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, including multispectral fixed-wing unmanned plane,
Thin-skinned part analysis system and plant protection unmanned plane；
The multispectral fixed-wing unmanned plane is by carrying multi-spectral imager on fixed-wing unmanned plane；The fixed-wing without
Man-machine go up is equipped with GPS locator, and there are four the narrowband monochromatic sensor of 1,200,000 pixels and one on the multi-spectral imager
The RGB three primary colors sensors of 16000000 pixels, the narrowband monochromatic sensor of four 1,200,000 pixels pass for green light narrowband is monochromatic
Sensor, feux rouges narrowband monochromatic sensor, red marginal ray narrowband monochromatic sensor, near-infrared narrowband monochromatic sensor, it is described multispectral
It is provided on imager convenient for the SD card slot of export data.
Plastics medicine-chest is carried on the plant protection unmanned plane.
Preferably, the software on ground analysis system includes Pix4D, eCognition and ENVI software, by above-mentioned soft
Part handles to obtain DOM figures and NDVI data, analyzes rate of vegetation index, plant growth state, pest and disease damage level, vegetation nitrogen
The constituent contents such as phosphorus potassium, the geographical coordinate and area for needing plant protection vegetation.
Preferably, the fixed-wing unmanned plane includes fuselage, wing, and the body upper is provided with core nacelle, the core
Sunlight filtering corrections sensor is provided with above heart cabin, the body upper is provided with pitot, is set beside the pitot
There is antenna signal transmission, the afterbody is provided with power set, is provided with blade on the power set, before the fuselage
End is provided with leading edge protective cover, and the fuselage bottom is provided with the multi-spectral imager, and fuselage lower surface both sides are set
There is hand to throw grabbing groove, the fuselage bottom is provided with antiskid plate, and the fuselage both sides are provided with the wing, two wings
Wing tip be each provided with a roll and push away tail, the lower surface end of the wing is again provided with the antiskid plate, the wing
Front end is provided with wing tip anti-skid cover, and the upper face center of the wing is provided with steering engine, and the steering engine is connected with rudder by pull rod
Face.
Preferably, the fuselage and the wing are integrally formed, and the material of the fuselage and the wing is ERO foaming
Material is made.
Preferably, the plant protection unmanned plane includes cabin and the plastics medicine-chest below the cabin, the cabin top
Portion is provided with wireless signal transceiver, and the side of the cabin is uniformly arranged that there are six folding spiral arm, the spiral arm and institutes
It states cabin junction and is provided with tight locking button, the spiral arm end set has brushless motor, rotation is provided with above the brushless motor
The wing, wherein the connecting rod bottom below the brushless motor is set there are two rotation sprayer, the plastics medicine-chest side is provided with
Water pump, the watering can both sides are provided with undercarriage.
Preferably, described two nozzles are symmetrically installed.
A kind of plant protection method of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, comprises the following steps：
1. gathered data：Desired guiding trajectory flight gathered data is carried out by multispectral fixed-wing unmanned plane, gathers crops
Spectrum picture can gather red light wavelength 660nm, wide 40nm, pixel 1,200,000；Green wavelength 550nm, wide 40nm, pixel 1,200,000；
The long 735nm of red side wave, wide 10nm, pixel 1,200,000；Near-infrared wavelength 790nm, wide 40nm, the crops spectrogram of pixel 1,200,000
The crops picture of 16,000,000 pixel of piece and RGB three primary colors；
2. analyze data：Export these pictures, through Pix4D, eCognition and ENVI software processing obtain DOM figure and
NDVI data according to the multispectral reflectivity of plant, DOM figures and NDVI data, analyze rate of vegetation index, plant growth shape
The constituent contents such as state, pest and disease damage level, vegetation N P and K, the geographical coordinate and area for needing plant protection vegetation；
3. it is distributed according to the vegetation status information of acquisition, it is precisely fixed according to software on ground analysis result by plant protection unmanned plane
Position, on demand spraying pesticide, chemical fertilizer or water.
Beneficial effects of the present invention：The present invention can improve the accuracy of plant protection system, reduce crops pesticide residue, no
It need to manually go and buy Chinese medicine, operating personnel is avoided to be poisoned risk, improve the utilization rates of the nutrient solutions such as chemical fertilizer, reduce pesticide and chemical fertilizer
Usage amount is widely used in China Aviation plant protection technology field.The present invention is to improving Crop in China prevention and control of plant diseases, pest control machinery
Change horizontal, the accuracy of raising plant protection system, reduction crops pesticide residue improves the utilization rate of the nutrient solutions such as chemical fertilizer, drops
The low usage amount of pesticide and chemical fertilizer, carries out the proficient service of Unifying control, improves the utilization rate of agricultural resource, enhancing burst
Property large area pest and disease damage prevention and control ability, alleviate rural laborer's shortage, enhance the agriculture ability to ward off risks, ensure national food peace
Entirely, ecological safety realizes that agricultural sustainable development has a very important significance.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is visual space three-dimensional view on fixed-wing unmanned plane of the present invention；
Fig. 3 is visual space three-dimensional view under fixed-wing unmanned plane of the present invention；
Fig. 4 is multi-spectral imager space multistory view of the present invention；
Fig. 5 is plant protection unmanned plane space multistory view of the present invention.
Wherein：
1st, software on ground analysis system；2nd, plant protection unmanned plane；201st, rotor；202nd, spiral arm；203rd, wireless signal transceiver；
204th, cabin；205th, plastics medicine-chest；206th, nozzle；207th, undercarriage；208th, tight locking button；209th, brushless motor；210th, water pump；3、
Multispectral fixed-wing unmanned plane；4th, GPS locator；5th, fixed-wing unmanned plane；501st, core nacelle；502nd, wing；503rd, blade；
504th, sunlight filtering corrections sensor；505th, steering engine；506th, pull rod；507th, rudder face；508th, pitot；509th, signal transmission day
Line；510th, roll pushes away tail；511st, antiskid plate；512nd, wing tip anti-skid cover；513rd, fuselage；514th, multi-spectral imager；515th, leading edge
Protective cover；516th, hand throws grabbing groove；517th, power set.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
The plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, including multispectral fixed-wing unmanned plane 5,
Thin-skinned part analysis system 1 and plant protection unmanned plane 2；
The multispectral fixed-wing unmanned plane 3 is by carrying multi-spectral imager 514 on fixed-wing unmanned plane 5；It is described solid
Determine GPS locator 4 is housed on wing unmanned plane 5, there are four the monochromatic biographies in narrowband of 1,200,000 pixels on the multi-spectral imager 514
The RGB three primary colors sensors of sensor and 16,000,000 pixels, the narrowband monochromatic sensor of four 1,200,000 pixels is green light
Narrowband monochromatic sensor, feux rouges narrowband monochromatic sensor, red marginal ray narrowband monochromatic sensor, near-infrared narrowband monochromatic sensor,
It is provided on the multi-spectral imager 514 convenient for the SD card slot of export data.
Plastics medicine-chest 205 is carried on the plant protection unmanned plane 2.
As better embodiment, it is soft that the software on ground analysis system 1 includes Pix4D, eCognition and ENVI
Part obtains DOM figures and NDVI data by above-mentioned software processing, analyzes rate of vegetation index, plant growth state, disease pest
The constituent contents such as evil level, vegetation N P and K, the geographical coordinate and area for needing plant protection vegetation.
As better embodiment, the fixed-wing unmanned plane 5 includes fuselage 513, wing 502, on the fuselage 513
Side is provided with core nacelle 501, and 501 top of core nacelle is provided with sunlight filtering corrections sensor 504, on the fuselage 513
Side is provided with pitot 508, is provided with antenna signal transmission 509 beside the pitot, 513 afterbody of fuselage is provided with dynamic
Power apparatus is provided with blade 503 on the power set, and 513 front end of fuselage is provided with leading edge protective cover 515, the machine
513 bottom of body is provided with the multi-spectral imager 514, and the 513 lower surface both sides of fuselage are provided with hand and throw grabbing groove 516,
513 bottom of fuselage is provided with antiskid plate 511, and 513 both sides of fuselage are provided with the wing 502, two wings
502 wing tip is each provided with a roll and pushes away tail 510, and the lower surface end of the wing 502 is again provided with the antiskid plate
511,502 front end of wing is provided with wing tip anti-skid cover 512, and the upper face center of the wing 502 is provided with steering engine 505,
The steering engine 505 is connected with rudder face 507 by pull rod.
As better embodiment, the fuselage 513 and the wing 502 are integrally formed, the fuselage 513 and described
The material of wing 502 is that ERO expanded materials are made.
As better embodiment, the plant protection unmanned plane 2 includes cabin 204 and positioned at 204 lower section of cabin
Plastics medicine-chest 205,204 top of cabin are provided with wireless signal transceiver 203, and the side of the cabin 204 is uniformly arranged
There are six folding spiral arm 202, the spiral arm 202 is provided with tight locking button 208, the spiral arm with 204 junction of cabin
202 end sets have brushless motor 209, and 209 top of brushless motor is provided with rotor 201, wherein the brushless motor 209
The connecting rod bottom of lower section is set there are two rotation sprayer 206, and 205 side of plastics medicine-chest is provided with water pump 210, the modeling
205 both sides of material medicine-chest are provided with undercarriage.
As better embodiment, described two nozzles 206 are symmetrically installed.
A kind of plant protection method of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, comprises the following steps：
1. gathered data：Desired guiding trajectory flight gathered data is carried out by multispectral fixed-wing unmanned plane 3, gathers crops
Spectrum picture can gather red light wavelength 660nm, wide 40nm, pixel 1,200,000；Green wavelength 550nm, wide 40nm, pixel 1,200,000；
The long 735nm of red side wave, wide 10nm, pixel 1,200,000；Near-infrared wavelength 790nm, wide 40nm, the crops spectrogram of pixel 1,200,000
The crops picture of 16,000,000 pixel of piece and RGB three primary colors；
2. analyze data：Export these pictures, through Pix4D, eCognition and ENVI software processing obtain DOM figure and
NDVI data according to the multispectral reflectivity of plant, DOM figures and NDVI data, analyze rate of vegetation index, plant growth shape
The constituent contents such as state, pest and disease damage level, vegetation N P and K, the geographical coordinate and area for needing plant protection vegetation；
3. it is distributed according to the vegetation status information of acquisition, by plant protection unmanned plane 2 according to 1 result of software on ground analysis system essence
Certainly position, on demand spraying pesticide, chemical fertilizer or water.
The advance of the present invention is embodied in：
(1) airborne platform of the present invention uses the innovative multispectral fixed-wing unmanned plane 3 of independent research, carries out desired guiding trajectory
It flies, by covering the dual redundant data of sensor in flight course, is calculated through core flight control system, by the real-time flight of aircraft more
Parameter feedback is powered to software interface with 514 one of multi-spectral imager.The technical parameter of multispectral fixed-wing unmanned plane 3：Fly
Scanning frequency degree：50KM/h；Flight alignment system：GPS；The span：920mm；Cruising time：85 minutes；Flying method：Hand throw it is winged,
It contacts to earth landing, autonomous flight；Multispectral parameter：4 1,200,000 pixel narrowband monochromatic sensors add 1 16,000,000 pixel RGB tri- former
Colour sensor；Memory：64G.
(2) present invention is equipped with innovative multi-spectral imager 514 and is mounted on multispectral fixed-wing unmanned plane 3, multispectral
On imager 514 there are four 1,200,000 pixels narrowband monochromatic sensor (green light, feux rouges, red marginal ray, near-infrared) and one 1600
The RGB three primary colors sensors of ten thousand pixels, flight crops overhead, four kinds of light of shooting different spectral reflectance picture and visible ray
Under plant picture, after software processing, the data such as multispectral DOM figures, the NDVI of plant can be obtained, analyze the disease of plant
Situations such as evil, arid and n-p-k element contents level.According to these data, with company's plant protection unmanned plane 2 be directed to
Property plant protection measure, such as spray insecticide, spray chemical fertilizer nutrient solution, watering, accomplish accurate crops plant protection.
(3) present invention carries out processing analysis using the softwares such as Pix4D, eCognition, ENVI, when multispectral fixed-wing without
After man-machine 3 have flown, the SD card slot through multi-spectral imager 514 reads data, and original photograph is imported into computer software Pix4D,
By the POS data of 514 photograph of multi-spectral imager, geographical coordinate etc., according to the Duplication of photograph, the DOM for forming specialty schemes
Piece can obtain NDVI through eCognition, ENVI and need the area of plant protection vegetation, according to the multispectral reflectivity of plant and
The data such as DOM figures, NDVI analyze the members such as rate of vegetation index, plant growth state, pest and disease damage level, vegetation N P and K
Cellulose content, the geographical coordinate and area for needing plant protection vegetation；
(4) present invention sprinkling platform uses the innovative plant protection unmanned plane 2 of independent research, passes through fuselage material and mechanism
Design provides the elastic space of change for other configurations and performance, configures poly-lithium battery, six engine disk electric horses of drive
It reaches, ensures flying height and Control Radius and cruising time.Using 6 axis rotor types, body is formed using carbon fibre material, is carried
10L plastics medicine-chest 205 can add pesticide 10KG, empty weight 13KG, using 18650 batteries, 20 minutes flight time, using nothing
Brush motor 209, VTOL, wheelbase 1600mm, cruising speed 20-30KM/h, manual Control Radius 800M, automatic flight control
Radius 5KM.Plant protection unmanned plane 2 will integrate high-precision technical grade sensor element, used advanced temperature compensation algorithm and
The accurate calibration algorithm of technical grade makes system give play to accurate, stable, reliable performance；For the model structure of 6 rotors 201,
Flying control design has disconnected paddle protective capability, and on the premise of power abundance, plant protection unmanned plane 2 is unexpected to lack a certain propeller power
During output, the method for sacrificing the control of course axis may be employed in aircraft, continues to keep flight horizontal attitude, it is ensured that aircraft can continue
It is steered, and makes a return voyage safely, greatly reduce the risk for the machine of falling；
(5) present invention is equipped with accurate GPS locator 4, meets and makes a return voyage function in loss of link and accurate plant protection operation is determined
Bit function；Electronic map is loaded as design map, by ground control system and radio station, is wirelessly transmitted to plant protection unmanned plane
2, it realizes quick, convenient, the timely manipulation plant protection unmanned plane 2 in distal end, aircraft spraying medicine flight line is determined, to avoid respraying and leaking
Spray.
(6) present invention uses state-of-the art sprinkling system, sprays part with liquid automatically, water pump 210 and plant protection nobody
Machine 2 shares power supply, and the feelings such as spray are not missed in control system end by program superposition implantation flight control system, the not accurate sprinkling of guarantee, drain spray
Condition occurs, and can detect the remaining progress alarm of dose automatically, after making a return voyage, passes through navigation of electronic map and carries out breakpoint continuation of the journey.
Apart from 1.5-1.6 meters of crops top, maximum spray rate：0.43 liter/min, spraying swath：4 meters, it is atomized standard：100-200 is micro-
Rice.
For the relatively traditional plant protection mode of the present invention or simple plant protection unmanned plane mode, positioning is more accurate, sprays on demand
Pesticide grown, chemical fertilizer nutrient solution or water so as to improve the accuracy of plant protection system, reduce crops pesticide residue, improve fertilizer profit
With rate, manual work is not required to, operating personnel's poisoning risk is avoided, puts into small, at low cost, efficient, energy conservation and environmental protection.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, it is characterised in that：Including multispectral fixed-wing
Unmanned plane, software on ground analysis system and plant protection unmanned plane；
The multispectral fixed-wing unmanned plane is by carrying multi-spectral imager on fixed-wing unmanned plane；The fixed-wing unmanned plane
It goes up and GPS locator is housed, there are four the narrowband monochromatic sensor of 1,200,000 pixels and one 16,000,000 on the multi-spectral imager
The RGB three primary colors sensors of pixel, the narrowband monochromatic sensors of four 1,200,000 pixels is green light narrowband monochromatic sensor,
Feux rouges narrowband monochromatic sensor, red marginal ray narrowband monochromatic sensor, near-infrared narrowband monochromatic sensor, the multi-spectral imager
On be provided with convenient for export data SD card slot；
Plastics medicine-chest is carried on the plant protection unmanned plane.
2. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane according to claim 1, feature exist
In：The software on ground analysis system includes Pix4D, eCognition and ENVI software, and DOM is obtained by above-mentioned software processing
Figure and NDVI data, analyze the elements such as rate of vegetation index, plant growth state, pest and disease damage level, vegetation N P and K and contain
Measure, need the geographical coordinate and area of plant protection vegetation.
3. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane according to claim 1, feature exist
In：The fixed-wing unmanned plane includes fuselage, wing, and the body upper is provided with core nacelle, is set above the core nacelle
There is sunlight filtering corrections sensor, the body upper is provided with pitot, signal transmission day is provided with beside the pitot
Line, the afterbody are provided with power set, and blade is provided on the power set, and the front fuselage is provided with leading edge
Protective cover, the fuselage bottom are provided with the multi-spectral imager, and fuselage lower surface both sides are provided with hand and throw grabbing groove,
The fuselage bottom is provided with antiskid plate, and the fuselage both sides are provided with the wing, and the wing tip of two wings is respectively set
Tail is pushed away there are one roll, the lower surface end of the wing is again provided with the antiskid plate, and the wing nose is provided with the wing
Sharp anti-skid cover, the upper face center of the wing are provided with steering engine, and the steering engine is connected with rudder face by pull rod.
4. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane according to claim 3, feature exist
In：The fuselage and the wing are integrally formed, and the material of the fuselage and the wing is that ERO expanded materials are made.
5. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane according to claim 1, feature exist
In：The plant protection unmanned plane includes cabin and the plastics medicine-chest below the cabin, the nacelle top are provided with wirelessly
Signal transceiver, the side of the cabin are uniformly arranged that there are six folding spiral arm, the spiral arm and the cabin junctions
Tight locking button is provided with, the spiral arm end set has brushless motor, rotor is provided with above the brushless motor, wherein the nothing
Connecting rod bottom below brush motor is set there are two rotation sprayer, and the plastics medicine-chest side is provided with water pump, the watering can
Both sides are provided with undercarriage.
6. the plant protection system of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane according to claim 5, feature exist
In：Described two nozzles are symmetrically installed.
7. a kind of plant protection method of multispectral fixed-wing unmanned plane cooperation plant protection unmanned plane, comprises the following steps：
1. gathered data：Desired guiding trajectory flight gathered data is carried out by multispectral fixed-wing unmanned plane, gathers the spectrum of crops
Picture can gather red light wavelength 660nm, wide 40nm, pixel 1,200,000；Green wavelength 550nm, wide 40nm, pixel 1,200,000；Red side
Wavelength 735nm, wide 10nm, pixel 1,200,000；Near-infrared wavelength 790nm, wide 40nm, pixel 1,200,000 crops spectrum picture with
And the crops picture of 16,000,000 pixel of RGB three primary colors；
2. analyze data：These pictures are exported, DOM figures and NDVI numbers are obtained through Pix4D, eCognition and ENVI software processing
According to according to the multispectral reflectivity of plant, DOM schemes and NDVI data, analyzes rate of vegetation index, plant growth state, disease
The constituent contents such as insect pest level, vegetation N P and K, the geographical coordinate and area for needing plant protection vegetation；
3. being distributed according to the vegetation status information of acquisition, by plant protection unmanned plane according to software on ground analysis result precise positioning, press
Need spraying pesticide, chemical fertilizer or water.
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| CN109131893A (en) * | 2018-10-15 | 2019-01-04 | 南京林业大学 | A kind of pesticide residue real-time detection based on unmanned plane and the system and method accurately removed |
| CN109122633A (en) * | 2018-06-25 | 2019-01-04 | 华南农业大学 | The accurate variable-rate spraying device of the plant protection drone of Decision of Neural Network and control method |
| CN109146508A (en) * | 2018-07-03 | 2019-01-04 | 深圳高科新农技术有限公司 | A kind of agricultural product traceability system based on unmanned plane |
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Application publication date: 20180525 |