CN108536170B - Aviation variable pesticide application monitoring device and method - Google Patents
Aviation variable pesticide application monitoring device and method Download PDFInfo
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- CN108536170B CN108536170B CN201810563402.0A CN201810563402A CN108536170B CN 108536170 B CN108536170 B CN 108536170B CN 201810563402 A CN201810563402 A CN 201810563402A CN 108536170 B CN108536170 B CN 108536170B
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Abstract
The invention discloses an aviation variable pesticide application monitoring device and a method, wherein a pesticide box in the device is arranged on an aircraft frame, an electromagnetic valve is arranged on a spray head of the pesticide box, and a signal acquisition module comprises a plurality of sensors and is used for acquiring aircraft flight state signals and pesticide application condition signals according to the plurality of sensors; the operation panel is used for collecting execution information input by an operator; the input end of the singlechip is respectively connected with the signal acquisition module and the operation panel, and the output end of the singlechip is respectively connected with the electromagnetic valve, the spray head, the display and the steering engine of the airplane; the display is used for displaying the aircraft flight information and the drug application information in real time in the form of numerical values. The device provided by the invention monitors the flight state of the airplane in real time by utilizing the sensors of the airplane, increases two sensors to monitor the pesticide application flow and the pesticide box allowance, and uses the singlechip to carry out fusion processing on the information to determine the pesticide application concentration and the pesticide application area, monitors and controls the pesticide application condition in real time, and quantifies the pesticide application effect.
Description
Technical Field
The invention relates to the technical field of intelligent agriculture, in particular to an aviation variable pesticide application monitoring device and method.
Background
Aerial application of pesticides is becoming more and more common in agriculture, but the effect of the pesticide is difficult to master. At present, the medicine is mainly applied by relying on the feeling of operators, so that certain subjectivity and randomness exist, the operation quality is difficult to ensure, for example, whether the medicine is applied uniformly, pollution and waste are caused, and the like. According to investigation, farmers cannot intuitively know the pesticide application condition, so that the approval of the farmers on aviation pesticide application is affected, and further the aviation pesticide application and the development of precise agriculture in China are affected.
Therefore, in the market of agricultural aviation drug delivery, a device which is low in price, simple to operate and capable of achieving real-time monitoring and controlling drug delivery conditions is urgently needed.
Disclosure of Invention
Aiming at the defects, the invention provides the aviation variable pesticide application monitoring device and the aviation variable pesticide application monitoring method, which can monitor and control pesticide application conditions in real time, accurately apply pesticide and quantify pesticide application effects, and also have the characteristics of simplicity in operation, low cost, wide adaptability and the like, and meet market demands.
In order to achieve the above object, the present invention provides the following solutions:
the aviation variable pesticide application monitoring device comprises a signal acquisition module, a singlechip, a display, an electromagnetic valve, an operation panel and a pesticide box;
the signal acquisition module comprises a plurality of sensors; the signal acquisition module is used for acquiring flight state signals and pesticide application condition signals of the aircraft according to various sensors; the medicine chest is arranged on a frame of the airplane; the electromagnetic valve is arranged on the spray head of the medicine box;
the operation panel is used for collecting execution information input by an operator;
the input end of the singlechip is respectively connected with the signal acquisition module and the operation panel, and the output end of the singlechip is respectively connected with the electromagnetic valve, the spray head, the display and the steering engine of the aircraft;
the display is used for displaying the aircraft flight information and the pesticide application information in real time in a numerical form; the aircraft flight information comprises flight altitude, flight speed, flight position and flight track; the medicine application information comprises medicine application area, medicine application concentration, medicine liquid residual quantity, corresponding flying position when no medicine liquid exists in the medicine box and medicine liquid to be supplemented.
Optionally, the signal acquisition module comprises a flying height sensor, a flying speed sensor, a flying attitude sensor, a GPS (global positioning system) positioner, a flow sensor, a liquid level sensor and a voltage sensor;
the flying height sensor is arranged in the chassis of the aircraft and used for collecting the flying height of the aircraft in real time;
the flying speed sensor is arranged at the outer top of the body of the aircraft and is used for collecting the flying speed of the aircraft in real time;
the flight attitude sensor is arranged in the chassis of the aircraft and is used for acquiring the flight attitude of the aircraft in real time;
the GPS locator is arranged in the case of the airplane and used for acquiring the position information of the airplane at the current moment;
the flow sensor is arranged on the electromagnetic valve and used for collecting the opening angle of the electromagnetic valve in real time;
the liquid level sensor is arranged in the medicine box and used for collecting the liquid level of the medicine box in real time;
the voltage sensor is arranged on the spray head and used for collecting the voltage of the motor of the spray head in real time.
Optionally, the aviation variable drug administration monitoring device further comprises an a/D converter; the signal acquisition module is connected with the input end of the singlechip through the A/D converter; the A/D converter is used for converting the analog signals acquired by the signal acquisition module into digital signals.
Optionally, the aviation variable drug administration monitoring device further comprises a wireless transmission module; the operation panel is connected with the input end of the singlechip through the wireless transmission module; the display is connected with the output end of the singlechip through the wireless transmission module.
Optionally, the wireless transmission module is a GSM communication module.
Optionally, the aviation variable drug delivery monitoring device further comprises a power supply and a voltage stabilizer; the power supply is respectively connected with the signal acquisition module, the singlechip, the electromagnetic valve and the power supply end of the wireless communication module through the voltage stabilizer.
Optionally, the singlechip stores farmland area and topography to be applied with medicine, and flight route, flight height, flight speed, flight attitude, shower nozzle flow, shower nozzle motor voltage according to the farmland area and topography of to be applied with medicine plan by oneself.
Optionally, the spray head is a rotary hydraulic atomization spray head.
The invention also provides a monitoring method of the aviation variable drug delivery monitoring device, which comprises the following steps:
determining independent variables and dependent variables; the independent variables comprise flying height, flying speed, nozzle motor voltage and solenoid valve opening angle; the dependent variables include the area of application and the effect of application; wherein the solenoid valve opening angle in the independent variable corresponds to the dosing concentration of the dependent variable; the flying height, flying speed and nozzle motor voltage in the independent variables correspond to the application area of the independent variables;
adopting a multiple regression model to determine a first relational expression and a second relational expression; the first relation is a relation between the opening angle of the electromagnetic valve and the pesticide application concentration; the second relation is a relation of the flying height, the flying speed, the motor voltage of the spray nozzle and the pesticide application area;
acquiring an aircraft flight state signal and a pesticide application condition signal in real time; the aircraft flight state signals comprise flight height, flight speed, flight attitude and position information of an aircraft; the medicine application condition signals comprise an opening angle of the electromagnetic valve, a motor voltage of the spray head and a liquid level of the medicine box;
calculating a dosing area and a dosing concentration according to the first relational expression, the second relational expression, the flying height, the flying speed, the opening angle of the electromagnetic valve and the motor voltage of the spray head;
determining the flight track of the aircraft according to the flight attitude and the position information of the aircraft;
determining the residual quantity of the liquid medicine according to the liquid level of the medicine box;
determining a corresponding flight position when no liquid medicine exists in the medicine box according to the liquid level height of the medicine box and the position information;
and determining the required supplementary medicine amount according to the corresponding flight position of the medicine box without medicine liquid, the flight track of the airplane and the flight track prestored by the singlechip.
Optionally, the first relation is:
wherein C is the concentration of the drug applied; s is the application area; v is the flow rate of the liquid medicine; t is the application time, alpha is the opening angle of the electromagnetic valve, and alpha is more than or equal to 0 degree and less than or equal to 90 degrees;
the second relation is:
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides an aviation variable pesticide application monitoring device and method, wherein the device comprises a signal acquisition module, a singlechip, a display, an electromagnetic valve, an operation panel and a pesticide box; the signal acquisition module comprises a plurality of sensors; the signal acquisition module is used for acquiring flight state signals and pesticide application condition signals of the aircraft according to various sensors; the medicine chest is arranged on the frame of the airplane; the electromagnetic valve is arranged on the spray head of the medicine box; the operation panel is used for collecting execution information input by an operator; the input end of the singlechip is respectively connected with the signal acquisition module and the operation panel, and the output end of the singlechip is respectively connected with the electromagnetic valve, the spray head, the display and the steering engine of the aircraft; the display is used for displaying the aircraft flight information and the pesticide application information in real time in the form of numerical values; the aircraft flight information comprises flight altitude, flight speed, flight position and flight track; the medicine application information comprises medicine application area, medicine application concentration, medicine liquid residual quantity, corresponding flying position when no medicine liquid exists in the medicine box and medicine liquid to be supplemented. The device provided by the invention monitors the flight state of the airplane in real time by utilizing the sensors of the airplane, increases two sensors to monitor the pesticide application flow and the pesticide box allowance, and uses the singlechip to fuse information to determine the pesticide application concentration and the pesticide application area, monitors and controls the pesticide application condition in real time, and accurately applies pesticide and quantifies the pesticide application effect. In addition, the device is simple to operate, low in cost and wide in adaptability, and meets market demands.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of an aviation variable drug delivery monitoring device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a portion of a wireless transmission module according to the present invention;
FIG. 3 is a schematic diagram of a single-chip microcomputer circuit according to the present invention;
FIG. 4 is a schematic diagram of the circuit of the operation panel of the present invention
FIG. 5 is a schematic diagram of a portion of a signal acquisition module according to the present invention;
FIG. 6 is a schematic diagram of a portion of a power module of the present invention;
fig. 7 is a flow chart of an aviation variable administration monitoring method according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an aviation variable pesticide application monitoring device and method, which can monitor and control pesticide application conditions in real time, accurately apply pesticide and quantify pesticide application effects, and also has the characteristics of simplicity in operation, low cost, wide adaptability and the like, and meets market demands.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The invention discloses an aviation variable pesticide application monitoring device and method, which can automatically plan a flight route, a flight height, a flight speed, a flight attitude and pesticide application flow according to specific information such as farmland area, topography and the like, monitor aviation pesticide application conditions in real time in the pesticide application process, and enable operators to regulate and control in real time according to actual demand conditions so as to achieve the purposes of quantized pesticide application and accurate pesticide application.
The aviation variable pesticide application monitoring device mainly comprises a signal acquisition module, a control display module, an execution module, a wireless communication module and a pesticide box. The medicine chest is arranged on a frame of the airplane; the electromagnetic valve is arranged on the spray head of the medicine box. The execution module is used for controlling the flight state and the pesticide application condition of the airplane. The aircraft is controlled to fly through the steering engine, and the pesticide application condition is controlled through the electromagnetic valve and the spray head. Preferably, the spray head is a rotary hydraulic atomizer spray head.
Fig. 1 is a schematic structural diagram of an aviation variable drug delivery monitoring device according to an embodiment of the present invention.
As shown in fig. 1, the control display module includes a single-chip microcomputer, a display and an operation panel; the execution module mainly comprises an electromagnetic valve, the spray head and a steering engine of the aircraft; the wireless transmission module mainly comprises a GSM communication module, and is used for realizing the communication function between the singlechip and the display and the operation panel. The schematic diagram of the wireless transmission module part in the embodiment of the invention is shown in fig. 2.
The signal acquisition module mainly comprises various sensors and an A/D converter, wherein the various sensors are a flying height sensor, a flying speed sensor, a flying attitude sensor, a GPS (in fig. 1, the altitude sensor, the speed sensor, the attitude sensor and the GPS are short for short), a flow sensor, a liquid level sensor and a voltage sensor; the signal acquisition module is used for acquiring flight state signals and pesticide application condition signals of the aircraft according to various sensors.
The operation panel is used for collecting execution information input by an operator.
The input end of the singlechip is respectively connected with the signal acquisition module and the operation panel, and the output end of the singlechip is respectively connected with the electromagnetic valve, the spray head, the display and the steering engine of the airplane. The signal acquisition module is connected with the input end of the singlechip through the A/D converter; the operation panel is connected with the input end of the singlechip through the wireless transmission module; the display is connected with the output end of the singlechip through the wireless transmission module. And the singlechip stores farmland area and terrain to be applied with the pesticide, and automatically plans a flight path, a flight height, a flight speed, a flight attitude, a spray head flow and a spray head motor voltage according to the farmland area and the terrain to be applied with the pesticide. The schematic diagram of the monolithic circuit and the schematic diagram of the circuit of the operation board in the embodiment of the invention are shown in fig. 3 and 4.
The display is used for displaying the aircraft flight information and the pesticide application information in real time in a numerical form; the aircraft flight information comprises flight altitude, flight speed, flight position and flight track; the medicine application information comprises medicine application area, medicine application concentration, medicine liquid residual quantity, corresponding flying position when no medicine liquid exists in the medicine box and medicine liquid to be supplemented.
Fig. 5 is a schematic diagram of a portion of a signal acquisition module according to the present invention.
As shown in FIG. 5, the embodiment of the invention does not show specific sensors, only shows interfaces, and expands 16 sensor interfaces.
The flying height sensor is arranged in the chassis of the aircraft and used for detecting, collecting and outputting the flying height of the aircraft in real time.
The flying speed sensor is arranged at the outer top of the machine body of the airplane and used for detecting, collecting and outputting the flying speed of the airplane in real time.
The flight attitude sensor is arranged in the chassis of the aircraft and is used for detecting, collecting and outputting the flight attitude of the aircraft in real time.
The GPS locator is arranged in the case of the airplane and used for detecting, collecting and outputting the position information of the airplane at the current moment.
The flow sensor is arranged on the electromagnetic valve and used for detecting, collecting and outputting the opening angle of the electromagnetic valve in real time.
The liquid level sensor is arranged in the medicine chest and used for detecting, collecting and outputting the liquid level of the medicine chest in real time.
The voltage sensor is arranged on the spray head and used for detecting, collecting and outputting the motor voltage of the spray head in real time. The voltage of the spray head motor influences the size of the spray width.
The A/D converter is used for converting the analog signals acquired by the signal acquisition module into digital signals.
The aviation variable pesticide application monitoring device provided by the embodiment of the invention further comprises a power supply module. The power module is the energy source required for providing the device. The power module comprises a power supply and a voltage stabilizer. The power supply is respectively connected with the signal acquisition module, the singlechip, the electromagnetic valve and the power supply end of the wireless communication module through the voltage stabilizer.
Fig. 6 is a schematic diagram of a portion of a signal acquisition module according to the present invention, as shown in fig. 6, a power supply is connected to 4 output terminals, and voltage regulators 78M05 and AMS1117 are used to regulate voltages, respectively, in order to ensure voltage stability. The voltage stabilizer 78M05 mainly provides stable 5V voltage for the GPS locator, the GSM communication module and the singlechip; the voltage stabilizer AMS1117 mainly provides stable 3.3V voltage for a signal acquisition module, a singlechip and an SD memory card.
The invention also provides an aviation pesticide application monitoring method, which mainly calculates the pesticide application area and pesticide application concentration according to the flying height, flying speed, flow and nozzle voltage of the airplane.
Fig. 7 is a schematic flow chart of an aviation variable administration monitoring method according to an embodiment of the present invention, and as shown in fig. 7, the monitoring method provided by the embodiment of the present invention specifically includes the following steps.
Step 101: determining independent variables and dependent variables; the independent variables comprise flying height, flying speed, nozzle motor voltage and solenoid valve opening angle; the dependent variables include the area of application and the effect of application; wherein the solenoid valve opening angle in the independent variable corresponds to the dosing concentration of the dependent variable; the flying height, flying speed and nozzle motor voltage in the independent variables correspond to the pesticide application area of the independent variables.
Step 102: adopting a multiple regression model to determine a first relational expression and a second relational expression; the first relation is a relation between the opening angle of the electromagnetic valve and the pesticide application concentration; the second relation is a relation of the flying height, the flying speed, the motor voltage of the spray nozzle and the application area.
Step 103: acquiring an aircraft flight state signal and a pesticide application condition signal in real time; the aircraft flight state signals comprise flight height, flight speed, flight attitude and position information of an aircraft; the medicine applying condition signal comprises an opening angle of the electromagnetic valve, a voltage of a motor of the spray head and a liquid level of the medicine box.
Step 104: and calculating the application area and the application concentration according to the first relation, the second relation, the flying height, the flying speed, the opening angle of the electromagnetic valve and the motor voltage of the spray nozzle.
Step 105: and determining the flight track of the aircraft according to the flight attitude and the position information of the aircraft.
Step 106: and determining the residual quantity of the liquid medicine according to the liquid level of the medicine box.
Step 107: and determining the corresponding flight position when no liquid medicine exists in the medicine box according to the liquid level height of the medicine box and the position information.
Step 108: and determining the required supplementary medicine amount according to the corresponding flight position of the medicine box without medicine liquid, the flight track of the airplane and the flight track prestored by the singlechip.
The specific contents are as follows:
1. the independent and dependent variables are determined. The single chip microcomputer comprehensively processes flight height signals, flight speed signals, spray head motor voltage signals and solenoid valve opening angle signals (the solenoid valve opening angle is between 0 and 90 degrees) transmitted by the flight height sensor, the flight speed sensor, the flow sensor and the voltage sensor, and the four signals are set as independent variables, and the pesticide application effect is set as dependent variables. The application effect comprises two indexes of application area and application concentration. Wherein, the opening angle of the electromagnetic valve in the independent variable mainly corresponds to the index of the pesticide application concentration; the flying height, flying speed and nozzle motor voltage in the independent variables mainly correspond to the application area index.
2. The relationship between the independent variable and the dependent variable is determined, i.e., a first relationship and a second relationship are determined. The method is a multiple regression model, and specifically, other independent variables are determined to be unchanged, only one of the independent variables is changed, and the pesticide application effect is measured.
And calculating through multiple groups of data to obtain the functional relation between the independent variable and the applied effect. Stepwise calculations may be employed.
The first step is to calculate the relation between the opening angle of the electromagnetic valve and the concentration of the applied medicine. The independent variable flying height, flying speed and motor voltage of the spray nozzle are all unchanged, then the opening angle of the electromagnetic valve is changed, and the pesticide application concentration index of the independent variable is measured every time. Here, the relation between the opening angle of the electromagnetic valve and the concentration index of the applied medicine, namely formula (1), can be deduced through a formula, and is shown as follows:
wherein: c is the concentration of the drug applied; s is the application area; v is the flow rate of the liquid medicine (determined by the power of a water pump of a medicine box and is known information); t is the application time, alpha is the opening angle of the electromagnetic valve, and alpha is more than or equal to 0 degree and less than or equal to 90 degrees. As can be seen from the formula (1), the concentration of the applied medicine and the opening angle of the electromagnetic valve form a sine relationship under the condition that the application area, the flow rate of the medicine liquid and the application time are unchanged.
And the second step is to calculate the relation among the flying height, the flying speed, the voltage of the motor of the spray head and the application area.
(1) And determining a functional relation between the motor voltage of the spray head and the spray width. The flying height and the flying speed are all unchanged, namely the aircraft is set in a static state. Because the application height is in the range of 1 meter-3 meters, the aircraft height is set to be a fixed value of 1.6 meters, the voltage of the motor of the spray nozzle is changed, and the formula (2) can be summarized through a plurality of groups of experimental data, and is shown as follows: y=p 1 +P 2 cos(U*w)+P 3 sin(U*w)(2)w、P 1 、P 2 、P 3 Constant, w=0.5604, p 1 ＝3.287，P 2 ＝0.967，P 3 =0.2542, y is the spray width, U is the spray motor voltage. The trigonometric function relation between the motor voltage and the spray amplitude can be known from the formula (2).
(2) A functional relationship between fly height and swath is determined. The voltage and the flying speed of the motor of the spray head are unchanged, and the flying height is changed. Here, equation (3) can be derived from the correlation equation as follows:
wherein Y is the spray width, H is the flying height, g is the gravitational acceleration, V Out of The outlet horizontal velocity of the liquid medicine (the outlet velocity is unchanged when the voltage is unchanged). From equation (3), it can be known that the flying height is in direct proportion to the spray width.
(3) A functional relationship between the flight speed and the application area is determined. The voltage and the flying height of the motor of the spray nozzle are unchanged, and the flying speed is changed. Equation (4) can be derived here from the correlation equation as follows: s=v Machine for making food tY (4), wherein S is the application area, V Machine for making food For flying aircraftSpeed, t, is the application time and Y is the spray width. From the formula (4), the flight speed and the application area are in a proportional relation when the application time and the spraying width are unchanged.
By integrating the formulas (2), (3) and (4), the functional relation among the flying height, the flying speed, the voltage of the motor of the spray head and the application area can be achieved, namely the formula (5):
w、P 1 、P 2 、P 3 constant, w=0.5604, p 1 ＝3.287，P 2 ＝0.967，P 3 =0.2542, s is the area of application, V Machine for making food The aircraft is in flight speed, t is the pesticide application time, U is the voltage of a spray head motor, H is the flight height, g is the gravitational acceleration, V Out of Is the outlet horizontal velocity of the liquid medicine.
And (3) combining the formula (1) to obtain a formula (6), namely a functional relation between the pesticide application concentration and signals of flying height, flying speed, nozzle motor voltage and solenoid valve opening angle.
w、P 1 、P 2 、P 3 Constant, w=0.5604, p 1 ＝3.287，P 2 ＝0.967，P 3 =0.2542, c is the concentration of the applied drug, V is the flow rate of the drug solution (determined by the pump power of the drug tank, which is known information), α is the opening angle of the solenoid valve, α is 0 ° or more and 90 °, S is the area of applied drug, V Machine for making food The aircraft is in flight speed, t is the pesticide application time, U is the voltage of a spray head motor, H is the flight height, g is the gravitational acceleration, V Out of Is the outlet horizontal velocity of the liquid medicine.
The formula (6) is used for calculating the pesticide application concentration according to the data detected by the flying height sensor, the flying speed sensor, the flow sensor and the voltage sensor, and then combining the flying attitude sensor and the GPS positioner to master the attitude, the position and the flying track of the airplane in real time, and in addition, the liquid medicine allowance is monitored by combining the liquid level sensor, so that the effect of aviation pesticide application can be accurately monitored. The operator can also preset parameters of various variables according to actual conditions, and can also regulate and control various variables in real time so as to realize precise aviation medicine application.
The specific implementation is as follows:
preparation before flight: all sensors are zeroed before taking off, so that the accuracy of multi-element information acquisition is ensured.
And (3) pesticide application operation: when an operator inputs the farmland area and the topography to be applied into the device provided by the invention, the device can automatically plan a flight route, a flight altitude, a flight speed, a flight attitude and flow voltage of a spray head according to farmland specific information. After the aircraft takes off, an operator can accurately observe the information such as the flying height, the speed, the track, the gesture, the pesticide application flow, the liquid medicine allowance, the voltage of the spray head and the like of the aircraft in real time through a display.
When the device is used for applying the pesticide to the edge of the farmland, the device sets corresponding parameters to achieve the optimal pesticide application effect, namely the pesticide application effect of low speed, low altitude, small spraying quantity and low voltage. The operator can also change one or several of the variables, such as the speed of flight and the spray width, depending on the actual situation. To ensure that the application effect is unchanged, the device can also provide optimal data for the remaining variables and display to the operator, for example, the fly height and the application flow. The operator can select to automatically regulate and control the flight state and the drug application condition, and can also select to manually regulate and control. When the device is used for applying the pesticide to crops in a large area, the device is used for setting the aircraft to fly through at high altitude, and simultaneously, a large spraying amount and high voltage are set for the spray head, so that the pesticide application area is improved, the uniformity is also improved, a large amount of time can be saved, and the operation efficiency is improved. Similarly, an operator can change one or more variables of the flying height, the speed, the flow and the voltage according to actual demands, and in order to ensure the pesticide application effect, the device can also provide corresponding variable conditions of other variables, so that accurate pesticide application is realized, and pesticide pollution and waste are avoided.
The device can display the residual medicine liquid while displaying the medicine application effect. The shortest route and the optimal drug loading rate are set, so that the energy of the aircraft is saved, and the drug application time is further saved. After the medicine liquid in the medicine box is sprayed, the device can record the corresponding coordinate position and accurately display the medicine amount to be supplemented. After the liquid medicine is supplemented, the medicine can be continuously sprayed from the position according to the recorded coordinate position, repeated medicine application is prevented, and accurate medicine application is realized. After the medicine application is finished, the device can display the medicine application condition for an operator to observe in a data information mode, so that the purpose of quantifying medicine application effect and realizing accurate medicine application is achieved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (1)
1. A method of monitoring an aviation variable administration monitoring device, the method comprising:
determining independent variables and dependent variables; the independent variables comprise flying height, flying speed, nozzle motor voltage and solenoid valve opening angle; the dependent variables include the area of application and the effect of application; wherein the solenoid valve opening angle in the independent variable corresponds to the dosing concentration of the dependent variable; the flying height, flying speed and nozzle motor voltage in the independent variables correspond to the application area of the independent variables;
adopting a multiple regression model to determine a first relational expression and a second relational expression; the first relation is a relation between the opening angle of the electromagnetic valve and the pesticide application concentration; the second relation is a relation of the flying height, the flying speed, the motor voltage of the spray nozzle and the pesticide application area;
acquiring an aircraft flight state signal and a pesticide application condition signal in real time; the aircraft flight state signals comprise flight height, flight speed, flight attitude and position information of an aircraft; the medicine application condition signals comprise an opening angle of the electromagnetic valve, a motor voltage of the spray head and a liquid level of the medicine box;
calculating a dosing area and a dosing concentration according to the first relational expression, the second relational expression, the flying height, the flying speed, the opening angle of the electromagnetic valve and the motor voltage of the spray head;
determining the flight track of the aircraft according to the flight attitude and the position information of the aircraft;
determining the residual quantity of the liquid medicine according to the liquid level of the medicine box;
determining a corresponding flight position when no liquid medicine exists in the medicine box according to the liquid level height of the medicine box and the position information;
determining the required supplementary medicine amount according to the corresponding flight position of the medicine chest without medicine liquid, the flight track of the airplane and the flight track prestored by the singlechip;
the first relation is:
wherein C is the concentration of the drug applied; s is the application area; v is the flow rate of the liquid medicine; t is the application time, alpha is the opening angle of the electromagnetic valve, and alpha is more than or equal to 0 degree and less than or equal to 90 degrees;
the second relation is:
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| CN109362689B (en) * | 2018-12-12 | 2021-06-01 | 南京林业大学 | Variable pesticide application control device of unmanned aerial vehicle and grading control method thereof |
| 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 |
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