CN108536203A - A kind of unmanned plane dispenser control method and system - Google Patents
A kind of unmanned plane dispenser control method and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000007921 spray Substances 0.000 claims abstract description 31
- 238000007906 compression Methods 0.000 claims abstract description 27
- 230000006835 compression Effects 0.000 claims abstract description 27
- 239000002245 particle Substances 0.000 claims abstract description 20
- 238000005507 spraying Methods 0.000 claims description 32
- 238000005286 illumination Methods 0.000 claims description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 238000009472 formulation Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 5
- 239000003595 mist Substances 0.000 description 7
- 230000008021 deposition Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000012752 auxiliary agent Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000010025 steaming Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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Abstract
The present invention provides a kind of unmanned plane dispenser control method and systems, and by the way of Multi-information acquisition, unmanned plane dispenser environment and the specifying information of unmanned plane during flying state are applied to unmanned plane dispenser process；It is compared with predetermined Comparison of standards library, is based on the first model, according to unmanned plane real-time speed, adjustment compression pump control voltage and capacity of sprinkler；Nozzle rotating angle is determined according to real-time wind speed, unmanned plane real-time speed and the real-time height of unmanned plane based on the second model；Unmanned plane real-time speed and spray particle diameter are adjusted according to real time temperature, real-time lighting intensity and real-time humidity based on third model.Thus, it is possible to according to during unmanned plane dispenser real-time weather information and unmanned plane real time information, it is finally reached the effect being adjusted to capacity of sprinkler, nozzle rotating angle and spray particle diameter, greatly extend control range of the unmanned plane dispenser process for nozzle, realize more precisely with equably dispenser.
Description
Technical field
The present invention relates to agricultural production more particularly to a kind of unmanned plane dispenser control methods and system.
Background technology
In perennial crop system, pesticide spray drift is main potential pollution approach and is considered as to environment
Serious risk.Spray drift is i.e. since the effect of air-flow, spraying exceed the phenomenon that spraying except region during sprinkling.Drift
Surface water and the ecosystem are not only broken up, and is threatened to the life and health and property of neighbouring people.
Mainly by change mist droplet particle size and the modes such as anti-drift auxiliary agent are added in the existing technology for reducing spray drift,
But these methods are only only to carry out the change of unitary variant from the angle for increasing droplet anti-drift ability itself, can be because
For actual complex environment transformation and cannot accurately control effectively to dispenser process shift, and dispenser during there is also
The phenomenon of dispenser unevenness.
Therefore, the basis of the various factors and air flow method feature during having considered agriculture boat dispenser is needed at present
On, a kind of unmanned plane dispenser control method and system for having and automating that strong, accuracy is high and adaptability is good is designed, so that
Unmanned plane dispenser can be controlled and be adjusted, to reach for the various factors and air flow method feature during agriculture boat dispenser
To the effect of accuracy pesticide applying and uniform dispenser.
Invention content
In order to solve the technology of reduction spray drift at present merely by the angle for increasing droplet anti-drift ability itself
It sets out, cannot accurately control effectively to dispenser process shift, and there is also the problem of dispenser unevenness during dispenser, one
Aspect, the present invention provides a kind of unmanned plane dispenser control methods, including：Determine that Comparison of standards library, Comparison of standards library are no side
Wind, normal temperature are 25 DEG C, standard humidity 60%, and standard intensity of illumination is 2500Lux, and unmanned plane standard speed is 4m/s,
Standard unmanned plane height is 3m, and unmanned plane standard posture is opposite along dispenser parallel acquisition including standard spray nozzle flow, mark
The information of quasi- nozzle angle and standard spray grain size；
It includes real-time wind speed, real-time wind direction, reality to acquire real-time weather information and unmanned plane real time information, real-time weather information
Shi Wendu, real-time lighting intensity and real-time humidity, unmanned plane real time information include unmanned plane real-time speed, the real-time height of unmanned plane
With unmanned plane real-time attitude；
If unmanned plane real-time speed and the deviation of the unmanned plane standard speed in Comparison of standards library are more than the first default threshold
When, it is based on the first model, according to unmanned plane real-time speed, adjustment compression pump control voltage and capacity of sprinkler.
Preferably, if wind speed is more than the second default threshold in real time, it is based on the second model, it is real-time according to real-time wind speed, unmanned plane
The real-time height of speed, unmanned plane and unmanned plane real-time attitude, determine nozzle rotating angle.
Preferably, if the real time temperature, real-time lighting intensity or real-time humidity respectively in the Comparison of standards library
It is highly more than that third presets threshold, base that the deviation of normal temperature, standard humidity or standard intensity of illumination, which makes the unmanned plane in real time,
The unmanned plane height and the spray in real time are adjusted according to real time temperature, real-time lighting intensity and real-time humidity in third model
Droplet diameter.
Preferably, the first model is：
F=f (U (V))
Wherein, F is capacity of sprinkler, and U is that compression pump controls voltage, and V is unmanned plane real-time speed.
Preferably, the second model includes：
Wherein, βAThe rotation angle for being nozzle on heading, βBFor rotation angle of the nozzle on vertical flight direction
Degree, H are unmanned plane height, VAFor component of the real-time wind speed on heading, VBIt is real-time wind speed along vertical flight direction
Component, t are the time that spraying reaches ground.
Preferably, third model is：
H=φ (α T, β Rh, γ L)
D=f (T, Rh, L, H)
Wherein, H is unmanned plane height, and T is real time temperature, and Rh is real-time humidity, and L is intensity of illumination, and D is spray particle diameter.
Preferably, the relationship between capacity of sprinkler and unmanned plane real-time speed is：
Wherein, Y is per subjob formulation rate, and F is capacity of sprinkler, and V is unmanned plane real-time speed, and S is nozzle spraying swath.
Preferably, it is to be manually set when determining Comparison of standards library that the first default threshold, the second default threshold and third, which preset threshold,
In, the first default threshold is unmanned plane boundary speed 0.1m/s, and the second default threshold is wind speed boundary value 0.2m/s, and third presets threshold and is
0.1m variations occur for unmanned plane height.
On the other hand, the present invention also provides a kind of unmanned plane Spraying Control Systems, including：Weather station acquisition system is adopted
Collect control system, compression pump, two axis steering engines, system for flight control computer and nozzle；Weather station acquisition system, compression pump, two axis rudders
Machine and system for flight control computer are connect with acquisition control system respectively；Compression pump, two axis steering engines and system for flight control computer difference
It is connect with nozzle.
Preferably, weather station acquisition system includes the air velocity transducer being connect respectively with the first central controller, wind direction biography
Sensor, temperature sensor, humidity sensor and light intensity sensor.
Preferably, acquisition control system include the height sensor being connect with the second central controller, flow sensor and
Attitude transducer.
Preferably, acquisition control system further includes the wireless transport module being connect with the second central controller, wireless transmission
Module is used to receive the real-time weather information of weather station acquisition system transmission.
The present invention provides a kind of unmanned plane dispenser control method and systems, by the way of Multi-information acquisition, by nobody
Machine dispenser environment and the specifying information of unmanned plane during flying state are applied to unmanned plane dispenser process；With predetermined Comparison of standards
Library compares, and is based on the first model, according to unmanned plane real-time speed, adjustment compression pump control voltage and capacity of sprinkler；Based on second
Model determines nozzle rotating angle according to real-time wind speed, unmanned plane real-time speed and the real-time height of unmanned plane；Based on third mould
Type adjusts unmanned plane real-time speed and spray particle diameter according to real time temperature, real-time lighting intensity and real-time humidity.Thus, it is possible to roots
According to during unmanned plane dispenser real-time weather information and unmanned plane real time information, be finally reached to capacity of sprinkler, nozzle rotation
The effect that angle and spray particle diameter are adjusted greatly extends control range of the unmanned plane dispenser process for nozzle, real
Now more precisely with equably dispenser.
Description of the drawings
Fig. 1 is the flow chart according to a kind of unmanned plane dispenser control method of a preferred embodiment of the invention；
Fig. 2 is the general illustration according to a kind of unmanned plane Spraying Control System of a preferred embodiment of the invention；
Fig. 3 is the weather station acquisition system according to a kind of unmanned plane Spraying Control System of a preferred embodiment of the invention
Schematic diagram；
Fig. 4 is the acquisition control system according to a kind of unmanned plane Spraying Control System of a preferred embodiment of the invention
Schematic diagram；
Fig. 5 is the signal according to a kind of twin shaft steering engine of unmanned plane Spraying Control System of a preferred embodiment of the invention
Figure；
Wherein：
1. 2. acquisition control system of weather station acquisition system, 3. compression pump
4. 5. unmanned plane of twin shaft steering engine flies 6. air velocity transducers of control
7. 8. temperature sensor of wind transducer, 9. humidity sensor
10. 11. height sensor of light intensity sensor, 12. flow sensor
13. 14. attitude transducer of wireless communication module, 15 nozzle
16. 41. twin shaft steering engine first axle of the first 17. second central controller of central controller
42. the second axis of twin shaft steering engine.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Fig. 1 is according to a kind of flow chart of unmanned plane dispenser control method of a preferred embodiment of the invention, such as Fig. 1 institutes
Show, on the one hand, the present invention provides a kind of unmanned plane dispenser control methods, including：Determine that Comparison of standards library, Comparison of standards library are
Without crosswind, normal temperature is 25 DEG C, and standard humidity 60%, standard intensity of illumination is 2500Lux, and unmanned plane standard speed is
4m/s, standard unmanned plane height are 3m, and unmanned plane standard posture is opposite along dispenser parallel acquisition including standard spray nozzle stream
Amount, the information of standard spray nozzle angle and standard spray grain size；Acquire real-time weather information and unmanned plane real time information, real-time gas
Image information includes real-time wind speed, real-time wind direction, real time temperature, real-time lighting intensity and real-time humidity, unmanned plane real time information packet
Include unmanned plane real-time speed, unmanned plane height and unmanned plane real-time attitude in real time；If unmanned plane real-time speed and Comparison of standards library
In the deviation of unmanned plane standard speed be more than the first default presentation time, be based on the first model, according to unmanned plane real-time speed, adjust
Whole compression pump control voltage and capacity of sprinkler.
Based on above-described embodiment, if wind speed is more than the second default threshold in real time, it is based on the second model, according to real-time wind speed, nothing
The real-time height of man-machine real-time speed, unmanned plane and unmanned plane real-time attitude, determine nozzle rotating angle.
Based on above-described embodiment, if the real time temperature, real-time lighting intensity or real-time humidity respectively with the standard pair
It is highly more than that third is pre- to make the unmanned plane in real time than the deviation of normal temperature, standard humidity or standard intensity of illumination in library
If threshold, the real-time height of the unmanned plane is adjusted according to real time temperature, real-time lighting intensity and real-time humidity based on third model
With the spray particle diameter.
Specifically, the mode that the present embodiment is coupled based on multi-source environment, by real-time weather information and unmanned plane real time information
It is applied in the adjustment of unmanned plane dispenser nozzle, will be 25 DEG C without crosswind, normal temperature, standard humidity 60%, standard illumination
Intensity is 2500Lux, and unmanned plane standard speed is 4m/s, and standard unmanned plane height is 3m, and unmanned plane standard posture is opposite edge
Dispenser it is parallel when the information of the flow including standard spray nozzle, standard spray nozzle angle and standard spray grain size that obtains as mark
The information that quasi- comparison database includes, the information for including using Comparison of standards library is as real-time with the real-time weather information and unmanned plane of acquisition
The reference value of information, is compared one by one respectively.
Meanwhile the first model, the second model and third model are established, it reacts real-time weather information respectively and unmanned plane is real-time
The correspondence of the relevant information of relevant information and nozzle in information.
When the deviation of the unmanned plane standard speed in unmanned plane real-time speed and Comparison of standards library is more than the first default threshold
When, it is based on the first model, according to unmanned plane real-time speed, adjusts the control voltage and capacity of sprinkler of compression pump, ensures that dispenser is equal
It is even.
When real-time wind speed be more than the second default presentation time, be based on the second model, according to real-time wind speed, unmanned plane real-time speed,
Unmanned plane highly with unmanned plane real-time attitude, determines nozzle rotating angle in real time, accurate that multi-angle crosswind is inhibited to make nozzle appearance
State changes and the droplet drift phenomenon of generation, the droplet to drift about in 50 μm or so Yi Fasheng for grain size effectively inhibit.
When real time temperature, real-time lighting intensity and real-time humidity are wet with normal temperature, the standard in Comparison of standards library respectively
Degree and standard intensity of illumination deviation are more than that third presets the presentation time, third model are based on, according to real time temperature, real-time lighting intensity
And real-time humidity, unmanned plane real-time speed and spray particle diameter are adjusted, shortens mist droplet deposition distance, reduce spray drift, promotion is applied
Effective deposition liquid volume of medicine.
By above-mentioned steps, it is finally reached the capacity of sprinkler to unmanned plane dispenser, nozzle rotating angle and spray particle diameter
Adjustment so that nozzle state meets the matching status of practical dispenser process, achievees the purpose that accuracy pesticide applying and uniform dispenser.
Further, it is to be manually set when determining Comparison of standards library that the first default threshold, the second default threshold and third, which preset threshold,.
Actual conditions and nominally phase is arranged in real-time weather information set by Comparison of standards library and unmanned plane real time information
The deviation threshold value of information is closed, i.e., the first default threshold, the second default threshold and third preset threshold, the first default threshold, the second default threshold
It is numerical value or proportional region to preset threshold with third.
Based on above-described embodiment, in flight course, speed easily fluctuates unmanned plane, so as to cause the uneven of dispenser
Property, it is absorbed not only bad for crop, will also result in pesticide and cross and apply harm.To ensure the uniform sprinkling of unmanned plane, unmanned plane is established
Coupling between real-time speed V and capacity of sprinkler F is closed, that is, establishing the first model is：
F=f (U (V))
Wherein, F is capacity of sprinkler, and U is that compression pump controls voltage, and V is unmanned plane real-time speed.
Specifically, unmanned plane real-time speed V (m/s), capacity of sprinkler F (L/min), spraying swath S (m) and formulation rate Y (L/m2)
There are following relationships：
F=60VSY
Wherein, be fixed per the formulation rate Y of subjob, and test one of this research system stability it is important according to
According to fixed unmanned plane, nozzle and pump, which will produce, almost fixes spraying swath S.
For different compression pumps, there are coupled relations, i.e. F=f between capacity of sprinkler F and compression pump control voltage U
(U), F=60VSY is substituted into, is obtained
It is real-time according to unmanned plane i.e. by establishing relationship between unmanned plane real-time speed V and control pressure pump control voltage U
The variation of speed V, adjustment compression pump control voltage U；It is closed further according to the coupling between capacity of sprinkler F and compression pump control voltage U
System controls the variation of voltage U, adjustment nozzle sprinkling flow F according to compression pump.
Based on above-described embodiment, the second model includes：
Wherein, βAFor rotation angle of the nozzle 15 on heading, βBFor rotation angle of the nozzle on vertical flight direction
Degree, H are unmanned plane height, VAFor component of the real-time wind speed on heading, VBIt is real-time wind speed along vertical flight direction
Component, t are the time that spraying reaches ground.
Specifically, during dispenser, the influence of crosswind is not just perpendicular to unmanned plane during flying direction.Ambient wind velocity and wind direction
After acquisition, resolution of velocity, wherein V are done along heading and perpendicular to heading respectivelyWFor ambient wind velocity, VA、VBRespectively
Along the resolution of velocity of heading and vertical flight direction, α is to decompose angle.
After wind speed has been decomposed, for the drift in unmanned plane during flying direction and vertical unmanned plane during flying direction both direction
It analyzes.On vertical unmanned plane during flying direction, it is known that certain nozzle and formulation rate can generate fixed pressure to nozzle, because
And after droplet leaves nozzle, have initial velocity V perpendicular to the ground0, under the action of the g that gravity accelerates, aircraft flight is solid
Fixed height, then the time t on drop arrival ground can be according to formulaIt acquires, so droplet lateral drift distance
SB=VB* t, then acquiring nozzle needs the angle of transverse rotation to be
Similarly, it along unmanned plane during flying direction, can acquire to inhibit the drift of the droplet along heading, need half-convergency
Degree
Based on above-described embodiment, third model is：
H=φ (α T, β Rh, γ L)
D=f (T, Rh, L, H)
Wherein, H is unmanned plane height, and T is real time temperature, and Rh is real-time humidity, and L is intensity of illumination, and D is spray particle diameter.
Specifically, air themperature, air humidity and the intensity of illumination in dispenser environment can all influence entire dispenser process most
Whole mist droplet deposition as a result, during droplet downlink, different environment can cause that small particle droplet evaporates in advance the problems such as
Generation, directly affect the result of mist droplet deposition.The present embodiment establishes unmanned plane dispenser environmental data and unmanned plane during flying is high
Relational model between degree, spraying droplet particle diameter distribution, i.e. third model are based on collected environmental information, adjust unmanned plane
The height and spraying droplet particle diameter distribution of flight so that droplet can reach least disadvantage during downlink and optimal deposition is equal
Evenness.
The present embodiment establishes unmanned plane during flying by the air themperature T of acquisition, humidity Rh and intensity of illumination L data informations
Relational model between height H and each meteorological data, i.e.,Establish spraying droplet grain size and each meteorology
Relational model D=f (H)=f (φ (α T, β Rh, γ L)) of data, above-mentioned two model collectively forms third model.If air
The variation of temperature T, humidity Rh and intensity of illumination L are more than that third presets threshold, then change drone flying height, if flying height reaches
When to maximum value or minimum value, weather information is still changing, then the mist droplet particle size of adjusting shower nozzle, and nozzle droplet is reduced to reach
Drift or the purpose of evaporation.
For example, when during spraying, when monitoring that environment temperature is promoted, humidity reduces, by reduce flying height come
Inhibit because temperature is promoted, humidity reduces the unstable mistake of liquid medicine steaming brought.If unmanned plane enters flight low limit level, weather information
Still changing, is then inhibiting liquid drift by increasing the mist droplet particle size of spraying；Conversely, during spraying, environment is monitored
When temperature reduces, humidity increases, improves operating efficiency by suitably increasing flying height, promotes flight safety degree.If nothing
It is man-machine to enter flight limit level, it is found that the mist droplet particle size of spraying can still have the space of promotion, reduces the droplet of spraying at this time
Grain size, to promote the uniformity and deposition quality of spraying.
Based on above-described embodiment, Fig. 2 is a kind of unmanned plane Spraying Control System according to a preferred embodiment of the invention
General illustration, as shown in Fig. 2, on the other hand, the present invention also provides a kind of unmanned plane Spraying Control Systems, including：Gas
As station acquisition system 1, acquisition control system 2, compression pump 3, two axis steering engines, unmanned plane fly 5 systems of control and nozzle 15；It adopts weather station
Collecting system 1, compression pump 3, two axis steering engines and unmanned plane fly 5 systems of control and are connect respectively with acquisition control system 2；Compression pump 3, two axis
Steering engine and unmanned plane fly 5 systems of control and are connect respectively with nozzle 15.
Specifically, this unmanned plane Spraying Control System includes weather station acquisition system 11, acquisition control system 22, compression pump
33, two axis steering engines 4, unmanned plane fly 5 systems 5 of control and nozzle 15, wherein weather station acquisition system 1 are placed on ground, remaining is respectively mounted
On unmanned plane spray appliance.Weather station acquisition system 1 and unmanned plane fly 5 systems of control respectively by the meteorological real time information of acquisition and
Unmanned plane real time information passes to acquisition control system 2, by the meteorological real time information received and nobody in acquisition control system 2
Machine real time information and the relevant information in Comparison of standards library are compared, when reaching trigger condition, the control pressure of acquisition control system 2
Power pumps 3, two axis steering engines and unmanned plane flies 5 systems of control and carries out associated adjustment, and final pressure pumps 3, two axis steering engines and unmanned plane flies control 5
System controls nozzle 15 and carries out associated adjustment.
Based on above-described embodiment, Fig. 3 is a kind of unmanned plane Spraying Control System according to a preferred embodiment of the invention
Weather station acquisition system schematic diagram, as shown in figure 3, weather station acquisition system 1 include respectively with the first central controller 16
Air velocity transducer 6, wind transducer 7, temperature sensor 8, humidity sensor 9 and the light intensity sensor 10 of connection.
Specifically, acquisition system 1 inside in weather station includes control box, energy supply control module, wireless communication module 13, wind speed
Sensor 6, wind transducer 7, temperature sensor 8, humidity sensor 9 and intensity of illumination sensor.In acquisition control system 2
In, the data that wind speed and direction sensor 7 acquires provide data reference for 15 conversion angle of nozzle, and temperature sensor 8, temperature pass
Sensor 8 and light intensity sensor 10 provide data reference for unmanned plane height change.
Based on above-described embodiment, Fig. 4 is a kind of unmanned plane Spraying Control System according to a preferred embodiment of the invention
Acquisition control system schematic diagram, as shown in figure 4, acquisition control system 2 includes the height being connect with the second central controller 17
Spend sensor 11, flow sensor 12 and attitude transducer 14.
Specifically, acquisition control system 2 is kernel control module, including height sensor 11, flow sensor 12, posture
Sensor 14, wireless communication module 13, control box, compression pump 3, steering engine and unmanned plane fly control 5.Acquisition controller is being acquired and is being controlled
During system, the wind speed and direction of the height to unmanned plane, posture, 15 flow of nozzle and environment is not only needed to be acquired
And monitoring, while also to complete the control to compression pump 3, steering engine and flight control system.
Based on above-described embodiment, as shown in figure 4, acquisition control system 2 further includes being connect with the second central controller 17
Wireless transport module, wireless transport module are used to receive the real-time weather information of the transmission of weather station acquisition system 1.
Specifically, in acquisition control system 2, store function can be by the number of sensing data and wireless sensor network transmission
According to storage to locally, memory space guarantee can at least back up the nearest one month data information of storage；RS232 serial ports provide
Communication connection between twin shaft steering engine 4, two serial port settings：One serial ports connects wireless transport module, for receiving gas
As the real-time weather information that station acquisition system 1 is transmitted, another serial ports is passed for sending after acquisition control system 2 is computed
Twin shaft steering engine 4 is defeated by need to convert the command information of much angles；Power management function can make sensor, steering engine etc. in the free time
Moment powers off, and equipment enters battery saving mode, reduces equipment energy consumption.Microcontroller is used to power on and be automatically reset and two kinds of sides of hand-reset
WatchDog Timer is added in formula, enables a system to automatically restart when running error.
Based on above-described embodiment, Fig. 5 is a kind of unmanned plane Spraying Control System according to a preferred embodiment of the invention
Twin shaft steering engine 4 schematic diagram, as shown in figure 5, twin shaft steering engine 4 is by receiving the control signal that sends of kernel control module,
Two paths of signals controls twin shaft steering engine first axle 41 and the second axis of twin shaft steering engine 42 and is completed jointly to nozzle 15 all around four respectively
The conversion in a direction, by weather station acquisition system 1 and unmanned plane fly the real-time wind speed, real-time wind direction that 5 system acquisitions of control arrive with
And unmanned plane real-time attitude information, the two path control signal of output control twin shaft steering engine 4, for the wind speed point along heading
The wind speed component in amount and vertical flight direction carries out the conversion in 15 direction of nozzle respectively, to reach the angle of control nozzle 15
Variation enables to rotate within 180 ° all around of nozzle 15.
The present invention provides a kind of unmanned plane dispenser control method and systems, by the way of Multi-information acquisition, by nobody
Machine dispenser environment and the specifying information of unmanned plane during flying state are applied to unmanned plane dispenser process；With predetermined Comparison of standards
Library compares, and is based on the first model, according to unmanned plane real-time speed, adjustment compression pump control voltage and capacity of sprinkler；Based on second
Model determines 15 rotation angle of nozzle according to real-time wind speed, unmanned plane real-time speed and the real-time height of unmanned plane；Based on third
Model adjusts unmanned plane real-time speed and spray particle diameter according to real time temperature, real-time lighting intensity and real-time humidity.Thus, it is possible to
According to during unmanned plane dispenser real-time weather information and unmanned plane real time information, be finally reached to capacity of sprinkler, nozzle rotation
The effect that gyration and spray particle diameter are adjusted greatly extends control range of the unmanned plane dispenser process for nozzle,
Realize more precisely with equably dispenser.
Finally, method of the invention is only preferable embodiment, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of unmanned plane dispenser control method, which is characterized in that including：
Determine that Comparison of standards library, the Comparison of standards library are no crosswind, normal temperature is 25 DEG C, standard humidity 60%, standard
Intensity of illumination is 2500Lux, and unmanned plane standard speed is 4m/s, and standard unmanned plane height is 3m, and unmanned plane standard posture is phase
To the information including standard spray nozzle flow, standard spray nozzle angle and standard spray grain size of along dispenser parallel acquisition；
It includes real-time wind speed, real-time wind direction, reality to acquire real-time weather information and unmanned plane real time information, the real-time weather information
Shi Wendu, real-time lighting intensity and real-time humidity, the unmanned plane real time information include that unmanned plane real-time speed, unmanned plane are real-time
Height and unmanned plane real-time attitude；
If the deviation of the unmanned plane real-time speed and the unmanned plane standard speed in the Comparison of standards library is more than first pre-
If the presentation time, it is based on the first model, according to the unmanned plane real-time speed, adjusts the compression pump control voltage and the nozzle stream
Amount.
2. a kind of unmanned plane dispenser control method according to claim 1, which is characterized in that if the real-time wind speed is more than
Second default threshold, be based on the second model, according to the real-time wind speed, unmanned plane real-time speed, unmanned plane in real time height and nobody
Machine real-time attitude determines the nozzle rotating angle.
3. a kind of unmanned plane dispenser control method according to claim 1, which is characterized in that
If the real time temperature, real-time lighting intensity or real-time humidity respectively in the Comparison of standards library normal temperature, mark
It is highly more than that third presets threshold that the deviation of quasi- humidity or standard intensity of illumination, which makes the unmanned plane in real time, is based on third model,
According to real time temperature, real-time lighting intensity and real-time humidity, the unmanned plane height and the spray particle diameter in real time are adjusted.
4. a kind of unmanned plane dispenser control method according to claim 1, which is characterized in that first model is：
F=f (U (V))
Wherein, F is capacity of sprinkler, and U is that compression pump controls voltage, and V is unmanned plane real-time speed.
5. a kind of unmanned plane dispenser control method according to claim 1, which is characterized in that second model includes：
Wherein, βAThe rotation angle for being nozzle on heading, βBFor rotation angle of the nozzle on vertical flight direction, H is
Unmanned plane height, VAFor component of the real-time wind speed on heading, VBFor component of the real-time wind speed on vertical flight direction, t
Reach the time on ground for spraying.
6. a kind of unmanned plane dispenser control method according to claim 1, which is characterized in that the third model is：
H=φ (α T, β Rh, γ L)
D=f (T, Rh, L, H)
Wherein, H is unmanned plane height, and T is real time temperature, and Rh is real-time humidity, and L is intensity of illumination, and D is spray particle diameter.
7. a kind of unmanned plane dispenser control method according to claim 2, which is characterized in that the capacity of sprinkler with it is described
Relationship between unmanned plane real-time speed is：
Wherein, Y is per subjob formulation rate, and F is capacity of sprinkler, and V is unmanned plane real-time speed, and S is nozzle spraying swath.
8. a kind of unmanned plane Spraying Control System, which is characterized in that including：Weather station acquisition system, acquisition control system, pressure
Pump, two axis steering engines, system for flight control computer and nozzle；The weather station acquisition system, the compression pump, the two axis steering engine and
The system for flight control computer is connect with the acquisition control system respectively；The compression pump, the two axis steering engine and the nothing
Man-machine flight control system is connect with the nozzle respectively.
9. a kind of unmanned plane Spraying Control System according to claim 8, which is characterized in that the weather station acquisition system
Including air velocity transducer, wind transducer, temperature sensor, humidity sensor and the light being connect respectively with the first central controller
Strong sensor.
10. a kind of unmanned plane Spraying Control System according to claim 8, which is characterized in that the acquisition control system
Include the height sensor, flow sensor and attitude transducer being connect with the second central controller.
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Application publication date: 20180914 |