CN109131893A - A kind of pesticide residue real-time detection based on unmanned plane and the system and method accurately removed - Google Patents
A kind of pesticide residue real-time detection based on unmanned plane and the system and method accurately removed Download PDFInfo
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- CN109131893A CN109131893A CN201811195254.8A CN201811195254A CN109131893A CN 109131893 A CN109131893 A CN 109131893A CN 201811195254 A CN201811195254 A CN 201811195254A CN 109131893 A CN109131893 A CN 109131893A
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- unmanned plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The pesticide residue real-time detection based on unmanned plane that the invention discloses a kind of and the system and method accurately removed.The system includes independent navigation unmanned plane, Detecting Pesticide module, pesticide residue removal module.This method, which is mainly comprised the steps that, carries out remote sensing detection to vegetation to be measured using the independent navigation unmanned plane for carrying spectral remote sensing device；The pesticide residue characteristic spectrum and geographical location information of test plants are obtained after image procossing；It is compared with existing known pesticide spectrum, judges pesticide variety and concentration；Large database concept automatically generates pesticide residue removal prescription and is automatically configured by unmanned plane；The optimal line of flight of ground-based computer contexture by self；Unmanned plane is independently sprayed by course line;Reinspection flight after the completion.System and method for of the invention, pesticide residue analysis is accurate, operation intelligence, testing cost are low, exhaustive, error are small, greatly reduces pollution of the excessive application to edible class farm-forestry crop, largely alleviate its it is edible after harm to human body.
Description
Technical field
The pesticide residue real-time detection based on unmanned plane that the present invention relates to a kind of and the system and method accurately removed, belong to
Plant protection field.
Background technique
Pesticide residue all constitutes sizable threat to ecological environment, biology health and foreign trade, objective from science
From the perspective of, there is presently no which kind of products can efficiently remove plant pesticide residual, and therefore, plant pesticide is remaining in time
Detection and pesticide residue removal just seem particularly significant.
The residual detection of Traditional Agricultural is using the method to trace pesticide residual progress qualitative and quantitative analysis in sample to be tested, to residual
Pesticide is stayed to be detected and analyzed, and aforesaid way is higher for the environmental requirement for detecting the laboratory of sample and to area surface
Testing cost is higher for the biggish growing area of product, and inefficiency.
Reducing the remaining method of plant pesticide at present is mainly secondary removal method, is first with a small amount of water or to remove carrier for agriculture
Medicine preparation is removed into mother liquor or female powder, is then removed to required concentration again.Aforesaid way only before the application removes mother liquor
It removes, cannot thoroughly eradicate pesticide residue.
Summary of the invention
The pesticide residue real-time detection and accurately go that the technical problem to be solved in the present invention is to provide a kind of based on unmanned plane
The system and method removed, the system and method by unmanned plane autonomous flight, by spectrum and database obtain agriculture residue according to
The residual removal prescription of agriculture sprays the residual removal medical fluid of agriculture by unmanned plane.
For achieving the above object, technical scheme is as follows:
The system that the present invention provides a kind of pesticide residue real-time detection based on unmanned plane and accurately removes, including independent navigation without
Man-machine and ground-based computer, the unmanned plane include UAV system rack, the rotor for being fixed on luggage carrier surrounding, motor and set
The undercarriage under luggage carrier is set, GPS positioning module, wireless transmission mould are also mounted on independent navigation unmanned plane of the present invention
Block, Detecting Pesticide module, pesticide residue remove module；The ground-based computer is used to control the rule in unmanned plane during flying course line
It draws.
Further, the GPS positioning module is directly installed on inside unmanned plane, and the GPS positioning module is used for nobody
Machine is flown and is positioned pesticide residue plant position to be measured by advertised route, analyzes tested plant spectral convenient for shooting.
Further, the wireless transport module is directly installed on inside unmanned plane, and wireless transport module will be for that will measure
Plant spectral data be transferred to ground-based computer and ground-based computer to unmanned plane transmission course line instruction and pesticides removal examination
Agent configuration-direct.
Further, the Detecting Pesticide module includes at least spectrum camera and circuit board；The spectrum camera peace
Mounted in the uav bottom；The circuit board is mounted on inside luggage carrier, and the Detecting Pesticide module is used for basis and adopts
The plant spectral data collected are detected by the pesticide residue type and concentration of measuring plants.
Further, pesticide residue removal module include at least medicine-chest, spray head, micro pump, lithium battery, microcontroller,
Spray head is into medicine solenoid valve, grug transportation tube；The medicine-chest and micro pump are mounted on the stationary platen above unmanned aerial vehicle body；It is described
Spray head is fixedly mounted on immediately below unmanned plane rotor；The lithium battery is mounted in uav belly；The grug transportation tube is mounted on
Below the horn of unmanned plane and connect medicine-chest and spray head；The microcontroller is fixedly mounted in unmanned plane；The pesticide residue
Module is removed, for instructing unmanned plane to carry out the sprinkling of pesticide residue remover.
Further, the ground-based computer is mounted on terrestrial operation space, and the ground-based computer passes through wireless transmission
Module is assigned the unmanned plane during flying course line of ground-based computer intelligent planning to unmanned plane and is assigned to pesticide residue removal module
The formula of pesticide residue remover instructs.
Pesticide residue on-line checking of the present invention and in real time removal system, according to the electricity under Detecting Pesticide module
Road plate analyzes the drug ratio scheme that spectroscopic data obtains pesticide residue remover, and pesticide residue removes the medicine-chest root under module
According to drug ratio scheme, intelligently configuration pesticide residue removes drug, passes through wireless transport module to unmanned plane by ground-based computer
Course line instruction is conveyed, after unmanned plane reaches the residual exceeded region of agriculture by GPS positioning system, pesticide residue removes the micro-control under module
Device processed controls spray head and opens into medicine solenoid valve, and pesticide residue remover is sprayed through grug transportation tube by spray head, and passes through unmanned plane during flying
When rotor wing rotation generate air-flow spread medical fluid so that the plant parts of excessive pesticide residues be removed completely drug covering.
The present invention also provides for the pesticide residue on-line checking and real-time method that removes based on above system, including it is following
Scheme and step:
Scheme one, multiple multiple flight operations of unmanned plane, it is pre- according to ground-based computer that the rotor wing unmanned aerial vehicle carries spectroscopy equipment
If route (a) carries out autonomous flight, hover when reaching the residual position to be measured of specified agriculture, spectrum camera carries out spectrum data gathering
After make a return voyage, the qualified fruit that data are transmitted to integrated circuit board and setting plants spectroscopic data and is compared, and obtains remaining excessive agriculture
Medicine type and dose, the medical fluid scheme of pesticides removal sprinkling is made by data analysis, and ground-based computer is taken by unmanned plane
The GPS positioning module of load reaches the optimal of the residual excessive fruit plant of agriculture using existing unmanned plane course line intelligent planning software intelligent planning
Flight path (b), the residual removal medical fluid of agriculture needed for multiple medicine liquid spray UAV flights are taken according to ground-based computer by unmanned plane
The optimal flight path flight that the existing unmanned plane flight course planning software intelligent planning of GPS positioning module application of load obtains, fixed point
It sprays insecticide and removes medicament；
Scheme two, single unmanned plane single flight operation, the rotor wing unmanned aerial vehicle are carried out according to ground-based computer default route (a)
Autonomous flight reaches designated position hovering.By the qualification of integrated circuit board and setting after spectrum camera progress spectrum data gathering
Spectroscopic data carries out online comparative analysis, obtains remaining excessive pesticide type with data feedback after dose to existing big data
Library analyze and intelligently generates pesticides removal scheme, and protocol is back to unmanned mounted circuit board, and order medicine-chest is according to needed for
The residual remover of medicine ordinance agriculture, microcontroller control solenoid valve opening and closing, and the operating of micro pump device is small indoor specified by medicine-chest
The residual removal drug of agriculture is sprayed by spray head.
Scheme three, the single multiple flight operation of unmanned plane, the rotor wing unmanned aerial vehicle is according to ground-based computer default route (a)
Autonomous flight is carried out, designated position hovering is reached.By integrated circuit board and setting after spectrum camera progress spectrum data gathering
Qualified spectroscopic data carries out online comparative analysis, obtains intelligently generating pesticides removal side after remaining excessive pesticide type and dose
Case, unmanned plane, which makes a return voyage, carries medical fluid, according to ground-based computer by the existing unmanned plane of GPS positioning module application of UAV flight
The optimal flight path (b) that flight course planning software intelligent planning generates is flown again, carries out after reaching above the residual excessive plant of agriculture
The sprinkling of pesticides removal medicament.
Scheme four, multiple unmanned plane single flight operations, the rotor wing unmanned aerial vehicle is according to ground-based computer default route (a)
Autonomous flight is carried out, designated position hovering is reached.By integrated circuit board and setting after spectrum camera progress spectrum data gathering
Qualified spectroscopic data carries out online comparative analysis, obtains remaining excessive pesticide type with data feedback after dose to existing big
Database analyze and intelligently generates pesticides removal scheme, and protocol is sent to deck alert unmanned plane.It awaits orders unmanned plane
The residual removal medicament of agriculture needed for carrying scheme flies to straight, and agriculture is residual to detect excessive vegetation, carries out after reaching above the residual excessive plant of agriculture
The sprinkling of pesticides removal medicament.
In conclusion by single unmanned plane single flight operation, the single multiple flight operation of unmanned plane, multiple unmanned plane lists
Secondary flight operation, the operation scheme of multiple multiple flight operations of unmanned plane is in the pesticide residue on-line checking and reality of my unmanned plane
When the method practical operation scheme that removes in.
Further, the plant species growing area that need to treat operation in advance is reconnoitred, according to the planting location of kindred plant with
Plant overall growth height rule, makes a set of unmanned plane autonomous flight route；The process of autonomous flight is carried out in unmanned plane
In, it is positioned according to GPS coordinate and is flown according to the predetermined flight path of ground-based computer in real time, hovered simultaneously above to measuring plants
It is taken on site with the spectrum camera of UAV flight.
Further, the unmanned plane carries out of short duration hovering above each plant and is adopted by spectrum camera progress spectrum
Collection carries out collected spectroscopic data to be transferred to integrated circuit board after tentatively integrating, and circuit board is to acquisition data and setting
Qualified plant spectral standard carries out global alignment；It is characterized by: presetting the spectrum of the different residual qualifications of plant agriculture in the circuit board
Model sets reasonable fluctuation area, by the qualitative plant for a certain particular growth type accurate after analysis of data collected, then root
According to the reasonable application scheme of data analysis matching.
For above scheme, for being compared to each other its respectively advantage is:
Scheme one: multiple multiple flight operations of unmanned plane may be implemented in the short time compared to single unmanned machine operation in big model
The Detecting Pesticide of vegetation in enclosing and accurate removal.Activity duration is short, high-efficient.
Scheme two: single unmanned plane single flight operation compared to multiple unmanned machine operations reduce Detecting Pesticide with
The equipment requirement accurately removed can be realized the detection to the vegetation pesticide residue in certain area and accurate removal.
Scheme three: the single multiple flight operation of unmanned plane expands whole to a certain extent compared to single flight operation
Body job area can be realized the Detecting Pesticide of vegetation and accurate removal in large area.
Scheme four: multiple unmanned plane single flight operations shorten work compared to multiple flight operation to a certain extent
The industry time, improve operating efficiency.
Advantage is the present invention compared with prior art:
1, pesticide residue real-time detection of the present invention based on unmanned plane and the system accurately removed, system main member phase
It is compared to the existing Detecting Pesticide equipment in market, manufacturing cost is cheap and the rigid steric requirements of equipment storage substantially subtracts
It is few.
2, pesticide residue real-time detection of the present invention based on unmanned plane and the system accurately removed, may be implemented in real time
It rapidly detects big regional vegetation pesticide residue situation and accurate removal, consumption is realized to the pesticide residue in excessive pesticide residues region
When it is few, it is high-efficient.
3, pesticide residue real-time detection of the present invention based on unmanned plane and the method accurately removed realize large area
The Detecting Pesticide and removal of vegetation, compared with existing the Detection Technologies of Pesticide Residues, required detection time is short, testing result essence
Really, removal efficiency is higher, has filled up the blank that unmanned plane application pesticide residue accurately removes this field.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing work simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
Its attached drawing.Wherein:
Fig. 1 is the system flow chart the present invention is based on the pesticide residue real-time detection of unmanned plane and accurately removed.
Fig. 2 is to operate to show in the system and method the present invention is based on the pesticide residue real-time detection of unmanned plane and accurately removed
Rotor wing unmanned aerial vehicle structural schematic diagram described in example.
Fig. 3 is the system and method operation example the present invention is based on the pesticide residue real-time detection of unmanned plane and accurately removed
The rotor wing unmanned aerial vehicle operation schematic diagram.
Fig. 4 is that the system and method operation the present invention is based on the pesticide residue real-time detection of unmanned plane and accurately removed is shown
The rotor wing unmanned aerial vehicle flight path figure of example.
In figure: 1- medicine-chest 2- rotor 3- fixing piece 4- spray head 5- pumps 6- circuit board 7- spectrum camera 8- lithium battery
9- bracket 10- grug transportation tube 11- luggage carrier 12- ground-based computer.
Specific embodiment
A kind of pesticide residue on-line checking based on unmanned plane and removal system, including independent navigation unmanned plane and ground in real time
Face computer 12, the unmanned plane include UAV system rack 11, rotor 2, motor and the setting for being fixed on luggage carrier surrounding
Undercarriage 9 under luggage carrier is also mounted with GPS positioning module, wireless transport module, pesticide on the independent navigation unmanned plane
Residue detection module, pesticide residue remove module；The ground-based computer is used to control the planning in unmanned plane during flying course line.
The GPS positioning module is directly installed on inside unmanned plane, and the GPS positioning module is for unmanned plane by specified boat
Line flight and positioning pesticide residue plant position to be measured analyze tested plant spectral convenient for shooting.The wireless transport module
It being directly installed on inside unmanned plane, wireless transport module is used to the plant spectral data measured being transferred to ground-based computer, with
And ground-based computer is instructed to unmanned plane transmission course line and pesticides removal reagent configuration-direct.The Detecting Pesticide module is extremely
It less include spectrum camera and circuit board；The spectrum camera is mounted on the uav bottom；The circuit board is mounted on loading
Inside frame, the Detecting Pesticide module is used to be detected residual by the pesticide of measuring plants according to collected plant spectral data
Class of reserving seed for planting and concentration.As shown in Fig. 2, the pesticide residue removal module includes at least medicine-chest 1, spray head 4, pump 5, lithium battery 8 is micro-
Controller, spray head are into medicine solenoid valve, grug transportation tube 10；The medicine-chest and micro pump are mounted on the fixed station above unmanned aerial vehicle body
On plate；The spray head is fixedly mounted on immediately below unmanned plane rotor；The lithium battery is mounted in uav belly；The loading
Pipe is mounted below the horn of unmanned plane and connects medicine-chest and spray head；The microcontroller is fixedly mounted in unmanned plane；It is described
Pesticide residue removes module, for instructing unmanned plane to carry out the sprinkling of pesticide residue remover.The ground-based computer is mounted on
Terrestrial operation space, the ground-based computer assign the nothing of ground-based computer intelligent planning by wireless transport module to unmanned plane
The man-machine line of flight and the formula for assigning pesticide residue remover to pesticide residue removal module instruct.
Pesticide residue on-line checking of the present invention and in real time removal system, according to the electricity under Detecting Pesticide module
Road plate analyzes the drug ratio scheme that spectroscopic data obtains pesticide residue remover, and pesticide residue removes the medicine-chest root under module
According to drug ratio scheme, intelligently configuration pesticide residue removes drug, passes through wireless transport module to unmanned plane by ground-based computer
Course line instruction is conveyed, after unmanned plane reaches the residual exceeded region of agriculture by GPS positioning system, pesticide residue removes the micro-control under module
Device processed controls spray head and opens into medicine solenoid valve, and pesticide residue remover is sprayed through grug transportation tube by spray head, and passes through unmanned plane during flying
When rotor wing rotation generate air-flow spread medical fluid so that the plant parts of excessive pesticide residues be removed completely drug covering.
A kind of pesticide residue real-time detection of unmanned plane and the method accurately removed, the pesticide measurement method is specifically such as
Under:
Step 1: carrying out floristics, planting position and plant overall growth height in pesticide residue plant species growing area to be measured
Prospecting.
Step 2: the spectral model database that detection of kindred plant pesticide residue items is not qualified is stored in the circuit board,
Reasonable data float section is set according to the remaining national standard of plant pesticide.
Step 3: according to the planting location of kindred plant and plant overall growth height rule, navigating using existing unmanned plane
Line software makes route (such as Fig. 3-route a) of a set of unmanned plane autonomous flight.
Step 4: unmanned plane (such as Fig. 1) is positioned in real time according to GPS coordinate and is carried out according to the autonomous flight route of step 3 winged
Row, arrival agriculture is residual to hover after above measuring plants.
Step 5: the spectral remote sensing device of UAV flight shoots region implants, and it is remaining to obtain plant pesticide
Characteristic spectrum.
Step 6: the characteristic spectrum data in step are transferred to integrated circuit board and the default known pesticide residue of step 2 is closed
Lattice spectral model is compared, and obtains the type and dose of excessive pesticide residue, and then determine the ground of pesticide residue excess plant
Manage position.
Step 7: according to the concrete operations for the pesticide residue data configuration pesticide residue removal medicament that step 6 obtains are as follows:
Step 7.1: circuit board is residual according to the medicine-chest configuration pesticide that pesticide residue removes medicament data direct instruction UAV flight
Stay remover；
Step 7.2: pesticide residue data feedback is to ground, and deck alert unmanned plane is by manually residual according to data demand configuration pesticide
Stay remover
Step 7.3: pesticide residue data are transmitted to the unmanned mounted circuit board of ground alert, and circuit board removes medicament according to pesticide residue
The medicine-chest of data direct instruction UAV flight configures pesticide residue remover；
Step 8: the sprinkling of pesticide residue remover, operating method (such as Fig. 2) packet are carried out to the unqualified plant of Detecting Pesticide
It includes:
Step 8.1: in step 7.1 after the completion of pesticide residue removal agent configuration, microcontroller controls solenoid valve opening and closing, Miniature water
The small indoor specified removal drug of medicine-chest is passed through spray head excessive plant sprinkling residual to agriculture by pump installation operating.
Step 8.2: in step 7.2 and step 7.3 after the good pesticide residue remover of deck alert UAV flight, ground behaviour
The position for making the residual excessive plant of personnel's several agricultures according to obtained in step 6, makes using existing unmanned plane course line software
Deck alert unmanned plane reaches the optimal autonomous flight route of the position of the residual excessive plant of agriculture, and unmanned plane will after reaching formulation position
The small indoor specified removal drug of medicine-chest is sprayed by spray head.
Step 9: the unmanned plane according to obtained in step 8.2 reaches the optimal autonomous flight road of the position of the residual excessive plant of agriculture
The spray effect of pesticide residue remover is rechecked in line, unmanned plane flight operation again.
Operation of the system Jing Guo above-mentioned steps completes the remaining detection of plant pesticide and accurate removal work.
With reference to the accompanying drawing and with specific embodiment, the present invention is furture elucidated.It should be understood that these embodiments are only used for
It is bright the present invention rather than limit the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention
The modification of various equivalent forms falls within the application range as defined in the appended claims.
Embodiment 1:
Multiple multiple flight operations of unmanned plane, according to the planting position to be measured that is previously obtained and plant overall growth height,
Software default route a (Fig. 4) is set by existing unmanned plane course line using ground-based computer, UAV flight's spectrum camera 7
(Fig. 2) carries out autonomous flight by route a, hovers when reaching the residual position to be measured of specified agriculture, GPS records plant geographical position letter
Breath, spectrum camera make a return voyage after carrying out spectrum data gathering, the qualified fruit that data are transmitted to circuit board and setting plant spectroscopic data into
Row compares, and obtains remaining excessive pesticide type and dose, and the medical fluid scheme of pesticides removal sprinkling is made by data analysis,
The planning of ground-based computer 12 reaches optimal flight path b(Fig. 4 that the residual excessive fruit of agriculture is planted), multiple medicine liquid spray UAV flight institutes
The residual removal medical fluid of agriculture is needed to be flown according to route b, after reaching the residual excessive fruit plant of agriculture, spray head is opened into medicine solenoid valve, and pesticide residue is gone
Except agent is through grug transportation tube 10(Fig. 2) by spray head 4(Fig. 2) sprinkling, and the air-flow that rotor wing rotation generates when passing through unmanned plane during flying makes medicine
Liquid diffusion.
Embodiment 2:
Single unmanned plane single flight operation, according to the planting position to be measured and plant overall growth height being previously obtained,
Software default route a (Fig. 4) is set by existing unmanned plane course line using ground-based computer, unmanned plane is carried out according to route a
Autonomous flight reaches designated position hovering.Spectrum camera 7(Fig. 2) carry out spectrum data gathering after by integrated circuit board and setting
Qualified spectroscopic data carry out online comparative analysis, obtain remaining excessive pesticide type and data feedback after dose to existing
Large database concept analyze and intelligently generates pesticides removal scheme, and protocol is back to unmanned mounted circuit board, order medicine-chest root
According to the required residual remover of medicine ordinance agriculture, microcontroller controls solenoid valve opening and closing, micro pump 5(Fig. 2) operating, medicine-chest is interior to be referred to
Determine the residual removal drug of agriculture and passes through spray head 4(Fig. 2) sprinkling by grug transportation tube 10(Fig. 2).
Embodiment 3
The single multiple flight operation of unmanned plane, according to the planting position to be measured and plant overall growth height being previously obtained,
It is carried out certainly by existing unmanned plane course line setting software default route a (Fig. 4) unmanned plane according to route a using ground-based computer
Main flight reaches designated position hovering.Spectrum camera 7(Fig. 2) carry out spectrum data gathering after by integrated circuit board and setting
Qualified spectroscopic data carries out online comparative analysis, obtains intelligently generating pesticides removal side after remaining excessive pesticide type and dose
Case, unmanned plane, which makes a return voyage, carries medical fluid, ground-based computer according to the geographical location information of pesticide residue excess plant application whether there is or not
The optimal flight path b that man-machine flight course planning software intelligently generates flies again, after reaching above the residual excessive plant of agriculture, miniature control
Device control solenoid valve opening and closing processed, micro pump 5(Fig. 2) it operates, specify the residual removal drug of agriculture to pass through grug transportation tube 10(Fig. 2 in medicine-chest)
Pass through spray head 4(Fig. 2) sprinkling.
Embodiment 4
Multiple unmanned plane single flight operations, according to the planting position to be measured that is previously obtained and plant overall growth height,
It is carried out certainly by existing unmanned plane course line setting software default route a (Fig. 4) unmanned plane according to route a using ground-based computer
Main flight reaches designated position hovering.Spectrum camera 7(Fig. 2) carry out spectrum data gathering after by integrated circuit board and setting
Qualified spectroscopic data carries out online comparative analysis, obtains remaining excessive pesticide type with data feedback after dose to existing big
Database analyze and intelligently generates pesticides removal scheme, and protocol is sent to deck alert unmanned plane.It awaits orders unmanned plane
By arrangements and pesticide residue removal reagent is carried, ground-based computer relies on the geographical location information of pesticide residue excess plant
Plan flight path, microcontroller control solenoid valve opening and closing, micro pump 5(Fig. 2 after reaching above the residual excessive plant of agriculture) fortune
Turn, specify the residual removal drug of agriculture to pass through grug transportation tube 10(Fig. 2 in medicine-chest) pass through spray head 4(Fig. 2) sprinkling.
Claims (10)
1. a kind of pesticide residue on-line checking based on unmanned plane and removal system, including independent navigation unmanned plane and ground in real time
Computer, the unmanned plane include UAV system rack (11), rotor (2), motor and the setting for being fixed on luggage carrier surrounding
Undercarriage (9) under luggage carrier, it is characterised in that: GPS positioning module, wireless is also mounted on the independent navigation unmanned plane
Transmission module, Detecting Pesticide module, pesticide residue remove module；The ground-based computer is for controlling unmanned plane during flying boat
The planning of line.
2. pesticide residue on-line checking according to claim 1 and in real time removal system, which is characterized in that the GPS is fixed
Position module is directly installed on inside unmanned plane, and the GPS positioning module flies by advertised route and position agriculture for unmanned plane
Medicine remains plant position to be measured, analyzes tested plant spectral convenient for shooting.
3. pesticide residue on-line checking according to claim 1 and in real time removal system, which is characterized in that the wireless biography
Defeated module is directly installed on inside unmanned plane, and wireless transport module is used to for the plant spectral data measured to be transferred to ground and calculate
Machine and ground-based computer instruct and pesticides removal reagent configuration-direct to unmanned plane transmission course line.
4. pesticide residue on-line checking according to claim 1 and in real time removal system, which is characterized in that the pesticide is residual
Detection module is stayed to include at least spectrum camera and circuit board；The spectrum camera is mounted on the uav bottom；The circuit
Plate is mounted on inside luggage carrier, and the Detecting Pesticide module is used for according to collected plant spectral data, and detection is tested
The pesticide residue type and concentration of plant.
5. pesticide residue on-line checking according to claim 1 and in real time removal system, which is characterized in that pesticide residue is gone
Except module include at least medicine-chest (1), spray head (4), micro pump (5), lithium battery (8), microcontroller, spray head into medicine solenoid valve,
Grug transportation tube (10)；The medicine-chest and micro pump are mounted on the stationary platen above unmanned aerial vehicle body；The fixed peace of the spray head
Immediately below unmanned plane rotor；The lithium battery is mounted in uav belly；The grug transportation tube is mounted on the machine of unmanned plane
Below arm and connect medicine-chest and spray head；The microcontroller is fixedly mounted in unmanned plane；The pesticide residue removes module, uses
The sprinkling of pesticide residue remover is carried out in instruction unmanned plane.
6. pesticide residue on-line checking according to claim 1 and in real time removal system, which is characterized in that the ground meter
Calculation machine is mounted on terrestrial operation space, and the ground-based computer assigns ground-based computer intelligence to unmanned plane by wireless transport module
The unmanned plane during flying course line that can be planned and the formula for assigning pesticide residue remover to pesticide residue removal module instruct.
7. any pesticide residue on-line checking and in real time removal system according to claim 1 ~ 6, which is characterized in that according to
Circuit board under Detecting Pesticide module analyzes the drug ratio scheme that spectroscopic data obtains pesticide residue remover, pesticide
According to drug ratio scheme, intelligently configuration pesticide residue removes drug to medicine-chest under residue removal module, logical by ground-based computer
It crosses wireless transport module and conveys course line to instruct to unmanned plane, after unmanned plane reaches the residual exceeded region of agriculture by GPS positioning system, agriculture
Microcontroller under medicine residue removal module controls spray head and opens into medicine solenoid valve, and pesticide residue remover is through grug transportation tube by spray head
The air-flow that rotor wing rotation generates when spraying, and passing through unmanned plane during flying spreads medical fluid, so that the plant portion of excessive pesticide residues
Position is removed drug covering completely.
8. the method removed based on system as claimed in claim 7 for pesticide residue on-line checking and in real time, which is characterized in that
Including following scheme and step:
Scheme one, multiple multiple flight operations of unmanned plane, it is pre- according to ground-based computer that the rotor wing unmanned aerial vehicle carries spectroscopy equipment
If route (a) carries out autonomous flight, hover when reaching the residual position to be measured of specified agriculture, spectrum camera carries out spectrum data gathering
After make a return voyage, the qualified fruit that data are transmitted to integrated circuit board and setting plants spectroscopic data and is compared, and obtains remaining excessive agriculture
Medicine type and dose, the medical fluid scheme of pesticides removal sprinkling is made by data analysis, and ground-based computer is taken by unmanned plane
The GPS positioning module of load reaches the optimal of the residual excessive fruit plant of agriculture using existing unmanned plane course line intelligent planning software intelligent planning
Flight path (b), the residual removal medical fluid of agriculture needed for multiple medicine liquid spray UAV flights are taken according to ground-based computer by unmanned plane
The optimal flight path flight that the existing unmanned plane flight course planning software intelligent planning of GPS positioning module application of load obtains, fixed point
It sprays insecticide and removes medicament；
Scheme two, single unmanned plane single flight operation, the rotor wing unmanned aerial vehicle are carried out according to ground-based computer default route (a)
Autonomous flight reaches designated position hovering；
Spectrum camera is carried out by integrated circuit board and the qualified spectroscopic data of setting online to score after carrying out spectrum data gathering
Analysis obtains data feedback after remaining excessive pesticide type and dose and is analyzed to existing large database concept and intelligently generate agriculture
Medicine removes scheme, and protocol is back to unmanned mounted circuit board, and order medicine-chest is miniature according to the required residual remover of medicine ordinance agriculture
Controller controls solenoid valve opening and closing, and the operating of micro pump device sprays the small indoor specified residual removal drug of agriculture of medicine-chest by spray head
It spills；
Scheme three, the single multiple flight operation of unmanned plane, the rotor wing unmanned aerial vehicle are carried out according to ground-based computer default route (a)
Autonomous flight reaches designated position hovering；
Spectrum camera is carried out by integrated circuit board and the qualified spectroscopic data of setting online to score after carrying out spectrum data gathering
Analysis obtains intelligently generating pesticides removal scheme after remaining excessive pesticide type and dose, and unmanned plane, which makes a return voyage, carries medical fluid, according to
Ground-based computer is generated by the existing unmanned plane flight course planning software intelligent planning of GPS positioning module application of UAV flight
Optimal flight path (b) is flown again, carries out the sprinkling of pesticides removal medicament after reaching above the residual excessive plant of agriculture；
Scheme four, multiple unmanned plane single flight operations, the rotor wing unmanned aerial vehicle are carried out according to ground-based computer default route (a)
Autonomous flight reaches designated position hovering；
Spectrum camera is carried out by integrated circuit board and the qualified spectroscopic data of setting online to score after carrying out spectrum data gathering
Analysis obtains data feedback after remaining excessive pesticide type and dose and is analyzed to existing large database concept and intelligently generate agriculture
Medicine removes scheme, and protocol is sent to deck alert unmanned plane；
The residual removal medicament of agriculture needed for UAV flight's scheme of awaiting orders flies to straight, and agriculture is residual to detect excessive vegetation, reaches the residual excess of agriculture
The sprinkling of pesticides removal medicament is carried out after above plant.
9. pesticide residue on-line checking according to claim 8 and the method removed in real time, it is characterised in that: in advance to wanting
The plant species growing area of operation is reconnoitred, and according to the planting location of kindred plant and plant overall growth height rule, is made
A set of unmanned plane autonomous flight route；During unmanned plane carries out autonomous flight, positioned in real time according to GPS coordinate according to ground
Computer predetermined flight path in face is flown, to hover above measuring plants and showed with the spectrum camera of UAV flight
Field shooting.
10. pesticide residue on-line checking according to claim 8 and the method removed in real time, the unmanned plane is planted at every plant
Of short duration hovering is carried out above object and spectra collection is carried out by spectrum camera, and collected spectroscopic data is carried out after tentatively integrating
It is transferred to integrated circuit board, circuit board carries out global alignment to the qualified plant spectral standard of acquisition data and setting；Its feature
It is: presets the spectral model of the different residual qualifications of plant agriculture in the circuit board, reasonable fluctuation area is set, by analysis of data collected
The accurate qualitative plant for a certain particular growth type afterwards, further according to the reasonable application scheme of data analysis matching.
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