CN110091993B - Pesticide spraying control system of unmanned aerial vehicle - Google Patents
Pesticide spraying control system of unmanned aerial vehicle Download PDFInfo
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- CN110091993B CN110091993B CN201910349898.6A CN201910349898A CN110091993B CN 110091993 B CN110091993 B CN 110091993B CN 201910349898 A CN201910349898 A CN 201910349898A CN 110091993 B CN110091993 B CN 110091993B
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- 239000000575 pesticide Substances 0.000 title claims abstract description 77
- 238000005507 spraying Methods 0.000 title claims abstract description 59
- 239000007921 spray Substances 0.000 claims abstract description 26
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 230000001105 regulatory effect Effects 0.000 claims abstract description 13
- 238000007590 electrostatic spraying Methods 0.000 claims abstract description 10
- 230000010354 integration Effects 0.000 claims description 40
- 230000006854 communication Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 19
- 238000011156 evaluation Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000007175 bidirectional communication Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/50—On board measures aiming to increase energy efficiency
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle control systems, in particular to a pesticide spraying control system of an unmanned aerial vehicle. The solar energy power generation device comprises a plurality of motors and a rotor wing connected with the motors, wherein the motors are used for driving the rotor wing to rotate and are used for carrying out power support through a solar panel and a rechargeable battery; the electronic speed regulators are connected between the motors and the corresponding rotors, and are used for respectively regulating the power output of the motors so as to regulate the rotating speed of the rotors and further regulate the attitude of the aircraft; the device comprises a positioning sensor, a weather matching module, a pesticide spray head, an electrostatic spraying device, a fault self-testing module and a main control module, wherein the electrostatic spraying device, the fault self-testing module and the main control module are connected with the pesticide spray head; through the supporting use of meteorological matching module and pesticide shower nozzle, according to the meteorological data of each meteorological data apparatus survey, assign the spraying instruction to the pesticide shower nozzle, adjust the most suitable pesticide spraying speed and spray volume, realize treating the accurate pesticide spraying of spraying vegetation, improve pesticide spraying efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control systems, in particular to a pesticide spraying control system of an unmanned aerial vehicle.
Background
In the current grain crop production process, plant protection machinery mainly comprises manual and small-sized motor-driven spraying machines. The plant protection operation has the disadvantages of much labor input and high labor intensity, and poisoning accidents occur frequently for pesticide application personnel. And the method has the trends of large pesticide consumption, high operation cost, serious waste, low effective utilization rate of resources, difficulty in ensuring the yield and quality of crops and the like. Agricultural aviation has a great demand in modern agricultural development as one of important components of modern agriculture and important markers reflecting the level of agricultural modernization. The application of agricultural aviation plant protection technology has great significance for improving the mechanization level of crop pest control, implementing the specialized service of unified control, improving the utilization rate of agricultural resources, enhancing the sudden large-area pest control capability, relieving rural labor shortage, enhancing the agricultural anti-risk capability, ensuring the grain safety and ecological safety and realizing the agricultural sustainable development.
Meanwhile, in the pesticide spraying process of the existing unmanned aerial vehicle, the pesticide carrying amount is small, the unmanned aerial vehicle needs to be frequently controlled to return to the air and be loaded with pesticide, the process is complicated, and the labor cost and the power cost are greatly increased; moreover, the unmanned aerial vehicle carrying the pesticide has a lot of blind spots during aerial operation, collision or out-of-control events are easy to happen, and related protective measures are lost after the unmanned aerial vehicle is out of control, so that the unmanned aerial vehicle is damaged and the pesticide is splashed; in addition, because the unmanned aerial vehicle is far away from the ground when spraying the pesticide, is far away from the vegetation to be sprayed, is influenced by air temperature, humidity, air flow rate, pressure and unmanned aerial vehicle flight speed, the pesticide is hardly sprayed on the corresponding vegetation, and is irretrievable, and the pesticide "dancing" in the air can also cause environmental pollution, so that the phenomenon of causing biological poisoning occurs.
Disclosure of Invention
In order to solve the problems, the invention provides a pesticide spraying control system of an unmanned aerial vehicle, and aims to improve the flight stability of the unmanned aerial vehicle after pesticide is carried, adjust and control the flight visual angle in an all-round manner, improve the pesticide spraying efficiency and overcome the negative influence of pesticide spraying of the unmanned aerial vehicle.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle's pesticide spraying control system includes:
the solar energy rotary wing type wind power generator comprises a plurality of motors and rotary wings connected with the motors, wherein the motors are used for driving the rotary wings to rotate and comprise solar panels and rechargeable storage batteries, the motors are connected to the discharging ends of the rechargeable storage batteries, and the solar panels are connected to the charging point ends of the rechargeable storage batteries;
the electronic speed regulators are respectively connected between each motor and the corresponding rotor wing, and are used for respectively regulating the power output of each motor, so that the rotating speed of the rotor wing is regulated, and the attitude of the aircraft is further regulated;
the positioning sensor is used for navigating and positioning the flight position and the peripheral conditions of the unmanned aerial vehicle, transmitting the positioning data to the data integration module, and finally transmitting the integrated data to the main control module;
the pesticide spray head and the electrostatic spraying device connected with the pesticide spray head are used for completing a high-altitude spraying task; the pesticide sprayer further comprises an information receiver and a spraying speed regulator, and the information receiver is connected to the gas phase matching module;
the weather matching module comprises a wind speed determinator, a humidity determinator, a temperature determinator and a pressure determinator, is used for determining the wind speed, the air humidity, the air temperature and the atmospheric pressure around the aircraft body at the corresponding flight altitude, transmitting the four types of determination data to a weather integration unit for weather data integration, comparing the weather data with pesticide spraying standards, calculating the most suitable spraying rate and spraying amount, finally transmitting the calculated values to an information receiver at a pesticide spray head, and adjusting the spraying rate and the spraying amount of the pesticide spray head by a spray rate adjuster;
the system comprises a fault self-testing module, a risk self-testing unit and a risk evaluation module, wherein the fault self-testing module is used for automatically detecting the working states of hardware and software of the unmanned aerial vehicle, if a certain part fails, the risk self-testing unit detects fault information and transmits the fault information to the risk evaluation module through an alarm, the risk evaluation module extracts alarm information data, carries out risk evaluation and transmits a risk evaluation result to a main control module, and the main control module sends an out-of-control protection instruction, a return flight instruction, a flight stopping instruction or a flight continuing instruction to the fault processing module according to the risk evaluation result;
the main control module is connected to each motor, the electronic speed regulator, the positioning sensor, the pesticide sprayer, the weather matching module and the fault self-testing module, and bidirectional communication is achieved.
Preferably, a closed loop is formed between the solar panel and the rechargeable storage battery, an automatic switch is arranged on the loop, a sunlight sensor is arranged on the automatic switch, when the flight time of the unmanned aerial vehicle is sunny, the automatic switch is closed, an energy converter on the solar panel converts solar energy absorbed by the solar panel into electric energy, and the electric energy is adjusted to be matched with the rechargeable storage battery through a micro-transformer to charge the rechargeable storage battery; if the takeoff time is not fine, the automatic switch is switched off, and the rechargeable storage battery supplies power independently.
Preferably, the positioning sensor is provided with a GPS positioning sensor, a laser sensor and a sonar ranging sensor, when the unmanned aerial vehicle is in a working state, the three sensors work simultaneously and transmit corresponding measured data to the weather integration unit through RS485 interfaces, a first signal conversion unit is arranged between each sensor and the data integration module and used for converting the measured signals into received signals, the sensors and the data integration module are in one-way communication, and the communication direction is from the sensors to the data integration module; GPS positioning sensor is used for surveing unmanned aerial vehicle's spatial position information, laser sensor is used for surveing unmanned aerial vehicle obstacle information in 500m all around, sonar ranging sensor is used for surveing unmanned aerial vehicle's terrain clearance information and the distance information between unmanned aerial vehicle and the obstacle.
Preferably, the wind speed measuring instrument, the humidity measuring instrument, the temperature measuring instrument and the pressure measuring instrument work simultaneously, corresponding measuring data are transmitted to the meteorological integration unit through RS485 interfaces respectively, a second signal conversion unit is arranged between each measuring instrument and the meteorological data integration unit and used for converting measuring signals into receiving signals, the measuring instruments and the meteorological data integration unit are in one-way communication, and the communication direction is from the measuring instruments to the meteorological information integration unit;
the information receiver of meteorological integration unit and pesticide shower nozzle department realizes one-way communication through the RS485 interface between, and the communication direction is meteorological integration unit to information receiver.
Preferably, the pesticide spraying control system of the unmanned aerial vehicle further comprises a multi-route setting unit, when the unmanned aerial vehicle takes off, the multi-route setting unit quickly extracts positioning information collected by the positioning sensor, brakes more than one flight route simultaneously, and transmits formulated route information to the main control module, and the main control module pushes an optimal flight course according to the positioning information when transmitting a rotating speed adjusting instruction to the motor.
In the technical scheme provided by the invention, in order to improve the steering force and the bearing capacity of the airplane, a brand-new airplane body structure and shape are developed, the brand-new airplane body is constructed by light materials such as customized carbon fiber plates, aluminum materials and the like, the self weight of the airplane body is reduced, and the carrying of multiple platforms is supported; by adopting the 18-rotor power system, the large load capacity can be realized, the full load reaches more than 100 kilograms, the power system is controlled in order to achieve the stability and controllability of the load and the unmanned aerial vehicle, and the stability and controllability of the power system are ensured by using the signal synchronizer.
In the technical scheme provided by the invention, the unmanned aerial vehicle is also provided with a stepless speed regulation electrostatic spraying system, is bidirectionally connected to the meteorological matching module, accurately controls the spraying amount of the pesticide according to finally calculated meteorological data, effectively increases the adsorptivity and penetrability of the pesticide on vegetation according to the stepless speed regulation electrostatic spraying technology, and improves the plant protection effect.
In the technical scheme provided by the invention, the pesticide spraying control system is designed and connected by adopting the principles of front and back, left and right, height limitation and automatic driving, and a signal interference shielding instrument is arranged on the shell of the unmanned aerial vehicle, so that the unmanned aerial vehicle is effectively prevented from being interfered by external information; simultaneously the trouble is still supporting to be had between the self-test module of trouble and is sunk the system, sink the system and be connected through parallelly connected mode between the self-test module of trouble, when unmanned aerial vehicle breaks down, preferred protection system is trouble self-test module, if the trouble self-test module can't make effective control to the unmanned aerial vehicle that breaks down, starts and sinks the system, carries out effective protection to unmanned aerial vehicle.
In the invention, the working principle of the pesticide spraying control system of the unmanned aerial vehicle is as follows:
the rechargeable storage battery provides power support and is matched with the solar panel, when pesticide spraying work is carried out in sunny days, the solar panel converts solar energy into proper electric energy and charges the storage battery, and long-time functions of the rechargeable storage battery are realized;
the unmanned aerial vehicle frame provides load support and hardware support for each control module or unit;
the electronic speed regulator is connected between the storage battery and the motor and used for regulating the rotating speed of the motor, so that the rotating speed of the corresponding rotor wing is changed, and the flying posture of the unmanned aerial vehicle is changed;
the main control module is a system center and comprises various system servers and processors, and is used for integrally issuing work instructions to each module or unit, receiving related information and integrally regulating and controlling the whole system;
the positioning sensor is connected to the main control module and used for collecting spatial information around the unmanned aerial vehicle and providing data support for accurate control and barrier-free flight of the unmanned aerial vehicle;
the meteorological sensor and the pesticide sprayer are connected to the main control module, meanwhile, one-way communication is achieved between the meteorological sensor and the pesticide sprayer through an RS485 interface, the spraying speed regulator on the pesticide sprayer regulates the spraying speed and the spraying amount of the pesticide sprayer according to meteorological data transmitted by the meteorological sensor, and then the stepless speed regulation spraying technology is matched to achieve accurate pesticide spraying on vegetation to be sprayed;
the fault self-testing module is connected to the main control module and used for realizing autonomous detection between each software and hardware of the unmanned aerial vehicle, sending fault alarm information when a fault component is found, and further realizing fault self-rescue processing through the main control module.
The invention has the beneficial effects that:
compared with the prior art, the fuselage framework is made of special materials, so that the self weight of the fuselage is reduced, and the mounting capacity of the fuselage is improved; the high-capacity rechargeable storage battery is matched with the solar panel, so that long-time flight power and endurance capacity are provided for the unmanned aerial vehicle; by matching the multiple rotors, the multiple motors and the multiple electronic speed regulators, the flying posture of the unmanned aerial vehicle can be accurately controlled, and the phenomenon that the unmanned aerial vehicle in a working state topples over pesticides due to bumping is avoided;
meanwhile, the peripheral space condition of the unmanned aerial vehicle is accurately monitored through a plurality of positioning sensors, and accurate flight data are provided for the flight of the unmanned aerial vehicle in a working state;
furthermore, the invention uses the meteorological matching module and the pesticide spray head in a matching way, sends a spraying instruction to the pesticide spray head according to the meteorological data measured by each meteorological data measuring instrument, adjusts the most suitable pesticide spraying speed and spraying amount according to the instruction by the spraying speed adjuster, and combines the stepless speed change electrostatic spraying technology to realize the accurate pesticide spraying of vegetation to be sprayed, thereby improving the pesticide spraying efficiency.
Drawings
Fig. 1 is a schematic partial structure diagram of the pesticide spraying control system of the unmanned aerial vehicle.
Fig. 2 is a schematic diagram of the connection and operation of the solar panel and the rechargeable battery.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments, but the technical solutions provided by the present invention include not only the contents shown in the examples.
An unmanned aerial vehicle's pesticide spraying control system includes:
the solar energy rotary wing type wind power generator comprises a plurality of motors and rotary wings connected with the motors, wherein the motors are used for driving the rotary wings to rotate and comprise solar panels and rechargeable storage batteries, the motors are connected to the discharging ends of the rechargeable storage batteries, and the solar panels are connected to the charging point ends of the rechargeable storage batteries;
when the flight time of the unmanned aerial vehicle is sunny, the automatic switch is closed, the energy converter on the solar panel converts solar energy absorbed by the solar panel into electric energy, adjusts the current to be matched with the rechargeable battery through the micro-transformer, and charges the rechargeable battery; if the takeoff time is not clear, the automatic switch is switched off, and the rechargeable storage battery supplies power independently at the moment;
the electronic speed regulators are respectively connected between each motor and the corresponding rotor wing, and are used for respectively regulating the power output of each motor, so that the rotating speed of the rotor wing is regulated, and the attitude of the aircraft is regulated;
the unmanned aerial vehicle system also comprises a positioning sensor, a data integration module and a main control module, wherein the positioning sensor is used for navigating and positioning the flight position and the peripheral conditions of the unmanned aerial vehicle, transmitting the positioning data to the data integration module, and finally transmitting the integrated data to the main control module; the positioning sensor is provided with a GPS positioning sensor, a laser sensor and a sonar ranging sensor, when the unmanned aerial vehicle is in a working state, the three sensors work simultaneously and transmit corresponding measured data to the weather integration unit through RS485 interfaces respectively, a first signal conversion unit is arranged between each sensor and the data integration module and used for converting measured signals into received signals, the sensors and the data integration module are in one-way communication, and the communication direction is from the sensors to the data integration module; the system comprises a GPS positioning sensor, a laser sensor, a sonar ranging sensor and a controller, wherein the GPS positioning sensor is used for measuring the spatial position information of the unmanned aerial vehicle, the laser sensor is used for measuring the obstacle information in 500m around the unmanned aerial vehicle, and the sonar ranging sensor is used for measuring the ground clearance information of the unmanned aerial vehicle and the distance information between the unmanned aerial vehicle and the obstacle;
the device also comprises a pesticide spray head and an electrostatic spraying device connected with the pesticide spray head, and is used for completing a high-altitude spraying task; the pesticide sprayer further comprises an information receiver and a spraying speed regulator, and the information receiver is connected to the gas phase matching module;
the system also comprises a weather matching module, a spray speed regulator and a spray speed regulator, wherein the weather matching module comprises a wind speed determinator, a humidity determinator, a temperature determinator and a pressure determinator, and is used for determining the wind speed, the air humidity, the air temperature and the atmospheric pressure around the aircraft body at the corresponding flight altitude, transmitting the four types of determination data to a weather integration unit for weather data integration, comparing the weather data with pesticide spraying standards, calculating the most suitable spray speed and spray amount, finally transmitting the calculated values to an information receiver at a pesticide spray head, and regulating the spray speed and the spray amount of the pesticide spray head by the spray speed regulator;
the wind speed measuring instrument, the humidity measuring instrument, the temperature measuring instrument and the pressure measuring instrument work simultaneously, corresponding measuring data are transmitted to the meteorological integration unit through RS485 interfaces respectively, a second signal conversion unit is arranged between each measuring instrument and the meteorological data integration unit and used for converting measuring signals into receiving signals, the measuring instruments and the meteorological data integration unit are in one-way communication, and the communication direction is from the measuring instruments to the meteorological information integration unit;
the weather integration unit and the information receiver at the pesticide sprayer realize one-way communication through an RS485 interface, and the communication direction is from the weather integration unit to the information receiver;
the unmanned aerial vehicle safety monitoring system further comprises a fault self-testing module, wherein the fault self-testing module is used for automatically detecting the working states of hardware and software of the unmanned aerial vehicle, if one part fails, a risk self-testing unit detects fault information and transmits the fault information to the risk evaluation module through an alarm, the risk evaluation module extracts alarm information data, carries out risk evaluation and transmits a risk evaluation result to the main control module, and the main control module sends an out-of-control protection instruction, a return flight instruction, a flight stopping instruction or a flight continuing instruction to the fault processing module according to the risk evaluation result;
the main control module is connected to each motor, the electronic speed regulator, the positioning sensor, the pesticide sprayer, the weather matching module and the fault self-testing module, and bidirectional communication is achieved.
In this embodiment, unmanned aerial vehicle's pesticide spraying control system still includes many routes setting unit, and after unmanned aerial vehicle takes off, many routes setting unit draws the locating information who gathers on the positioning sensor fast, brakes more than one flight route simultaneously to the route information transmission who makes to host system, host system is when conveying rotational speed adjustment instruction to the motor, according to the optimal flight course of locating information propelling movement.
In the embodiment, in order to improve the steering force and the bearing capacity of the airplane, a brand-new fuselage structure and shape are developed, the brand-new fuselage is constructed by light materials such as customized carbon fiber plates and aluminum materials, the self weight of the fuselage is reduced, and the carrying of multiple platforms is supported; by adopting the 18-rotor power system, the large load capacity can be realized, the full load reaches more than 100 kilograms, the power system is controlled in order to achieve the stability and controllability of the load and the unmanned aerial vehicle, and the stability and controllability of the power system are ensured by using the signal synchronizer.
In this embodiment, unmanned aerial vehicle still carries electrodeless speed regulation electrostatic spraying system to bidirectional connection is to meteorological matching module, according to the accurate control medicine volume of spraying of the meteorological data that finally calculates, and according to electrodeless speed regulation electrostatic spraying technique, effectively increases adsorptivity and penetrability of pesticide on the vegetation, promotes the plant protection effect.
In the embodiment, the pesticide spraying control system is designed and connected by adopting the principles of front and back, left and right, height limitation and automatic driving, and a signal interference shielding instrument is arranged on the shell of the unmanned aerial vehicle, so that the unmanned aerial vehicle is effectively prevented from being interfered by external information; simultaneously the trouble is still supporting to have the heavy system of surplus from the survey module of trouble, be connected through parallelly connected mode between heavy system of surplus and the trouble is from the survey module, and when unmanned aerial vehicle broke down, preferred protection system was the trouble from the survey module, if the trouble from the survey module can't make effective control to the unmanned aerial vehicle that breaks down, starts heavy system of surplus, effectively protects unmanned aerial vehicle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the present invention without departing from the technical spirit of the present invention.
Claims (5)
1. The utility model provides an unmanned aerial vehicle's pesticide spraying control system which characterized in that includes:
the solar energy rotary wing type wind power generator comprises a plurality of motors and rotary wings connected with the motors, wherein the motors are used for driving the rotary wings to rotate and comprise solar panels and rechargeable storage batteries, the motors are connected to the discharging ends of the rechargeable storage batteries, and the solar panels are connected to the charging point ends of the rechargeable storage batteries;
the electronic speed regulators are respectively connected between each motor and the corresponding rotor wing, and are used for respectively regulating the power output of each motor, so that the rotating speed of the rotor wing is regulated, and the attitude of the aircraft is further regulated;
the positioning sensor is used for navigating and positioning the flight position and the peripheral conditions of the unmanned aerial vehicle, transmitting the positioning data to the data integration module, and finally transmitting the integrated data to the main control module;
the pesticide spray head and the electrostatic spraying device connected with the pesticide spray head are used for completing a high-altitude spraying task; the pesticide sprayer further comprises an information receiver and a spraying speed regulator, and the information receiver is connected to the gas phase matching module;
the weather matching module comprises a wind speed determinator, a humidity determinator, a temperature determinator and a pressure determinator, is used for determining the wind speed, the air humidity, the air temperature and the atmospheric pressure around the aircraft body at the corresponding flight altitude, transmitting the four types of determination data to a weather integration unit for weather data integration, comparing the weather data with pesticide spraying standards, calculating the most suitable spraying rate and spraying amount, finally transmitting the calculated values to an information receiver at a pesticide spray head, and adjusting the spraying rate and the spraying amount of the pesticide spray head by a spray rate adjuster;
the system comprises a fault self-testing module, a risk self-testing unit and a risk evaluation module, wherein the fault self-testing module is used for automatically detecting the working states of hardware and software of the unmanned aerial vehicle, if a certain part fails, the risk self-testing unit detects fault information and transmits the fault information to the risk evaluation module through an alarm, the risk evaluation module extracts alarm information data, carries out risk evaluation and transmits a risk evaluation result to a main control module, and the main control module sends an out-of-control protection instruction, a return flight instruction, a flight stopping instruction or a flight continuing instruction to the fault processing module according to the risk evaluation result;
the main control module is connected to each motor, the electronic speed regulator, the positioning sensor, the pesticide sprayer, the weather matching module and the fault self-testing module, and bidirectional communication is achieved.
2. The pesticide spraying control system of the unmanned aerial vehicle as claimed in claim 1, wherein a closed loop is formed between the solar panel and the rechargeable battery, an automatic switch is arranged on the loop, a sunlight sensor is arranged on the automatic switch, when the flight time of the unmanned aerial vehicle is sunny, the automatic switch is closed, an energy converter on the solar panel converts solar energy absorbed by the solar panel into electric energy, and the electric current is adjusted to be matched with the rechargeable battery through a micro-transformer to charge the rechargeable battery; if the takeoff time is not fine, the automatic switch is switched off, and the rechargeable storage battery supplies power independently.
3. The pesticide spraying control system of the unmanned aerial vehicle according to claim 1, characterized in that a GPS positioning sensor, a laser sensor, and a sonar ranging sensor are provided on the positioning sensor, when the unmanned aerial vehicle is in a working state, the three sensors work simultaneously, and transmit corresponding measured data to a weather integration unit through RS485 interfaces, respectively, a first signal conversion unit is provided between each sensor and the data integration module, and is used for converting measured signals into received signals, and the sensors and the data integration module are in one-way communication, and the communication direction is from the sensors to the data integration module; GPS positioning sensor is used for surveing unmanned aerial vehicle's spatial position information, laser sensor is used for surveing unmanned aerial vehicle obstacle information in 500m all around, sonar ranging sensor is used for surveing unmanned aerial vehicle's terrain clearance information and the distance information between unmanned aerial vehicle and the obstacle.
4. The pesticide spraying control system of the unmanned aerial vehicle as claimed in claim 1, wherein the wind speed determinator, the humidity determinator, the temperature determinator and the pressure determinator work simultaneously, and respectively transmit corresponding measured data to the weather integration unit through an RS485 interface, a second signal conversion unit is arranged between each determinator and the weather integration unit and is used for converting measured signals into received signals, the determinator and the weather integration unit are in one-way communication, and the communication direction is from the determinator to the weather integration unit;
the information receiver of meteorological integration unit and pesticide shower nozzle department realizes one-way communication through the RS485 interface between, and the communication direction is meteorological integration unit to information receiver.
5. The pesticide spraying control system of the unmanned aerial vehicle as claimed in claim 1, further comprising a multi-route setting unit, wherein after the unmanned aerial vehicle takes off, the multi-route setting unit rapidly extracts positioning information collected by the positioning sensor, brakes more than one flight route, and transmits formulated route information to the main control module, and the main control module pushes an optimal flight course according to the positioning information when transmitting a rotation speed adjustment instruction to the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910349898.6A CN110091993B (en) | 2019-04-28 | 2019-04-28 | Pesticide spraying control system of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910349898.6A CN110091993B (en) | 2019-04-28 | 2019-04-28 | Pesticide spraying control system of unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN110091993A CN110091993A (en) | 2019-08-06 |
| CN110091993B true CN110091993B (en) | 2022-08-02 |
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| CN111736487B (en) * | 2020-06-22 | 2022-02-18 | 北京理工大学 | Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system |
| CN112495928B (en) * | 2020-09-30 | 2022-02-18 | 宁波精迈机械有限公司 | Blowing control system and method of dust sweeper |
| CN114104311A (en) * | 2021-11-11 | 2022-03-01 | 北京卓翼智能科技有限公司 | Carry on XT2 major control system unmanned aerial vehicle |
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