CN110647169A - Intelligent battery charging system for plant protection unmanned aerial vehicle - Google Patents
Intelligent battery charging system for plant protection unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
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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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
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- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
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Abstract
The invention belongs to the field of plant protection unmanned aerial vehicles, and particularly relates to an intelligent charging system for a plant protection unmanned aerial vehicle battery, which comprises a self-judgment module, an energy-saving module, a self-cleaning module, a temperature control module, a medicine blending module and a protection module; the self-judgment module is used for judging the flight route of the unmanned aerial vehicle and controlling the electric quantity of the battery; the energy-saving module is used for saving the power consumption of the unmanned aerial vehicle by utilizing an AI intelligent wind control technology according to the flight route formulated in the self-judgment module; the self-cleaning module is used for blowing air to the camera of the unmanned aerial vehicle through the air hole so as to achieve the self-cleaning function; the temperature control module is used for controlling the battery temperature in the unmanned aerial vehicle in a point-to-point monitoring mode according to the data acquired by the energy-saving module; the unmanned aerial vehicle system is mainly used for solving the problems that the existing unmanned aerial vehicle cannot work fully automatically, the battery loss is serious, and the existing unmanned aerial vehicle cannot utilize natural energy to save electric energy.
Description
Technical Field
The invention belongs to the field of plant protection unmanned aerial vehicles, and particularly relates to an intelligent charging system for a plant protection unmanned aerial vehicle battery.
Background
China is a big agricultural country, and along with the development of science and technology in recent years, unmanned aerial vehicles are more and more widely applied, and play a bigger and bigger advantage in different fields, especially in the field of crop plant protection, unmanned aerial vehicles can replace the manual work to carry out the plant protection task, and have outstanding advantages such as the operating speed is fast, efficient, the unit area application rate is little, spray effectual, personnel's security height. Use plant protection unmanned aerial vehicle to carry out before the operation, need transport unmanned aerial vehicle and supporting accessory if the battery from the warehouse specified operation district or transport another operation district from an operation district with pesticide etc., it is more to use at present to put unmanned aerial vehicle in the carriage of packing box built-in transport vechicle or unmanned aerial vehicle bindes or hangs in the carriage of transport vechicle through the rope, other supporting accessories are then scattered put in the carriage of transport vechicle, but current plant protection unmanned aerial vehicle needs artificial real time control just can work, and plant protection unmanned aerial vehicle's battery often leads to the battery to lack the electricity messenger work pause because of a large amount of work, and plant protection unmanned aerial vehicle is extremely unfavorable for people to go to changing the battery because of the place that does not have the electricity to stop usually, current plant protection unmanned aerial vehicle can not utilize natural energy resources to practice thrift the battery electric quantity so very big influence work efficiency.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides an intelligent charging system for a plant protection unmanned aerial vehicle battery. The unmanned aerial vehicle system is mainly used for solving the problems that the existing unmanned aerial vehicle cannot work fully automatically, the battery loss is serious, and the existing unmanned aerial vehicle cannot utilize natural energy to save electric energy.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an intelligent plant protection unmanned aerial vehicle battery charging system which comprises a self-judgment module, an energy-saving module, a self-cleaning module, a temperature control module, a medicine blending module and a protection module, wherein the self-judgment module is used for judging whether the plant protection unmanned aerial vehicle battery is used for a long time;
the self-judgment module is used for judging the flight route of the unmanned aerial vehicle and controlling the electric quantity of the battery; the energy-saving module is used for saving the power consumption of the unmanned aerial vehicle by utilizing an AI intelligent wind control technology according to the flight route formulated in the self-judgment module; the self-cleaning module is used for blowing air to the camera of the unmanned aerial vehicle through the air hole so as to achieve the self-cleaning function; the temperature control module is used for controlling the battery temperature in the unmanned aerial vehicle in a point-to-point monitoring mode according to the data acquired by the energy-saving module; the drug blending module is used for actively blending and controlling the concentration of the sprayed drug in combination with the air condition; the protection module is used for avoiding the areas where the medicines are not sprayed according to the data collected by the self-judgment module and the energy-saving module so as to achieve the function of protecting surrounding animals and crops;
the self-judging module comprises a charging unit, an electric quantity display unit, a battery control unit, a recording and judging unit, a terrain detection unit, an imaging unit, a distance detection unit, an automatic return unit and a route matching unit;
the charging unit is used for charging a battery module of the unmanned aerial vehicle; the electric quantity display unit is used for displaying the residual electric quantity in the battery in the LED display screen; the battery control unit is used for controlling the electric quantity of the unmanned aerial vehicle battery by adopting a direct digital control technology, and comprises a real-time detection assembly, a time calculation assembly and a guide vane communication assembly; the real-time detection component is used for detecting the residual electric quantity of the unmanned aerial vehicle battery in real time; the time calculation component is used for calculating the remaining available time of the electric quantity in the unmanned aerial vehicle battery by adopting an ALU operation technology; the guide vane communication unit is used for controlling communication between the battery and the unmanned aerial vehicle; the recording and judging unit is used for recording and judging the use data of the unmanned aerial vehicle battery in the remote terminal and comprises a charging frequency recording component, a discharging frequency recording component, an abnormal data recording component and a battery loss judging component; the charging frequency recording component is used for recording the charging frequency of the unmanned aerial vehicle battery; the discharge frequency recording component is used for recording the discharge frequency of the unmanned aerial vehicle battery; the abnormal data recording component is used for recording abnormal times and data of the battery of the unmanned aerial vehicle; the battery loss judging component is used for judging the loss degree of the unmanned aerial vehicle battery according to the available capacity of the battery;
the terrain detection unit is used for detecting the terrain condition of the working area of the unmanned aerial vehicle by using the infrared detector and sending terrain data to the imaging unit; the imaging unit is used for carrying out analog imaging on the terrain according to the terrain data sent by the terrain detection unit and sending an imaging completion signal to the distance detection unit; the distance detection unit is used for detecting the flight distance of the unmanned aerial vehicle by using a distance meter according to the imaging completion signal sent by the imaging unit; the automatic return unit is used for controlling the unmanned aerial vehicle to return according to the original route of the spraying route by adopting an AI intelligent control technology; the route matching unit is used for quickly matching nearby roads or places where people easily arrive in the current farmland through an ALU (arithmetic logic unit) computing technology, so that the unmanned aerial vehicle flies to the place and is convenient for people to come and get back; when the unmanned aerial vehicle pesticide spraying device works, the charging unit can charge the unmanned aerial vehicle battery, the electric quantity display unit can display the electric quantity in the battery in the LED display screen, the real-time detection assembly in the battery control unit can detect the residual electric quantity of the unmanned aerial vehicle battery in real time, the time calculation assembly can calculate the residual available time of the electric quantity in the unmanned aerial vehicle battery, the guide vane communication unit can control the communication between the battery and the unmanned aerial vehicle, the charging frequency recording assembly in the recording and judging unit can record the charging frequency of the unmanned aerial vehicle battery, the discharging frequency recording assembly can record the discharging frequency of the unmanned aerial vehicle battery, the abnormal data recording assembly can record the abnormal frequency and data of the unmanned aerial vehicle battery, the battery loss judging assembly can judge the loss degree of the unmanned aerial vehicle battery, when the unmanned aerial vehicle sprays pesticide to a farmland, the terrain detection unit can detect the terrain condition of a working area of, and sends the terrain data to an imaging unit, the imaging unit carries out analog imaging on the terrain according to the terrain data sent by a terrain detection unit, and simultaneously sends an imaging completion signal to a distance detection unit, the distance detection unit detects the flight distance of the unmanned aerial vehicle according to the imaging completion signal sent by the imaging unit, when pesticide spraying is completed, a detection component detects whether the residual electric quantity of the battery of the unmanned aerial vehicle meets the electric quantity required by the unmanned aerial vehicle for returning to the flight according to the original route by connecting the detection component with the distance detection unit, when the calculated electric quantity of the battery is enough for the unmanned aerial vehicle to return according to the original route, the signal is sent to an automatic return unit, the automatic return unit controls the unmanned aerial vehicle to return according to the original route by controlling the signal sent by the real-time detection component, and if the calculated residual electric quantity of the battery of the unmanned aerial vehicle does not meet the requirement for returning according to the, route matching unit is through the road or the easy place that arrives of personnel that match near the signal that sends according to the real-time detection subassembly in current farmland, make unmanned aerial vehicle fly to here and be convenient for people and come to withdraw, can realize gathering at unmanned aerial vehicle during operation its workspace's topography through setting up self-judgement module, when work is accomplished the unsatisfied place of its flight back of unmanned aerial vehicle residual capacity, can select to do benefit to people to the landing point of changing battery or retrieving according to topography condition self-selectivity, avoid unmanned aerial vehicle to have electric lead people to change the battery difficulty and retrieve the difficulty on the way of returning, reduce work efficiency.
Preferably, the energy-saving module comprises an environment acquisition unit, a judgment unit and a wind power detection unit;
the environment acquisition unit is used for acquiring the surrounding environment condition of the unmanned aerial vehicle by using the collector and comprises an airflow acquisition assembly, a temperature acquisition assembly and a humidity acquisition assembly; the airflow acquisition assembly is used for acquiring the airflow condition around the unmanned aerial vehicle by using the wind direction detector and sending the acquired data to the judgment unit; the temperature acquisition assembly is used for acquiring the temperature condition around the unmanned aerial vehicle by using a thermometer; the humidity acquisition assembly is used for acquiring the humidity condition in the air around the unmanned aerial vehicle by using a humidity detector;
the judgment unit is used for analyzing and judging by using a PAAS platform according to the data sent by the airflow acquisition assembly, checking the airflow direction and sending a judgment completion signal to the wind power detection unit; the wind power detection unit is used for detecting the wind power grade by adopting a wind power judger according to the completion signal sent by the judgment unit and sending the detection completion signal to the route matching unit in the self-judgment module; the route matching unit is used for matching a route which saves most electric power in the return journey of the unmanned aerial vehicle by adopting AI intelligent operation according to the judgment data of the judgment unit and the wind power data detected by the wind power detection unit, so that the unmanned aerial vehicle returns to an initial point by means of wind power in the return journey; when the unmanned aerial vehicle back-sailing device works, the airflow collecting assembly in the environment collecting unit can collect the airflow condition around the unmanned aerial vehicle and send the collected data to the judging unit, the temperature collecting assembly can collect the temperature condition around the unmanned aerial vehicle, the humidity collecting assembly can collect the humidity condition in the air around the unmanned aerial vehicle, the judging unit carries out analysis and judgment according to the data sent by the airflow collecting assembly, looks up the airflow direction and sends a judgment completion signal to the wind power detecting unit, the wind power detecting unit detects the wind power level according to the completion signal sent by the judging unit and sends the detection completion signal to the route matching unit in the self-judging module, and the route matching unit matches the route which saves the electric power most when the unmanned aerial vehicle back-sailing according to the judgment data of the judging unit and the wind power data detected by the wind power detecting unit, make unmanned aerial vehicle get back to initial point with the help of wind-force on the way of returning a journey, can realize gathering at the air current direction in the unmanned aerial vehicle during operation through setting up energy-conserving module to according to air current direction and wind-force size reforms the route of returning a journey, the biggest air current that utilizes the air returns to original place, has saved consumption of unmanned aerial vehicle battery power, its operating time of maximize, improvement work efficiency.
Preferably, the self-cleaning module comprises a liquid detection unit, a shooting judgment unit, a plant positioning unit, a selection unit and a liquid removal unit;
the liquid detection unit is used for detecting whether the camera of the unmanned aerial vehicle is infected with the liquid medicine by adopting an imaging analysis technology, and sending a contamination signal to the shooting judgment unit if the camera of the unmanned aerial vehicle is found to be infected with the liquid medicine; the shooting judging unit is used for enabling the unmanned aerial vehicle camera to shoot pictures at intervals to check the severity of contamination and sending the pictures to a worker for checking, and if the worker finds that the unmanned aerial vehicle camera is very seriously contaminated with liquid medicine and seriously affects the shooting visual field, the worker sends a signal to the terrain detecting unit in the self-judging module;
the terrain detection unit is used for detecting the area around the unmanned aerial vehicle by using an infrared detector according to the received signal and sending detection data to the plant positioning unit; the plant positioning unit is used for searching the plant condition in the terrain through the shape positioning technology according to the data sent by the terrain detection unit and sending the plant data to the selection unit; the selection unit is used for positioning the nearest plant according to the data sent by the plant positioning unit and sending the positioning data to the liquid removing unit; the liquid removing unit is used for controlling the unmanned aerial vehicle to move forward according to the positioning data sent by the selecting unit and putting the camera on the blade of the plant, so that the liquid medicine on the camera flows down along the blade; when the unmanned aerial vehicle is in operation, the liquid detection unit can detect whether the camera of the unmanned aerial vehicle is infected with liquid medicine or not, if the unmanned aerial vehicle camera is found to be infected with liquid medicine, the liquid detection unit sends a contamination signal to the shooting judgment unit, the shooting judgment unit can enable the unmanned aerial vehicle camera to shoot pictures at intervals to check the severity of contamination and send the pictures to workers for checking, if the workers find that the unmanned aerial vehicle camera is infected with liquid medicine and seriously affects the shooting visual field, the signals are sent to the terrain detection unit in the self-judgment module, the terrain detection unit detects the area around the unmanned aerial vehicle according to the received signals and sends detection data to the plant positioning unit, the plant positioning unit searches the plant condition in the terrain according to the data sent by the terrain detection unit and sends the plant data to the selection unit, and the selection unit positions the nearest plant according to the data sent by the plant positioning unit, and send the locating data for removing the liquid unit, remove the liquid unit and control unmanned aerial vehicle through sending the locating data of coming according to the selection element and go to and take the camera on the blade of plant, make the liquid medicine on the camera flow down along the blade, can realize detecting the medicine that is infected with on the unmanned aerial vehicle camera through setting up self-cleaning module, and shoot and look over for the staff, and can also intelligently detect out plant distribution on every side, control unmanned aerial vehicle takes the camera on the plant blade and can carry out the water conservancy diversion with the medicine on the camera, realize real-time clearance at the in-process of work, avoid unmanned aerial vehicle camera to cover the influence and shoot the effect by the medicine, can also avoid getting into steam in the unmanned aerial vehicle camera and cause internal damage.
Preferably, the temperature control module comprises a battery temperature detection unit, an air passage unit and a fan assisting unit;
the battery temperature detection unit is used for detecting the working temperature of the battery of the unmanned aerial vehicle in real time by using a temperature detector and sending a detection signal to a temperature acquisition assembly in the energy-saving module; the temperature acquisition assembly is used for acquiring the ambient air temperature of the unmanned aerial vehicle by using a temperature detector according to a detection signal sent by the battery temperature detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for comparing and judging the acquired data sent by the temperature acquisition assembly with the data detected by the battery temperature detection unit, checking the temperature difference condition and sending the temperature difference data to the air channel unit;
the air channel unit is used for carrying out corresponding adjustment according to the temperature difference data sent by the judging unit, immediately opening the air channel to cool the battery when the temperature of the unmanned aerial vehicle battery is higher than the outside air temperature, sending an opening signal to the airflow acquisition assembly in the energy-saving module, and immediately closing the air channel to carry out heat preservation protection on the unmanned aerial vehicle battery when the temperature of the unmanned aerial vehicle battery is lower than the outside air temperature; the airflow acquisition assembly is used for acquiring the flow direction of air outside the unmanned aerial vehicle by using the wind direction detector and sending flow direction data to the air channel unit again; the fan assisting unit is used for starting a fan according to the opening signal of the air channel unit to help improve the air outside to enter the battery; when the unmanned aerial vehicle temperature detection device works, the battery temperature detection unit can detect the working temperature of the unmanned aerial vehicle battery in real time and send a detection signal to the temperature acquisition assembly in the energy-saving module, the temperature acquisition assembly acquires the ambient air temperature of the unmanned aerial vehicle according to the detection signal sent by the battery temperature detection unit and sends the acquired data to the judgment unit in the energy-saving module, the judgment unit compares the acquired data sent by the temperature acquisition assembly with the data detected by the battery temperature detection unit to check the temperature difference condition and sends the temperature difference data to the air passage unit, the air passage unit correspondingly adjusts according to the temperature difference data sent by the judgment unit, when the temperature of the unmanned aerial vehicle battery is higher than the outside air temperature, the air passage is immediately opened to cool the battery, and meanwhile, the opening signal is sent to the air flow acquisition assembly in the energy-saving module, when the temperature of the unmanned aerial vehicle battery is lower than the temperature of outside air, the air passage is immediately closed to carry out heat preservation protection on the unmanned aerial vehicle battery, the airflow acquisition assembly can acquire the flowing direction of the outside air of the unmanned aerial vehicle, the air channel unit adjusts the air channel by receiving the flow direction data sent by the airflow acquisition assembly, so that the air channel opening is opposite to the air flow direction, the cooling effect is improved, and sends the signal to the fan assisting unit, the fan assisting unit helps to improve the outside air entering into the battery by starting the fan according to the opening signal of the air channel unit, the temperature control module can realize real-time monitoring of the temperature of the battery and the temperature of air outside the unmanned aerial vehicle, confirm the temperature difference, according to the temperature difference, the air channel unit is intelligently adjusted to enable the unmanned aerial vehicle battery to be kept constant in temperature all the time, and the phenomenon that the service life of the unmanned aerial vehicle battery is influenced due to overhigh or overlow temperature is avoided.
Preferably, the drug harmonizing module comprises a drug concentration detecting unit, a concentration enhancing unit and a diluting unit;
the medicine concentration detection unit is used for detecting the concentration of the liquid medicine sprayed out by the unmanned aerial vehicle by using the analyzer and sending a detection signal to the humidity acquisition assembly in the energy-saving module; the humidity acquisition assembly is used for acquiring the humidity in the air by using a humidity detector according to a detection signal sent by the medicine concentration detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for carrying out AI intelligent combination technology combination judgment on the collected data sent by the humidity collection unit and the data detected by the medicine concentration detection unit, checking whether the humidity in the air influences the medicine concentration, sending a reduction signal to the concentration enhancement unit if the humidity in the air is higher so that the concentration in the medicine is reduced, and sending a promotion signal to the dilution unit if the air is dry and the moisture in the medicine is evaporated so that the medicine concentration is improved;
the concentration enhancing unit is used for controlling the medicine box to inject a small amount of high-concentration liquid medicine into the medicine for neutralization according to the reduction signal sent by the judging unit, so that the effectiveness of the medicine is ensured; the diluting unit is used for injecting a small amount of water into the medicine according to the lifting signal sent by the judging unit to reduce the concentration of the medicine and ensure that the concentration of the medicine is kept at a constant value; during operation, the medicine concentration detection unit can detect the concentration of liquid medicine after the unmanned aerial vehicle sprays, and send the detection signal to the humidity acquisition assembly in the energy-saving module, the humidity acquisition assembly acquires the humidity in the air according to the detection signal sent by the medicine concentration detection unit, and send the acquired data to the judgment unit in the energy-saving module, the judgment unit judges by combining the acquired data sent by the humidity acquisition unit with the data detected by the medicine concentration detection unit, check whether the humidity in the air affects the medicine concentration, if the humidity in the air is higher, the concentration in the medicine is reduced, the reduction signal is sent to the concentration enhancement unit, if the air is drier, the moisture in the medicine is evaporated, so that the medicine concentration is improved, the promotion signal is sent to the dilution unit, the concentration enhancement unit neutralizes by injecting less medicine and high concentration liquid medicine according to the reduction signal sent by the judgment unit, ensure the validity of medicine, the dilution unit reduces the concentration of medicine through injecting into a small amount of water in to the medicine according to the promotion signal that judges unit transmission comes, ensure that the concentration of medicine keeps at the constant value, can realize the medicine concentration real time monitoring that unmanned aerial vehicle sprayed through setting up medicine mediation module, and adjust the medicine concentration who sprays out in real time according to the humidity condition of air, avoid the medicine to cause harmful effects to crops because of the air drying concentration rises, can also avoid the medicine to reduce because of the moist concentration of air and can not play corresponding effect.
Preferably, the protection module comprises a thermal sensing unit, an expulsion unit, an area division unit, a combination calculation unit and a flight determination unit;
the thermal sensing unit is used for sensing the heat dissipation condition of the area below the unmanned aerial vehicle by using the infrared detector and sending sensing data to the imaging unit in the self-judgment unit; the imaging unit is used for imaging according to the sensing data sent by the thermal sensing unit and sending the imaging data to the judging unit in the energy-saving module; the judgment unit is used for judging whether an animal stays below the unmanned aerial vehicle according to the imaging data sent by the imaging unit, and if the animal stays, the living body signal is sent to the route matching unit in the self-judgment unit;
the route matching unit is used for re-formulating a spraying route by adopting a strategic analysis technology according to the living body signal sent by the judging unit, bypassing animals below, avoiding dangers caused by the fact that the animals are infected with medicines, and sending a matching signal to the expelling unit; the expelling unit is used for expelling the sound of the lower animal by using the player according to the matching signal sent by the route matching unit and sending the expelling signal to the terrain detecting unit in the self-judging module; the terrain detection unit is used for detecting the terrain condition below the unmanned aerial vehicle by using the camera and sending terrain data to the area division unit;
the region dividing unit is used for dividing a spraying region by adopting an ALU (arithmetic logic unit) calculation technology according to the terrain data sent by the terrain detection unit and sending a dividing signal to the wind power detection unit in the energy-saving module; the wind power detection unit is used for measuring the wind grade according to the division signals sent by the region division unit and sending the measured data to the combination calculation unit; the combined calculation unit is used for performing combined calculation on the measurement data sent by the wind power detection unit and the data divided by the area division unit and sending the calculation data to the flight measurement unit; the flight determination unit is used for enabling the unmanned aerial vehicle to be in a reasonable flight condition according to the calculation data sent by the combination calculation unit, preventing the medicine from being sprayed into other crop areas to damage crops, and comprises a height determination component and a speed determination component; the height decision component is used for controlling the flight height of the unmanned aerial vehicle; the speed decision component is used for deciding the flight speed of the unmanned aerial vehicle; when the unmanned aerial vehicle works, the heat induction unit can induce the heat dissipation condition of the area below the unmanned aerial vehicle and send induction data to the imaging unit in the self-judgment unit, the imaging unit images according to the induction data sent by the heat induction unit and sends the imaging data to the judgment unit in the energy-saving module, the judgment unit judges whether animals stay below the unmanned aerial vehicle or not according to the imaging data sent by the imaging unit, if the animals stay, a living body signal is sent to the route matching unit in the self-judgment unit, the route matching unit reforms a spraying route according to the living body signal sent by the judgment unit to bypass the animals below, the animals are prevented from being infected with drugs to cause danger, the matching signal is sent to the expelling unit, and the expelling unit expels the sounds to the animals below according to the matching signal sent by the route matching unit, meanwhile, the expelling signal is sent to a terrain detection unit in the self-judging module, the terrain detection unit can detect the terrain condition below the unmanned aerial vehicle and send terrain data to a region dividing unit, the region dividing unit divides a spraying region according to the terrain data sent by the terrain detection unit and sends dividing signals to a wind power detection unit in the energy-saving module, the wind power detection unit measures the wind grade according to the dividing signals sent by the region dividing unit and sends the measured data to a combination calculation unit, the combination calculation unit combines the measured data sent by the wind power detection unit with the data divided by the region dividing unit and sends the calculated data to a flight measurement unit, and the flight measurement unit enables the unmanned aerial vehicle to be in reasonable flight condition according to the calculated data sent by the combination calculation unit, avoid the medicine to spray into other crops region damage crops, flight survey unit is including altitude determination subassembly and speed decision subassembly, altitude determination subassembly can control unmanned aerial vehicle's flying height, speed decision subassembly can decide unmanned aerial vehicle's flying speed, can realize spraying the in-process of medicine at unmanned aerial vehicle and spraying it to it and carry out real time monitoring through setting up protection module, whether someone or toy exist under looking over the spraying range through thermal imaging technique, if it has people or animal to find the below then the oneself intelligence switches over and sprays the orbit, avoid the medicine to spray people or animal on one's body and lead to the fact healthy danger to it, can also detect out its spraying range at the in-process of unmanned aerial vehicle work simultaneously, and combine air velocity intelligent regulation to spray height and flying speed, avoid the medicine to spray to other farmlands and lead to the fact the influence to other crops.
The invention has the following beneficial effects:
1. according to the invention, the self-judgment module is arranged to realize the acquisition of the terrain of the working area of the unmanned aerial vehicle when the unmanned aerial vehicle works, and when the residual electric quantity of the unmanned aerial vehicle after the work is finished does not meet the requirement of flying back to the original place, the landing point which is beneficial for people to go to replace the battery or recover can be selected by self according to the terrain condition, so that the difficulty of battery replacement and recovery of people caused by no electricity during the return process of the unmanned aerial vehicle is avoided, and the working efficiency is reduced.
2. According to the invention, the energy-saving module is arranged, so that the direction of the airflow in the air can be collected when the unmanned aerial vehicle works, and the return route is re-established according to the direction of the airflow and the wind power, the airflow of the air is used to return to the original place to the greatest extent, the consumption of the battery power of the unmanned aerial vehicle is saved, the working time of the unmanned aerial vehicle is maximized, and the working efficiency is improved.
3. According to the invention, the self-cleaning module is arranged, so that the medicine infected on the unmanned aerial vehicle camera can be detected, the picture is taken for workers to check, the distribution condition of surrounding plants can be intelligently detected, the unmanned aerial vehicle is controlled to put the camera on the plant blade, the medicine on the camera can be guided, real-time cleaning is realized in the working process, the influence of the unmanned aerial vehicle camera on the shooting effect due to the medicine covering is avoided, and the internal damage caused by the water vapor entering the unmanned aerial vehicle camera can be avoided.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a block diagram of the self-determination module of the present invention;
FIG. 3 is a block diagram of the architecture of the power saving module of the present invention;
FIG. 4 is a block diagram of the structure of the protection module of the present invention;
Detailed Description
An intelligent battery charging system for a plant-protection unmanned aerial vehicle according to an embodiment of the present invention will be described below with reference to fig. 1 to 4.
As shown in fig. 1-4, the intelligent charging system for a plant protection unmanned aerial vehicle battery according to the present invention includes a self-determination module, an energy saving module, a self-cleaning module, a temperature control module, a drug blending module, and a protection module;
the self-judgment module is used for judging the flight route of the unmanned aerial vehicle and controlling the electric quantity of the battery; the energy-saving module is used for saving the power consumption of the unmanned aerial vehicle by utilizing an AI intelligent wind control technology according to the flight route formulated in the self-judgment module; the self-cleaning module is used for blowing air to the camera of the unmanned aerial vehicle through the air hole so as to achieve the self-cleaning function; the temperature control module is used for controlling the battery temperature in the unmanned aerial vehicle in a point-to-point monitoring mode according to the data acquired by the energy-saving module; the drug blending module is used for actively blending and controlling the concentration of the sprayed drug in combination with the air condition; the protection module is used for avoiding the areas where the medicines are not sprayed according to the data collected by the self-judgment module and the energy-saving module so as to achieve the function of protecting surrounding animals and crops;
the self-judging module comprises a charging unit, an electric quantity display unit, a battery control unit, a recording and judging unit, a terrain detection unit, an imaging unit, a distance detection unit, an automatic return unit and a route matching unit;
the charging unit is used for charging a battery module of the unmanned aerial vehicle; the electric quantity display unit is used for displaying the residual electric quantity in the battery in the LED display screen; the battery control unit is used for controlling the electric quantity of the unmanned aerial vehicle battery by adopting a direct digital control technology, and comprises a real-time detection assembly, a time calculation assembly and a guide vane communication assembly; the real-time detection component is used for detecting the residual electric quantity of the unmanned aerial vehicle battery in real time; the time calculation component is used for calculating the remaining available time of the electric quantity in the unmanned aerial vehicle battery by adopting an ALU operation technology; the guide vane communication unit is used for controlling communication between the battery and the unmanned aerial vehicle; the recording and judging unit is used for recording and judging the use data of the unmanned aerial vehicle battery in the remote terminal and comprises a charging frequency recording component, a discharging frequency recording component, an abnormal data recording component and a battery loss judging component; the charging frequency recording component is used for recording the charging frequency of the unmanned aerial vehicle battery; the discharge frequency recording component is used for recording the discharge frequency of the unmanned aerial vehicle battery; the abnormal data recording component is used for recording abnormal times and data of the battery of the unmanned aerial vehicle; the battery loss judging component is used for judging the loss degree of the unmanned aerial vehicle battery according to the available capacity of the battery;
the terrain detection unit is used for detecting the terrain condition of the working area of the unmanned aerial vehicle by using the infrared detector and sending terrain data to the imaging unit; the imaging unit is used for carrying out analog imaging on the terrain according to the terrain data sent by the terrain detection unit and sending an imaging completion signal to the distance detection unit; the distance detection unit is used for detecting the flight distance of the unmanned aerial vehicle by using a distance meter according to the imaging completion signal sent by the imaging unit; the automatic return unit is used for controlling the unmanned aerial vehicle to return according to the original route of the spraying route by adopting an AI intelligent control technology; the route matching unit is used for quickly matching nearby roads or places where people easily arrive in the current farmland through an ALU (arithmetic logic unit) computing technology, so that the unmanned aerial vehicle flies to the place and is convenient for people to come and get back; when the unmanned aerial vehicle pesticide spraying device works, the charging unit can charge the unmanned aerial vehicle battery, the electric quantity display unit can display the electric quantity in the battery in the LED display screen, the real-time detection assembly in the battery control unit can detect the residual electric quantity of the unmanned aerial vehicle battery in real time, the time calculation assembly can calculate the residual available time of the electric quantity in the unmanned aerial vehicle battery, the guide vane communication unit can control the communication between the battery and the unmanned aerial vehicle, the charging frequency recording assembly in the recording and judging unit can record the charging frequency of the unmanned aerial vehicle battery, the discharging frequency recording assembly can record the discharging frequency of the unmanned aerial vehicle battery, the abnormal data recording assembly can record the abnormal frequency and data of the unmanned aerial vehicle battery, the battery loss judging assembly can judge the loss degree of the unmanned aerial vehicle battery, when the unmanned aerial vehicle sprays pesticide to a farmland, the terrain detection unit can detect the terrain condition of a working area of, and sends the terrain data to an imaging unit, the imaging unit carries out analog imaging on the terrain according to the terrain data sent by a terrain detection unit, and simultaneously sends an imaging completion signal to a distance detection unit, the distance detection unit detects the flight distance of the unmanned aerial vehicle according to the imaging completion signal sent by the imaging unit, when pesticide spraying is completed, a detection component detects whether the residual electric quantity of the battery of the unmanned aerial vehicle meets the electric quantity required by the unmanned aerial vehicle for returning to the flight according to the original route by connecting the detection component with the distance detection unit, when the calculated electric quantity of the battery is enough for the unmanned aerial vehicle to return according to the original route, the signal is sent to an automatic return unit, the automatic return unit controls the unmanned aerial vehicle to return according to the original route by controlling the signal sent by the real-time detection component, and if the calculated residual electric quantity of the battery of the unmanned aerial vehicle does not meet the requirement for returning according to the, route matching unit is through the road or the easy place that arrives of personnel that match near the signal that sends according to the real-time detection subassembly in current farmland, make unmanned aerial vehicle fly to here and be convenient for people and come to withdraw, can realize gathering at unmanned aerial vehicle during operation its workspace's topography through setting up self-judgement module, when work is accomplished the unsatisfied place of its flight back of unmanned aerial vehicle residual capacity, can select to do benefit to people to the landing point of changing battery or retrieving according to topography condition self-selectivity, avoid unmanned aerial vehicle to have electric lead people to change the battery difficulty and retrieve the difficulty on the way of returning, reduce work efficiency.
As shown in fig. 3, the energy saving module includes an environment acquisition unit, a judgment unit and a wind power detection unit;
the environment acquisition unit is used for acquiring the surrounding environment condition of the unmanned aerial vehicle by using the collector and comprises an airflow acquisition assembly, a temperature acquisition assembly and a humidity acquisition assembly; the airflow acquisition assembly is used for acquiring the airflow condition around the unmanned aerial vehicle by using the wind direction detector and sending the acquired data to the judgment unit; the temperature acquisition assembly is used for acquiring the temperature condition around the unmanned aerial vehicle by using a thermometer; the humidity acquisition assembly is used for acquiring the humidity condition in the air around the unmanned aerial vehicle by using a humidity detector;
the judgment unit is used for analyzing and judging by using a PAAS platform according to the data sent by the airflow acquisition assembly, checking the airflow direction and sending a judgment completion signal to the wind power detection unit; the wind power detection unit is used for detecting the wind power grade by adopting a wind power judger according to the completion signal sent by the judgment unit and sending the detection completion signal to the route matching unit in the self-judgment module; the route matching unit is used for matching a route which saves most electric power in the return journey of the unmanned aerial vehicle by adopting AI intelligent operation according to the judgment data of the judgment unit and the wind power data detected by the wind power detection unit, so that the unmanned aerial vehicle returns to an initial point by means of wind power in the return journey; when the unmanned aerial vehicle back-sailing device works, the airflow collecting assembly in the environment collecting unit can collect the airflow condition around the unmanned aerial vehicle and send the collected data to the judging unit, the temperature collecting assembly can collect the temperature condition around the unmanned aerial vehicle, the humidity collecting assembly can collect the humidity condition in the air around the unmanned aerial vehicle, the judging unit carries out analysis and judgment according to the data sent by the airflow collecting assembly, looks up the airflow direction and sends a judgment completion signal to the wind power detecting unit, the wind power detecting unit detects the wind power level according to the completion signal sent by the judging unit and sends the detection completion signal to the route matching unit in the self-judging module, and the route matching unit matches the route which saves the electric power most when the unmanned aerial vehicle back-sailing according to the judgment data of the judging unit and the wind power data detected by the wind power detecting unit, make unmanned aerial vehicle get back to initial point with the help of wind-force on the way of returning a journey, can realize gathering at the air current direction in the unmanned aerial vehicle during operation through setting up energy-conserving module to according to air current direction and wind-force size reforms the route of returning a journey, the biggest air current that utilizes the air returns to original place, has saved consumption of unmanned aerial vehicle battery power, its operating time of maximize, improvement work efficiency.
As shown in fig. 1, the self-cleaning module includes a liquid detection unit, a shooting judgment unit, a plant positioning unit, a selection unit and a liquid removal unit;
the liquid detection unit is used for detecting whether the camera of the unmanned aerial vehicle is infected with the liquid medicine by adopting an imaging analysis technology, and sending a contamination signal to the shooting judgment unit if the camera of the unmanned aerial vehicle is found to be infected with the liquid medicine; the shooting judging unit is used for enabling the unmanned aerial vehicle camera to shoot pictures at intervals to check the severity of contamination and sending the pictures to a worker for checking, and if the worker finds that the unmanned aerial vehicle camera is very seriously contaminated with liquid medicine and seriously affects the shooting visual field, the worker sends a signal to the terrain detecting unit in the self-judging module;
the terrain detection unit is used for detecting the area around the unmanned aerial vehicle by using an infrared detector according to the received signal and sending detection data to the plant positioning unit; the plant positioning unit is used for searching the plant condition in the terrain through the shape positioning technology according to the data sent by the terrain detection unit and sending the plant data to the selection unit; the selection unit is used for positioning the nearest plant according to the data sent by the plant positioning unit and sending the positioning data to the liquid removing unit; the liquid removing unit is used for controlling the unmanned aerial vehicle to move forward according to the positioning data sent by the selecting unit and putting the camera on the blade of the plant, so that the liquid medicine on the camera flows down along the blade; when the unmanned aerial vehicle is in operation, the liquid detection unit can detect whether the camera of the unmanned aerial vehicle is infected with liquid medicine or not, if the unmanned aerial vehicle camera is found to be infected with liquid medicine, the liquid detection unit sends a contamination signal to the shooting judgment unit, the shooting judgment unit can enable the unmanned aerial vehicle camera to shoot pictures at intervals to check the severity of contamination and send the pictures to workers for checking, if the workers find that the unmanned aerial vehicle camera is infected with liquid medicine and seriously affects the shooting visual field, the signals are sent to the terrain detection unit in the self-judgment module, the terrain detection unit detects the area around the unmanned aerial vehicle according to the received signals and sends detection data to the plant positioning unit, the plant positioning unit searches the plant condition in the terrain according to the data sent by the terrain detection unit and sends the plant data to the selection unit, and the selection unit positions the nearest plant according to the data sent by the plant positioning unit, and send the locating data for removing the liquid unit, remove the liquid unit and control unmanned aerial vehicle through sending the locating data of coming according to the selection element and go to and take the camera on the blade of plant, make the liquid medicine on the camera flow down along the blade, can realize detecting the medicine that is infected with on the unmanned aerial vehicle camera through setting up self-cleaning module, and shoot and look over for the staff, and can also intelligently detect out plant distribution on every side, control unmanned aerial vehicle takes the camera on the plant blade and can carry out the water conservancy diversion with the medicine on the camera, realize real-time clearance at the in-process of work, avoid unmanned aerial vehicle camera to cover the influence and shoot the effect by the medicine, can also avoid getting into steam in the unmanned aerial vehicle camera and cause internal damage.
As shown in fig. 1, the temperature control module includes a battery temperature detection unit, an air duct unit, and a fan assist unit;
the battery temperature detection unit is used for detecting the working temperature of the battery of the unmanned aerial vehicle in real time by using a temperature detector and sending a detection signal to a temperature acquisition assembly in the energy-saving module; the temperature acquisition assembly is used for acquiring the ambient air temperature of the unmanned aerial vehicle by using a temperature detector according to a detection signal sent by the battery temperature detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for comparing and judging the acquired data sent by the temperature acquisition assembly with the data detected by the battery temperature detection unit, checking the temperature difference condition and sending the temperature difference data to the air channel unit;
the air channel unit is used for carrying out corresponding adjustment according to the temperature difference data sent by the judging unit, immediately opening the air channel to cool the battery when the temperature of the unmanned aerial vehicle battery is higher than the outside air temperature, sending an opening signal to the airflow acquisition assembly in the energy-saving module, and immediately closing the air channel to carry out heat preservation protection on the unmanned aerial vehicle battery when the temperature of the unmanned aerial vehicle battery is lower than the outside air temperature; the airflow acquisition assembly is used for acquiring the flow direction of air outside the unmanned aerial vehicle by using the wind direction detector and sending flow direction data to the air channel unit again; the fan assisting unit is used for starting a fan according to the opening signal of the air channel unit to help improve the air outside to enter the battery; when the unmanned aerial vehicle temperature detection device works, the battery temperature detection unit can detect the working temperature of the unmanned aerial vehicle battery in real time and send a detection signal to the temperature acquisition assembly in the energy-saving module, the temperature acquisition assembly acquires the ambient air temperature of the unmanned aerial vehicle according to the detection signal sent by the battery temperature detection unit and sends the acquired data to the judgment unit in the energy-saving module, the judgment unit compares the acquired data sent by the temperature acquisition assembly with the data detected by the battery temperature detection unit to check the temperature difference condition and sends the temperature difference data to the air passage unit, the air passage unit correspondingly adjusts according to the temperature difference data sent by the judgment unit, when the temperature of the unmanned aerial vehicle battery is higher than the outside air temperature, the air passage is immediately opened to cool the battery, and meanwhile, the opening signal is sent to the air flow acquisition assembly in the energy-saving module, when the temperature of the unmanned aerial vehicle battery is lower than the temperature of outside air, the air passage is immediately closed to carry out heat preservation protection on the unmanned aerial vehicle battery, the airflow acquisition assembly can acquire the flowing direction of the outside air of the unmanned aerial vehicle, the air channel unit adjusts the air channel by receiving the flow direction data sent by the airflow acquisition assembly, so that the air channel opening is opposite to the air flow direction, the cooling effect is improved, and sends the signal to the fan assisting unit, the fan assisting unit helps to improve the outside air entering into the battery by starting the fan according to the opening signal of the air channel unit, the temperature control module can realize real-time monitoring of the temperature of the battery and the temperature of air outside the unmanned aerial vehicle, confirm the temperature difference, according to the temperature difference, the air channel unit is intelligently adjusted to enable the unmanned aerial vehicle battery to be kept constant in temperature all the time, and the phenomenon that the service life of the unmanned aerial vehicle battery is influenced due to overhigh or overlow temperature is avoided.
As shown in fig. 1, the drug harmonizing module includes a drug concentration detecting unit, a concentration enhancing unit, and a diluting unit;
the medicine concentration detection unit is used for detecting the concentration of the liquid medicine sprayed out by the unmanned aerial vehicle by using the analyzer and sending a detection signal to the humidity acquisition assembly in the energy-saving module; the humidity acquisition assembly is used for acquiring the humidity in the air by using a humidity detector according to a detection signal sent by the medicine concentration detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for carrying out AI intelligent combination technology combination judgment on the collected data sent by the humidity collection unit and the data detected by the medicine concentration detection unit, checking whether the humidity in the air influences the medicine concentration, sending a reduction signal to the concentration enhancement unit if the humidity in the air is higher so that the concentration in the medicine is reduced, and sending a promotion signal to the dilution unit if the air is dry and the moisture in the medicine is evaporated so that the medicine concentration is improved;
the concentration enhancing unit is used for controlling the medicine box to inject a small amount of high-concentration liquid medicine into the medicine for neutralization according to the reduction signal sent by the judging unit, so that the effectiveness of the medicine is ensured; the diluting unit is used for injecting a small amount of water into the medicine according to the lifting signal sent by the judging unit to reduce the concentration of the medicine and ensure that the concentration of the medicine is kept at a constant value; during operation, the medicine concentration detection unit can detect the concentration of liquid medicine after the unmanned aerial vehicle sprays, and send the detection signal to the humidity acquisition assembly in the energy-saving module, the humidity acquisition assembly acquires the humidity in the air according to the detection signal sent by the medicine concentration detection unit, and send the acquired data to the judgment unit in the energy-saving module, the judgment unit judges by combining the acquired data sent by the humidity acquisition unit with the data detected by the medicine concentration detection unit, check whether the humidity in the air affects the medicine concentration, if the humidity in the air is higher, the concentration in the medicine is reduced, the reduction signal is sent to the concentration enhancement unit, if the air is drier, the moisture in the medicine is evaporated, so that the medicine concentration is improved, the promotion signal is sent to the dilution unit, the concentration enhancement unit neutralizes by injecting less medicine and high concentration liquid medicine according to the reduction signal sent by the judgment unit, ensure the validity of medicine, the dilution unit reduces the concentration of medicine through injecting into a small amount of water in to the medicine according to the promotion signal that judges unit transmission comes, ensure that the concentration of medicine keeps at the constant value, can realize the medicine concentration real time monitoring that unmanned aerial vehicle sprayed through setting up medicine mediation module, and adjust the medicine concentration who sprays out in real time according to the humidity condition of air, avoid the medicine to cause harmful effects to crops because of the air drying concentration rises, can also avoid the medicine to reduce because of the moist concentration of air and can not play corresponding effect.
As shown in fig. 4, the protection module includes a thermal sensing unit, an eviction unit, an area division unit, a combination calculation unit, and a flight determination unit;
the thermal sensing unit is used for sensing the heat dissipation condition of the area below the unmanned aerial vehicle by using the infrared detector and sending sensing data to the imaging unit in the self-judgment unit; the imaging unit is used for imaging according to the sensing data sent by the thermal sensing unit and sending the imaging data to the judging unit in the energy-saving module; the judgment unit is used for judging whether an animal stays below the unmanned aerial vehicle according to the imaging data sent by the imaging unit, and if the animal stays, the living body signal is sent to the route matching unit in the self-judgment unit;
the route matching unit is used for re-formulating a spraying route by adopting a strategic analysis technology according to the living body signal sent by the judging unit, bypassing animals below, avoiding dangers caused by the fact that the animals are infected with medicines, and sending a matching signal to the expelling unit; the expelling unit is used for expelling the sound of the lower animal by using the player according to the matching signal sent by the route matching unit and sending the expelling signal to the terrain detecting unit in the self-judging module; the terrain detection unit is used for detecting the terrain condition below the unmanned aerial vehicle by using the camera and sending terrain data to the area division unit;
the region dividing unit is used for dividing a spraying region by adopting an ALU (arithmetic logic unit) calculation technology according to the terrain data sent by the terrain detection unit and sending a dividing signal to the wind power detection unit in the energy-saving module; the wind power detection unit is used for measuring the wind grade according to the division signals sent by the region division unit and sending the measured data to the combination calculation unit; the combined calculation unit is used for performing combined calculation on the measurement data sent by the wind power detection unit and the data divided by the area division unit and sending the calculation data to the flight measurement unit; the flight determination unit is used for enabling the unmanned aerial vehicle to be in a reasonable flight condition according to the calculation data sent by the combination calculation unit, preventing the medicine from being sprayed into other crop areas to damage crops, and comprises a height determination component and a speed determination component; the height decision component is used for controlling the flight height of the unmanned aerial vehicle; the speed decision component is used for deciding the flight speed of the unmanned aerial vehicle; when the unmanned aerial vehicle works, the heat induction unit can induce the heat dissipation condition of the area below the unmanned aerial vehicle and send induction data to the imaging unit in the self-judgment unit, the imaging unit images according to the induction data sent by the heat induction unit and sends the imaging data to the judgment unit in the energy-saving module, the judgment unit judges whether animals stay below the unmanned aerial vehicle or not according to the imaging data sent by the imaging unit, if the animals stay, a living body signal is sent to the route matching unit in the self-judgment unit, the route matching unit reforms a spraying route according to the living body signal sent by the judgment unit to bypass the animals below, the animals are prevented from being infected with drugs to cause danger, the matching signal is sent to the expelling unit, and the expelling unit expels the sounds to the animals below according to the matching signal sent by the route matching unit, meanwhile, the expelling signal is sent to a terrain detection unit in the self-judging module, the terrain detection unit can detect the terrain condition below the unmanned aerial vehicle and send terrain data to a region dividing unit, the region dividing unit divides a spraying region according to the terrain data sent by the terrain detection unit and sends dividing signals to a wind power detection unit in the energy-saving module, the wind power detection unit measures the wind grade according to the dividing signals sent by the region dividing unit and sends the measured data to a combination calculation unit, the combination calculation unit combines the measured data sent by the wind power detection unit with the data divided by the region dividing unit and sends the calculated data to a flight measurement unit, and the flight measurement unit enables the unmanned aerial vehicle to be in reasonable flight condition according to the calculated data sent by the combination calculation unit, avoid the medicine to spray into other crops region damage crops, flight survey unit is including altitude determination subassembly and speed decision subassembly, altitude determination subassembly can control unmanned aerial vehicle's flying height, speed decision subassembly can decide unmanned aerial vehicle's flying speed, can realize spraying the in-process of medicine at unmanned aerial vehicle and spraying it to it and carry out real time monitoring through setting up protection module, whether someone or toy exist under looking over the spraying range through thermal imaging technique, if it has people or animal to find the below then the oneself intelligence switches over and sprays the orbit, avoid the medicine to spray people or animal on one's body and lead to the fact healthy danger to it, can also detect out its spraying range at the in-process of unmanned aerial vehicle work simultaneously, and combine air velocity intelligent regulation to spray height and flying speed, avoid the medicine to spray to other farmlands and lead to the fact the influence to other crops.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a plant and protect unmanned aerial vehicle battery intelligent charging system which characterized in that: the device comprises a self-judging module, an energy-saving module, a self-cleaning module, a temperature control module, a medicine blending module and a protection module;
the self-judgment module is used for judging the flight route of the unmanned aerial vehicle and controlling the electric quantity of the battery; the energy-saving module is used for saving the power consumption of the unmanned aerial vehicle by utilizing an AI intelligent wind control technology according to the flight route formulated in the self-judgment module; the self-cleaning module is used for blowing air to the camera of the unmanned aerial vehicle through the air hole so as to achieve the self-cleaning function; the temperature control module is used for controlling the battery temperature in the unmanned aerial vehicle in a point-to-point monitoring mode according to the data acquired by the energy-saving module; the drug blending module is used for actively blending and controlling the concentration of the sprayed drug in combination with the air condition; the protection module is used for avoiding the areas where the medicines are not sprayed according to the data collected by the self-judgment module and the energy-saving module so as to achieve the function of protecting surrounding animals and crops;
the self-judging module comprises a charging unit, an electric quantity display unit, a battery control unit, a recording and judging unit, a terrain detection unit, an imaging unit, a distance detection unit, an automatic return unit and a route matching unit;
the charging unit is used for charging a battery module of the unmanned aerial vehicle; the electric quantity display unit is used for displaying the residual electric quantity in the battery in the LED display screen; the battery control unit is used for controlling the electric quantity of the unmanned aerial vehicle battery by adopting a direct digital control technology, and comprises a real-time detection assembly, a time calculation assembly and a guide vane communication assembly; the real-time detection component is used for detecting the residual electric quantity of the unmanned aerial vehicle battery in real time; the time calculation component is used for calculating the remaining available time of the electric quantity in the unmanned aerial vehicle battery by adopting an ALU operation technology; the guide vane communication unit is used for controlling communication between the battery and the unmanned aerial vehicle; the recording and judging unit is used for recording and judging the use data of the unmanned aerial vehicle battery in the remote terminal and comprises a charging frequency recording component, a discharging frequency recording component, an abnormal data recording component and a battery loss judging component; the charging frequency recording component is used for recording the charging frequency of the unmanned aerial vehicle battery; the discharge frequency recording component is used for recording the discharge frequency of the unmanned aerial vehicle battery; the abnormal data recording component is used for recording abnormal times and data of the battery of the unmanned aerial vehicle; the battery loss judging component is used for judging the loss degree of the unmanned aerial vehicle battery according to the available capacity of the battery;
the terrain detection unit is used for detecting the terrain condition of the working area of the unmanned aerial vehicle by using the infrared detector and sending terrain data to the imaging unit; the imaging unit is used for carrying out analog imaging on the terrain according to the terrain data sent by the terrain detection unit and sending an imaging completion signal to the distance detection unit; the distance detection unit is used for detecting the flight distance of the unmanned aerial vehicle by using a distance meter according to the imaging completion signal sent by the imaging unit; the automatic return unit is used for controlling the unmanned aerial vehicle to return according to the original route of the spraying route by adopting an AI intelligent control technology; the route matching unit is used for quickly matching nearby roads or places where people easily arrive in the current farmland through ALU computing technology, so that the unmanned aerial vehicle flies to the place and is convenient for people to come and get back.
2. The intelligent plant protection unmanned aerial vehicle battery charging system of claim 1, wherein: the energy-saving module comprises an environment acquisition unit, a judgment unit and a wind power detection unit;
the environment acquisition unit is used for acquiring the surrounding environment condition of the unmanned aerial vehicle by using the collector and comprises an airflow acquisition assembly, a temperature acquisition assembly and a humidity acquisition assembly; the airflow acquisition assembly is used for acquiring the airflow condition around the unmanned aerial vehicle by using the wind direction detector and sending the acquired data to the judgment unit; the temperature acquisition assembly is used for acquiring the temperature condition around the unmanned aerial vehicle by using a thermometer; the humidity acquisition assembly is used for acquiring the humidity condition in the air around the unmanned aerial vehicle by using a humidity detector;
the judgment unit is used for analyzing and judging by using a PAAS platform according to the data sent by the airflow acquisition assembly, checking the airflow direction and sending a judgment completion signal to the wind power detection unit; the wind power detection unit is used for detecting the wind power grade by adopting a wind power judger according to the completion signal sent by the judgment unit and sending the detection completion signal to the route matching unit in the self-judgment module; the route matching unit is used for matching a route which saves most electric power during the return journey of the unmanned aerial vehicle by adopting AI intelligent operation according to the judgment data of the judgment unit and the wind power data detected by the wind power detection unit, so that the unmanned aerial vehicle returns to an initial point by means of wind power during the return journey.
3. The intelligent plant protection unmanned aerial vehicle battery charging system of claim 1, wherein: the self-cleaning module comprises a liquid detection unit, a shooting judgment unit, a plant positioning unit, a selection unit and a liquid removal unit;
the liquid detection unit is used for detecting whether the camera of the unmanned aerial vehicle is infected with the liquid medicine by adopting an imaging analysis technology, and sending a contamination signal to the shooting judgment unit if the camera of the unmanned aerial vehicle is found to be infected with the liquid medicine; the shooting judging unit is used for enabling the unmanned aerial vehicle camera to shoot pictures at intervals to check the severity of contamination and sending the pictures to a worker for checking, and if the worker finds that the unmanned aerial vehicle camera is very seriously contaminated with liquid medicine and seriously affects the shooting visual field, the worker sends a signal to the terrain detecting unit in the self-judging module;
the terrain detection unit is used for detecting the area around the unmanned aerial vehicle by using an infrared detector according to the received signal and sending detection data to the plant positioning unit; the plant positioning unit is used for searching the plant condition in the terrain through the shape positioning technology according to the data sent by the terrain detection unit and sending the plant data to the selection unit; the selection unit is used for positioning the nearest plant according to the data sent by the plant positioning unit and sending the positioning data to the liquid removing unit; the liquid removing unit is used for controlling the unmanned aerial vehicle to move to and take the camera on the blade of the plant according to the positioning data sent by the selecting unit, so that the liquid medicine on the camera flows down along the blade.
4. The intelligent plant protection unmanned aerial vehicle battery charging system of claim 1, wherein: the temperature control module comprises a battery temperature detection unit, an air channel unit and a fan assisting unit;
the battery temperature detection unit is used for detecting the working temperature of the battery of the unmanned aerial vehicle in real time by using a temperature detector and sending a detection signal to a temperature acquisition assembly in the energy-saving module; the temperature acquisition assembly is used for acquiring the ambient air temperature of the unmanned aerial vehicle by using a temperature detector according to a detection signal sent by the battery temperature detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for comparing and judging the acquired data sent by the temperature acquisition assembly with the data detected by the battery temperature detection unit, checking the temperature difference condition and sending the temperature difference data to the air channel unit;
the air channel unit is used for carrying out corresponding adjustment according to the temperature difference data sent by the judging unit, immediately opening the air channel to cool the battery when the temperature of the unmanned aerial vehicle battery is higher than the outside air temperature, sending an opening signal to the airflow acquisition assembly in the energy-saving module, and immediately closing the air channel to carry out heat preservation protection on the unmanned aerial vehicle battery when the temperature of the unmanned aerial vehicle battery is lower than the outside air temperature; the airflow acquisition assembly is used for acquiring the flow direction of air outside the unmanned aerial vehicle by using the wind direction detector and sending flow direction data to the air channel unit again; the fan assisting unit is used for starting the fan according to the opening signal of the air channel unit to help improve the outside air entering the battery.
5. The intelligent plant protection unmanned aerial vehicle battery charging system of claim 1, wherein: the drug blending module comprises a drug concentration detection unit, a concentration enhancement unit and a dilution unit;
the medicine concentration detection unit is used for detecting the concentration of the liquid medicine sprayed out by the unmanned aerial vehicle by using the analyzer and sending a detection signal to the humidity acquisition assembly in the energy-saving module; the humidity acquisition assembly is used for acquiring the humidity in the air by using a humidity detector according to a detection signal sent by the medicine concentration detection unit and sending acquired data to a judgment unit in the energy-saving module; the judgment unit is used for carrying out AI intelligent combination technology combination judgment on the collected data sent by the humidity collection unit and the data detected by the medicine concentration detection unit, checking whether the humidity in the air influences the medicine concentration, sending a reduction signal to the concentration enhancement unit if the humidity in the air is higher so that the concentration in the medicine is reduced, and sending a promotion signal to the dilution unit if the air is dry and the moisture in the medicine is evaporated so that the medicine concentration is improved;
the concentration enhancing unit is used for controlling the medicine box to inject a small amount of high-concentration liquid medicine into the medicine for neutralization according to the reduction signal sent by the judging unit, so that the effectiveness of the medicine is ensured; the diluting unit is used for injecting a small amount of water into the medicine according to the lifting signal sent by the judging unit to reduce the concentration of the medicine and ensure that the concentration of the medicine is kept at a constant value.
6. The intelligent plant protection unmanned aerial vehicle battery charging system of claim 1, wherein: the protection module comprises a thermal sensing unit, an expulsion unit, an area division unit, a combination calculation unit and a flight measurement unit;
the thermal sensing unit is used for sensing the heat dissipation condition of the area below the unmanned aerial vehicle by using the infrared detector and sending sensing data to the imaging unit in the self-judgment unit; the imaging unit is used for imaging according to the sensing data sent by the thermal sensing unit and sending the imaging data to the judging unit in the energy-saving module; the judgment unit is used for judging whether an animal stays below the unmanned aerial vehicle according to the imaging data sent by the imaging unit, and if the animal stays, the living body signal is sent to the route matching unit in the self-judgment unit;
the route matching unit is used for re-formulating a spraying route by adopting a strategic analysis technology according to the living body signal sent by the judging unit, bypassing animals below, avoiding dangers caused by the fact that the animals are infected with medicines, and sending a matching signal to the expelling unit; the expelling unit is used for expelling the sound of the lower animal by using the player according to the matching signal sent by the route matching unit and sending the expelling signal to the terrain detecting unit in the self-judging module; the terrain detection unit is used for detecting the terrain condition below the unmanned aerial vehicle by using the camera and sending terrain data to the area division unit;
the region dividing unit is used for dividing a spraying region by adopting an ALU (arithmetic logic unit) calculation technology according to the terrain data sent by the terrain detection unit and sending a dividing signal to the wind power detection unit in the energy-saving module; the wind power detection unit is used for measuring the wind grade according to the division signals sent by the region division unit and sending the measured data to the combination calculation unit; the combined calculation unit is used for performing combined calculation on the measurement data sent by the wind power detection unit and the data divided by the area division unit and sending the calculation data to the flight measurement unit; the flight determination unit is used for enabling the unmanned aerial vehicle to be in a reasonable flight condition according to the calculation data sent by the combination calculation unit, preventing the medicine from being sprayed into other crop areas to damage crops, and comprises a height determination component and a speed determination component; the height decision component is used for controlling the flight height of the unmanned aerial vehicle; the speed decision component is used for deciding the flight speed of the unmanned aerial vehicle.
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