CN110839609A - Plant protection fixed wing unmanned aerial vehicle variable spraying control system - Google Patents
Plant protection fixed wing unmanned aerial vehicle variable spraying control system Download PDFInfo
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- CN110839609A CN110839609A CN201911138279.9A CN201911138279A CN110839609A CN 110839609 A CN110839609 A CN 110839609A CN 201911138279 A CN201911138279 A CN 201911138279A CN 110839609 A CN110839609 A CN 110839609A
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- 238000005507 spraying Methods 0.000 title claims abstract description 109
- 238000012545 processing Methods 0.000 claims abstract description 44
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims description 16
- 239000000575 pesticide Substances 0.000 claims description 13
- 239000003814 drug Substances 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0028—Centrifugal sprayers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
-
- 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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a plant protection fixed wing unmanned aerial vehicle variable spraying control system which comprises a flight control system, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module, an unmanned aerial vehicle ground control station module and a power supply module. Image acquisition and processing module pass through the remote sensing and shoot ground spraying operation regional image, based on image processing algorithm, acquire spraying operation regional area, the vegetation kind, the vegetation line number, and give unmanned aerial vehicle flight control system with this data transmission, unmanned aerial vehicle control system is based on above-mentioned data, combine spraying control variable and operation regional area data, vegetation priori type matching value, the vegetation line number, the empirical function relation between the vegetation line number, obtain variable spraying control system's PWM chopping control signal, thereby the controllable spraying is realized to the control medical kit.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a variable spraying control system of a plant protection fixed wing unmanned aerial vehicle, and belongs to the technical field of agricultural plant protection unmanned aerial vehicles.
[ background of the invention ]
Variable spraying is an important way to realize the pesticide application technology in the field of agricultural plant protection. The variable spraying technology can automatically adjust the spraying amount according to the operation speed and the crop species, not only saves the pesticide, but also can reduce the pesticide residue in agricultural products and environmental pollution, and is an important development direction in the agricultural spraying field.
Scholars at home and abroad research and develop a plurality of variable spraying systems, for example, the concentration of liquid medicine is changed by controlling the mixing ratio of the liquid medicine to realize variable pesticide application, but the problems of concentration delay, complex system and small regulating amplitude of pesticide application dosage exist. In addition, the automatic targeting variable spraying control device based on the geographic information system is provided, the spraying amount of each spray head of the variable spraying equipment needs to be controlled by a servo valve under the guidance of a control center on a variable spraying prescription chart according to the position and the speed of the ground moving loading equipment, the flow and the pressure of a spraying system, but compared with the spraying of an unmanned aerial vehicle, the spraying efficiency of the ground moving loading equipment is lower, and rutting marks can be left and crops can be damaged.
In recent years, with the rapid development of modern agriculture and high and new technologies, variable spraying technologies mainly include variable spraying modes based on infrared rays, ultrasonic waves, machine vision, laser radars and the like, which are advanced in technology, but due to complex processes and difficult operation, good spraying effects are difficult to obtain in practical applications.
On the basis of researching the prior art, aiming at the defects of the prior art, the invention designs a novel variable spraying control method based on image acquisition data such as an operation area, vegetation types, vegetation line numbers, vegetation column numbers and the like, and summarizes spraying experience data of a variable control system suitable for small-range spraying operation on the basis of actual verification.
[ summary of the invention ]
In order to solve the problem that the spraying amount of the unmanned aerial vehicle can not be controlled in real time according to the operation area and the vegetation type in the variable spraying process, the invention designs the following technical scheme.
The utility model provides a plant protection fixed wing unmanned aerial vehicle variable spraying control system specifically includes flight control system, flight parameter acquisition module, image acquisition and processing module, flight attitude control module, spraying control module, unmanned aerial vehicle ground control station and power module.
The flight control system is the control center of whole plant protection unmanned aerial vehicle, is responsible for carrying out data transmission and flight data processing with the ground station, and in addition, flight control system still is responsible for regional image data transmission of spraying to the ground, according to image processing data output corresponding flight control parameter to the spraying operation parameter of spraying control module is given.
The flight parameter acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle, including flight height, longitude and latitude and speed.
The image acquisition and processing module is used for carrying out image acquisition on the ground spraying operation area and obtaining the vegetation type, the operation area, the vegetation line number and the vegetation column number of the to-be-sprayed operation based on an image processing algorithm.
The flight attitude control module is used for controlling the unmanned aerial vehicle to fly according to the designated height and speed according to the control parameters output by the flight control system, so that spraying operation is realized.
And the spraying control module is used for controlling a spraying pesticide box to carry out vegetation spraying operation according to the image data acquired by the image acquisition and processing module.
The ground control station and the flight control system carry out remote data transmission, so that the flight control system can receive control data of ground workers, and the unmanned aerial vehicle remote control is realized.
The power supply module provides corresponding power supplies for the modules.
Further, image acquisition and processing module are high definition remote sensing camera, and it shoots ground spraying operation regional image through the remote sensing, based on image processing algorithm, acquires the area in spraying operation region, vegetation kind, vegetation line number, vegetation column number to give unmanned aerial vehicle flight control system with this data transmission.
Furthermore, the spraying control module receives control parameters of the flight control system and controls the spraying frequency of the spraying pesticide box.
Furthermore, the flight parameter acquisition module is a strapdown inertial navigation system based on a GPS/INS, and can acquire the flight height, speed and longitude and latitude parameters of the unmanned aerial vehicle in real time.
Furthermore, the flight attitude control module is used for operating the steering engine and the engine so as to control the flying height, the flying speed and the flying direction of the unmanned aerial vehicle.
Furthermore, the power module is a lithium battery pack with high capacity, rechargeable performance and long endurance.
Furthermore, the unmanned aerial vehicle ground control station carries out remote data transmission with unmanned aerial vehicle flight control system through wireless communication network, like WIFI.
According to the invention, after the image acquisition and processing module obtains the image of the spraying operation area, image gray level binarization processing is firstly carried out, the spatial proximity and the pixel value similarity of the image are obtained based on the spatial distribution of the image, and background denoising is realized by combining the image gray level similarity, so that the contour image of the vegetation is obtained. In addition, a contour database of the vegetation area to be operated is prestored in the image processing system, the image vegetation contour obtained after acquisition and processing is compared with the vegetation contour in the memory database, so that a corresponding vegetation prior type matching value is obtained, and the matching value is transmitted to the flight control system.
After the unmanned aerial vehicle flight control system obtains the operation area data, the vegetation prior type matching value, the vegetation line number and the vegetation column number which are transmitted by the image acquisition and control system, the PWM chopping wave control variable of the spraying system is obtained through the algorithm calculation of the control system.
The spraying control module comprises a spraying controller, a spraying medicine box, a PWM control module, a diaphragm pump, a plurality of centrifugal spray heads and an electromagnetic valve.
Optionally, the spraying medicine chest has a capacity of about 5L-10L, is mounted under the unmanned aerial vehicle, and is directly above the diaphragm pump, and the water outlet is connected with the water inlet of the diaphragm pump; the diaphragm pump is used for providing liquid medicine spraying pressure. The PWM control module adopts a MOSFET trigger switch driving module and is used for converting a PWM duty ratio signal into a diaphragm pump driving voltage signal. The electromagnetic valve is used for controlling the opening and closing of the spraying of the spray head.
Furthermore, after a plurality of times of exploration and test, the applicant of the invention obtains the numerical function relationship between the spraying control variable P and the operation area data S, the vegetation type V, the vegetation row number R and the vegetation column number C, wherein
The invention realizes the technical scheme that the remote sensing and image processing technology is applied to the variable spraying control technology of the plant protection unmanned aerial vehicle, and the data of the area of a plant protection area, the plant protection type, the vegetation line number and the vegetation column number are used as the calculation parameters of variable spraying, so that the matching of the pesticide spraying amount of a pesticide box and the vegetation type is realized.
[ description of the drawings ]
Fig. 1 is a structural diagram of a plant protection unmanned aerial vehicle control system in the invention.
Fig. 2 is a control signal diagram of a variable spray controller in an embodiment of the present invention.
[ detailed description ] embodiments
The utility model provides a plant protection fixed wing unmanned aerial vehicle variable spraying control system specifically includes flight control system, flight parameter acquisition module, image acquisition and processing module, flight attitude control module, spraying control module, unmanned aerial vehicle ground control station and power module.
The flight control system is the control center of whole plant protection unmanned aerial vehicle, is responsible for carrying out data transmission and flight data processing with the ground station, and in addition, flight control system still is responsible for regional image data transmission of spraying to the ground, according to image processing data output corresponding flight control parameter to the spraying operation parameter of spraying control module is given.
The flight parameter acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle, including flight height, longitude and latitude and speed.
The image acquisition and processing module is used for carrying out image acquisition on the ground spraying operation area and obtaining the vegetation type, the operation area, the vegetation line number and the vegetation column number of the to-be-sprayed operation based on an image processing algorithm.
The flight attitude control module is used for controlling the unmanned aerial vehicle to fly according to the designated height and speed according to the control parameters output by the flight control system, so that spraying operation is realized.
And the spraying control module is used for controlling a spraying pesticide box to carry out vegetation spraying operation according to the image data acquired by the image acquisition and processing module.
The ground control station and the flight control system carry out remote data transmission, so that the flight control system can receive control data of ground workers, and the unmanned aerial vehicle remote control is realized.
The power supply module provides corresponding power supplies for the modules.
Further, image acquisition and processing module are high definition remote sensing camera, and it shoots ground spraying operation regional image through the remote sensing, based on image processing algorithm, acquires the area in spraying operation region, vegetation kind, vegetation line number, vegetation column number to give unmanned aerial vehicle flight control system with this data transmission.
Furthermore, the spraying control module receives control parameters of the flight control system and controls the spraying frequency of the spraying pesticide box.
Furthermore, the flight parameter acquisition module is a strapdown inertial navigation system based on a GPS/INS, and can acquire the flight height, speed and longitude and latitude parameters of the unmanned aerial vehicle in real time.
Furthermore, the flight attitude control module is used for operating the steering engine and the engine so as to control the flying height, the flying speed and the flying direction of the unmanned aerial vehicle.
Furthermore, the power module is a lithium battery pack with high capacity, rechargeable performance and long endurance.
Furthermore, the unmanned aerial vehicle ground control station carries out remote data transmission with unmanned aerial vehicle flight control system through wireless communication network, like WIFI.
According to the invention, after the image acquisition and processing module obtains the image of the spraying operation area, image gray level binarization processing is firstly carried out, the spatial proximity and the pixel value similarity of the image are obtained based on the spatial distribution of the image, and background denoising is realized by combining the image gray level similarity, so that the contour image of the vegetation is obtained. In addition, a contour database of the vegetation area to be operated is prestored in the image processing system, the image vegetation contour obtained after acquisition and processing is compared with the vegetation contour in the memory database, so that a corresponding vegetation prior type matching value is obtained, and the matching value is transmitted to the flight control system.
After the unmanned aerial vehicle flight control system obtains the operation area data, the vegetation prior type matching value, the vegetation line number and the vegetation column number which are transmitted by the image acquisition and control system, the PWM chopping wave control variable of the spraying system is obtained through the algorithm calculation of the control system.
The spraying control module comprises a spraying controller, a spraying medicine box, a PWM control module, a diaphragm pump, a plurality of centrifugal spray heads and an electromagnetic valve.
Optionally, the spraying medicine chest has a capacity of about 5L-10L, is mounted under the unmanned aerial vehicle, and is directly above the diaphragm pump, and the water outlet is connected with the water inlet of the diaphragm pump; the diaphragm pump is used for providing liquid medicine spraying pressure. The PWM control module adopts a MOSFET trigger switch driving module and is used for converting a PWM duty ratio signal into a diaphragm pump driving voltage signal. The electromagnetic valve is used for controlling the opening and closing of the spraying of the spray head.
Furthermore, after a plurality of times of exploration and test, the applicant of the invention obtains the numerical function relationship between the spraying control variable P and the operation area data S, the vegetation type V, the vegetation row number R and the vegetation column number C, wherein
The invention realizes the technical scheme that the remote sensing and image processing technology is applied to the variable spraying control technology of the plant protection unmanned aerial vehicle, and the data of the area of a plant protection area, the plant protection type, the vegetation line number and the vegetation column number are used as the calculation parameters of variable spraying, so that the matching of the pesticide spraying amount of a pesticide box and the vegetation type is realized.
In the selection of carrying out vegetation spraying variable empirical formula, the inventor subtracts one respectively with vegetation line number and column number to divide by regional area, thereby can obtain the area of operation in every grid region, then, utilize predetermined vegetation kind value, as spraying control adjustment coefficient, utilize basic mathematical relationship, obtain the input waveform of PWM signal control, based on power electronics basic knowledge, can obtain corresponding control signal. Variable accurate spraying operation realized based on the method can well identify the vegetation types and avoid the waste of liquid medicine in the spraying process.
For example, the volume of a medicine box is selected to be 5L, the diaphragm pump adopts PLD-1206, the rated voltage is 12V, the maximum pressure is 1MPa, and the maximum flow is 4L/min; an STM32F407VET6 single chip microcomputer based on an ARM Cortex-M4 inner core is adopted as a core processor of the drug delivery controller; after the unmanned aerial vehicle passes through image acquisition and data processing, PWM chopping control signals as shown in figure 2 are obtained after calculation of a spraying control variable empirical function calculation formula, and a PWM controller is driven to realize variable spraying operation.
Claims (10)
1. A plant protection fixed wing unmanned aerial vehicle variable spraying control system is characterized by comprising a flight control system, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module, an unmanned aerial vehicle ground control station module and a power supply module;
the flight control system is a control center of the whole plant protection unmanned aerial vehicle and is responsible for data transmission and flight data processing with a ground station, and in addition, the flight control system is also responsible for receiving image processing data of a ground spraying area, outputting corresponding flight control parameters according to the image processing data and giving spraying operation parameters of the spraying control module;
the flight parameter acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle, including flight height, longitude and latitude and speed;
the image acquisition and processing module is used for acquiring images of the ground spraying operation area and acquiring important parameters of the operation area to be sprayed based on an image processing algorithm;
the flight attitude control module is used for controlling the unmanned aerial vehicle to fly at a specified height and speed according to control parameters output by the flight control system, so as to realize spraying operation;
the spraying control module is used for controlling a spraying pesticide box to carry out vegetation spraying operation according to the image data acquired by the image acquisition and processing module;
the unmanned aerial vehicle ground control station module and the flight control system carry out remote data transmission, so that the flight control system can receive control data of ground workers, and remote control of the unmanned aerial vehicle is realized;
the power supply module provides corresponding power supplies for the modules.
2. The variable spraying control system for plant protection fixed-wing unmanned aerial vehicle according to claim 1, wherein the image acquisition and processing module is a high-definition remote sensing camera and an image processing chip, and is used for shooting images of ground spraying operation areas through remote sensing, acquiring the areas of the spraying operation areas, vegetation types, vegetation rows and vegetation columns based on an image processing algorithm, and transmitting the data to the unmanned aerial vehicle flight control system.
3. The plant protection fixed wing drone variable spray control system of claim 1, wherein the spray control module receives control parameters of the flight control system, controlling the spray frequency of the spray kit.
4. The variable spraying control system for plant protection fixed-wing unmanned aerial vehicle according to claim 1, wherein the flight parameter acquiring module is a GPS/INS-based strapdown inertial navigation system, and can acquire flight height, speed, longitude and latitude parameters of the unmanned aerial vehicle in real time.
5. The plant protection fixed wing unmanned aerial vehicle variable spraying control system of claim 1, wherein the flight attitude control module is used for operating a steering engine and an engine so as to control the flying height, flying speed and flying direction of the unmanned aerial vehicle.
6. The plant protection fixed wing drone variable spray control system of claim 1, wherein the power module is a high capacity, rechargeable, long endurance lithium battery pack.
7. The plant protection fixed wing drone variable spray control system of claim 1, wherein the drone ground control station module performs remote data transmission with the drone flight control system through a wireless communication network, such as WIFI.
8. The plant protection fixed wing unmanned aerial vehicle variable spray control system of claim 1, wherein the spray control module comprises a spray controller, a spray medicine box, a PWM control module, a diaphragm pump, and a plurality of centrifugal nozzles and solenoid valves.
9. The variable spraying control system for the plant protection fixed wing unmanned aerial vehicle according to claim 2, wherein the image acquisition and processing module performs image gray level binarization processing after obtaining an image of a spraying operation area, obtains spatial proximity and pixel value similarity of the image based on spatial distribution of the image, and realizes background denoising by combining the image gray level similarity to obtain a contour image of vegetation; in addition, the image processing chip memory prestores a contour database of the vegetation area to be operated, the image vegetation contour obtained after acquisition and processing is compared with the vegetation contour in the memory database, so that a corresponding vegetation prior type matching value is obtained, and the matching value is transmitted to the flight control system.
10. The variable spraying control system for plant protection unmanned aerial vehicle according to claim 2, wherein empirical functional relationship between spraying control variable P and operation area data S, vegetation type V, vegetation row number R and vegetation column number C is as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911138279.9A CN110839609A (en) | 2019-11-20 | 2019-11-20 | Plant protection fixed wing unmanned aerial vehicle variable spraying control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911138279.9A CN110839609A (en) | 2019-11-20 | 2019-11-20 | Plant protection fixed wing unmanned aerial vehicle variable spraying control system |
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| CN110839609A true CN110839609A (en) | 2020-02-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111388908A (en) * | 2020-03-24 | 2020-07-10 | 国网湖南省电力有限公司 | Aviation fire extinguishing parameter obtaining method and system |
| CN111861775A (en) * | 2020-06-29 | 2020-10-30 | 成都同新房地产开发有限公司 | GIS-based nursery stock asset informatization management method and system |
-
2019
- 2019-11-20 CN CN201911138279.9A patent/CN110839609A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111388908A (en) * | 2020-03-24 | 2020-07-10 | 国网湖南省电力有限公司 | Aviation fire extinguishing parameter obtaining method and system |
| CN111861775A (en) * | 2020-06-29 | 2020-10-30 | 成都同新房地产开发有限公司 | GIS-based nursery stock asset informatization management method and system |
| CN111861775B (en) * | 2020-06-29 | 2024-04-09 | 成都同新房地产开发有限公司 | Seedling asset informatization management method and system based on GIS |
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