CN111665864A - Farming plant protection operation wisdom management system based on big data thing networking - Google Patents
Farming plant protection operation wisdom management system based on big data thing networking Download PDFInfo
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- 238000009313 farming Methods 0.000 title claims description 5
- 230000006855 networking Effects 0.000 title claims description 3
- 238000005507 spraying Methods 0.000 claims abstract description 76
- 239000003814 drug Substances 0.000 claims abstract description 49
- 238000003860 storage Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 239000007788 liquid Substances 0.000 claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 claims abstract description 15
- 239000000126 substance Substances 0.000 claims abstract description 8
- 238000007726 management method Methods 0.000 claims description 15
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- 230000008569 process Effects 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 229940079593 drug Drugs 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
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- 239000000284 extract Substances 0.000 claims description 2
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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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- 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
- A01M7/0032—Pressure sprayers
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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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- 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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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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- 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
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
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- G—PHYSICS
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- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/54—Testing for continuity
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- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth 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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- 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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- 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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
The invention discloses an agricultural planting plant protection operation intelligent management system based on big data Internet of things, which comprises an unmanned aerial vehicle, an operation area dividing module, a plant protection route setting module, a manual input module, a wind speed and direction detection module, a spraying angle adjusting module, a spraying pressure regulating module, a plant protection height regulating module, an electric quantity and chemical quantity detection module, a landing position acquisition module, a landing platform, an automatic charging module, a control server, a storage database and a chemical quantity supply module, wherein the operation area dividing module is used for dividing a plant protection route; according to the invention, the regulation and control of the liquid medicine spraying angle, the spraying pressure and the operation height of the unmanned aerial vehicle during the plant protection operation are carried out according to the wind speed and wind direction data detected on the day of plant protection, and meanwhile, whether the unmanned aerial vehicle needs to return to the air for supply is judged by detecting the electric quantity and the medicine quantity during the plant protection of the unmanned aerial vehicle, so that the plant protection pesticide application quality is ensured, the spraying efficiency and the utilization rate of agricultural resources are improved, the labor cost is reduced, and the intelligent management of an agricultural planting plant.
Description
Technical Field
The invention relates to the technical field of agricultural plant protection operation management, in particular to an intelligent management system for agricultural plant protection operation based on big data Internet of things.
Background
With the development of science and technology in China, some enterprises cause great industrial pollution, so that the ecological environment is degraded continuously, the change of the climate has great negative influence on the agricultural ecological environment, at the moment, the role of plant protection work in agricultural planting is particularly important, and the agricultural plant protection unmanned aerial vehicle is widely applied to agricultural production with the advantages of automatic unmanned driving, crop liquid medicine spraying and the like. The traditional manual pesticide spraying is low in efficiency and not in place, and the unmanned aerial vehicle is used for spraying pesticides, so that the efficiency is high, the influence of factors such as complex terrain, diversified planting modes and the like is avoided, and the large-area popularization and application of the agricultural industry are facilitated; the agricultural plant protection unmanned aerial vehicle has very important significance for improving the mechanization level of crop pest control, improving the utilization rate of agricultural resources, enhancing the sudden large-area pest control capability and enhancing the agricultural risk resistance.
At present, the spraying liquid medicine of the plant protection unmanned aerial vehicle in plant protection operation is repeatedly sprayed to the same area, high working efficiency cannot be achieved, the plant protection unmanned aerial vehicle cannot be automatically charged and the medicine dosage can not be supplemented, further labor cost is increased, and in order to solve the problems, the invention designs the agricultural planting plant protection operation intelligent management system based on the big data Internet of things.
Disclosure of Invention
The invention aims to provide an intelligent management system for agricultural planting plant protection operation based on big data Internet of things, for the crop planting area, the crop planting area is divided and numbered through the operation area dividing module and the plant protection route setting module, and the plant protection route is set for the numbered sub-area, the real-time wind speed value and the wind direction angle of the unmanned aerial vehicle during plant protection are detected by the wind speed and direction detection module, the liquid medicine spraying angle, the spraying pressure and the operation height of the unmanned aerial vehicle during plant protection operation are regulated and controlled by the spraying angle regulation module, the spraying pressure regulation and control module and the plant protection height regulation and control module, the electric quantity and medicine quantity detection module detects the electric quantity and medicine quantity storage of the unmanned aerial vehicle and sends the electric quantity and medicine quantity storage to the control server, whether return flight landing instructions are sent or not is judged by the control server to supply return flight for the unmanned aerial vehicle, and the problems existing in the background technology are solved.
The purpose of the invention can be realized by the following technical scheme:
an agricultural planting plant protection operation intelligent management system based on big data Internet of things comprises an unmanned aerial vehicle, an operation area dividing module, a plant protection route setting module, a manual input module, a wind speed and direction detection module, a spraying angle adjusting module, a spraying pressure regulating module, a plant protection height regulating module, an electric quantity and chemical quantity detection module, a landing position acquisition module, a parking landing platform, an automatic charging module, a control server, a storage database and a chemical quantity supply module;
the control server is respectively connected with the electric quantity and dosage detection module, the landing position acquisition module, the wind speed and direction detection module, the spraying angle adjustment module, the spraying pressure adjustment module, the plant protection height adjustment module, the storage database and the unmanned aerial vehicle, the landing platform is respectively connected with the automatic charging module and the dosage supply module, and the safety protection module is connected with the automatic charging module; the storage database is respectively connected with the operation area division module, the plant protection route setting module and the manual input module;
the operation area dividing module is used for dividing a target crop planting area to be subjected to plant protection operation, dividing the crop planting area into a plurality of sub-areas with the same area according to a horizontal, horizontal and vertical rectangular dividing rule, numbering the sub-areas sequentially from left to right and from top to bottom, wherein the number of the planting sub-areas is 1,2,.
The plant protection route setting module is used for setting unmanned aerial vehicle navigation routes during plant protection operation on various divided plant subareas, four unmanned aerial vehicle navigation routes are set, the first navigation route is an S-shaped route from left to right and then from top to bottom, and the first navigation route is numbered as an S1 route; the second navigation route is an S-shaped route from top to bottom and from left to right and is numbered as an S2 route; the third navigation route is a counterclockwise 'returning' shaped route from outside to inside and numbered as S3 navigation; the fourth navigation route is a clockwise 'returning' shaped route from inside to outside, is numbered as S4 navigation, and sends the numbers of the four unmanned aerial vehicle navigation routes to a storage database;
the wind speed and wind direction detection module comprises a wind speed sensor and a wind direction sensor, and is used for detecting real-time wind speed and wind direction data during the operation of plant protection in the same day, the wind speed sensor is used for detecting a wind speed value during plant protection in real time and is recorded as v, the wind direction sensor is used for detecting a wind direction angle during plant protection in real time and is recorded as theta, and the wind speed and wind direction data on the same day of plant protection are sent to the control server;
the control server is used for receiving the wind speed and wind direction data sent by the wind speed and wind direction detection module, extracting the wind speed value corresponding to each wind power level in the storage database for the received wind speed value, screening the wind power level corresponding to the wind speed value, extracting the spraying pressure level corresponding to each wind power level in the storage database, screening the spraying pressure level corresponding to the wind power level, and sending a corresponding pressure level control instruction to the spraying pressure regulation and control module; comparing the received wind direction angle with a preset standard wind direction angle, and if the wind direction angle is larger than the preset standard wind direction angle value, sending a reverse compensation control instruction to a spraying angle adjusting module;
the spraying angle adjusting module is used for receiving a reverse compensation control instruction sent by the control server, adjusting a spraying angle according to a reverse compensation angle theta ', and the calculation formula of the reverse compensation angle theta ' is theta ' ═ theta-theta0Where θ is the real-time wind direction angle, θ0Is a standard wind direction angle;
the spraying pressure regulating and controlling module is used for receiving a spraying pressure grade control instruction sent by the control server, and regulating the spraying pressure and flow of the unmanned aerial vehicle according to the spraying pressure grade;
the control server is used for receiving the wind speed value sent by the wind speed sensor, comparing the received wind speed value with a preset standard wind speed value, counting a landing height difference value of the unmanned aerial vehicle and sending the difference value to the plant protection height regulating and controlling module;
the plant protection height regulating and controlling module is used for receiving the landing height difference value of the unmanned aerial vehicle sent by the control server, and regulating and controlling the height of the unmanned aerial vehicle during plant protection operation according to the landing height difference value;
the manual input module is used for determining the landform types of the planting subregions according to the landform characteristics of the planting subregions, wherein the landform types comprise flat landforms, slope landforms, wave landforms and concave landforms which are numbered as d1, d2, d3 and d4 in sequence, and the numbers of the landform types of the planting subregions are manually input and sent to the storage database;
the storage database is used for receiving and storing the numbers of various plant areas sent by the operation area dividing module, the landform type numbers of the various plant areas sent by the manual input module, the numbers of various plant protection routes of the unmanned aerial vehicle sent by the plant protection route setting module, the numbers of the plant protection routes of the unmanned aerial vehicle and the numbers of the plant protection routes of the unmanned aerial vehicle, the numbers and the storage, the corresponding relation between the terrain type of the preset plant areas and the plant protection routes of the unmanned aerial vehicle, the standard wind speed value and the standard wind direction angle are stored, the wind speed values corresponding to the wind power grades are stored, the wind power grades are v1, v2, v3 and v4, and the wind speed values corresponding to the wind power grades are 0-5km/h, 6-11km/h, 12-19km/h and 20-; simultaneously storing spraying pressure grades corresponding to the wind grades, wherein the spraying pressure grades are respectively low grade, medium grade, high grade and special grade and correspond to the standard wind speed grade, the wind grades corresponding to the spraying pressure grades are respectively low grade spraying pressure corresponding to the standard wind speed grade v1, the medium grade spraying pressure corresponds to the standard wind speed grade v2, the high grade spraying pressure corresponds to the standard wind speed grade v3, and the special grade spraying pressure corresponds to the standard wind speed grade v 4;
the unmanned aerial vehicle extracts the terrain types of various planting subregions in the storage database and the corresponding relation between the terrain types of the planting subregions and the unmanned aerial vehicle air route, calls the unmanned aerial vehicle plant protection navigation route number in the storage database according to the terrain types of the various planting subregions, and performs plant protection operation;
the electric quantity and drug quantity detection module is used for detecting the residual quantity of electric quantity and drug quantity when the unmanned aerial vehicle performs plant protection, and the electric quantity detection module is used for detecting the residual quantity of the power supply of the unmanned aerial vehicle when the unmanned aerial vehicle performs plant protection operation and sending the residual quantity of the power supply to the control server; the medicine amount detection module is used for detecting the residual amount of liquid medicine carried by the unmanned aerial vehicle during plant protection operation and sending the residual amount of liquid medicine to the control server;
the control server is used for receiving the electric quantity and the residual quantity sent by the electric quantity and the residual quantity detection module, setting the safe electric quantity required by the return flight of the unmanned aerial vehicle according to the return flight route of the unmanned aerial vehicle, marking the safe electric quantity as Q1, marking the received residual electric quantity of the unmanned aerial vehicle as Q, comparing the residual electric quantity with the safe electric quantity Q1 required by the return flight of the unmanned aerial vehicle, and when the residual electric quantity Q of the unmanned aerial vehicle is greater than the set safe electric quantity Q1, the control server does not send a return flight landing instruction; when the electric quantity Q of the unmanned aerial vehicle reaches the set safe electric quantity Q1, the control server sends a return flight landing instruction to the unmanned aerial vehicle; meanwhile, when the residual quantity L of the liquid medicine carried by the unmanned aerial vehicle is equal to zero, the control server sends a return flight landing instruction to the unmanned aerial vehicle;
the landing position acquisition module comprises a GPS positioning instrument and is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle returns and sending the acquired position information to the control server;
the control server is used for receiving the position information of the unmanned aerial vehicle when the landing position acquisition module sends the unmanned aerial vehicle to return, planning a return route of the unmanned aerial vehicle according to the position comparison between the position of the unmanned aerial vehicle and the position of the landing platform, and sending a landing instruction and the return route to the unmanned aerial vehicle;
the docking platform is used for lifting and landing when the unmanned aerial vehicle performs plant protection operation, the unmanned aerial vehicle receives a return flight landing instruction and a return flight path sent by the control server, executes the return flight landing instruction according to the return flight path and lands on the docking platform;
the automatic charging module is used for automatically charging the unmanned aerial vehicle parked on the landing platform, the automatic charging module is provided with a current sensor, and when the current sensor detects that the current does not change any more, the automatic charging module can automatically disconnect and stop supplying power;
the medicine quantity supplying module is used for supplying medicine quantity to the unmanned aerial vehicle parked on the parking landing platform, the gravity of the unmanned aerial vehicle carrying full box of liquid medicine is set to be g, and when the gravity sensor on the parking landing platform detects that the gravity of the unmanned aerial vehicle reaches g, the medicine quantity supplying module stops supplying the medicine quantity to the unmanned aerial vehicle;
the unmanned aerial vehicle charging system further comprises a safety protection module, wherein the safety protection module is used for providing safety guarantee for the unmanned aerial vehicle in the charging process, and when the safety protection module detects that the unmanned aerial vehicle is short-circuited or broken in the charging process, the safety protection module gives an alarm and forcibly disconnects the charging input port of the automatic charging pile from the charging port of the unmanned aerial vehicle;
further, the calculation formula of the landing height difference value of the unmanned aerial vehicle is
Rho is expressed as a wind speed height index, H is expressed as a standard navigation height of the unmanned aerial vehicle for plant protection operation under the windless condition, H is expressed as an actual navigation height of the unmanned aerial vehicle for plant protection operation, and v is expressed as a current wind speed value of the unmanned aerial vehicle for plant protection operation.
Further, the corresponding relations between the terrain types of the planting sub-areas and the unmanned aerial vehicle plant protection routes are respectively that the plant protection navigation route corresponding to the flat landform d1 is an S1 route; the plant protection navigation route corresponding to the slope type landform d2 is S2 navigation; the plant protection navigation route corresponding to the wave-shaped landform d3 is S3; the plant protection navigation route corresponding to the concave landform d4 is S4.
Has the advantages that:
(1) according to the agricultural planting plant protection operation intelligent management system based on the big data Internet of things, the operation area is divided, the plant protection navigation route is selected according to the landform types of various plant sub-areas, and the unmanned aerial vehicle is driven according to the route set by the plant protection route, so that the phenomenon of manual missed spray and re-spray can be reduced, the plant protection pesticide application quality is ensured, the spraying efficiency and the utilization rate of agricultural resources are improved, the sudden large-area pest and disease damage prevention and control capacity is enhanced, and the agricultural risk resistance capacity is enhanced.
(2) According to the agricultural planting plant protection operation intelligent management system based on the big data Internet of things, the unmanned aerial vehicle carries out value protection operation under the combined action of the electric quantity and medicine quantity detection module, the automatic charging module and the medicine quantity supplementing module, and when the fact that the residual electric quantity of a power supply is less than the electric quantity required by the return journey of the unmanned aerial vehicle is detected, the automatic charging module completes electric quantity supplementing of the unmanned aerial vehicle; when the amount of the reserved residual liquid medicine of the unmanned aerial vehicle is detected to be equal to zero, the amount of the reserved liquid medicine of the unmanned aerial vehicle is supplemented by the medicine amount supplementing module; and through detecting real-time wind speed value and wind direction angle, carry out plant protection height control, spray angle regulation and spray pressure control to unmanned aerial vehicle when plant the guarantor, can reduce cost of labor and medicine cost like this, embodied farming plant protection system's intelligent management.
(3) The safety protection module is used for providing safety guarantee for the unmanned aerial vehicle in the charging process, when the safety protection module detects that the unmanned aerial vehicle has a line short circuit in the charging process, the safety protection module can give an alarm and forcibly disconnect the charging input port of the automatic charging pile from the charging port of the unmanned aerial vehicle, so that the circuit safety can be guaranteed, the damage to the unmanned aerial vehicle battery is reduced, and the loss in the short circuit process is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the connection of modules according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, an agricultural planting plant protection operation intelligent management system based on big data internet of things comprises an unmanned aerial vehicle, an operation area division module, a plant protection route setting module, a manual input module, a wind speed and direction detection module, a spraying angle adjustment module, a spraying pressure adjustment module, a plant protection height adjustment module, an electric quantity and chemical quantity detection module, a landing position acquisition module, a landing platform, an automatic charging module, a control server, a storage database and a chemical quantity replenishment module.
The control server is respectively connected with the electric quantity and dosage detection module, the landing position acquisition module, the wind speed and direction detection module, the spraying angle adjustment module, the spraying pressure adjustment module, the plant protection height adjustment module, the storage database and the unmanned aerial vehicle, the landing platform is respectively connected with the automatic charging module and the dosage supply module, and the safety protection module is connected with the automatic charging module; the storage database is respectively connected with the operation area division module, the plant protection route setting module and the manual input module.
The operation area dividing module is used for dividing a target crop planting area to be subjected to plant protection operation, dividing the crop planting area into a plurality of sub-areas with the same area according to a horizontal and vertical rectangular dividing rule, numbering the sub-areas sequentially from left to right and then from top to bottom, wherein the number of each planting sub-area is 1,2,.
The plant protection route setting module is used for setting unmanned aerial vehicle navigation routes during plant protection operation on various divided plant subareas, four unmanned aerial vehicle navigation routes are set, the first navigation route is an S-shaped route from left to right and then from top to bottom, and the first navigation route is numbered as an S1 route; the second navigation route is an S-shaped route from top to bottom and from left to right and is numbered as an S2 route; the third navigation route is a counterclockwise 'returning' shaped route from outside to inside and numbered as S3 navigation; the fourth navigation route is a clockwise 'return' shaped route from inside to outside, is numbered as S4, and sends the numbers of the four unmanned aerial vehicle navigation routes to the storage database.
The wind speed and wind direction detection module comprises a wind speed sensor and a wind direction sensor and is used for detecting real-time wind speed and wind direction data during the agricultural planting and plant protection operation in the same day, the wind speed sensor is used for detecting a wind speed value during plant protection in real time and is recorded as v, the wind direction sensor is used for detecting a wind direction angle during plant protection in real time and is recorded as theta, and the wind speed and wind direction data on the same day of plant protection are sent to the control server.
The control server is used for receiving the wind speed and wind direction data sent by the wind speed and wind direction detection module, extracting the wind speed value corresponding to each wind power level in the storage database for the received wind speed value, screening the wind power level corresponding to the wind speed value, extracting the spraying pressure level corresponding to each wind power level in the storage database, screening the spraying pressure level corresponding to the wind power level, and sending a corresponding pressure level control instruction to the spraying pressure regulation and control module; and comparing the received wind direction angle with a preset standard wind direction angle, and if the received wind direction angle is larger than the preset standard wind direction angle value, sending a reverse compensation control instruction to the spraying angle adjusting module. The spraying angle adjusting module is used for receiving a reverse compensation control instruction sent by the control server, adjusting a spraying angle according to a reverse compensation angle theta ', and the calculation formula of the reverse compensation angle theta ' is theta ' ═ theta-theta0Where θ is the real-time wind direction angle, θ0Is a standard wind direction angle.
Spout and press regulation and control module and be used for receiving the pressure level control command that sprays that control server sent, spout and press regulation and control module and adjust unmanned aerial vehicle's spraying pressure and flow according to spraying pressure level.
The control server is used for receiving the wind speed value sent by the wind speed sensor, comparing the received wind speed value with a preset standard wind speed value, and counting the landing height difference value of the unmanned aerial vehicle, wherein the calculation formula of the landing height difference value of the unmanned aerial vehicle is
Rho is expressed as a wind speed height index, H is expressed as a sailing standard height of the unmanned aerial vehicle for plant protection operation under the condition of no wind,h represents the actual navigation height that carries out the plant protection operation for the unmanned aerial vehicle, and v represents and carries out plant protection operation wind speed value on the day for the unmanned aerial vehicle to send to the high regulation and control module of plant protection, can reduce cost of labor and medicine cost like this, embodied farming plant protection system's intelligent management.
Plant protection height control module is used for receiving the unmanned aerial vehicle descending altitude difference that control server sent, and plant protection height control module regulates and control the height when unmanned aerial vehicle carries out the plant protection operation according to descending altitude difference.
The manual input module is used for determining the landform types of various plant subareas according to the landform characteristics of the plant subareas, wherein the landform types comprise flat landforms, slope landforms, wave landforms and concave landforms which are sequentially numbered as d1, d2, d3 and d4, and the corresponding relations between the landform types of the plant subareas and the plant protection air lines of the unmanned aerial vehicle are respectively that the plant protection navigation route corresponding to the flat landform d1 is an S1 air line; the plant protection navigation route corresponding to the slope type landform d2 is S2 navigation; the plant protection navigation route corresponding to the wave-shaped landform d3 is S3; the plant protection navigation route corresponding to the concave landform d4 is S4, and the serial numbers of the landform types of the planting sub-areas are manually input and sent to the storage database.
The storage database is used for receiving and storing the numbers of various plant areas sent by the operation area dividing module, the landform type numbers of the various plant areas sent by the manual input module, the numbers of various plant protection routes of the unmanned aerial vehicle sent by the plant protection route setting module, the numbers of the plant protection routes of the unmanned aerial vehicle and the numbers of the plant protection routes of the unmanned aerial vehicle, the numbers and the storage, the corresponding relation between the terrain type of the preset plant areas and the plant protection routes of the unmanned aerial vehicle, the standard wind speed value and the standard wind direction angle are stored, the wind speed values corresponding to the wind power grades are stored, the wind power grades are v1, v2, v3 and v4, and the wind speed values corresponding to the wind power grades are 0-5km/h, 6-11km/h, 12-19km/h and 20-; and simultaneously storing the spraying pressure grades corresponding to the wind power grades, wherein the spraying pressure grades are respectively low grade, medium grade, high grade and special grade and correspond to the standard wind speed grade, the wind power grades corresponding to the spraying pressure grades are respectively low grade spraying pressure corresponding to the standard wind speed grade v1, the medium grade spraying pressure corresponds to the standard wind speed grade v2, the high grade spraying pressure corresponds to the standard wind speed grade v3, and the special grade spraying pressure corresponds to the standard wind speed grade v 4.
Unmanned aerial vehicle draws the corresponding relation of the topography type of various planting subregions and the topography type of planting subregions and unmanned aerial vehicle airline in the storage database, transfers unmanned aerial vehicle plant protection navigation route serial number in the storage database according to various topography types of planting subregions, carries out the plant protection operation, can reduce the phenomenon of artifical hourglass heavy spray, guarantees the plant protection quality of applying pesticides, has improved the utilization ratio of spraying efficiency and agricultural resource, strengthens proruption large tracts of land plant diseases and insect pests prevention and control ability, reinforcing agricultural anti-risk ability.
The electric quantity and drug quantity detection module is used for detecting the residual quantity of electric quantity and drug quantity when the unmanned aerial vehicle performs plant protection, and the electric quantity detection module is used for detecting the residual quantity of the power supply of the unmanned aerial vehicle when the unmanned aerial vehicle performs plant protection operation and sending the residual quantity of the power supply to the control server; the medicine amount detection module is used for detecting the residual amount of liquid medicine carried by the unmanned aerial vehicle during plant protection operation and sending the residual amount of liquid medicine to the control server.
The control server is used for receiving the electric quantity and the residual quantity sent by the electric quantity and the residual quantity detection module, setting the safe electric quantity required by the return flight of the unmanned aerial vehicle according to the return flight route of the unmanned aerial vehicle, marking the safe electric quantity as Q1, marking the received residual electric quantity of the unmanned aerial vehicle as Q, comparing the residual electric quantity with the safe electric quantity Q1 required by the return flight of the unmanned aerial vehicle, and when the residual electric quantity Q of the unmanned aerial vehicle is greater than the set safe electric quantity Q1, the control server does not send a return flight landing instruction; when the electric quantity Q of the unmanned aerial vehicle reaches the set safe electric quantity Q1, the control server sends a return flight landing instruction to the unmanned aerial vehicle; meanwhile, when the residual quantity L of the liquid medicine carried by the unmanned aerial vehicle is equal to zero, the control server sends a return flight landing instruction to the unmanned aerial vehicle.
The landing position acquisition module comprises a GPS positioning instrument and is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle returns, and sending the acquired position information to the control server.
The control server is used for receiving the landing position and acquiring the position information that the module sent unmanned aerial vehicle when returning to the air, according to the position of unmanned aerial vehicle and the position contrast of berthing the landing platform, plans unmanned aerial vehicle's route of returning to the air to send descending instruction and route of returning to unmanned aerial vehicle.
The landing platform of berthing is the platform that is used for providing to rise when unmanned aerial vehicle carries out the plant protection operation and rises and descend, and unmanned aerial vehicle receives the return flight descending instruction and the route of returning a flight that control server sent, executes the instruction of returning a flight and descending, according to the route of returning a flight execution return flight descending instruction and descend on the landing platform of berthing.
The automatic charging module is used for automatically charging the unmanned aerial vehicle parked on the landing platform, the automatic charging module is provided with a current sensor, and when the current sensor detects that the current does not change any more, the automatic charging module can automatically disconnect and stop supplying power.
The safety protection module is used for unmanned aerial vehicle to provide the safety guarantee in charging process, and when safety protection module detected that unmanned aerial vehicle takes place the circuit short circuit or opens circuit in charging process, the safety protection module can send out the warning and the automatic input port that charges that fills electric pile of forced disconnection and unmanned aerial vehicle's the port that charges is connected, can ensure circuit safety, reduces the harm to the unmanned aerial vehicle battery, loss when reducing the short circuit.
The medicine quantity supply module is used for supplying medicine quantity to the unmanned aerial vehicle parked on the parking landing platform, the gravity of the unmanned aerial vehicle carrying full box of liquid medicine is set as g, and when the gravity sensor on the parking landing platform detects that the gravity of the unmanned aerial vehicle reaches g, the medicine quantity supply module stops supplying the medicine quantity of the unmanned aerial vehicle.
The foregoing is merely exemplary and illustrative of the principles of the present invention and various modifications, additions and substitutions of the specific embodiments described herein may be made by those skilled in the art without departing from the principles of the present invention or exceeding the scope of the claims set forth herein.
Claims (4)
1. The utility model provides a farming plant protection operation wisdom management system based on big data thing networking which characterized in that: the device comprises an unmanned aerial vehicle, an operation area division module, a plant protection route setting module, a manual input module, a wind speed and direction detection module, a spraying angle adjusting module, a spraying pressure adjusting module, a plant protection height adjusting module, an electric quantity and chemical quantity detection module, a landing position acquisition module, a parking landing platform, an automatic charging module, a control server, a storage database and a chemical quantity supply module;
the control server is respectively connected with the electric quantity and dosage detection module, the landing position acquisition module, the wind speed and direction detection module, the spraying angle adjustment module, the spraying pressure adjustment module, the plant protection height adjustment module, the storage database and the unmanned aerial vehicle, the landing platform is respectively connected with the automatic charging module and the dosage supply module, and the safety protection module is connected with the automatic charging module; the storage database is respectively connected with the operation area division module, the plant protection route setting module and the manual input module;
the operation area dividing module is used for dividing a target crop planting area to be subjected to plant protection operation, dividing the crop planting area into a plurality of sub-areas with the same area according to a horizontal, horizontal and vertical rectangular dividing rule, numbering the sub-areas sequentially from left to right and from top to bottom, wherein the number of the planting sub-areas is 1,2,.
The plant protection route setting module is used for setting unmanned aerial vehicle navigation routes during plant protection operation on various divided plant subareas, four unmanned aerial vehicle navigation routes are set, the first navigation route is an S-shaped route from left to right and then from top to bottom, and the first navigation route is numbered as an S1 route; the second navigation route is an S-shaped route from top to bottom and from left to right and is numbered as an S2 route; the third navigation route is a counterclockwise 'returning' shaped route from outside to inside and numbered as S3 navigation; the fourth navigation route is a clockwise 'returning' shaped route from inside to outside, is numbered as S4 navigation, and sends the numbers of the four unmanned aerial vehicle navigation routes to a storage database;
the wind speed and wind direction detection module comprises a wind speed sensor and a wind direction sensor, and is used for detecting real-time wind speed and wind direction data during the operation of plant protection in the same day, the wind speed sensor is used for detecting a wind speed value during plant protection in real time and is recorded as v, the wind direction sensor is used for detecting a wind direction angle during plant protection in real time and is recorded as theta, and the wind speed and wind direction data on the same day of plant protection are sent to the control server;
the control server is used for receiving the wind speed and wind direction data sent by the wind speed and wind direction detection module, extracting the wind speed value corresponding to each wind power level in the storage database for the received wind speed value, screening the wind power level corresponding to the wind speed value, extracting the spraying pressure level corresponding to each wind power level in the storage database, screening the spraying pressure level corresponding to the wind power level, and sending a corresponding pressure level control instruction to the spraying pressure regulation and control module; comparing the received wind direction angle with a preset standard wind direction angle, and if the wind direction angle is larger than the preset standard wind direction angle value, sending a reverse compensation control instruction to a spraying angle adjusting module;
the spraying angle adjusting module is used for receiving a reverse compensation control instruction sent by the control server, adjusting a spraying angle according to a reverse compensation angle theta ', and the calculation formula of the reverse compensation angle theta ' is theta ' ═ theta-theta0Where θ is the real-time wind direction angle, θ0Is a standard wind direction angle;
the spraying pressure regulating and controlling module is used for receiving a spraying pressure grade control instruction sent by the control server, and regulating the spraying pressure and flow of the unmanned aerial vehicle according to the spraying pressure grade;
the control server is used for receiving the wind speed value sent by the wind speed sensor, comparing the received wind speed value with a preset standard wind speed value, counting a landing height difference value of the unmanned aerial vehicle and sending the difference value to the plant protection height regulating and controlling module;
the plant protection height regulating and controlling module is used for receiving the landing height difference value of the unmanned aerial vehicle sent by the control server, and regulating and controlling the height of the unmanned aerial vehicle during plant protection operation according to the landing height difference value;
the manual input module is used for determining the landform types of the planting subregions according to the landform characteristics of the planting subregions, wherein the landform types comprise flat landforms, slope landforms, wave landforms and concave landforms which are numbered as d1, d2, d3 and d4 in sequence, and the numbers of the landform types of the planting subregions are manually input and sent to the storage database;
the storage database is used for receiving and storing the numbers of various plant areas sent by the operation area dividing module, the landform type numbers of the various plant areas sent by the manual input module, the numbers of various plant protection routes of the unmanned aerial vehicle sent by the plant protection route setting module, the numbers of the plant protection routes of the unmanned aerial vehicle and the numbers of the plant protection routes of the unmanned aerial vehicle, the numbers and the storage, the corresponding relation between the terrain type of the preset plant areas and the plant protection routes of the unmanned aerial vehicle, the standard wind speed value and the standard wind direction angle are stored, the wind speed values corresponding to the wind power grades are stored, the wind power grades are v1, v2, v3 and v4, and the wind speed values corresponding to the wind power grades are 0-5km/h, 6-11km/h, 12-19km/h and 20-; simultaneously storing spraying pressure grades corresponding to the wind grades, wherein the spraying pressure grades are respectively low grade, medium grade, high grade and special grade and correspond to the standard wind speed grade, the wind grades corresponding to the spraying pressure grades are respectively low grade spraying pressure corresponding to the standard wind speed grade v1, the medium grade spraying pressure corresponds to the standard wind speed grade v2, the high grade spraying pressure corresponds to the standard wind speed grade v3, and the special grade spraying pressure corresponds to the standard wind speed grade v 4;
the unmanned aerial vehicle extracts the terrain types of various planting subregions in the storage database and the corresponding relation between the terrain types of the planting subregions and the unmanned aerial vehicle air route, calls the unmanned aerial vehicle plant protection navigation route number in the storage database according to the terrain types of the various planting subregions, and performs plant protection operation;
the electric quantity and drug quantity detection module is used for detecting the residual quantity of electric quantity and drug quantity when the unmanned aerial vehicle performs plant protection, and the electric quantity detection module is used for detecting the residual quantity of the power supply of the unmanned aerial vehicle when the unmanned aerial vehicle performs plant protection operation and sending the residual quantity of the power supply to the control server; the medicine amount detection module is used for detecting the residual amount of liquid medicine carried by the unmanned aerial vehicle during plant protection operation and sending the residual amount of liquid medicine to the control server;
the control server is used for receiving the electric quantity and the residual quantity sent by the electric quantity and the residual quantity detection module, setting the safe electric quantity required by the return flight of the unmanned aerial vehicle according to the return flight route of the unmanned aerial vehicle, marking the safe electric quantity as Q1, marking the received residual electric quantity of the unmanned aerial vehicle as Q, comparing the residual electric quantity with the safe electric quantity Q1 required by the return flight of the unmanned aerial vehicle, and when the residual electric quantity Q of the unmanned aerial vehicle is greater than the set safe electric quantity Q1, the control server does not send a return flight landing instruction; when the electric quantity Q of the unmanned aerial vehicle reaches the set safe electric quantity Q1, the control server sends a return flight landing instruction to the unmanned aerial vehicle; meanwhile, when the residual quantity L of the liquid medicine carried by the unmanned aerial vehicle is equal to zero, the control server sends a return flight landing instruction to the unmanned aerial vehicle;
the landing position acquisition module comprises a GPS positioning instrument and is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle returns and sending the acquired position information to the control server;
the control server is used for receiving the position information of the unmanned aerial vehicle when the landing position acquisition module sends the unmanned aerial vehicle to return, planning a return route of the unmanned aerial vehicle according to the position comparison between the position of the unmanned aerial vehicle and the position of the landing platform, and sending a landing instruction and the return route to the unmanned aerial vehicle;
the docking platform is used for lifting and landing when the unmanned aerial vehicle performs plant protection operation, the unmanned aerial vehicle receives a return flight landing instruction and a return flight path sent by the control server, executes the return flight landing instruction according to the return flight path and lands on the docking platform;
the automatic charging module is used for automatically charging the unmanned aerial vehicle parked on the landing platform, the automatic charging module is provided with a current sensor, and when the current sensor detects that the current does not change any more, the automatic charging module is automatically disconnected and stops supplying power;
the medicine quantity supply module is used for supplying medicine quantity to the unmanned aerial vehicle parked on the parking landing platform, the gravity of the unmanned aerial vehicle carrying full box of liquid medicine is set as g, and when the gravity sensor on the parking landing platform detects that the gravity of the unmanned aerial vehicle reaches g, the medicine quantity supply module stops supplying the medicine quantity of the unmanned aerial vehicle.
2. The agricultural planting plant protection operation intelligent management system based on big data internet of things according to claim 1, characterized in that: still include the safety protection module, the safety protection module is used for unmanned aerial vehicle to provide the safety guarantee in charging process, and when the safety protection module detected that unmanned aerial vehicle takes place the circuit short circuit or opens circuit in charging process, the safety protection module can send the warning and forces the automatic charging port that fills electric pile of disconnection to be connected with unmanned aerial vehicle's the port that charges.
3. The agricultural planting plant protection operation intelligent management system based on big data internet of things according to claim 1, characterized in that: the calculation formula of the landing height difference value of the unmanned aerial vehicle is
Rho is expressed as a wind speed height index, H is expressed as a standard navigation height of the unmanned aerial vehicle for plant protection operation under the windless condition, H is expressed as an actual navigation height of the unmanned aerial vehicle for plant protection operation, and v is expressed as a current wind speed value of the unmanned aerial vehicle for plant protection operation.
4. The agricultural planting plant protection operation intelligent management system based on big data internet of things according to claim 1, characterized in that: the corresponding relation between the terrain type of the planting sub-area and the unmanned aerial vehicle plant protection route is that the plant protection navigation route corresponding to the flat landform d1 is an S1 route; the plant protection navigation route corresponding to the slope type landform d2 is S2 navigation; the plant protection navigation route corresponding to the wave-shaped landform d3 is S3; the plant protection navigation route corresponding to the concave landform d4 is S4.
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| CN117389310A (en) * | 2023-12-07 | 2024-01-12 | 临沂大学 | Agricultural unmanned aerial vehicle sprays operation control system |
| CN117389310B (en) * | 2023-12-07 | 2024-02-23 | 临沂大学 | Agricultural unmanned aerial vehicle sprays operation control system |
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