CN111846238A - Plant protection unmanned aerial vehicle spraying method and system - Google Patents
Plant protection unmanned aerial vehicle spraying method and system Download PDFInfo
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- CN111846238A CN111846238A CN202010716249.8A CN202010716249A CN111846238A CN 111846238 A CN111846238 A CN 111846238A CN 202010716249 A CN202010716249 A CN 202010716249A CN 111846238 A CN111846238 A CN 111846238A
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- 238000005507 spraying Methods 0.000 title claims abstract description 58
- 239000007788 liquid Substances 0.000 claims abstract description 50
- 239000003814 drug Substances 0.000 claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 38
- 239000007921 spray Substances 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 12
- 244000309464 bull Species 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 244000038559 crop plants Species 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- -1 seed Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000011550 stock solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
-
- 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
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a spraying method and a spraying system for a plant protection unmanned aerial vehicle, wherein the spraying system for the plant protection unmanned aerial vehicle comprises a machine body, four corners of the outer edge of the machine body are all provided with flight assemblies, the inner side of the machine body is provided with a medicine storage cavity, a liquid level meter is fixedly installed in the medicine storage cavity, and the bottom of the machine body is provided with a supporting camera shooting assembly. According to the invention, the information of the operation area, the information of the crop to be sprayed and the information of the plant protection unmanned aerial vehicle are determined by plant protection personnel, the target spraying amount of the crop to be sprayed, the target flight speed of the plant protection unmanned aerial vehicle and the flight line information of the plant protection unmanned aerial vehicle are determined, the target spraying amount, the target flight speed and the flight line information are input and sent to the flight control module, and the flight control module in the plant protection unmanned aerial vehicle controls the flight assembly to fly in the operation area according to the flight path and the target flight speed, so that the spraying effect is better and higher in efficiency, and meanwhile, the overall safety of the unmanned aerial vehicle is greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a spraying method and a spraying system for a plant protection unmanned aerial vehicle.
Background
Plant protection unmanned aerial vehicle, also called unmanned vehicles, as the name implies is the unmanned aircraft who is used for agriculture and forestry plant protection operation, and this type unmanned aircraft comprises flight platform (fixed wing, helicopter, multiaxis aircraft), navigation flight control, spraying mechanism triplex, flies through ground remote control or navigation and controls, realizes spraying the operation, can spray medicament, seed, powder etc..
At present, plant protection unmanned aerial vehicle generally adopts the ultra-low volume spraying technique of high concentration, thin spraying, low capacity, in order to guarantee plant protection unmanned aerial vehicle's operation quality, needs carry out more meticulous control to plant protection unmanned aerial vehicle, and still there is certain error to plant protection unmanned aerial vehicle's spray control at present.
Disclosure of Invention
The invention aims to provide a spraying method and a spraying system for a plant protection unmanned aerial vehicle, which aim to solve the problems that the existing plant protection unmanned aerial vehicle in the background technology generally adopts an ultra-low-volume spraying technology with high concentration, fine spraying and low capacity, the plant protection unmanned aerial vehicle needs to be more finely controlled in order to ensure the operation quality of the plant protection unmanned aerial vehicle, and the existing spraying control on the plant protection unmanned aerial vehicle still has certain errors.
In order to achieve the purpose, the invention provides the following technical scheme: plant protection unmanned aerial vehicle sprinkler system, which comprises a bod, four edges on the outer edge of organism all are provided with the flight subassembly, the inboard of organism is provided with the storage medicine chamber, the inside fixed mounting in storage medicine chamber has the level gauge, the bottom of organism is provided with the support subassembly of making a video recording, the bottom fixed mounting of organism has orientation module, one side fixed mounting of orientation module has control module, one side bottom of the body portion of control module is provided with sprays the water conservancy diversion subassembly, the top of organism is provided with annotates the liquid mouth.
Preferably, the flight subassembly is including seting up the inside drive groove in four edges of organism, the inside all fixed mounting in drive groove has the motor, the output of motor runs through drive groove top fixed mounting through the bearing has the bull stick, and the top all fixed mounting of bull stick has propeller blade.
Preferably, spray the water conservancy diversion subassembly and include to run through the atomizer that stores up the medicine chamber and encircle and install in the bottom of the body through the pipeline, the bottom fixed mounting of body has the water pump, and the output of water pump passes through the pipeline and is connected with the atomizer.
Preferably, the supporting camera shooting assembly comprises brackets fixedly arranged on two sides of the bottom of the machine body, connecting rods are obliquely arranged on the inner sides of the brackets, and cameras are fixedly arranged between the connecting rods.
Preferably, the bottom fixed mounting of organism has power module, power module's output passes through the input electric connection of wire and control module, orientation module, motor, level gauge, water pump and camera, control module's output and input are respectively through the input of wire and motor and water pump and the output electric connection of level gauge and camera.
Plant protection unmanned aerial vehicle spraying method includes the following steps:
s1, at first carry out the whole transportation of unmanned aerial vehicle and carry to corresponding spraying area, carry out corresponding part equipment through the manual work, and the geographical positional information who will spray the department, the airline information and spray the control information of flow input inside the control module, the medicament that will spray is through annotating the liquid mouth leading-in to the inside stock solution intracavity of organism, move through manual control starter motor, drive bull stick and propeller blade through the motor and rotate, make unmanned aerial vehicle whole can carry out slow rising take-off.
S2, then when unmanned aerial vehicle flies to the appointed region that needs to spray through the airline of setting for, the accessible camera shoots in real time to with information through control module processing transmission to ground receipt department, carry out the operation through control module control water pump simultaneously, derive the liquid medicine that stores up medicine intracavity portion through the water pump and carry atomizer department, evenly spray the liquid medicine to crops through atomizer.
S3, finally, the liquid medicine amount in the medicine storage cavity is monitored in real time through the liquid level meter, the actual spraying amount of the liquid medicine sprayed out of the atomizing nozzle is determined according to the current flying speed, the liquid level monitoring information and the spraying amplitude of the atomizing nozzle through monitoring the liquid level monitoring information of the liquid level meter, the target flying speed is updated according to the error between the actual spraying amount and the target spraying amount, and the rotating speed of the water pump is adjusted so that the actual spraying amount is equal to the target spraying amount.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the information of the operation area, the information of the crop to be sprayed and the information of the plant protection unmanned aerial vehicle are determined by plant protection personnel, the target spraying amount of the crop to be sprayed, the target flight speed of the plant protection unmanned aerial vehicle and the flight line information of the plant protection unmanned aerial vehicle are determined, the target spraying amount, the target flight speed and the flight line information are input and sent to the flight control module, and the flight control module in the plant protection unmanned aerial vehicle controls the flight assembly to fly in the operation area according to the flight path and the target flight speed, so that the spraying effect is better and higher in efficiency, and meanwhile, the overall safety of the unmanned aerial vehicle is greatly improved.
According to the invention, the liquid level monitoring information of the liquid level meter is monitored to control the rotating speed of the water pump and the flying speed of the flying module in the plant protection unmanned aerial vehicle, so that the liquid medicine loaded in the water tank is sprayed out from the atomizing spray head according to the target spraying amount.
Drawings
FIG. 1 is a front view of the present invention;
fig. 2 is a schematic view of the internal structure of the present invention.
In the figure: 1. a flight assembly; 2. a drug storage cavity; 3. supporting the camera assembly; 4. a water pump; 5. a power supply module; 6. a spray diversion assembly; 7. a connecting rod; 8. a camera; 9. a support; 10. an atomizing spray head; 11. a positioning module; 12. a control module; 13. a rotating rod; 14. a propeller blade; 15. a body; 16. a liquid injection port; 17. a motor; 18. a drive slot; 19. a liquid level meter.
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.
Referring to fig. 1-2, the present invention provides a technical solution: plant protection unmanned aerial vehicle sprinkling system, including organism 15, four edges and corners on the 15 outer edges of organism all are provided with flight assembly 1, and the inboard of organism 15 is provided with stores up medicine chamber 2, and the inside fixed mounting that stores up medicine chamber 2 has level gauge 19, and this level gauge 19 model can be SIN-P260, and the height of liquid medium is called as the liquid level in the container, and the instrument of measuring the liquid level is called the level gauge. The liquid level meter is one of level meters, the type of the liquid level meter is tuning fork vibration type, magnetic levitation type, pressure type, ultrasonic wave, sonar wave, magnetic turning plate, radar and the like, the actual spraying amount of the liquid medicine sprayed out of the atomizing nozzle 10 is determined according to the liquid level monitoring information of the liquid level meter 19, the current flying speed, the liquid level monitoring information and the spraying amplitude of the atomizing nozzle 10, the target flying speed is updated according to the error of the actual spraying amount and the target spraying amount, the rotating speed of the water pump 4 is adjusted to enable the actual spraying amount to be equal to the target spraying amount, the bottom of the machine body 15 is provided with a supporting camera component 3, the bottom of the machine body 15 is fixedly provided with a positioning module 11, the model of the positioning module 11 can be NEO-M8N-0-10, the positioning module is an integrated circuit formed by integrating an RF chip, a baseband chip and a core CPU and adding related peripheral circuits, one side of the positioning module 11 is fixedly provided with a control module 12, the model of the control module 12 can be MS102SF6, the control module is a novel industrial control device of a generation formed by introducing a microelectronic technology, a computer technology, an automatic control technology and a communication technology on the basis of a traditional sequence controller, and the control module is used for replacing sequence control functions of relays, execution logic, timing, counting and the like and establishing a flexible remote control system. Have the commonality strong, high durability and convenient use, wide adaptation, high reliability, the interference killing feature is strong, programming is simple etc. one side 15 bottoms of control module 12 are provided with sprays water conservancy diversion subassembly 6, the top of organism 15 is provided with annotates liquid mouth 16, flight subassembly 1 is including seting up the inside driving groove 18 in four edges of organism 15, the inside all fixed mounting of driving groove 18 has motor 17, this motor 17 model can be 37GB-520, motor 17's output runs through driving groove 18 top fixed mounting through the bearing and has bull stick 13, and the top all fixed mounting of bull stick 13 has propeller blade 14, starter motor 17 moves, it rotates to drive bull stick 13 and propeller blade 14 through motor 17, make unmanned aerial vehicle whole can rise slowly and take off.
Spray water conservancy diversion subassembly 6 and include and encircle the atomizer 10 of installing in organism 15 bottom through pipeline through medicine storage chamber 2, the bottom fixed mounting of organism 15 has water pump 4, and the output of water pump 4 passes through the pipeline and is connected with atomizer 10, shoot in real time through camera 8, and with information through control module 12 processing transmission to ground receiving department, simultaneously through control module 12 control water pump 4 operation, educe the liquid medicine of storing up medicine intracavity 2 inside through water pump 4 and carry atomizer 10 department, evenly spray the liquid medicine on crops through atomizer 10, support camera subassembly 3 and include fixed mounting in organism 15 bottom both sides support 9, connecting rod 7 is installed to the inboard slope of support 9, and fixed mounting has camera 8 between connecting rod 7, the bottom fixed mounting of organism 15 has power module 5, the output of power module 5 passes through wire and control module 12, The input electric connection of orientation module 11, motor 17, level gauge 19, water pump 4 and camera 8, control module 12's output and input are respectively through wire and motor 17 and water pump 4's input and level gauge 19 and camera 8's output electric connection, can make things convenient for carrying out the real-time transmission of signal between the device to provide independent and sufficient electric power energy for the device operation.
The working principle is as follows: when crop plant protection work is required, firstly, the whole unmanned aerial vehicle is transported and carried to a corresponding spraying area, corresponding parts are assembled manually, geographical position information, route information and control information of spraying flow at the spraying position are input into a control module, a medicament to be sprayed is guided into a liquid storage cavity 2 in a machine body 15 through a liquid injection port 16, a motor 17 is started through manual control to operate, a rotating rod 13 and a propeller blade 14 are driven to rotate through the motor 17, so that the whole unmanned aerial vehicle can slowly ascend and take off, then when the unmanned aerial vehicle flies to a specified area needing to be sprayed through a set route, real-time shooting can be carried out through a camera 8, the information is processed and transmitted to a ground receiving position through the control module 12, meanwhile, the control module 12 controls a water pump 4 to operate, the liquid medicament stored in the medicament storage cavity 2 is guided out through the water pump 4 and is conveyed to an atomizing nozzle 10, liquid medicine is uniformly sprayed on crops through the atomizing spray head 10, finally the amount of the liquid medicine in the medicine storage cavity 2 can be monitored in real time through the liquid level meter 19, the actual spraying amount of the liquid medicine sprayed out of the atomizing spray head 10 is determined according to the current flying speed, the liquid level monitoring information and the spraying amplitude of the atomizing spray head 10 through monitoring the liquid level monitoring information of the liquid level meter 19, the target rotating speed R of the water pump 4 is calculated according to the error between the actual spraying amount and the target spraying amount by adopting a formula R ═ V1/Vt0 (Rmax-Rmin) < 0.5-Rmin), wherein V1 is the current flying speed, Vt0 is the target flying speed, Rmax is the highest rotating speed of the water pump 4, Rmin is the lowest rotating speed of the water pump 4, and the flying speed is continuously adjusted, so that the actual flying speed is compared with the target flying speed at a certain interval of 100 milliseconds after the rotating speed of the water pump 4 is adjusted, and continuously adjusts the rotation speed of the water pump 4 to update the target flying speed, and adjusts the rotation speed of the water pump 4 so that the actual spraying amount is equal to the target spraying amount.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. Plant protection unmanned aerial vehicle sprinkling system, including organism (15), its characterized in that: four edges on the outer edge of organism (15) all are provided with flight subassembly (1), the inboard of organism (15) is provided with storage medicine chamber (2), the inside fixed mounting of storage medicine chamber (2) has level gauge (19), the bottom of organism (15) is provided with supports camera module (3), the bottom fixed mounting of organism (15) has orientation module (11), one side fixed mounting of orientation module (11) has control module (12), one side organism (15) bottom of control module (12) is provided with sprays water conservancy diversion subassembly (6), the top of organism (15) is provided with annotates liquid mouth (16).
2. The plant protection unmanned aerial vehicle sprinkling system of claim 1, wherein: flight subassembly (1) is including offering at inside drive groove (18) of four edges of organism (15), the inside all fixed mounting in drive groove (18) has motor (17), the output of motor (17) runs through drive groove (18) top fixed mounting through the bearing has bull stick (13), and the top of bull stick (13) all fixed mounting have propeller blade (14).
3. The plant protection unmanned aerial vehicle sprinkling system of claim 1, wherein: spray water conservancy diversion subassembly (6) and include that it encircles atomizer (10) installed in organism (15) bottom to run through medicine storage chamber (2) through the pipeline, the bottom fixed mounting of organism (15) has water pump (4), and the output of water pump (4) passes through the pipeline and is connected with atomizer (10).
4. The plant protection unmanned aerial vehicle sprinkling system of claim 1, wherein: the supporting camera shooting assembly (3) comprises brackets (9) fixedly arranged on two sides of the bottom of the machine body (15), connecting rods (7) are obliquely arranged on the inner sides of the brackets (9), and cameras (8) are fixedly arranged between the connecting rods (7).
5. The plant protection unmanned aerial vehicle sprinkling system of claim 2 or 3 or 4, wherein: the bottom fixed mounting of organism (15) has power module (5), the output of power module (5) passes through the input electric connection of wire and control module (12), orientation module (11), motor (17), level gauge (19), water pump (4) and camera (8), the output and the input of control module (12) are respectively through the input of wire and motor (17) and water pump (4) and the output electric connection of level gauge (19) and camera (8).
6. Plant protection unmanned aerial vehicle spraying method, its characterized in that: the method comprises the following steps:
s1, firstly, the whole unmanned aerial vehicle is transported and carried to a corresponding spraying area, corresponding parts are assembled manually, geographical position information of a spraying position, air route information and control information of spraying flow are input into a control module, a medicament to be sprayed is led into a liquid storage cavity (2) in a machine body (15) through a liquid injection port (16), the unmanned aerial vehicle runs through a manually controlled starting motor (17), a rotating rod (13) and a screw blade (14) are driven to rotate through the motor (17), and the whole unmanned aerial vehicle can slowly ascend and take off;
s2, when the unmanned aerial vehicle flies to a designated area needing spraying through a set air route, shooting in real time through a camera (8), processing and transmitting information to a ground receiving position through a control module (12), controlling a water pump (4) to run through the control module (12), guiding out liquid medicine stored in a medicine storage cavity (2) through the water pump (4), conveying the liquid medicine to an atomizing nozzle (10), and uniformly spraying the liquid medicine to crops through the atomizing nozzle (10);
s3, finally, the liquid medicine amount in the medicine storage cavity (2) is monitored in real time through the liquid level meter (19), the actual spraying amount of the liquid medicine sprayed out of the atomizing spray head (10) is determined according to the current flying speed, the liquid level monitoring information and the spraying amplitude of the atomizing spray head (10) through monitoring the liquid level monitoring information of the liquid level meter (19), the target flying speed is updated according to the error between the actual spraying amount and the target spraying amount, and the rotating speed of the water pump (4) is adjusted so that the actual spraying amount is equal to the target spraying amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010716249.8A CN111846238A (en) | 2020-07-23 | 2020-07-23 | Plant protection unmanned aerial vehicle spraying method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010716249.8A CN111846238A (en) | 2020-07-23 | 2020-07-23 | Plant protection unmanned aerial vehicle spraying method and system |
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Cited By (5)
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| CN112631327A (en) * | 2020-12-10 | 2021-04-09 | 许昌雷鸣电子科技有限公司 | Pesticide spraying detection method and device for plant protection unmanned aerial vehicle, electronic equipment and storage medium |
| CN112772617A (en) * | 2021-01-22 | 2021-05-11 | 广东省农业科学院茶叶研究所 | Tea garden insect pest prevention and control system based on 5G |
| CN113184192A (en) * | 2021-04-12 | 2021-07-30 | 苏州极目机器人科技有限公司 | Spraying method for aircraft |
| CN113985910A (en) * | 2021-09-09 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle control method and system combining mobile network and satellite positioning |
| NL2032258B1 (en) * | 2022-01-11 | 2023-06-19 | Shandong Acad Of Agricultural Sciences | Management and control system and method for spraying of field corn foliar fertilizer |
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Application publication date: 20201030 |
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