CN111994280A - Unmanned aerial vehicle control system and method for high-altitude pesticide spraying - Google Patents
Unmanned aerial vehicle control system and method for high-altitude pesticide spraying Download PDFInfo
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- CN111994280A CN111994280A CN202011060950.5A CN202011060950A CN111994280A CN 111994280 A CN111994280 A CN 111994280A CN 202011060950 A CN202011060950 A CN 202011060950A CN 111994280 A CN111994280 A CN 111994280A
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- 238000005507 spraying Methods 0.000 title claims abstract description 78
- 239000000575 pesticide Substances 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 111
- 239000003814 drug Substances 0.000 claims abstract description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 239000007921 spray Substances 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 5
- 238000002955 isolation Methods 0.000 claims description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 9
- 241000238631 Hexapoda Species 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 8
- 201000010099 disease Diseases 0.000 abstract description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 6
- 230000000361 pesticidal effect Effects 0.000 abstract description 2
- 244000043261 Hevea brasiliensis Species 0.000 description 21
- 230000001105 regulatory effect Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000003631 expected effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000857 drug effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
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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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
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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
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an unmanned aerial vehicle control system and a method for aerial pesticide spraying, and the unmanned aerial vehicle control system comprises an unmanned aerial vehicle main body, a liquid storage tank and a pesticide spraying mechanism, wherein the liquid storage tank is arranged at the bottom of the unmanned aerial vehicle main body, the pesticide spraying mechanism is arranged at the bottom of the liquid storage tank, the pesticide spraying mechanism comprises a connecting pipe, a flow control device, a water pump, a T-shaped pipe and a differential rotation mechanism, the connecting pipe is connected with the liquid storage tank through the water pump and the flow control device, one end of the T-shaped pipe is rotatably connected with the connecting pipe through a bearing, the other end of the T-shaped pipe is provided with a spray head, the other end of the T-shaped pipe is provided with the differential rotation mechanism, a rotating shaft is arranged in the connecting; the spraying radius can be adjusted, so that the spraying head rotates for one circle to spray the pesticide on the tree crown, and the pesticide spraying efficiency is high; meanwhile, the liquid medicine is prepared at present, so that the effect of preventing and treating plant diseases and insect pests is prevented from being influenced by the reduction of the pesticide effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle pesticide spraying, in particular to an unmanned aerial vehicle control system and method for high-altitude pesticide spraying.
Background
In the agriculture and forestry production, diseases and insect pests often cause serious harm to the tree production of the agriculture and forestry, so that the yield of the trees is reduced, the quality of the trees is reduced, and great troubles are caused for people. Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle has extensively applied to agriculture and forestry technical field at present, through with the liquid medicine splendid attire in the explosive box, carries to spraying to aerial by unmanned aerial vehicle, and the agriculture and forestry production that significantly reduces is to labour's demand. However, the existing pesticide spraying unmanned aerial vehicle has a great disadvantage, aiming at large trees in agriculture and forestry production, such as natural rubber trees, the unmanned aerial vehicle can only complete pesticide spraying operation on crowns of the trees by continuously and repeatedly flying, pesticide spraying efficiency is low, and due to the fact that large intervals exist among the crowns, pesticide is continuously sprayed in a reciprocating manner, and waste of pesticide liquid can be caused; meanwhile, in order to prevent and treat various plant diseases and insect pests, the unmanned aerial vehicle generally contains mixed liquid medicine to fly in the air for a long time, but no matter what liquid medicine is mixed, the unmanned aerial vehicle should pay attention to the fact that the liquid medicine is prepared at present and is not suitable for long-term storage. The liquid medicine does not react when just dispensing, but is randomly placed for a long time, slow reaction is easy to generate, the drug effect is gradually reduced, and the insect pest prevention effect cannot reach the expected effect.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle control system and a method for high-altitude pesticide spraying, which can adjust the spraying radius, enable a spray head to rotate for one circle to spray pesticide on tree crowns, have high pesticide spraying efficiency and avoid pesticide waste; meanwhile, the liquid medicine can be prepared at present, the reduction of the pesticide effect is avoided, and the expected effect of preventing and treating plant diseases and insect pests is ensured.
In order to solve the technical problems, the invention adopts the technical scheme that: an unmanned aerial vehicle control system for aerial pesticide spraying comprises an unmanned aerial vehicle main body, a liquid storage tank and a pesticide spraying mechanism, the liquid storage tank is arranged at the bottom of the unmanned aerial vehicle main body, the pesticide spraying mechanism is arranged at the bottom of the liquid storage tank, the pesticide spraying mechanism comprises a connecting pipe, a flow control device, a water pump, a T-shaped pipe and a differential rotation mechanism, the connecting pipe is connected with the liquid storage tank through the water pump and the flow control device, one end of the T-shaped pipe is rotationally connected with the connecting pipe through a bearing, the other end of the T-shaped pipe is provided with a spray head, the other end of the T-shaped pipe is provided with the differential rotation mechanism, a rotating shaft is arranged in the connecting pipe and the T-shaped pipe, a plurality of blades are fixedly arranged on the rotating shaft, the lower end of the rotating shaft is in transmission connection with the T-shaped pipe through a differential rotating mechanism, the unmanned aerial vehicle is characterized in that a main control unit is arranged in the unmanned aerial vehicle main body and is respectively electrically connected with the water pump and the flow control device.
Preferably, the fixing device further comprises a fixing frame and a fixing plate, two ends of the fixing frame are fixed on the inner wall of the connecting pipe, the rotating shaft is rotatably connected with the middle of the fixing frame, the fixing plate is arranged at one end of the T-shaped pipe, a containing cavity is formed at one end of the T-shaped pipe, the differential rotating mechanism is arranged in the containing cavity, and the rotating shaft penetrates through the fixing plate and is connected with the differential rotating mechanism.
Preferably, the differential rotation mechanism includes driving gear and driven gear, the tooth face is equipped with around on the inner wall of isolation chamber, the driving gear is fixed in the pivot, driven gear pass through the jib with the connecting pipe inner wall links to each other, just driven gear with the jib rotates and is connected, driven gear locates between driving gear and the tooth face, and all with driving gear, tooth face mesh mutually, driven gear is greater than the driving gear.
Preferably, an angle sensor is arranged on the T-shaped pipe, and the main control unit is electrically connected with the angle sensor.
Preferably, the nozzle is provided with a plurality of water outlet holes which are distributed in a radial shape.
Preferably, a partition plate is arranged in the liquid storage tank, the partition plate divides the inside of the liquid storage tank into a first liquid storage tank and a second liquid storage tank, the first liquid storage tank is communicated with the connecting pipe through a first liquid outlet, and the second liquid storage tank is communicated with the connecting pipe through a second liquid outlet.
Preferably, the flow control device comprises a first flow regulating valve and a second flow regulating valve, the first flow regulating valve is arranged at the first liquid outlet, the second flow regulating valve is arranged at the second liquid outlet, and the main control unit is electrically connected with the first flow regulating valve and the second flow regulating valve respectively.
Preferably, unmanned aerial vehicle main part lateral surface downwardly extending is equipped with the undercarriage, the bottom of undercarriage is less than spout the bottom of medicine mechanism.
Preferably, be equipped with a plurality of rotors in the unmanned aerial vehicle main part, the main control unit with the rotor electricity is connected.
The second part of the invention provides an unmanned aerial vehicle control method for aerial pesticide spraying, which specifically comprises the following steps:
s1, the unmanned aerial vehicle sails to the position above the crown of the tree, the relative height between the unmanned aerial vehicle and the crown is controlled to be adjusted to be h1, the picture information of the crown is obtained and sent to the main control unit, and the radius of the crown is calculated according to an algorithm;
s2, controlling the unmanned aerial vehicle to sail to a position near the center of the crown, and controlling and adjusting the relative height between the unmanned aerial vehicle and the crown to be h2 to keep hovering;
s3, the main control unit calculates corresponding output power of the water pump according to the radius of the tree crown and a preset rule, and controls the flow of the liquid medicine by controlling the output power of the water pump, so that the spraying radius is controlled to be equal to the radius of the tree crown;
s4, the water pump and the flow control device are started, the liquid medicine is mixed to wash the blades, and finally the spray head is driven to rotate slowly for a circle to finish spraying the tree crown;
s5, the unmanned aerial vehicle sails to the position above the next tree crown, and then pesticide spraying is carried out on the tree crown of the next tree according to the steps S1, S2, S3 and S4 until pesticide spraying on all the tree crowns is finished;
compared with the prior art, the invention has the following beneficial effects:
the invention provides an unmanned aerial vehicle control system and a method for aerial pesticide spraying, wherein a main control unit in an unmanned aerial vehicle main body controls an unmanned aerial vehicle to hover above the center of a tree crown of a tree, a pesticide spraying mechanism capable of spraying pesticide liquid to the tree crown is arranged below a liquid storage tank, and the main control unit controls a water pump and a flow control device to adjust the flow of the pesticide liquid, so that the spraying radius of the pesticide liquid is changed, and the spraying radius is equal to the radius of the tree crown; when the water pump and the flow control device are opened, the liquid medicine erodes the blades to drive the rotating shaft to rotate, the rotating shaft drives the T-shaped pipe to rotate in a differential mode through the differential rotating mechanism, finally the spray head is driven to rotate slowly for a circle, the covering type liquid medicine spraying of the tree crown can be completed, and the prevention and control effect of plant diseases and insect pests is guaranteed. The invention avoids the mode that the unmanned aerial vehicle needs to sail back and forth to spray the liquid medicine, greatly improves the spraying efficiency, and simultaneously avoids the waste of the liquid medicine caused by spraying the liquid medicine to the tree crown gap.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be 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 preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of the overall structure of an unmanned aerial vehicle control system for aerial pesticide spraying according to the invention;
FIG. 2 is a schematic view of the reservoir and spray mechanism of the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 2 taken along line A;
FIG. 4 is a top plan view of the differential rotation mechanism of the present invention;
FIG. 5 is a flow chart of a method of controlling an unmanned aerial vehicle for aerial spraying of a pesticide of the present invention;
FIG. 6 is a circuit schematic of the present invention;
FIG. 7 is a schematic view of the unmanned aerial vehicle of the present invention spraying liquid medicine on the crown;
in the attached drawing, 1-an unmanned aerial vehicle main body, 2-a liquid storage tank, 3-a medicine spraying mechanism, 4-a connecting pipe, a 5-T-shaped pipe, 6-a bearing, 7-a spray head, 8-a rotating shaft, 9-a blade, 10-a main control unit, 11-a fixing frame, 12-a fixing plate, 13-a containing cavity, 14-a driving gear, 15-a driven gear, 16-a tooth surface, 17-an angle sensor, 18-a water outlet hole, 19-a partition plate, 20-a first liquid storage tank, 21-a second liquid storage tank, 22-a first liquid outlet, 23-a second liquid outlet, 24-a first flow regulating valve, 25-a second flow regulating valve, 26-an undercarriage, 27-a water pump, 28-a camera, 29-a relative height sensor, a camera and, 30-crown, 31-hanger rod.
Detailed Description
For a better understanding of the technical content of the present invention, the following specific embodiments are provided, and the present invention is further described with reference to the accompanying drawings:
example 1
Referring to fig. 1 to 6, a first part of the invention provides an unmanned aerial vehicle control system for aerial pesticide spraying, which comprises an unmanned aerial vehicle main body 1, a liquid storage tank 2 and a pesticide spraying mechanism 3, wherein the liquid storage tank 2 is arranged at the bottom of the unmanned aerial vehicle main body 1, the pesticide spraying mechanism 3 is arranged at the bottom of the liquid storage tank 2, the pesticide spraying mechanism 3 comprises a connecting pipe 4, a water pump 27, a flow control device, a T-shaped pipe 5 and a differential rotation mechanism, the connecting pipe 4 is connected with the liquid storage tank 2 through the water pump 27 and the flow control device, one end of the T-shaped pipe 5 is rotatably connected with the connecting pipe 4 through a bearing 6, the other end of the T-shaped pipe 5 is provided with a spray head 7, the other end of the T-shaped pipe is provided with the differential rotation mechanism, a rotating shaft 8 is arranged in the connecting pipe 4 and the T-shaped pipe 5, a plurality of blades 9, be equipped with main control unit 10 in the unmanned aerial vehicle main part 1, main control unit 10 respectively with water pump 27 the flow control device electricity is connected.
When the unmanned aerial vehicle is used, a control strategy for controlling the unmanned aerial vehicle main body 1 to sail to the position above the center of the crown 30 of the rubber tree is arranged in the main control unit 10 in the unmanned aerial vehicle main body 1, the main control unit 10 controls the unmanned aerial vehicle main body 1 to carry the liquid storage tank 2 to hover above the center of the crown 30 of the tree, the liquid storage tank 2 is provided with a pesticide spraying mechanism 3 capable of spraying pesticide liquid to the crown 30 of the rubber tree below, the main control unit 10 controls the water pump 27 and the flow control device to adjust the flow of the pesticide liquid, so that the spraying radius of the pesticide liquid is changed, and the spraying radius is equal to the radius of the crown 30 of the; when the water pump 27 and the flow control device are started, the liquid medicine erodes the blades 9 to drive the rotating shaft 8 to rotate, the rotating shaft 8 drives the T-shaped pipe 5 to rotate in a differential mode through the differential rotating mechanism, and finally the spray head 7 is driven to rotate slowly for a circle, so that the covering type liquid medicine spraying on the tree crown 30 of the rubber tree can be completed, and the prevention and control effect of plant diseases and insect pests is ensured.
In the present embodiment, the economic large-sized arbor rubber tree produced in agriculture and forestry is used as an example for description, but the actual production activity is not limited to this kind of tree.
Specifically, still include mount 11 and fixed plate 12, the both ends of mount 11 are fixed in on the 4 inner walls of connecting pipe, pivot 8 with the middle part of mount 11 is rotated and is connected, fixed plate 12 is located the one end of T type pipe 5 forms and holds chamber 13, differential slewing mechanism locates hold in the chamber 13, pivot 8 run through fixed plate 12 with differential slewing mechanism is connected. Through the fixed frame 11 and the fixed plate 12, the rotating shaft 8 is limited, so that when the liquid medicine is prevented from being washed, the rotating shaft 8 is obliquely shaken, and the normal transmission among all the components is ensured. Meanwhile, the fixed plate 12 can also protect the differential transmission mechanism, so that the situation that the normal transmission is influenced by the fact that the liquid medicine directly washes the differential transmission mechanism is avoided.
Specifically, differential slewing mechanism includes driving gear 14 and driven gear 15, it is equipped with flank of tooth 16 to encircle on the inner wall of isolation chamber 13, driving gear 14 is fixed in on the pivot 8, driven gear 15 pass through jib 31 with connecting pipe 4 inner wall links to each other, just driven gear 15 with jib 31 rotates and is connected, driven gear 15 locates between driving gear 14 and the flank of tooth 16, and all with driving gear 14, flank of tooth 16 mesh mutually, driven gear 15 is greater than driving gear 14. The pivot 8 rotates the drive the driving gear 14 and rotates to drive driven gear 15 and rotate, and then drive T type pipe 5 and rotate, finally realize the circumferential motion of shower nozzle 7, driven gear 15 is greater than driving gear 14 makes the rotational speed of shower nozzle 7 is less than the rotational speed of pivot 8, thereby realizes the slow rotation of shower nozzle 7 avoids shower nozzle 7 to rotate too fast and leads to spraying the liquid medicine not enough and reduce the pest control effect to the crown 30 of rubber tree.
Specifically, an angle sensor 17 is arranged on the T-shaped pipe 5, and the main control unit 10 is electrically connected with the angle sensor 17. Angle sensor 17 real-time supervision T type pipe 5's turned angle works as when T type pipe 5 rotates 360 degrees, shower nozzle 7 has rotated a week, and angle sensor 17 transmission signal gives main control unit 10, main control unit 10 control flow control device closes, stops to spray the liquid medicine to the crown 30 of rubber tree, finally realizes that 7 original places of shower nozzle rotate a week and can accomplish the liquid medicine of crown 30 and spray, has improved greatly and has sprayed efficiency, avoids the reciprocal navigation of unmanned aerial vehicle to spray the liquid medicine to the crown 30 clearance department of rubber tree simultaneously, and causes the waste of liquid medicine.
Specifically, a plurality of water outlet holes 10 are formed in the spray head 7, and the water outlet holes 18 are distributed in a radial manner. Through the inclination that sets up different apopores 18 for under the same hydraulic condition, the distance of spraying the liquid medicine is different in different apopores 18, realizes that the liquid medicine from crown 30 center to the full coverage of crown 30 radius farthest within range, guarantees that 7 rotations a week of shower nozzle can accomplish the comprehensive spraying to crown 30 of rubber tree.
Specifically, be equipped with baffle 19 in the liquid reserve tank 2, baffle 19 will the liquid reserve tank 2 is inside to be cut apart into first liquid reserve tank 20 and second liquid reserve tank 21, first liquid reserve tank 20 through first liquid outlet 22 with connecting pipe 4 is linked together, second liquid reserve tank 21 through second liquid outlet 23 with connecting pipe 4 is linked together. Can arrange different liquid medicines in respectively in first liquid reserve tank 20 and second liquid reserve tank 21, when the liquid medicine is sprayed to needs, different liquid medicines converge in connecting pipe 4 through first liquid outlet 22 and second liquid outlet 23 respectively, and the liquid medicine erodees paddle 9, paddle 9 rotates and stirs the liquid medicine for spout again after the intensive mixing between the different liquid medicines to crown 30 on, realize the existing use of mixing of liquid medicine, avoid producing slow reaction between the liquid medicine, make the medicine effect progressively reduce, and then lead to preventing that the insect pest can not reach anticipated effect.
Specifically, the flow control device includes a first flow control valve 24 and a second flow control valve 25, the first flow control valve 24 is disposed at the first liquid outlet 22, the second flow control valve 25 is disposed at the second liquid outlet 23, and the main control unit 10 is electrically connected to the first flow control valve 24 and the second flow control valve 25, respectively. Can control first flow control valve 24 and second flow control valve 25 respectively through main control unit 10 to the realization is right the outflow size of liquid medicine in first liquid reserve tank 20 and the second liquid reserve tank 21 is controlled respectively, can realize two kinds of liquid medicines proportionally mixing according to actual demand, thereby the reinforcing prevents the effect.
Specifically, the side of the main body 1 of the unmanned aerial vehicle extends downwards to be provided with an undercarriage 26, and the bottom end of the undercarriage 26 is lower than the bottom of the pesticide spraying mechanism. When the main body 1 of the unmanned aerial vehicle lands, the landing gear 26 can be in contact with the ground first, and damage caused by collision of the pesticide spraying mechanism and the ground is prevented.
It is specific, still include camera 28, relative altitude sensor 29 and remote control unit, camera 28 locates the bottom surface of liquid reserve tank 2 for acquire the picture information of the crown 30 of rubber tree, relative altitude sensor 29 locates the bottom surface of liquid reserve tank 2 for gather the distance information between unmanned aerial vehicle and the crown 30, the last display screen that is equipped with of remote control unit for show the crown image of rubber tree and unmanned aerial vehicle's real-time position, main control unit 10 respectively with camera 28 and relative altitude sensor 29 electricity are connected, remote control unit with signal transmission can carry out between the main control unit 10.
The second part of the invention provides an unmanned aerial vehicle control method for aerial pesticide spraying, which specifically comprises the following steps:
s1, the unmanned aerial vehicle sails to the position above the crown of the tree, the relative sensor is used for collecting distance information between the unmanned aerial vehicle and the crown, the relative height between the unmanned aerial vehicle and the crown is controlled and adjusted to be a shooting height h1, the camera is used for obtaining picture information of the crown and sending the picture information to the main control unit, an image area corresponding to the crown of the rubber tree is extracted according to an image segmentation algorithm, then the crown of the single rubber tree is extracted through an expansion and corrosion algorithm, the diameter of the crown is obtained, and finally the radius of the crown is obtained;
s2, the camera transmits the crown image of the rubber tree to the remote control device and displays the crown image on the display screen, the display screen also displays the position information of the unmanned aerial vehicle in real time, the unmanned aerial vehicle is controlled to sail to a position near the center of the crown of the rubber tree, the relative sensor is used for collecting distance information between the unmanned aerial vehicle and the crown, and the unmanned aerial vehicle is controlled to be kept hovering when the relative height between the unmanned aerial vehicle and the crown is adjusted to be the spraying height h 2;
s3, regarding the radius of the crown of the rubber tree as a spraying radius R, calculating corresponding output power of a water pump according to the spraying radius R and a preset rule by a main control unit, and controlling the flow of liquid medicine by controlling the output power of the water pump so as to control the spraying radius to be equal to the radius of the crown of the rubber tree;
s4, starting a water pump and a flow control device, mixing the liquid medicine to scour the blades, and finally driving the spray head to slowly rotate for a circle to finish spraying the rubber tree crown;
s5, the unmanned aerial vehicle sails to the position above the crown of the next rubber tree, and then the medicine is sprayed on the crown of the next rubber tree according to the steps S1, S2, S3 and S4 until the medicine spraying on all the crowns of the rubber trees is finished;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An unmanned aerial vehicle control system for high-altitude pesticide spraying is characterized by comprising an unmanned aerial vehicle main body, a liquid storage tank and a pesticide spraying mechanism, the liquid storage tank is arranged at the bottom of the unmanned aerial vehicle main body, the pesticide spraying mechanism is arranged at the bottom of the liquid storage tank, the pesticide spraying mechanism comprises a connecting pipe, a flow control device, a water pump, a T-shaped pipe and a differential rotation mechanism, the connecting pipe is connected with the liquid storage tank through the water pump and the flow control device, one end of the T-shaped pipe is rotationally connected with the connecting pipe through a bearing, the other end of the T-shaped pipe is provided with a spray head, the other end of the T-shaped pipe is provided with the differential rotation mechanism, a rotating shaft is arranged in the connecting pipe and the T-shaped pipe, a plurality of blades are fixedly arranged on the rotating shaft, the lower end of the rotating shaft is in transmission connection with the T-shaped pipe through a differential rotating mechanism, the unmanned aerial vehicle is characterized in that a main control unit is arranged in the unmanned aerial vehicle main body and is respectively electrically connected with the water pump and the flow control device.
2. The unmanned aerial vehicle control system for aerial pesticide spraying is characterized by further comprising a fixing frame and a fixing plate, wherein two ends of the fixing frame are fixed to the inner wall of the connecting pipe, the rotating shaft is rotatably connected with the middle of the fixing frame, the fixing plate is arranged at one end of the T-shaped pipe, an accommodating cavity is formed at one end of the T-shaped pipe, the differential rotating mechanism is arranged in the accommodating cavity, and the rotating shaft penetrates through the fixing plate and is connected with the differential rotating mechanism.
3. The unmanned aerial vehicle control system for aerial pesticide spraying is characterized in that the differential rotation mechanism comprises a driving gear and a driven gear, a tooth surface is arranged on the inner wall of the isolation cavity in a surrounding mode, the driving gear is fixed on the rotating shaft, the driven gear is connected with the inner wall of the connecting pipe through a hanging rod and is in rotary connection with the hanging rod, the driven gear is arranged between the driving gear and the tooth surface and is meshed with the driving gear and the tooth surface, and the driven gear is larger than the driving gear.
4. The unmanned aerial vehicle control system for aerial pesticide spraying according to claim 1, wherein an angle sensor is arranged on the T-shaped pipe, and the main control unit is electrically connected with the angle sensor.
5. The unmanned aerial vehicle control system for high altitude pesticide spraying of claim 1, wherein the nozzle is provided with a plurality of water outlet holes, and the water outlet holes are radially distributed.
6. The unmanned aerial vehicle control system for high altitude medicine spraying of claim 1, wherein a partition is provided in the liquid storage tank, the partition divides the interior of the liquid storage tank into a first liquid storage tank and a second liquid storage tank, the first liquid storage tank is communicated with the connecting pipe through a first liquid outlet, and the second liquid storage tank is communicated with the connecting pipe through a second liquid outlet.
7. The unmanned aerial vehicle control system for aerial pesticide spraying is characterized in that the flow control device comprises a first flow control valve and a second flow control valve, the first flow control valve is arranged at the first liquid outlet, the second flow control valve is arranged at the second liquid outlet, and the main control unit is electrically connected with the first flow control valve and the second flow control valve respectively.
8. The unmanned aerial vehicle control system for high altitude pesticide spraying of claim 1, wherein the unmanned aerial vehicle body is provided with a landing gear extending downwards from the side surface, and the bottom end of the landing gear is lower than the bottom of the pesticide spraying mechanism.
9. The unmanned aerial vehicle control system for high altitude pesticide spraying according to claim 1, further comprising a camera, a relative altitude sensor and a remote control device, wherein the camera is arranged on the bottom surface of the liquid storage tank, the relative altitude sensor is arranged on the bottom surface of the liquid storage tank, a display screen is arranged on the remote control device, the main control unit is electrically connected with the camera and the relative altitude sensor respectively, and the remote control device and the main control unit can transmit signals.
10. The unmanned aerial vehicle control system for aerial spraying according to any one of claims 1 to 8, further comprising an unmanned aerial vehicle control method for aerial spraying, and specifically comprising the following steps:
s1, the unmanned aerial vehicle sails to the position above the crown of the tree, the relative height between the unmanned aerial vehicle and the crown is controlled to be adjusted to be h1, the picture information of the crown is obtained and sent to the main control unit, and the radius of the crown is calculated according to an algorithm;
s2, controlling the unmanned aerial vehicle to sail to a position near the center of the crown, and controlling and adjusting the relative height between the unmanned aerial vehicle and the crown to be h2 to keep hovering;
s3, the main control unit calculates corresponding output power of the water pump according to the radius of the tree crown and a preset rule, and controls the flow of the liquid medicine by controlling the output power of the water pump, so that the spraying radius is controlled to be equal to the radius of the tree crown;
s4, the water pump and the flow control device are started, the liquid medicine is mixed to wash the blades, and finally the spray head is driven to rotate slowly for a circle to finish spraying the tree crown;
s5, the unmanned aerial vehicle sails to the position above the next tree crown, and then the pesticide is sprayed on the tree crown of the next tree according to the steps S1, S2, S3 and S4 until the pesticide spraying on all the tree crowns is completed.
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