CN112109894A - Full-automatic pesticide spraying unmanned aerial vehicle and unmanned aerial vehicle route planning method - Google Patents
Full-automatic pesticide spraying unmanned aerial vehicle and unmanned aerial vehicle route planning method Download PDFInfo
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- CN112109894A CN112109894A CN201910536995.6A CN201910536995A CN112109894A CN 112109894 A CN112109894 A CN 112109894A CN 201910536995 A CN201910536995 A CN 201910536995A CN 112109894 A CN112109894 A CN 112109894A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- 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
- G01S19/42—Determining position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a full-automatic pesticide spraying unmanned aerial vehicle and an unmanned aerial vehicle route planning method. This full-automatic pesticide sprays unmanned aerial vehicle and unmanned aerial vehicle airline planning method possesses and saves the labour, has reduced staff's intensity of labour, has improved the efficiency that the pesticide sprayed, and sprays through unmanned aerial vehicle flight path planning pesticide and can not respray, also can not leak and spout, and unmanned aerial vehicle has the low voltage suggestion simultaneously, can return to the journey automatically after the medical kit does not have the medicine, has improved advantages such as the quality that the pesticide sprayed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a full-automatic pesticide spraying unmanned aerial vehicle and an unmanned aerial vehicle route planning method.
Background
Unmanned aerial vehicle is called "unmanned aerial vehicle" for short, it is the unmanned aerial vehicle who utilizes radio remote control equipment and self-contained program control device to control, or by the vehicle-mounted computer completely or intermittently independently operate, compare with unmanned aerial vehicle, unmanned aerial vehicle often is more suitable for those too "fool, dirty or dangerous" task, unmanned aerial vehicle is according to the application, unmanned aerial vehicle + industry is used, be the real just-needed of unmanned aerial vehicle, at present at aerial photograph, agriculture, plant protection, miniature autodyne, express delivery transportation, disaster rescue.
The agricultural medicine that has now sprays adopts the manual work to spray mostly, sprays efficiency lower, and staff's intensity of labour is great, and the manual work sprays not comprehensive enough sometimes, can lead to omitting to spray, influences the quality that the pesticide sprayed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a full-automatic pesticide spraying unmanned aerial vehicle and an unmanned aerial vehicle route planning method, which have the advantages of saving labor force, reducing the labor intensity of workers, improving the pesticide spraying efficiency, planning that pesticide spraying cannot be re-sprayed and cannot be missed through the unmanned aerial vehicle route, simultaneously having a low-voltage prompt for the unmanned aerial vehicle, automatically returning to the air after a pesticide box is free of pesticide, improving the pesticide spraying quality and the like, and solves the problems that the spraying efficiency is low, the labor intensity of workers is high, and sometimes manual spraying is not comprehensive enough, spraying omission can be caused, and the pesticide spraying quality is influenced.
(II) technical scheme
In order to realize that the pesticide spraying has the advantages of saving labor force, reducing the labor intensity of workers and improving the pesticide spraying efficiency, the pesticide spraying can not be re-sprayed and can not be missed by planning the pesticide spraying through the flight path of the unmanned aerial vehicle, meanwhile, the unmanned aerial vehicle has a low-voltage prompt, the pesticide box can automatically return to the air after no pesticide is sprayed, and the purpose of improving the pesticide spraying quality is realized, the invention provides the following technical scheme: a full-automatic pesticide spraying unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a remote controller main body and a pesticide box main body, wherein the lower surface of the unmanned aerial vehicle main body is fixedly connected with the upper surface of the pesticide box main body, the unmanned aerial vehicle main body is connected with the remote controller main body through radio communication, the outer wall of the pesticide box main body is obliquely and fixedly connected with two U-shaped plates which are symmetrically distributed, the inner walls of the U-shaped plates are rotatably connected with rotating rods through first rolling bearings, the rod walls of the two rotating rods are respectively and fixedly connected with a first spray head and a second spray head, the side walls of the first spray head and the second spray head are respectively hinged with a connecting rod, one ends of the two connecting rods, far away from the U-shaped plates, are jointly hinged with nuts, the inner walls of the nuts are in threaded connection with screw rods, the top ends, the lower fixed surface of medical kit main part is connected with the motor, the output fixedly connected with second gear of motor, the lateral wall of first gear meshes with the lateral wall of second gear, the bottom inner wall fixedly connected with pump of medical kit main part, the output of pump is fixed to be communicated with the three-way pipe, the both ends of three-way pipe are all fixed to be communicated with the hose, two the bottom of hose all passes the bottom of medical kit main part and respectively with the input of first shower nozzle and second shower nozzle is fixed to be communicated.
Preferably, the unmanned aerial vehicle main body comprises a first signal receiving module with a signal receiving function, a first data processing module with a data processing function, an unmanned aerial vehicle electric quantity alarming module, a second GPS positioning module with a GPS positioning function, a medicine box monitoring module with a medicine box quantity monitoring function, an automatic return flight module with an unmanned aerial vehicle automatic return flight function, a first signal sending module with a signal sending function and an unmanned aerial vehicle action executing module with an unmanned aerial vehicle flight executing capability, wherein the first signal receiving module is in communication connection with the first data processing module, the first data processing module is in communication connection with the automatic return flight module, the medicine box monitoring module is in communication connection with the first data processing module, the unmanned aerial vehicle electric quantity alarming module is in communication connection with the first data processing module, and the second GPS positioning module is in communication connection with the first data processing module, the first data processing module is in communication connection with the unmanned aerial vehicle action execution module and the first signal sending module respectively.
Preferably, the remote controller main body comprises a second signal receiving module with a signal receiving function, a second data processing module with a data processing function, a first GPS positioning module with a GPS positioning function, a human-computer interaction module with a human-computer interaction function, and a second signal sending module with a signal sending function, the second signal receiving module is in communication connection with the second data processing module, the second data processing module is in communication connection with the first GPS positioning module and the human-computer interaction module respectively, and the second data processing module is in communication connection with the second signal sending module.
Preferably, the bottom end of the screw rod is fixedly connected with a stop block.
Preferably, the side wall of the medicine box main body is fixedly communicated with a water adding hopper, and the inner wall of the top end of the water adding hopper is in threaded connection with a sealing plug.
Preferably, the two hoses are fixedly communicated with electromagnetic valves.
A full-automatic pesticide spraying unmanned aerial vehicle route planning method comprises the following specific steps:
step 1: opening the main body of the remote controller and entering a human-computer interaction interface on a human-computer interaction module;
step 2: clicking a farmland planning option in a human-computer interaction interface on a human-computer interaction module;
and step 3: then measuring a farmland through a first GPS positioning module in the remote controller main body, ensuring the GPS precision to be about a meter, and ensuring that a GPS signal is more than or equal to 10;
and 4, step 4: then clicking a farmland measurement option in a human-computer interaction interface on the human-computer interaction module;
and 5: then, the worker holds the remote controller main body by hand, and winds a circle along the boundary of the target field to measure the field;
step 6: clicking a C2 positioning point on a farmland in a man-machine interaction interface on a man-machine interaction module at a corner of the farmland;
and 7: if an obstacle in the field is met, clicking an obstacle measuring point C1 in a human-computer interaction interface on the human-computer interaction module, and simultaneously clicking to finish the obstacle measurement after a worker walks a circle around the obstacle, and finishing the obstacle marking;
and 8: then, the worker can continue to walk along the boundary of the field to finish field measurement;
and step 9: after the field block and the barrier are measured, clicking a human-computer interaction interface on the human-computer interaction module to finish the measurement option;
step 10: then, long-pressing a waypoint in a human-computer interaction interface on the human-computer interaction module, not dropping the waypoint and dragging the waypoint to a target place;
step 11: after clicking a waypoint, changing the color of the waypoint from purple to blue, simultaneously enabling a waypoint fine adjustment button to appear on an interface, and then finely adjusting the waypoint according to needs;
step 12: then, double-clicking any waypoint to delete the waypoint in a line editing mode in a man-machine interaction interface on the man-machine interaction module;
step 13: measuring the barrier according to the sign displayed in a human-computer interaction interface on the human-computer interaction module, selecting the shape of the barrier boundary, pulling a navigation point, and adjusting the barrier area;
step 14: then, the worker can adjust the operation area and the direction of the corresponding air route in a human-computer interaction interface on the human-computer interaction module, and set the operation retraction distance according to the operation requirement;
step 15: the hand-held remote controller walks to the operation field block to select a reference object with identification as a calibration point C3;
step 16: then saving the task, and completing the selection and click of the job object for naming the job task;
and step 17: then, opening a remote controller, starting the unmanned aerial vehicle, opening a task list option in a human-computer interaction interface, calling a planned operation task, lightly touching a screen to edit a flight path, and setting parameters such as an operation row spacing and a relative crop height;
step 18: then the aircraft is placed at the position shown by the calibration point, and the deviation correction option is clicked
Step 19: then clicking an execution task option, and popping up an operation mode setting prompt in a human-computer interaction interface on a human-computer interaction module;
step 20: and finally, clicking a determination option after parameters such as flight speed, mu usage and the like are set in a human-computer interaction interface on the human-computer interaction module, and finishing unmanned aerial vehicle route planning.
(III) advantageous effects
Compared with the prior art, the invention provides a full-automatic pesticide spraying unmanned aerial vehicle and an unmanned aerial vehicle route planning method, and the full-automatic pesticide spraying unmanned aerial vehicle route planning method has the following beneficial effects:
1. this full-automatic pesticide sprays unmanned aerial vehicle and unmanned aerial vehicle airline planning method, through being provided with the motor, the connecting rod, shower nozzle and screw rod, before needs spray the pesticide, the starter motor, the motor drives the screw rod through first gear and second gear and rotates, the screw rod drives the nut and removes, the nut drives first shower nozzle and second shower nozzle through the connecting rod and deflects on the U-shaped board, the width that the adjustment pesticide sprayed, and guarantee to spray and make and can not have the omission, can not repeatedly spray, some local pesticide repeated sprays can be avoided to this structure, can not cause the pesticide to omit yet and spray, can effectually improve the quality that the pesticide sprays.
2. The full-automatic pesticide spraying unmanned aerial vehicle and the unmanned aerial vehicle route planning method are characterized in that an unmanned aerial vehicle main body, a pump and a remote controller main body are arranged, when a worker finishes the route planning of the unmanned aerial vehicle through a second signal receiving module, a second data processing module, a first GPS positioning module and a human-computer interaction module in the remote controller main body, and the unmanned aerial vehicle main body is connected through a second signal sending module, the unmanned aerial vehicle is started and finishes the purpose of spraying pesticides, the pump is started at the same time, the pump conveys pesticides in a pesticide box to finish the spraying task, in addition, when the pesticide box monitoring module finds that the pesticide box is free of pesticides, the unmanned aerial vehicle is controlled to return through an automatic return module, the electric quantity of the unmanned aerial vehicle main body can be monitored through an unmanned aerial vehicle electric quantity alarm mechanism, the structure does not need manual pesticide spraying, time and labor are saved, can also ensure that the pesticide is sprayed more comprehensively.
Drawings
Fig. 1 is a schematic structural view of a full-automatic pesticide spraying unmanned aerial vehicle and a full-automatic pesticide spraying unmanned aerial vehicle route planning method according to the present invention;
fig. 2 is a schematic structural diagram of a remote controller of a full-automatic pesticide spraying unmanned aerial vehicle and a method for planning routes of the unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic structural view of a part a of a full-automatic pesticide spraying unmanned aerial vehicle according to the full-automatic pesticide spraying unmanned aerial vehicle and the unmanned aerial vehicle route planning method provided by the invention;
fig. 4 is a schematic diagram of a full-automatic pesticide spraying unmanned aerial vehicle and an unmanned aerial vehicle route planning method provided by the invention.
In the figure: the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a remote controller body 2, a medicine box body 3, a U-shaped plate 4, a rotating rod 5, a first spray head 6, a second spray head 7, a connecting rod 8, a nut 9, a screw rod 10, a first gear 11, a motor 12, a second gear 13, a pump 14, a three-way pipe 15, a hose 16, a stop 17 and an electromagnetic valve 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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. 1-4, a full-automatic pesticide spraying unmanned aerial vehicle comprises an unmanned aerial vehicle main body 1, a remote controller main body 2 and a pesticide box main body 3, wherein the lower surface of the unmanned aerial vehicle main body 1 is fixedly connected with the upper surface of the pesticide box main body 3, the unmanned aerial vehicle main body 1 is connected with the remote controller main body 2 through radio communication, the outer wall of the pesticide box main body 3 is fixedly connected with two symmetrically distributed U-shaped plates 4 in an inclined manner, the inner walls of the U-shaped plates 4 are rotatably connected with rotating rods 5 through first rolling bearings, the rod walls of the two rotating rods 5 are respectively and fixedly connected with first spray heads 6 and second spray heads 7, the side walls of the first spray heads 6 and the second spray heads 7 are respectively hinged with connecting rods 8, one ends of the two connecting rods 8 far away from the U-shaped plates 4 are jointly hinged with nuts 9, the inner walls of the, the first gear 11 is fixedly sleeved on the rod wall of the screw rod 10, the motor 12 is fixedly connected to the lower surface of the medicine box main body 3, the second gear 13 is fixedly connected to the output end of the motor 12, the side wall of the first gear 11 is meshed with the side wall of the second gear 13, the pump 14 is fixedly connected to the inner wall of the bottom end of the medicine box main body 3, the three-way pipe 15 is fixedly communicated with the output end of the pump 14, the two ends of the three-way pipe 15 are fixedly communicated with the hoses 16, and the bottom ends of the two hoses 16 penetrate through the bottom end of the medicine box main body 3 and are fixedly communicated with the input ends of the first spray head 6 and the second.
The unmanned aerial vehicle main body 1 comprises a first signal receiving module with a signal receiving function, a first data processing module with a data processing function, an unmanned aerial vehicle electric quantity alarming module, a second GPS positioning module with a GPS positioning function, a medicine box monitoring module with a medicine box medicine quantity monitoring function, an automatic return module with an unmanned aerial vehicle automatic return function, a first signal sending module with a signal sending function and an unmanned aerial vehicle action executing module with unmanned aerial vehicle flight capability, wherein the first signal receiving module is in communication connection with the first data processing module, the first data processing module is in communication connection with the automatic return module, the medicine box monitoring module is in communication connection with the first data processing module, the unmanned aerial vehicle electric quantity alarming module is in communication connection with the first data processing module, and the second GPS positioning module is in communication connection with the first data processing module, the first data processing module is in communication connection with the unmanned aerial vehicle action execution module and the first signal sending module respectively.
The remote controller main body 2 comprises a second signal receiving module with a signal receiving function, a second data processing module with a data processing function, a first GPS positioning module with a GPS positioning function, a man-machine interaction module with a man-machine interaction function and a second signal sending module with a signal sending function, the second signal receiving module is in communication connection with the second data processing module, the second data processing module is in communication connection with the first GPS positioning module and the man-machine interaction module respectively, and the second data processing module is in communication connection with the second signal sending module.
The bottom end of the screw rod 10 is fixedly connected with a stop block 17.
The side wall of the medicine box main body 3 is fixedly communicated with a water adding hopper, and the inner wall of the top end of the water adding hopper is in threaded connection with a sealing plug.
A full-automatic pesticide spraying unmanned aerial vehicle route planning method comprises the following specific steps:
step 1: opening the main body of the remote controller and entering a human-computer interaction interface on a human-computer interaction module;
step 2: clicking a farmland planning option in a human-computer interaction interface on a human-computer interaction module;
and step 3: then measuring a farmland through a first GPS positioning module in the remote controller main body, ensuring the GPS precision to be about a meter, and ensuring that a GPS signal is more than or equal to 10;
and 4, step 4: then clicking a farmland measurement option in a human-computer interaction interface on the human-computer interaction module;
and 5: then, the worker holds the remote controller main body by hand, and winds a circle along the boundary of the target field to measure the field;
step 6: clicking a C2 positioning point on a farmland in a man-machine interaction interface on a man-machine interaction module at a corner of the farmland;
and 7: if an obstacle in the field is met, clicking an obstacle measuring point C1 in a human-computer interaction interface on the human-computer interaction module, and simultaneously clicking to finish the obstacle measurement after a worker walks a circle around the obstacle, and finishing the obstacle marking;
and 8: then, the worker can continue to walk along the boundary of the field to finish field measurement;
and step 9: after the field block and the barrier are measured, clicking a human-computer interaction interface on the human-computer interaction module to finish the measurement option;
step 10: then, long-pressing a waypoint in a human-computer interaction interface on the human-computer interaction module, not dropping the waypoint and dragging the waypoint to a target place;
step 11: after clicking a waypoint, changing the color of the waypoint from purple to blue, simultaneously enabling a waypoint fine adjustment button to appear on an interface, and then finely adjusting the waypoint according to needs;
step 12: then, double-clicking any waypoint to delete the waypoint in a line editing mode in a man-machine interaction interface on the man-machine interaction module;
step 13: measuring the barrier according to the sign displayed in a human-computer interaction interface on the human-computer interaction module, selecting the shape of the barrier boundary, pulling a navigation point, and adjusting the barrier area;
step 14: then, the worker can adjust the operation area and the direction of the corresponding air route in a human-computer interaction interface on the human-computer interaction module, and set the operation retraction distance according to the operation requirement;
step 15: the hand-held remote controller walks to the operation field block to select a reference object with identification as a calibration point C3;
step 16: then saving the task, and completing the selection and click of the job object for naming the job task;
and step 17: then, opening a remote controller, starting the unmanned aerial vehicle, opening a task list option in a human-computer interaction interface, calling a planned operation task, lightly touching a screen to edit a flight path, and setting parameters such as an operation row spacing and a relative crop height;
step 18: then the aircraft is placed at the calibration position, and the deviation correction option is clicked
Step 19: then clicking an execution task option, and popping up an operation mode setting prompt in a human-computer interaction interface on a human-computer interaction module;
step 20: and finally, clicking a determination option after parameters such as flight speed, mu usage and the like are set in a human-computer interaction interface on the human-computer interaction module, and finishing unmanned aerial vehicle route planning.
To sum up, the full-automatic pesticide spraying unmanned aerial vehicle and the unmanned aerial vehicle route planning method are characterized in that before spraying pesticide, the motor 12 is started, the motor 12 drives the screw rod 10 to rotate through the first gear 11 and the second gear 13, the screw rod 10 drives the nut 9 to move, the nut 9 drives the first spray head 6 and the second spray head 7 to deflect on the U-shaped plate 4 through the connecting rod 8, the pesticide spraying width is adjusted, and spraying is ensured not to be omitted or repeatedly sprayed, the structure can avoid repeated spraying of pesticide in some places and avoid pesticide omission, the pesticide spraying quality can be effectively improved, when a worker finishes route planning of the unmanned aerial vehicle through the second signal receiving module, the second data processing module, the first GPS positioning module and the human-computer interaction module in the remote controller main body 2, and is connected with the unmanned aerial vehicle main body 1 through the second signal sending module, make unmanned aerial vehicle start and accomplish the purpose of spraying insecticide, start pump unit 14 simultaneously, make the interior pesticide completion of pump unit 14 transport medical kit spray the task, in addition, when discovering the medical kit does not have the medicine through medical kit monitoring module, return through automatic module control unmanned aerial vehicle that navigates back, also can be through the electric quantity of unmanned aerial vehicle electric quantity alarm mechanism control unmanned aerial vehicle main part 1, this structure does not need the manual work to spray insecticide, time saving and labor saving, staff's intensity of labour has been reduced, the efficiency that the insecticide sprayed has been improved simultaneously, also can ensure that the insecticide sprays more comprehensively.
It is to be noted that 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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 (7)
1. The utility model provides a full-automatic pesticide sprays unmanned aerial vehicle, includes unmanned aerial vehicle main part (1), remote controller main part (2) and medical kit main part (3), the lower surface of unmanned aerial vehicle main part (1) is connected with the last fixed surface of medical kit main part (3), radio communication is connected, its characterized in that are passed through with remote controller main part (2) in unmanned aerial vehicle main part (1): the outer wall of the medicine box main body (3) is obliquely and fixedly connected with two U-shaped plates (4) which are symmetrically distributed, the inner walls of the U-shaped plates (4) are rotatably connected with rotating rods (5) through first rolling bearings, the rod walls of the two rotating rods (5) are respectively and fixedly connected with a first spray head (6) and a second spray head (7), the side walls of the first spray head (6) and the second spray head (7) are respectively hinged with a connecting rod (8), one ends, far away from the U-shaped plates (4), of the two connecting rods (8) are jointly hinged with nuts (9), the inner wall of each nut (9) is in threaded connection with a screw rod (10), the top end of each screw rod (10) is rotatably connected with the lower surface of the medicine box main body (3) through the second rolling bearings, the rod wall of each screw rod (10) is fixedly sleeved with a first gear (11), and the lower surface, the output end of the motor (12) is fixedly connected with a second gear (13), the side wall of the first gear (11) is meshed with the side wall of the second gear (13), the inner wall of the bottom end of the medicine box main body (3) is fixedly connected with a pump (14), the output end of the pump (14) is fixedly communicated with a three-way pipe (15), two ends of the three-way pipe (15) are fixedly communicated with hoses (16), and the bottom ends of the two hoses (16) penetrate through the bottom end of the medicine box main body (3) and are fixedly communicated with the input ends of the first spray head (6) and the second spray head (7) respectively.
2. The full-automatic pesticide spraying unmanned aerial vehicle of claim 1, characterized in that: the unmanned aerial vehicle main body (1) comprises a first signal receiving module with a signal receiving function, a first data processing module with a data processing function, an unmanned aerial vehicle electric quantity alarming module, a second GPS positioning module with a GPS positioning function, a medicine box monitoring module with a medicine box medicine quantity monitoring function, an automatic return flight module with an unmanned aerial vehicle automatic return flight function, a first signal sending module with a signal sending function and an unmanned aerial vehicle action executing module with unmanned aerial vehicle flight capability, wherein the first signal receiving module is in communication connection with the first data processing module, the first data processing module is in communication connection with the automatic return flight module, the medicine box monitoring module is in communication connection with the first data processing module, the unmanned aerial vehicle electric quantity alarming module is in communication connection with the first data processing module, and the second GPS positioning module is in communication connection with the first data processing module, the first data processing module is in communication connection with the unmanned aerial vehicle action execution module and the first signal sending module respectively.
3. The full-automatic pesticide spraying unmanned aerial vehicle of claim 1, characterized in that: the remote controller main body (2) comprises a second signal receiving module with a signal receiving function, a second data processing module with a data processing function, a first GPS positioning module with a GPS positioning function, a man-machine interaction module with a man-machine interaction function and a second signal sending module with a signal sending function, the second signal receiving module is in communication connection with the second data processing module, the second data processing module is in communication connection with the first GPS positioning module and the man-machine interaction module respectively, and the second data processing module is in communication connection with the second signal sending module.
4. The full-automatic pesticide spraying unmanned aerial vehicle of claim 1, characterized in that: the bottom end of the screw rod (10) is fixedly connected with a stop block (17).
5. The full-automatic pesticide spraying unmanned aerial vehicle of claim 1, characterized in that: the side wall of the medicine box main body (3) is fixedly communicated with a water adding hopper, and the inner wall of the top end of the water adding hopper is in threaded connection with a sealing plug.
6. The full-automatic pesticide spraying unmanned aerial vehicle of claim 1, characterized in that: the two hoses (16) are fixedly communicated with electromagnetic valves (18).
7. The method for planning routes of a full-automatic pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: the method comprises the following specific steps:
step 1: opening the main body of the remote controller and entering a human-computer interaction interface on a human-computer interaction module;
step 2: clicking a farmland planning option in a human-computer interaction interface on a human-computer interaction module;
and step 3: then measuring a farmland through a first GPS positioning module in the remote controller main body, ensuring the GPS precision to be about a meter, and ensuring that a GPS signal is more than or equal to 10;
and 4, step 4: then clicking a farmland measurement option in a human-computer interaction interface on the human-computer interaction module;
and 5: then, the worker holds the remote controller main body by hand, and winds a circle along the boundary of the target field to measure the field;
step 6: clicking a C2 positioning point on a farmland in a man-machine interaction interface on a man-machine interaction module at a corner of the farmland;
and 7: if an obstacle in the field is met, clicking an obstacle measuring point C1 in a human-computer interaction interface on the human-computer interaction module, and simultaneously clicking to finish the obstacle measurement after a worker walks a circle around the obstacle, and finishing the obstacle marking;
and 8: then, the worker can continue to walk along the boundary of the field to finish field measurement;
and step 9: after the field block and the barrier are measured, clicking a human-computer interaction interface on the human-computer interaction module to finish the measurement option;
step 10: then, long-pressing a waypoint in a human-computer interaction interface on the human-computer interaction module, not dropping the waypoint and dragging the waypoint to a target place;
step 11: after clicking a waypoint, changing the color of the waypoint from purple to blue, simultaneously enabling a waypoint fine adjustment button to appear on an interface, and then finely adjusting the waypoint according to needs;
step 12: then, double-clicking any waypoint to delete the waypoint in a line editing mode in a man-machine interaction interface on the man-machine interaction module;
step 13: measuring the barrier according to the sign displayed in a human-computer interaction interface on the human-computer interaction module, selecting the shape of the barrier boundary, pulling a navigation point, and adjusting the barrier area;
step 14: then, the worker can adjust the operation area and the direction of the corresponding air route in a human-computer interaction interface on the human-computer interaction module, and set the operation retraction distance according to the operation requirement;
step 15: the hand-held remote controller walks to the operation field block to select a reference object with identification as a calibration point C3;
step 16: then saving the task, and completing the selection and click of the job object for naming the job task;
and step 17: then, opening a remote controller, starting the unmanned aerial vehicle, opening a task list option in a human-computer interaction interface, calling a planned operation task, lightly touching a screen to edit a flight path, and setting parameters such as an operation row spacing and a relative crop height;
step 18: then the aircraft is placed at the position shown by the calibration point, and the deviation correction option is clicked
Step 19: then clicking an execution task option, and popping up an operation mode setting prompt in a human-computer interaction interface on a human-computer interaction module;
step 20: and finally, clicking a determination option after parameters such as flight speed, mu usage and the like are set in a human-computer interaction interface on the human-computer interaction module, and finishing unmanned aerial vehicle route planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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