CN112269400B - Precise variable fertilization method and system for unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle precise variable fertilization method and a system, wherein the method comprises the following steps: planning a route by combining a fertilization prescription diagram of the target plot to generate a waypoint planning diagram; the unmanned aerial vehicle starts flying according to a set air route, fertilizer landing time is calculated according to the flying speed and the operation height of the unmanned aerial vehicle operation, and the operation starting position of the unmanned aerial vehicle is judged when the discharged fertilizer just starts to fall into the corresponding area of the air way point; meanwhile, the prescription amount of the waypoints is read, the fertilizer discharge flow is calculated by combining the length of the corresponding area of the waypoints and the operation width, a fertilizer discharge control instruction is generated and cached in advance, and pre-aiming is carried out when the unmanned aerial vehicle does not reach the target waypoint; the current position of unmanned aerial vehicle is read in real time, and when unmanned aerial vehicle arrived the operation initial position of waypoint, fertilizer control system discharged fertilizer according to the flow that sets for. The invention can ensure that the unmanned aerial vehicle can realize accurate variable fertilization according to the requirement of fertilizer demand in different areas in the operation field, and avoid the occurrence of spray leakage or dislocation of fertilization areas.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle fertilization, in particular to an unmanned aerial vehicle accurate variable fertilization method and system.
Background
As one of the main means for saving cost and improving efficiency in grain production, the accurate control of the fertilizer application amount is always the research focus in the development of the precision agriculture, the precision agriculture is based on the 3S technology and the sensor technology, the agricultural production is realized through an intelligent control system and a decision algorithm, the resource utilization rate and the agricultural production efficiency are improved, the environmental pollution is reduced, the resource and labor cost are reduced, and the like. The precise variable fertilization is that fertilization is carried out according to needs on the premise of ensuring sufficient nutrition according to the growth vigor of crops, so that the use of fertilizers is reduced to the maximum extent, and the utilization rate of the fertilizers is improved.
Compared with ground fertilizer application machinery, the advantage of unmanned aerial vehicle fertilization lies in that the trafficability characteristic is good, can accomplish the operation task smoothly in the region that ground fertilizer application machinery is easy to be stuck in the car or is difficult to pass through, and current unmanned aerial vehicle's stability, ease of use, duration and payload are constantly promoting, and the application in agricultural production is more and more wide. The prior art that adopts unmanned aerial vehicle to fertilize mainly has: the invention patent application with publication number CN107097958A provides an unmanned aerial vehicle system and a method for variable fertilization, a turntable mechanism with a horizontally arranged central shaft is designed, and different fertilization efficiencies are realized by changing the rotating speed of the turntable and the number of grooves on the peripheral wall of the turntable; the patent application with the publication number of CN107711018A provides an unmanned aerial vehicle variable rate fertilization device, a high-definition camera and a GPS (global positioning system) positioner are carried for providing feedback information to regulate variable rate fertilization operation, and the fertilizing amount is regulated by regulating the rotating speed of a fertilizer discharging motor and the number of material troughs; the invention patent application with the publication number of CN107750542A provides an unmanned aerial vehicle broadcasting device for controlling the flow of fertilizer and a control method thereof, wherein the fertilizer allowance in a fertilizer box is detected through a direction sensor, a pressure sensor and the like; the patent application with publication number CN108773491A provides an agricultural unmanned aerial vehicle rapid fertilizing device, fertilizer is discharged by using a conveyor belt and a roller, and the fertilizer is thrown out by a discharge pipe and is broadcast around; the invention patent with the publication number of CN106416530B provides a multi-channel pneumatic type unmanned aerial vehicle fertilizing device, which improves the uniformity of spreading and the controllability of fertilizer discharging amount; the invention patent application with publication number CN110920894A discloses a method and a system for spraying fertilizer by an unmanned aerial vehicle based on satellite navigation, the application inputs the longitude and latitude of a fertilizer application place by using an input module through setting a display module, an input module, a CPU, a feedback unit II, a planning module, a database, a GPS positioning module, a driving module and a feedback unit I, the fertilization area is determined, a spraying route is planned through the planning module, the whole implementation process does not need remote control and is completely intelligent, a fertilizer application box is arranged right below the bottom of a fixed plate, the flight stability of the unmanned aerial vehicle is ensured in the fertilizer application process, the unstable flight caused by the reduction of fertilizer is avoided, and the purpose of uniform fertilizer application is achieved. However, the above prior art solutions have the following disadvantages:
the amount of fertilizer required in each area is different due to different types or growth vigor of crops; in addition, because the time delay of the fertilization actuating mechanism is inevitable, the operation height of the unmanned aerial vehicle is usually higher, the free falling body of the fertilizer particles needs longer time to reach the ground, a more obvious time delay phenomenon exists, and the flying operation speed of the unmanned aerial vehicle is faster (generally reaching more than 4 m/s). When crops in different areas are fertilized, the prior art does not consider the influence of time delay, can not accurately control the fertilizing amount of each area, and can not ensure that the fertilizer with expected fertilizing amount can be accurately scattered in the target crop area to cause the phenomenon of spraying leakage or dislocation of the fertilizing area, thereby causing poor variable fertilizing effect or even failing to realize variable fertilizing.
In addition, the existing variable rate fertilization control system suitable for the ground fertilization machine, such as the variable rate fertilization control system mentioned in the patent application with the publication number of CN101398677A, adjusts the electro-hydraulic proportional valve through a controller according to a prescription chart so as to control the rotating speed of the fertilizer discharging motor, the system takes the ground fertilization machine as a body, and the operation condition is different from that of an aerial unmanned aerial vehicle; the invention patent application with publication number CN110809973A discloses a variable fertilization control device based on an optical sensor, which utilizes an NDVI measuring instrument to acquire information and implement and transmit the information to a controller, utilizes an improved nitrogen application optimization algorithm to calculate the fertilizer demand for variable application, and a whole set of control device is installed on a variable fertilizer applicator and is difficult to apply due to the limited load capacity of an unmanned aerial vehicle; the invention patent application with publication number CN110780613A discloses a variable fertilization control system, which is mainly characterized in that variable fertilization information is stored in an IC card, and a GIS system is used to control the fertilization amount according to the operation information of a fertilizer applicator. The variable fertilization control method of the ground fertilization machine is mostly matched with ground mechanical power and matching device performance, is difficult to directly transplant to the fertilization control of the unmanned aerial vehicle on control logic and hardware structures, and is difficult to be compatible with the operation height of the unmanned aerial vehicle, the flight speed and the time delay when fertilizer particles freely fall to the ground.
Disclosure of Invention
The invention aims to overcome the existing problems and provide an unmanned aerial vehicle precise variable fertilization method, which can control a fertilizer discharge control system on an unmanned aerial vehicle to carry out precise material discharge according to the requirements of fertilizer demands of different areas in an operation field, can carry out pre-aiming on a target area, ensures that fertilizer is accurately scattered in the corresponding area, and realizes precise variable fertilization.
The invention also aims to provide an unmanned aerial vehicle precise variable rate fertilization system.
The purpose of the invention is realized by the following technical scheme:
an unmanned aerial vehicle precise variable fertilization method comprises the following steps:
(1) and preparation before operation: carrying out route planning on the target plot by combining a fertilization prescription map of the target plot to generate a waypoint planning map, wherein one waypoint in the waypoint planning map corresponds to one fertilization area in the prescription map, and the prescription amount of the fertilization area corresponding to each waypoint is recorded; and calibrating control parameters aiming at the target fertilizer in advance, and storing.
(2) The unmanned aerial vehicle starts to operate, opens a waypoint planning chart, selects fertilizer types and calibrated control parameters, sets flight parameters, spraying parameters and an operation mode, and the unmanned aerial vehicle accurate variable fertilization system executes operation tasks according to planned routes and prescription amount, and specifically comprises the following steps:
(2.1) calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle operation, reading the position of a waypoint, and pre-judging the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint in combination with the fertilizer landing time, wherein the position is the operation initial position of the unmanned aerial vehicle aiming at the corresponding area of the waypoint; meanwhile, the prescription amount of the waypoints is read, the fertilizer discharge flow is calculated by combining the length of the corresponding area of the waypoints and the operation width, a fertilizer discharge control instruction is generated and cached in advance, and pre-aiming is carried out when the unmanned aerial vehicle does not reach the target waypoint;
(2.2) reading the current position of the unmanned aerial vehicle in real time, and when the unmanned aerial vehicle reaches the operation starting position of the navigation point, executing a corresponding fertilizer discharging control instruction by a fertilizer discharging control system, and discharging fertilizer according to a set flow;
and (2.3) repeating the step (2.2) to realize accurate variable rate fertilization.
The working principle of the unmanned aerial vehicle precise variable fertilization method is as follows:
when the method works, firstly, a route is planned for a target plot, and a waypoint planning map is generated by combining a fertilization prescription map of the target plot, wherein one waypoint in the waypoint planning map corresponds to one fertilization area, and the prescription amount of each waypoint, namely the fertilization amount of each fertilization area, is obtained; then setting operation parameters, and enabling the unmanned aerial vehicle to fly according to the planned route; in the process of executing an operation task, calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle operation, reading the position of a navigation point and combining the fertilizer landing time to prejudge the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the navigation point, wherein the position is the operation initial position of the unmanned aerial vehicle aiming at the corresponding area of the navigation point; meanwhile, the prescription amount of the waypoint is read, the fertilizer discharging flow is calculated by combining the length of the corresponding area of the waypoint and the operation width, a fertilizer discharging control instruction is generated and cached in advance, pre-aiming is carried out before the unmanned aerial vehicle reaches the target waypoint, the unmanned aerial vehicle can be ensured to immediately execute the fertilizer discharging control instruction when the unmanned aerial vehicle reaches the operation starting position of the corresponding area of the target waypoint, and the missed spraying and the wrong spraying caused by time delay are avoided; then, reading the current position of the unmanned aerial vehicle in real time, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, discharging fertilizer according to a set flow by a fertilizer discharge control system; when spraying is carried out on the next waypoint, the steps are repeated, the current position of the unmanned aerial vehicle is read in real time, and when the unmanned aerial vehicle is detected to reach the operation starting position of each waypoint, the fertilizer discharging control system discharges fertilizer according to the set flow, and so on. If a plurality of waypoints are located on the same route, when spraying of one waypoint is completed, fertilizer discharging flow of the corresponding area of the next waypoint is switched immediately to discharge fertilizer, when spraying of the corresponding area of the last waypoint of the route is completed, fertilizer discharging is stopped until the unmanned aerial vehicle enters the next route, the steps are repeated, according to the amount of prescriptions of the corresponding area of each waypoint, the fertilizer discharging control system discharges the fertilizer according to the set flow, and spraying operation is performed on the corresponding area of the waypoint.
A preferred embodiment of the present invention further comprises step (3): after all fertilization areas of the target plot are fertilized, the unmanned aerial vehicle automatically returns to the ground and lands when reaching a landing point.
Preferably, in step (2.1), before the unmanned aerial vehicle takes off, the fertilizer landing time is calculated by the following formula:
wherein H is a set working height, T3And F is the resultant force borne by the particles in the falling process of the fertilizer, including gravity, air resistance and the acting force of a rotor wing wind field, and m is the mass of the particles.
In order to avoid missed spraying or dislocation of the fertilization area, when the fertilizer discharged from the operation starting position of the unmanned aerial vehicle falls on the starting boundary of the target waypoint corresponding area, the unmanned aerial vehicle does not fly away from the waypoint corresponding area, namely, the parameters meet the following conditions:
wherein, VFly awayFlight speed, T, set for unmanned aerial vehicle3And A is the landing time of the fertilizer, and A is the length of the area corresponding to the waypoint.
Preferably, in the step (2.1), the unmanned aerial vehicle flies at a set operation speed and an operation height, the onboard general control system automatically reads information of a first waypoint, pre-judges an operation starting position of the unmanned aerial vehicle corresponding to the waypoint and calculates fertilizer discharge flow, generates a fertilizer discharge control instruction and stores the fertilizer discharge control instruction in the buffer; when the frequency is f, sequentially reading and analyzing the information of each subsequent waypoint on the route in real time, converting the information into a fertilizer discharge control instruction, storing the fertilizer discharge control instruction into a buffer, and when the unmanned aerial vehicle reaches the operation starting position of a target waypoint, sequentially sending the fertilizer discharge control instruction to a fertilizer discharge control system by an onboard general control system, wherein the frequency is calculated by the following formula:
wherein, T0The response time of the on-board main control system is obtained.
When the unmanned aerial vehicle reaches the operation initial position of the 1 st waypoint, the fertilizer discharging control instructions to be sent of the first n waypoints are cached, and in the process, in order to ensure that the unmanned aerial vehicle can preview the information in the to-be-fertilized waypoint in time when executing the current operation task, the following conditions are required to be met:
T0×Vfly away≤nA
In the step (1), a remote sensing image is obtained by carrying a spectrum camera by an unmanned aerial vehicle, the processed spectrum image characteristics are matched with the growth situation of crops, the fertilizer requirement of the crops of the target plot corresponding to the current image is obtained according to the standard growth model of the crops in the same period under standard planting, and a corresponding fertilization prescription diagram is generated.
Preferably, in the step (1), according to a map of the target plot, planning a flight line of the unmanned aerial vehicle on the basis of the fertilization prescription map, matching a target waypoint with an area corresponding to the prescription map, and generating a waypoint planning map.
Preferably, in the above steps, when planning the routes of the target plots, each target plot has at least one route, each route has at least one waypoint, when spraying of one waypoint on one route is completed, the above step (2.2) is repeated, and spraying is performed on the next waypoint, so that accurate variable fertilization is realized; and (4) when the spraying of the area corresponding to the last waypoint in the route is finished, stopping fertilizer discharging until the unmanned aerial vehicle enters the next route, and repeating the steps (2.1) - (2.3).
An unmanned aerial vehicle accurate variable fertilization system comprises an on-board master control system, a positioning and speed measuring system, a ground control station and a fertilizer discharging control system, wherein the positioning and speed measuring system, the ground control station and the fertilizer discharging control system are respectively in communication connection with the on-board master control system; the ground control station is used for generating a waypoint planning map and setting parameters and sending the waypoint planning map and the setting parameters to the onboard general control system; the positioning and speed measuring system is used for acquiring the position and flight parameters of the unmanned aerial vehicle in real time and transmitting the positions and flight parameters to the onboard master control system;
the on-board main control system is used for controlling the unmanned aerial vehicle to autonomously fly according to a waypoint planning diagram, calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle operation, pre-judging the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint by reading the position of the waypoint and combining the fertilizer landing time so as to determine the operation initial position of the unmanned aerial vehicle for the waypoint, and meanwhile, calculating fertilizer discharge flow by reading the prescription amount of the waypoint and combining the length and the operation width of the corresponding area of the waypoint to generate a fertilizer discharge control instruction; the on-board general control system is also used for monitoring the current position of the unmanned aerial vehicle in real time through the positioning and speed measuring system, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, the on-board general control system sends a control instruction to the fertilizer discharging control system;
and the fertilizer discharge control system is used for discharging the fertilizer according to the set flow rate according to the instruction of the on-board master control system.
Preferably, the intelligent unmanned aerial vehicle further comprises a surplus detection system and a pneumatic transmission control system, wherein the surplus detection system and the pneumatic transmission control system are respectively in communication connection with an onboard general control system, the surplus detection system is used for monitoring the fertilizer amount in a feed box of the unmanned aerial vehicle in real time and sending monitoring information to the onboard general control system for processing, and the pneumatic transmission control system is used for controlling the air speed of blown fertilizer and adjusting the operation breadth.
Preferably, arrange fertile control system including set up the fertile motor of row on unmanned aerial vehicle, be used for controlling the drive controller of arranging fertile motor rotational speed and set up the rotational speed sensor who is used for detecting row fertile motor rotational speed on drive controller.
Preferably, the on-board general control system comprises a single chip microcomputer chip and a CAN bus, wherein the single chip microcomputer chip receives the flight speed, the operation height and the position coordinate information of the unmanned aerial vehicle sent by the positioning and speed measuring system through the CAN bus, receives a waypoint planning map, operation parameters and feedback information sent by the ground control station, performs internal calculation of the single chip microcomputer chip, and sends a fertilizer discharging instruction to the fertilizer discharging control system.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by combining the fertilization prescription map of the target plot and the planned route, a waypoint planning map is generated in advance before operation, the waypoint planning map not only contains route information during operation of the unmanned aerial vehicle, but also contains the prescription quantity of the operation plot, and the prescription quantity of each waypoint in the route can be rapidly obtained according to the waypoint planning map in the operation process of the unmanned aerial vehicle, and variable operation can be realized according to the set route, so that the data processing time is greatly reduced, the unmanned aerial vehicle can rapidly and accurately calculate the prescription quantity of each waypoint in real time in the operation process, and accurate fertilization control and accurate variable fertilization are realized according to the prescription quantity.
2. In the operation process of the unmanned aerial vehicle, the prescription amount of a fertilization area corresponding to each waypoint is obtained in real time, the fertilizer landing time is calculated according to the flight speed and the operation height of the unmanned aerial vehicle operation, the position of the waypoint is read and combined with the fertilizer landing time, the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the area corresponding to the waypoint is judged in advance, and the position is the operation initial position of the unmanned aerial vehicle aiming at the waypoint; and meanwhile, the prescription amount of the waypoints is read, the fertilizer discharging flow rate is calculated by combining the length of the corresponding area of the waypoints and the operation width, so that a fertilizer discharging control instruction for each waypoint is generated, the fertilizer discharging control instruction of each waypoint is pre-calculated in the operation process of the unmanned aerial vehicle, and the waypoint pre-aiming is realized, so that when the unmanned aerial vehicle reaches the operation starting position of the waypoint, a fertilizer discharging control system can immediately discharge fertilizer according to the set fertilizer discharging control instruction, the delay error is reduced, the missed spraying or the dislocation of the fertilizing area can not occur, accurate fertilization can be realized by each waypoint according to the set prescription amount, and the accuracy of variable fertilizing operation of the unmanned aerial vehicle is greatly improved.
Drawings
Fig. 1 is a process schematic diagram of an unmanned aerial vehicle precision variable fertilization method in the invention.
Fig. 2 is a control flow chart of the precise variable rate fertilization method of the unmanned aerial vehicle in the present invention.
Fig. 3 is a schematic diagram of an operation mode decision process of the precise variable fertilization method of the unmanned aerial vehicle in the invention.
Fig. 4 is a flow chart of variable decision making in an execution route process of an unmanned aerial vehicle precision variable fertilization method in the present invention.
Fig. 5 is a schematic diagram of variable rate fertilization and preview of an area corresponding to a waypoint in the precise variable rate fertilization method for an unmanned aerial vehicle according to the present invention.
Fig. 6 is a process diagram of generating a waypoint planning diagram of the precise variable fertilization method for the unmanned aerial vehicle according to the present invention.
Fig. 7 is a schematic diagram of a precise variable fertilization system of an unmanned aerial vehicle according to the present invention.
Fig. 8 is a schematic view of a working process of the precise variable rate fertilization operation of the unmanned aerial vehicle in the present invention.
Fig. 9 is a schematic diagram of a human-computer interaction interface of a ground control station in the precise variable fertilization system of the unmanned aerial vehicle.
Detailed Description
In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-2 and 7-8, the embodiment discloses an unmanned aerial vehicle precision variable fertilization method, which includes the following steps:
(1) and earlier stage preparation: and aiming at different fertilizers, calibrating control parameters by counting the fertilizer discharge amount of one minute at a specific rotating speed of a fertilizer discharge motor, and storing.
(2) And preparation before operation: and opening a ground control station, connecting a master control system on a computer, importing a fertilization prescription map of a target plot, planning a route of the target plot to generate a waypoint planning map, wherein one waypoint in the waypoint planning map corresponds to one fertilization area, and recording the fertilization prescription amount of the area corresponding to each waypoint.
(3) Unmanned aerial vehicle begins the operation, opens the waypoint planning drawing, selects fertilizer type and the control parameter of demarcation, sets up flight parameter, spraying parameter and operation mode, and the accurate variable fertilization system of unmanned aerial vehicle specifically includes according to planned air route and prescription volume execution job task:
(3.1) calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle operation, reading the position of a waypoint, and pre-judging the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint by combining the fertilizer landing time, wherein the position is the operation initial position of the unmanned aerial vehicle aiming at the waypoint; meanwhile, the prescription amount of the waypoints is read, the fertilizer discharge flow is calculated by combining the length of the corresponding area of the waypoints and the operation width, a fertilizer discharge control instruction is generated and cached in advance, and pre-aiming is carried out when the unmanned aerial vehicle does not reach the target waypoint;
(3.2) the unmanned aerial vehicle reads the current position of the unmanned aerial vehicle in real time through a positioning and speed measuring system, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, a fertilizer discharging control system discharges fertilizer according to the set flow;
(3.3) repeating the step (3.2) to realize accurate variable rate fertilization.
(4) After the fertilization operation is completed, the ground control station can receive the prompt, and the unmanned aerial vehicle automatically returns to the ground and lands to the pointed place.
Referring to fig. 2, in the above steps, when planning the routes of the target blocks, each target block has at least one route, each route has at least one waypoint, and when spraying of a region corresponding to one waypoint on one route is completed, the above step (3.2) is repeated, and spraying is performed on a region corresponding to the next waypoint, so that accurate variable fertilization is realized; and (4) when the spraying of the area corresponding to the last waypoint in the route is finished, stopping fertilizer discharging until the unmanned aerial vehicle enters the next route, and repeating the steps (3.1) - (3.3).
Referring to fig. 6 and 7, in step (2), a spectrum camera is carried by the unmanned aerial vehicle to obtain a remote sensing image, the processed spectrum image characteristics are matched with the growth situation of crops, the fertilizer demand of the crops in the target plot corresponding to the current image is obtained according to the standard growth model of the crops in the same period under standard planting, and a corresponding fertilization prescription diagram is generated.
Referring to fig. 6 and 7, in step (2), according to the map of the target plot, the route is planned on the basis of the fertilization prescription map, and a waypoint planning map is generated.
Referring to fig. 3, in step (2), the operation modes are 3 in total, and are respectively a flow mode, an acre quantity mode and a prescription chart mode, wherein the flow mode is that a flow value (fertilizer discharge per minute) is set, a flow-rotating speed calibration table is inquired, a fertilizer discharge motor changes the rotating speed, and the spraying of the fertilizer is controlled; the mu dosage mode takes mu dosage requirements, operation width and unmanned aerial vehicle flying speed as decision parameters, and outputs corresponding flow values through a fertilization decision model; the prescription map mode is that the amount of the prescription given on the prescription map is converted into the amount of mu, and a corresponding flow value is output through a fertilization decision model.
Further, the rotating speed of the fertilizer discharging motor converted by the fertilizer application decision model is calculated by the following algorithm;
q＝f1(N) (1)
Q＝f2(q) (2)
wherein, N is the rotational speed of the fertilizer discharging motor, Q is the fertilizer discharging amount per minute, Q is the mu amount, f1And f2Is a linear or non-linear fit function.
Referring to fig. 1 and 2, in steps (2) and (3), before the unmanned aerial vehicle takes off, the fertilizer landing time is calculated by the following formula:
wherein H is a set working height, T3And F is the resultant force borne by the particles in the falling process of the fertilizer, including gravity, air resistance and the acting force of a rotor wing wind field, and m is the mass of the particles.
In order to avoid missing spraying or misplacement of the fertilization area, when the initially discharged fertilizer falls on the operation initial boundary of the area corresponding to the target waypoint, the unmanned aerial vehicle should not fly away from the fertilization area yet, and prepare for the fertilization operation of the area corresponding to the next waypoint for enough time, and each parameter should satisfy the following conditions:
wherein, VFly awayFlight speed, T, set for unmanned aerial vehicle3And A is the landing time of the fertilizer, and A is the length of the area corresponding to the waypoint.
Referring to fig. 1 and 2, in step (3.1), the unmanned aerial vehicle flies according to a set operation height, the onboard general control system automatically reads information of a first waypoint, pre-judges an operation starting position of the unmanned aerial vehicle corresponding to the waypoint and calculates fertilizer discharge flow of a target area, generates a fertilizer discharge control instruction, and stores the fertilizer discharge control instruction in a buffer; when the frequency is f, sequentially reading and analyzing the information of the nth waypoint in real time, generating a fertilizer discharging control instruction, storing the fertilizer discharging control instruction in a buffer, and sending the fertilizer discharging control instruction to a fertilizer discharging control system, wherein the frequency is calculated by the following formula:
wherein, T0The response time of the on-board master control system in the unmanned aerial vehicle precise variable fertilization system is shortened.
Further, when the unmanned aerial vehicle reaches the operation starting position of the 1 st waypoint, the to-be-sent fertilizer discharging control instructions of the first n waypoints are cached, in the process, in order to ensure that the unmanned aerial vehicle can pre-aim the information in the to-be-fertilized waypoint in time when executing the current operation task, the following conditions are required to be met:
T0×Vfly away≤nA (6)
Referring to fig. 4, in the course of executing the flight route, the onboard general control system performs waypoint prejudgment according to information of the prescription map when performing a spraying decision, that is, when the unmanned aerial vehicle is executing a current spraying task, the position information of each subsequent waypoint is read and matched with the information in the prescription map, and if no error exists, the information of the waypoint is converted into a fertilizer discharge control instruction and sent to the fertilizer discharge control system to drive the fertilizer discharge motor to continue to operate. If the waypoint is not in the map, the fertilizing amount is forced to be set to 0 (i.e. spraying operation is not carried out), and then the position information of the next waypoint is continuously read. And circularly detecting in such a way, and continuing to execute the fertilization task until the fertilization amount information of the area corresponding to the waypoint in the next prescription chart is correct, and the airline finishes executing the fertilization task.
Specifically, as shown in equation (6), assume that the unmanned aerial vehicle speed reaches the set value VFly awayThe distance between the position of the time and the time when the information of the square chart of the nth waypoint backward is read is L (L is n × a), and L is a function of the flying speed V, and is larger when the flying speed of the unmanned aerial vehicle is higher; conversely, when unmanned aerial vehicle's flying speed is slower, L is less to ensure that waypoint position information can be accurately, high-efficiently transmitted to control system.
In addition, the unmanned plane can adjust the operation parameters according to the prediction information, for example, when the fertilizing amount in the corresponding area of the adjacent waypoints is basically the same, the flight speed of the unmanned plane can be properly adjusted, the speed is adjusted to be higher or lower by a small increment value, and the new flight parameters are fed back to the control system for measurement and calculation.
Referring to fig. 5, in step (3.2), the unmanned aerial vehicle receives information of the positioning and speed measuring system, reads the position coordinate of the unmanned aerial vehicle in real time, compares the position coordinate with coordinate information in the stored fertilizer discharging control command, sends the execution fertilizer discharging control command to a fertilizer discharging motor in the fertilizer discharging control system if the unmanned aerial vehicle is detected to reach the operation starting position of the area corresponding to the waypoint 1, adjusts the rotating speed of the fertilizer discharging motor, and when the unmanned aerial vehicle flies for a period of time (T)3) And then, the fertilizer discharged initially just falls on the operation starting boundary of the area corresponding to the waypoint 1 and continuously falls in the advancing direction of the unmanned aerial vehicle to form a falling belt with a certain width. The on-board master control system continuously receives the positioning information of the positioning and speed measuring system, updates and compares the positioning information in real time until the operation start of the area corresponding to the 2 nd waypoint is detectedAnd sending a fertilizer control execution command corresponding to the waypoint to adjust the rotating speed of the fertilizer motor to reach the new fertilizer application amount. When the unmanned aerial vehicle flies along the flight path, the process is circulated. And when the unmanned aerial vehicle reads and analyzes the information of the last waypoint on the air route, automatically reading the information of the prescription chart of the next air route to be executed, and continuously analyzing and converting. At this moment, the unmanned aerial vehicle does not finish the spraying task of the current airline, and the step (3.2) needs to be continuously executed until the unmanned aerial vehicle is detected to be at the operation starting position of the area corresponding to the last waypoint, and the spraying operation of the area corresponding to the waypoint is started to be executed. To avoid missed spraying or misplacement of the fertilization area, the drone must fly away from the ending boundary of the area corresponding to the last waypoint for a period of time (T)3) The job is guaranteed to execute to the end boundary.
Referring to fig. 1-2 and fig. 7-8, the operation principle of the precise variable fertilization method for the unmanned aerial vehicle is as follows:
when the method works, firstly, a route planning is carried out on a target plot by combining a fertilization prescription map of the target plot, a waypoint planning map is generated, one waypoint in the waypoint planning map corresponds to one fertilization area, and the prescription amount of each waypoint, namely the fertilization amount of each fertilization area, is obtained; then setting operation parameters, and enabling the unmanned aerial vehicle to fly according to the planned route; in the process of executing an operation task, calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle, reading the position of a waypoint, and pre-judging the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of an area corresponding to the waypoint in combination with the fertilizer landing time, wherein the position is the operation initial position of the unmanned aerial vehicle aiming at the waypoint; meanwhile, the prescription amount of the waypoints is read, and the fertilizer discharge flow is calculated by combining the length of the corresponding area of the waypoints and the operation width; then, reading the current position of the unmanned aerial vehicle in real time, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, discharging fertilizer according to a set flow by a fertilizer discharge control system; when spraying is carried out on the corresponding area of the next waypoint, the steps are repeated, the current position of the unmanned aerial vehicle is read in real time, and when the unmanned aerial vehicle is detected to reach the operation starting position of each waypoint, the fertilizer discharging control system discharges fertilizer according to the set flow, and the like. If a plurality of waypoints are located on the same route, when the spraying of the corresponding area of one waypoint is completed, the fertilizer discharge flow of the corresponding area of the next waypoint is switched immediately for spraying, when the spraying of the corresponding area of the last waypoint of the route is completed, the fertilizer discharge is stopped until the unmanned aerial vehicle enters the next route, the steps are repeated, the fertilizer discharge control system is controlled to discharge fertilizer according to the set flow according to the prescription amount of the corresponding area of each waypoint, and the waypoints are sprayed.
Referring to fig. 7 and 8, the embodiment further discloses an unmanned aerial vehicle precision variable fertilization system, which comprises an onboard general control system, a positioning and speed measuring system, a ground control station, a fertilizer discharging control system, a residue detection system and a pneumatic transmission control system, wherein the positioning and speed measuring system, the ground control station, the fertilizer discharging control system, the residue detection system and the pneumatic transmission control system are respectively in communication connection with the onboard general control system; the ground control station is used for generating a waypoint planning map and setting parameters and sending the waypoint planning map and the setting parameters to the onboard general control system; the positioning and speed measuring system is used for acquiring the position and flight parameters of the unmanned aerial vehicle in real time and transmitting the positions and flight parameters to the onboard master control system;
the on-board main control system is used for controlling the unmanned aerial vehicle to autonomously fly according to a waypoint planning diagram, calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle, pre-judging the position of the unmanned aerial vehicle when fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint by reading the position of the waypoint and combining the fertilizer landing time so as to determine the operation initial position of the unmanned aerial vehicle for the waypoint, and meanwhile, calculating fertilizer discharge flow by reading the prescription amount of the waypoint and combining the length and the operation width of the corresponding area of the waypoint to generate a fertilizer discharge control instruction; the on-board general control system is also used for detecting the current position of the unmanned aerial vehicle in real time through the positioning and speed measuring system, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, the on-board general control system sends a fertilizer discharging control instruction to the fertilizer discharging control system;
and the fertilizer discharging control system is used for executing a fertilizer discharging control command sent by the main control system on the machine and discharging the fertilizer according to the set flow.
The surplus detecting system is used for detecting the fertilizer amount on the unmanned aerial vehicle in real time, sending detection information to an onboard general control for processing, and the pneumatic transmission control system is used for controlling the air speed of the fertilizer blown out and adjusting the wide spraying width. The accurate variable fertilization system of the unmanned aerial vehicle takes an onboard general control system as a core, and the accurate control of fertilizer discharge flow of different waypoint corresponding areas in a target block can be realized by combining a positioning and speed measuring system and a fertilizer discharge control system, so that the information on the waypoints can be pre-judged according to the information in a prescription chart in spraying operation, and the delay error of system response is reduced.
Referring to fig. 7 and 8, the onboard general control system comprises a single chip microcomputer chip and a CAN bus, the single chip microcomputer chip adopts an STM32 series, receives the flight speed, the operation height and the position coordinate information of the unmanned aerial vehicle sent by the positioning and speed measuring system through the CAN bus, receives a waypoint planning map, operation parameters, feedback information and the like sent by a ground control station, combines with a variable fertilization decision model, and outputs control commands and display information to each mechanism module through internal calculation of the single chip microcomputer chip.
Referring to fig. 7 and 8, the fertilizer discharging control system comprises a fertilizer discharging motor arranged on the unmanned aerial vehicle, a driving controller used for controlling the rotating speed of the fertilizer discharging motor, and a rotating speed sensor arranged on the driving controller and used for detecting the rotating speed of the fertilizer discharging motor, wherein the fertilizer discharging motor and the driving controller are integrated machines, and the rotating speed sensor is arranged in the driving controller in a built-in mode and is convenient for measuring the rotating speed of a shaft of the fertilizer discharging motor.
Referring to fig. 7 and 8, the pneumatic transmission control system controls the wind speed in the pneumatic channel by controlling the rotating speed of a fan, so as to realize low-altitude wide spraying, wherein the fan is a ducted fan, is connected with a main control system on the machine through an electric regulator, and adopts PWM signal adjustment. The specific structure of the fertilizer arrangement control system and the pneumatic transmission control system refers to a fertilizer spreading device mounted on an agricultural unmanned aerial vehicle disclosed in the invention patent with the authorization publication number of CN 106416530B.
Referring to fig. 7 and 8, the residual amount detecting system includes a photosensor and a detection signal output circuit.
Referring to fig. 7 and 8, the positioning and speed measuring system includes a GNSS positioning module, a speed measuring module, a 4G-LTE and a data transmission station, wherein the GNSS positioning module and the speed measuring module are integrated on a general control board.
Referring to fig. 9, the ground control station is operated through a human-computer interaction interface, and the ground control station is based on an Android system, and can control the on and off of each system, the introduction of a fertilization prescription diagram, the selection of a plot, the generation of a waypoint planning diagram, the setting of operation parameters, the selection and marking of fertilizers and operation modes, and the like, and can also display key information such as operation information, flight state information, a margin detection alarm prompt, and the like in real time.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle accurate variable fertilization method is characterized by comprising the following steps:
(1) and preparation before operation: carrying out route planning on the target plot by combining a fertilization prescription map of the target plot to generate a waypoint planning map, wherein one waypoint in the waypoint planning map corresponds to one fertilization area in the prescription map, and the prescription amount of the fertilization area corresponding to each waypoint is recorded; calibrating control parameters aiming at a target fertilizer in advance, and storing the control parameters;
(2) unmanned aerial vehicle begins the operation, opens the waypoint planning drawing, selects fertilizer type and the control parameter of demarcation, sets up flight parameter, spraying parameter and operation mode, and the accurate variable fertilization system of unmanned aerial vehicle carries out spraying operation task according to planned air route and fertilization prescription volume, specifically includes:
(2.1) calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle operation, reading the position of a waypoint, and pre-judging the position of the unmanned aerial vehicle when the fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint in combination with the fertilizer landing time, wherein the position is the operation initial position of the unmanned aerial vehicle aiming at the corresponding area of the waypoint; meanwhile, the prescription amount of the waypoints is read, the fertilizer discharge flow is calculated by combining the length of the corresponding area of the waypoints and the operation width, a fertilizer discharge control instruction is generated and cached in advance, and pre-aiming is carried out when the unmanned aerial vehicle does not reach the target waypoint;
(2.2) reading the current position of the unmanned aerial vehicle in real time, and when the unmanned aerial vehicle reaches the operation starting position, executing a fertilizer discharging control instruction by a fertilizer discharging control system, and discharging fertilizer according to a set flow rate to be sprayed in a target fertilizer application area;
(2.3) repeating the step (2.2) to realize accurate variable rate fertilization;
in step (2.1), before the unmanned aerial vehicle takes off, the fertilizer landing time is calculated by the following formula:
wherein H is a set working height, T3F is the resultant force borne by the particles in the falling process, including gravity, air resistance and rotor wind field acting force, and m is the particle mass;
in order to avoid missing spraying or dislocation of a fertilization area, when the fertilizer discharged by the unmanned aerial vehicle at the operation initial position falls into the initial boundary of the corresponding area of the waypoint, the unmanned aerial vehicle does not fly away from the area, namely, each parameter meets the following conditions:
wherein, VFly awayFlight speed, T, set for unmanned aerial vehicle3And A is the landing time of the fertilizer, and A is the length of the area corresponding to the waypoint.
2. The precise variable fertilization method of the unmanned aerial vehicle according to claim 1, wherein in the step (2.1), the unmanned aerial vehicle flies according to the set flying speed and the set operating height, and an onboard general control system automatically reads information of a first waypoint on a navigation line, pre-judges an operating initial position of an area corresponding to the waypoint and calculates fertilizer discharge flow, generates a fertilizer discharge control instruction, and stores the fertilizer discharge control instruction in a buffer; according to a certain frequency f, sequentially reading and analyzing information of each subsequent waypoint on the route in real time, when the unmanned aerial vehicle reaches the operation starting position, the on-board master control system sends the fertilizer discharging control instruction to the fertilizer discharging control system, wherein the frequency is calculated through the following formula:
wherein, T0The response time of the precise variable fertilization system for the unmanned aerial vehicle is shortened;
when the unmanned aerial vehicle reaches the operation starting position of the area corresponding to the 1 st waypoint, the fertilizer discharging control instructions to be sent of the first n waypoints are cached, and all parameters need to meet the following conditions:
T0×Vfly away≤nA
Wherein, VFly awayAnd B, setting the flight speed of the unmanned aerial vehicle, wherein A is the length of the area corresponding to the waypoint.
3. The precise variable fertilization method for the unmanned aerial vehicle as claimed in claim 1, wherein in the step (1), a spectrum camera is carried by the unmanned aerial vehicle to obtain a remote sensing image, the characteristics of the processed spectrum image are matched with the growth situation of the crops, the fertilizer demand of the crops in the target plot corresponding to the current image is obtained according to a standard growth model of the crops in the same period under standard planting, and a corresponding fertilization prescription is generated.
4. The precise variable fertilization method of the unmanned aerial vehicle as claimed in claim 1 or 3, wherein in the step (1), according to a map of the target plot, a flight path of the unmanned aerial vehicle is planned on the basis of a fertilization prescription map, and a flight point planning map is generated by matching information of a target flight point and an area corresponding to the prescription map.
5. The precise variable fertilization method of the unmanned aerial vehicle as claimed in claim 1, wherein in the above steps, when planning the route of the target plot, each target plot has at least one route, and each route has at least one waypoint, and when spraying of a region corresponding to one route waypoint is completed, the above step (2.2) is repeated to spray a region corresponding to the next route, so as to achieve precise variable fertilization; and (4) when the spraying of the area corresponding to the last waypoint in the route is finished, stopping fertilizer discharging until the unmanned aerial vehicle enters the next route, and repeating the steps (2.1) - (2.3).
6. An unmanned aerial vehicle precise variable fertilization system for realizing the unmanned aerial vehicle precise variable fertilization method according to any one of claims 1-5, which is characterized by comprising an on-board master control system, a positioning and speed measuring system, a ground control station and a fertilizer discharging control system, wherein the positioning and speed measuring system, the ground control station and the fertilizer discharging control system are respectively in communication connection with the on-board master control system; the ground control station is used for generating a waypoint planning map and setting parameters and sending the waypoint planning map and the setting parameters to the onboard general control system; the positioning and speed measuring system is used for acquiring the position and flight parameters of the unmanned aerial vehicle in real time and sending the position and flight parameters to the onboard master control system;
the on-board main control system is used for controlling the unmanned aerial vehicle to autonomously fly according to a waypoint planning diagram, calculating fertilizer landing time according to the flying speed and the operation height of the unmanned aerial vehicle, pre-judging the position of the unmanned aerial vehicle when fertilizer discharged by the unmanned aerial vehicle just falls into the initial boundary of the corresponding area of the waypoint by reading waypoint information and combining the fertilizer landing time so as to determine the operation initial position of the unmanned aerial vehicle aiming at the waypoint, and meanwhile, calculating fertilizer discharge flow by reading the prescription amount of the waypoint and combining the length and the operation width of the corresponding area of the waypoint to generate a fertilizer discharge control instruction; the on-board general control system is also used for detecting the current position of the unmanned aerial vehicle in real time through the positioning and speed measuring system, and when the unmanned aerial vehicle reaches the operation starting position of a navigation point, the on-board general control system sends a fertilizer discharging control instruction to the fertilizer discharging control system;
the fertilizer discharging control system is used for executing a fertilizer discharging control instruction of the main control system on the machine and discharging the fertilizer according to a set flow.
7. The precise variable fertilization system of the unmanned aerial vehicle as claimed in claim 6, further comprising a surplus detection system and a pneumatic transmission control system, wherein the surplus detection system and the pneumatic transmission control system are respectively in communication connection with an onboard general control system, the surplus detection system is used for detecting the fertilizer amount in a fertilizer box on the unmanned aerial vehicle in real time and sending detection information to the onboard general control system for processing, and the pneumatic transmission control system is used for controlling the air speed of the blown fertilizer and adjusting the operation breadth.
8. The accurate variable fertilization system of an unmanned aerial vehicle as claimed in claim 6 or 7, wherein the fertilizer discharge control system comprises a fertilizer discharge motor arranged on the unmanned aerial vehicle, a drive controller for controlling the rotation speed of the fertilizer discharge motor, and a rotation speed sensor arranged on the drive controller for detecting the rotation speed of the fertilizer discharge motor.
9. The precise variable fertilization system of the unmanned aerial vehicle as claimed in claim 6 or 7, wherein the onboard general control system comprises a single chip microcomputer chip and a CAN bus, wherein the single chip microcomputer chip receives flight speed, operation height and position coordinate information of the unmanned aerial vehicle sent by the positioning and speed measuring system through the CAN bus, receives a waypoint planning map, operation parameters and operation feedback information sent by the ground control station, performs internal calculation of the single chip microcomputer chip, and sends a fertilizer discharge control command to the fertilizer discharge control system.
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