CN112956429B - Supply tank and unmanned aerial vehicle and computer-controlled honeybee supply and honeycomb detecting system - Google Patents
Supply tank and unmanned aerial vehicle and computer-controlled honeybee supply and honeycomb detecting system Download PDFInfo
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- CN112956429B CN112956429B CN202110154679.XA CN202110154679A CN112956429B CN 112956429 B CN112956429 B CN 112956429B CN 202110154679 A CN202110154679 A CN 202110154679A CN 112956429 B CN112956429 B CN 112956429B
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- 241000256844 Apis mellifera Species 0.000 title description 23
- 235000012907 honey Nutrition 0.000 claims abstract description 236
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 121
- 239000003651 drinking water Substances 0.000 claims abstract description 101
- 235000020188 drinking water Nutrition 0.000 claims abstract description 101
- 238000001514 detection method Methods 0.000 claims abstract description 96
- 238000004891 communication Methods 0.000 claims description 39
- 241000257303 Hymenoptera Species 0.000 claims description 30
- 241000264877 Hippospongia communis Species 0.000 claims description 26
- 239000000843 powder Substances 0.000 claims description 24
- 238000007789 sealing Methods 0.000 claims description 23
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 22
- 229910052744 lithium Inorganic materials 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 15
- 239000004020 conductor Substances 0.000 claims description 12
- 239000013589 supplement Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 238000007664 blowing Methods 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009341 apiculture Methods 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 241000256837 Apidae Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K53/00—Feeding or drinking appliances for bees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K47/00—Beehives
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K47/00—Beehives
- A01K47/06—Other details of beehives, e.g. ventilating devices, entrances to hives, guards, partitions or bee escapes
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Abstract
The invention relates to a supply tank, an unmanned aerial vehicle and a computer-controlled bee supply and honeycomb detection system, belongs to the technical field of computer remote control, unmanned aerial vehicles and agriculture, and particularly relates to the field of intelligent agriculture. A supply frame is arranged in a beehive, a honey storage barrel, a water storage barrel, a pollen storage barrel and a through hole for a detection pipe to pass through are arranged on the supply frame, a supply box is hung on an unmanned aerial vehicle, pollen, honey and drinking water are automatically supplied to relevant devices on the supply frame through devices on the supply box, images in the beehive are collected and transmitted to a cloud end, the unmanned aerial vehicle hanging supply box in the system is tightly matched with the supply frame in the beehive, unmanned automatic water supply, honey and pollen supply is achieved, humidity, temperature and images in the beehive are collected and transmitted to the cloud end under the condition of saving cost, and particularly, the supply frame is ingeniously arranged, so that multi-point supply in the beehive is achieved; the pollen supply devices are closely matched to realize multipoint supply, and pollen cannot be blown randomly to influence bee colonies.
Description
Technical Field
The invention relates to a supply tank, an unmanned aerial vehicle and a computer-controlled bee supply and honeycomb detection system, belongs to the technical field of computer remote control, unmanned aerial vehicles and agriculture, and particularly relates to the field of intelligent agriculture.
Background
The situation that the honey source is insufficient often can appear in the honeybee breeding process, especially because long-time bad weather, the honeybee can't go out or go out for a long distance and adopt honey, at this moment need supply its honey of some pollen for the honeybee manual supply, and the manual supply needs to be unpack, and is very troublesome, and is inefficient, and can frighten the honeybee. Especially when just blowing pollen into beehive device with the pump body in the tradition, do not solve the multiple spot and put in, pollen blows to the condition that the beehive is many places, air current influences the bee colony, and has the extravagant condition of pollen.
In a long winter, bees cannot collect honey outdoors, the food is deficient, honey is supplemented for the bees to pass the winter, manual supply needs to be carried out, the beehive is troublesome, the efficiency is low, the bees can be frightened, and multi-point supply is difficult.
At present, many beekeepers adopt manual collection of pollen when flowers are abundant, and supply honey for bees when the pollen is deficient, the manual supply needs to be unpackaged, the efficiency is low, bees can be frightened, and the multipoint supply is difficult.
Whenever honeybees nest and feed, water is needed by the bees, the honey brewing time can be influenced by long-term water collection of worker bees going out, and for this reason, some beekeepers adopt artificial water supply, but the artificial water supply needs to open the box, so that the beekeepers are very troublesome and inefficient, and the bees can be frightened, and the multi-point water supply is difficult.
In the bee breeding process, the condition in the beehive needs to be checked regularly, and the bee colony can be influenced by manual checking, which is troublesome. At present, a plurality of patents adopt the modes of arranging a sensor, a camera and the like in a honeycomb to carry out real-time monitoring on the beehive, and the defects of the prior art are that the cost is higher.
Disclosure of Invention
In order to solve the defects pointed out in the background technology, the invention provides a bee replenishment and honeycomb detection system based on unmanned aerial vehicle and computer control, wherein a replenishment frame is arranged in a beehive, a honey storage barrel, a water storage barrel, a pollen storage barrel and a through hole for a detection pipe to pass through are arranged on the replenishment frame, a replenishment box is hung on the unmanned aerial vehicle, pollen, honey and drinking water are automatically replenished into relevant devices on the replenishment frame through devices on the replenishment box, images in the beehive are collected and transmitted to a cloud end, the unmanned aerial vehicle suspension replenishment box in the system is tightly matched with the replenishment frame in the beehive, unmanned automatic replenishment of water, honey and pollen is realized, humidity, temperature and images in the beehive are collected under the condition of saving cost, and particularly, the replenishment frame is skillfully arranged to realize multi-point replenishment in the beehive; the pollen supply devices are closely matched to realize multipoint supply, and pollen cannot be blown randomly to influence bee colonies.
The technical scheme adopted by the invention is as follows: a bee supply and honeycomb detection system based on unmanned aerial vehicle and computer control mainly comprises an unmanned aerial vehicle, a supply tank hung on the unmanned aerial vehicle, a beehive and a supply frame arranged in the beehive; the unmanned aerial vehicle is internally provided with an unmanned aerial vehicle control system, the unmanned aerial vehicle control system is expanded based on the control system of the existing unmanned aerial vehicle and comprises an unmanned aerial vehicle communication system, a positioning system and an embedded gateway; a navigation camera is arranged on the unmanned aerial vehicle; the unmanned aerial vehicle is communicated with the cloud control system and the handheld controller through the unmanned aerial vehicle control system, the unmanned aerial vehicle communication system and the embedded gateway, and is controlled by the cloud control system and the handheld controller; the supply tank is suspended below the unmanned aerial vehicle through a suspension column at the bottom of the unmanned aerial vehicle; the flight executing mechanism on the unmanned aerial vehicle adopts the existing mechanism and is controlled by an unmanned aerial vehicle control system; a bracket is arranged below the unmanned aerial vehicle;
the supply box is divided into a storage cavity and a movable cavity; a pollen storage box for storing pollen, an electronic storage box for storing a circuit board, a drinking water storage box for storing drinking water and a honey storage box for storing honey are arranged in the storage cavity, and feeding ports for adding pollen, drinking water and honey are arranged above the pollen storage box, the drinking water storage box and the honey storage box respectively and are covered by a pollen cover, a water cover and a honey cover respectively; a piston plate capable of moving up and down is arranged in the movable cavity, the piston plate is connected through a telescopic rod, the telescopic rod and a motor of the telescopic rod are fixed on a plate at the bottom of the storage cavity together, the motor of the telescopic rod is connected to the circuit board and the lithium battery through wires, and the telescopic rod can drive the piston plate and a device on the piston plate to move up and down in the movable cavity; the piston plate is fixedly provided with a honey feeding pipe, a water feeding pipe, a detection pipe and a powder feeding pipe; a pollen pump is arranged in the pollen storage box, a water pump is arranged in the drinking water storage box, the electronic storage box is provided with a circuit board and a lithium battery, and a honey pump is arranged in the honey storage box; the pollen feeding pipe is connected with the pollen pump through the pollen hose, and the pollen pump can pump out pollen in the pollen storage box from the bottom end of the pollen feeding pipe to realize pollen supplement; the water supply pipe is connected with the water pump through the drinking water hose, and the water pump can pump out drinking water in the drinking water storage tank from the bottom end of the water supply pipe to realize water supplement; the honey delivery pipe is connected with a honey pump through a honey hose, and the honey pump can pump out the honey in the honey storage tank from the bottom end of the honey delivery pipe to realize the supplement of the honey; the miniature camera, the temperature detection device and the humidity detection device on the detection tube are connected to a circuit board and a lithium battery in the electronic storage box through a wiring harness to realize power supply, control and data transmission; the circuit board in the electronic storage box comprises a supply box control system which realizes the control of the pollen pump, the water pump, the honey pump and the telescopic rod and simultaneously receives signals collected by the micro camera, the temperature detection device and the humidity detection device;
the supply frame comprises an upper plate, a middle plate, a bottom plate, a honey storage barrel, a water storage barrel and a pollen storage barrel on the upper plate, wherein the upper plate is provided with a through hole for the detection tube to pass through, and the length of the middle plate does not influence the extension of the detection tube to the direction of the bottom plate; pollen separate storage barrels and drinking water separate storage barrels are arranged on the middle plate and the bottom plate at the orthographic projection positions of the pollen storage barrel and the water storage barrel, the pollen separate storage barrels are arranged below the orthographic projection of the pollen storage barrel, and the drinking water separate storage barrels are arranged below the orthographic projection of the water storage barrel; a honey collecting box is arranged on the bottom plate at the orthographic projection position of the honey storage barrel; the pollen guide pipe penetrates through the pollen storage barrel and the pollen separate storage barrel, the pollen separate storage barrel is movably arranged to ensure that the pollen separate storage barrel can move up and down on the pollen guide pipe, and the pollen guide pipe is provided with pollen separate holes at the downward side close to the upper plate and the middle plate; the upper part of the pollen storage barrel is open and is made of metal materials which can be attracted by a magnet; the drinking water separate storage barrel is fixedly arranged on the middle plate and the bottom plate, the drinking water guide pipe penetrates through the drinking water separate storage barrel, a small hole with a ball float valve is formed in the drinking water guide pipe at the position of the drinking water separate storage barrel, water in the water storage barrel can flow into the drinking water separate storage barrel from the small hole in the drinking water guide pipe along the drinking water guide pipe, and the water level in the drinking water separate storage barrel is controlled through the ball float valve; the honey guide pipe is arranged below the honey storage barrel, the bottom of the honey guide pipe is fixed with the bottom of the honey collection box, the honey guide pipe is provided with honey distribution holes, due to the viscosity of the honey, the honey can slowly flow down along the inner wall of the honey guide pipe and flow out of the honey distribution holes on the honey guide pipe, the honey is distributed outside the whole honey guide pipe and is eaten by bees, and the honey collection box arranged at the bottom of the honey guide pipe can collect the honey left from the honey guide pipe and is eaten by the bees;
the suspension column is hollow, a main conductor bundle is arranged in the suspension column, the circuit board in the electronic storage box is electrically connected with the unmanned aerial vehicle control system through the main conductor bundle, data transmission and control are achieved, and the supply box control system is controlled by the unmanned aerial vehicle control system; the main conductor bundle connects the lithium battery in the electronic storage box and the lithium battery in the unmanned aerial vehicle in parallel, so that common power supply and common charging are realized;
the supply frame is placed in the beehive, the box cover covers the beehive, and a honey adding port, a water adding port, a detection device detecting port and a pollen adding port are arranged on the beehive; the upper top surface of the pollen storage barrel on the supply frame is opposite to the pollen adding port and is tightly attached to the pollen adding port on the box cover; the upper top surface of the water storage barrel on the supply frame is opposite to the water adding port on the box cover and is tightly attached to the water adding port on the box cover; the through hole on the supply frame is over against the detection device on the box cover; the honey storage barrel on the supply frame is opposite to the honey adding port on the box cover and is tightly attached to the honey adding port on the box cover; the box cover is provided with a movable plate and a fixed plate, the fixed plate is provided with an electromagnet, the movable plate is provided with a permanent magnet, the electromagnet and the permanent magnet are oppositely arranged, and the magnetic poles of the opposite ends of the electromagnet and the permanent magnet are the same under the working condition of the electromagnet; the fixed plate is provided with a T-shaped sliding rod and a sliding column, the sliding column is sleeved with a spring, and the movable plate is provided with a T-shaped sliding groove and a sliding hole; the T-shaped sliding rod is inserted into the T-shaped sliding groove, the sliding column is inserted into the sliding hole, the movable plate is fixed on the fixed plate, and the movable plate can slide along the T-shaped sliding rod and the sliding column; a beehive control system is arranged in the beehive cover, and the electromagnet is connected with the beehive control system and is controlled by the beehive control system; when the electromagnet does not work, the spring is in a normal state to tighten the movable plate and cling to the fixed plate, and when the electromagnet works, the movable plate is pushed outwards due to the fact that the magnetic poles of the opposite ends of the magnet and the permanent magnet are the same, and the spring is in a stretching state; a beehive communication system is also arranged in the box cover, the beehive communication system is connected with the beehive control system and is controlled by the beehive control system, and the beehive communication system and a supply box communication system on the supply box control system carry out information mutual transmission; because the supply box control system is connected with the unmanned aerial vehicle control system, the unmanned aerial vehicle control system can work in coordination with the beehive control system, and the unmanned aerial vehicle can accurately stop on the box cover through coordination of the electromagnet, the flight execution mechanism, the navigation camera and the micro camera on the unmanned aerial vehicle, and the honey feeding pipe on the supply box is ensured to be inserted into a honey adding port on the box cover, the water feeding pipe is inserted into a water adding port on the box cover, the detection pipe is inserted into a detection device detecting port on the box cover, and the powder feeding pipe is inserted into a pollen adding port on the box cover;
the box cover is also provided with a vent hole, a filter screen is arranged at the vent hole, and the filter hole of the filter screen is smaller than the diameter of pollen; the pollen storage barrel is provided with a flexible and retractable vent pipe; one end of the vent pipe is connected with the vent hole, and the other end of the vent pipe is communicated with the pollen storage barrel; the powder feeding pipe is provided with a sealing cover, and a strong magnet is arranged in the sealing cover; when the pollen feeding pipe is inserted into the pollen adding port, the bottom end of the pollen feeding pipe falls into the pollen storage barrel, the pollen pump pumps pollen into the pollen storage barrel, meanwhile, due to the action of a strong magnet in the sealing cover, the pollen storage barrel capable of being attracted by the magnet upwards moves to the pollen branch hole along the pollen guide pipe, the upper edge of the pollen storage barrel is tightly attached to the upper plate or the middle plate and faces downwards, pollen is prevented from blowing into the beehive, in the process, the pollen enters the pollen storage barrel from the pollen branch hole in the pollen guide pipe, and the air pipe and the air hole guarantee the air pressure balance in the pollen storage barrel and the pollen storage barrel; when the pollen feeding pipe is pulled out from the pollen adding port, the pollen separate storage barrel slides down the pollen guide pipe to fall onto the middle plate or the bottom plate because the pollen separate storage barrel is not under the action of the strong magnet in the sealing cover, and the pollen stored in the pollen separate storage barrel is fed by bees.
Further, a radio frequency sending module is arranged in the case cover and broadcasts the position and the serial number information of the beehive to the unmanned aerial vehicle, a radio frequency receiving module on the unmanned aerial vehicle receives the information sent by the radio frequency sending module and then transmits the information to an unmanned aerial vehicle control system for processing, and then the unmanned aerial vehicle control system commands the unmanned aerial vehicle to accurately stop on the case cover so as to prevent the situation that part of the beehive is supplied for multiple times or is not supplied for missing; in the unmanned aerial vehicle parking process, the unmanned aerial vehicle control system controls the supply box control system, and a supply box communication system on the supply box control system transmits control signals to a beehive communication system on the beehive control system to control the electronic device on the beehive to work.
Furthermore, the box cover is provided with three infrared transmitters, the infrared transmitters upwards emit infrared light speed in a state that the movable plate is pushed outwards, three infrared receiving devices are arranged on a piston plate at the bottom of the supply box on the unmanned aerial vehicle, and when the three infrared receiving devices are aligned with the three infrared transmitters, the unmanned aerial vehicle lands on the box cover and just can ensure that a honey feeding pipe on the supply box is inserted into a honey adding port on the box cover, a water feeding pipe is inserted into a water adding port on the box cover, a detection device on the detection pipe is inserted into the box cover detects an inlet, and a pollen feeding pipe is inserted into a pollen adding port on the box cover; the infrared emitter is connected with the beehive control system and is controlled by the beehive control system.
Furthermore, the supply frame can be placed in parallel between the honeycombs in the beehive, and bee paths are arranged between the supply frame and the honeycombs, so that bees can conveniently collect pollen, drinking water and honey; or the supply frame can be placed at one end of the beehive perpendicular to the honeycomb, and a bee path is arranged between the supply frame and the honeycomb, so that the bees can conveniently collect pollen, drinking water and honey.
Further, the supply tank hangs between the support to guarantee that unmanned aerial vehicle focus is balanced.
Furthermore, the middle plate is not limited to one, and when the middle plate is not limited to one, a drinking water storage barrel is also arranged on the middle plate, and a hole with a ball float valve is also arranged on the drinking water storage barrel; the bottom plate is not limited to one, and when the bottom plate is not limited to one, the drinking water storage barrel is also arranged on the bottom plate.
Further, supply tank box's the below is no longer than unmanned aerial vehicle's support bottom, and at the state of telescopic link shrink to the limit, the bottommost of sending honey pipe, water pipe, detection tube, the powder pipe on the piston plate does not surpass supply tank box below.
Further, before unmanned aerial vehicle falls to the ground, the telescopic link is in the limit contraction state.
Furthermore, the feeding port is connected with the pollen cover, the water cover and the honey cover through threads, and the pollen cover, the water cover and the honey cover can be opened or closed through rotating the threads.
Further, a sealing gasket is arranged on the pollen storage barrel to ensure that pollen is not blown into the beehive when the pollen storage barrel moves upwards to be tightly attached to the upper plate or the middle plate and pollen is replenished towards the lower surface; a sealing gasket is also arranged between the pollen storage barrel and the box cover so as to ensure that pollen is not blown into the beehive when the pollen is supplied.
Furthermore, the supply tank control system and the beehive control system are designed based on a minimum single chip microcomputer system; the driving modules of all electronic equipment and elements on the supply box are electrically connected with the singlechip through I/O ports on the singlechip, and the related electronic equipment and elements are controlled or driven by the singlechip; the driving modules of all electronic equipment and elements in the box cover are electrically connected with the singlechip through the I/O port on the singlechip, and the related electronic equipment and elements are controlled or driven by the singlechip.
Furthermore, a damping device is arranged at the bottom of the support.
Furthermore, a solar cell panel is arranged on the fixing plate, and the solar cell panel is connected with a lithium battery in the box cover through a charging circuit and supplies power for the lithium battery.
A bee supply and honeycomb detection system based on unmanned aerial vehicle and computer control, its working method is:
1. under the condition that the beehive is not replenished, the electromagnet on the beehive does not work, the movable plate is tightly attached to the fixed plate under the action of the spring, and the honey adding port, the water adding port, the detection device detecting port and the pollen adding port are all covered by the movable plate; a radio frequency sending module in the box cover continuously broadcasts the position and the serial number information of the beehive to the unmanned aerial vehicle;
2. the radio frequency receiving module on the unmanned aerial vehicle receives the information sent by the radio frequency sending module and then transmits the information to the unmanned aerial vehicle control system for processing, so that the unmanned aerial vehicle control system commands the unmanned aerial vehicle to accurately stop on the box cover, and the radio frequency sending module in the box cover continuously broadcasts the position and the number information of the beehive to the unmanned aerial vehicle, so that the situation that part of beehives are supplied for multiple times or are not supplied for a long time is prevented, and the unmanned aerial vehicle is ensured to accurately stop;
3. when the unmanned aerial vehicle is far away from the beehive, the position of the unmanned aerial vehicle is judged through a navigation camera, an unmanned aerial vehicle communication system and a positioning system, and control command is carried out through a cloud control system and a handheld controller;
4. when the unmanned aerial vehicle is near the beehive, the micro camera also participates in video navigation when the unmanned aerial vehicle stops;
5. in the stopping process of the unmanned aerial vehicle, the unmanned aerial vehicle control system controls the supply box control system, a supply box communication system on the supply box control system transmits a control signal to a beehive communication system on the beehive control system, the beehive control system controls the electromagnet to be opened, and the electromagnet acts on the permanent magnet on the movable plate to push the movable plate away;
6. the infrared emitter upwards emits infrared light speed in a state that the movable plate is pushed outwards, three infrared receiving devices are arranged on a piston plate at the bottom of a supply box on the unmanned aerial vehicle, when the three infrared emitters are aligned, the unmanned aerial vehicle lands on the box cover and can just ensure that a honey feeding pipe on the supply box is inserted into a honey adding port on the box cover, a water feeding pipe is inserted into a water adding port on the box cover, a detection device on the detection pipe inserted into the box cover probes an inlet, a powder feeding pipe is inserted into a pollen adding port on the box cover, and the unmanned aerial vehicle normally falls onto the box cover;
7. the supply box control system controls the piston plate to move downwards, so that the powder feeding pipe, the water feeding pipe, the detection pipe and the honey feeding pipe respectively extend into the pollen storage barrel, the water storage barrel, the through hole and the honey storage barrel on the supply frame; meanwhile, under the action of a strong magnet in the sealing cover, the pollen storage barrel moves upwards to the pollen branch hole along the pollen guide pipe, and the upper edge of the pollen storage barrel is tightly attached to the upper plate or the middle plate and faces downwards, so that pollen is prevented from blowing into the beehive;
8. the temperature detection device, the humidity detection device and the micro camera on the detection pipe start to work, collect temperature, humidity and video images in the beehive, and upload the temperature, humidity and video images to the cloud control system layer by layer through the beehive control system, the beehive communication system, the supply box control system, the unmanned aerial vehicle communication system and the embedded gateway so as to provide data by using big data for bee keeping; the unmanned aerial vehicle control system judges the amount of pollen, water and honey which need to be added according to the video data acquired by the micro camera, and controls the pollen pump, the water pump and the honey pump to pump out the pollen, the water and the honey as required by the replenishment tank control system based on the amount of the pollen, the water and the honey;
9. in the pollen supplying process, pollen enters the pollen separate storage barrel from the pollen separate hole on the pollen guide pipe, and the air pipe and the air vent ensure the air pressure balance in the pollen storage barrel and the pollen separate storage barrel; after the honey is supplied, due to the viscosity of the honey, the honey can slowly flow down along the inner wall of the honey guide pipe and flow out of the honey separating holes on the honey guide pipe, and is distributed outside the whole honey guide pipe for being eaten by bees, and the honey collecting box arranged at the bottom of the honey guide pipe can collect the honey left from the honey guide pipe for being eaten by the bees; after drinking water is supplied, the drinking water flows into the drinking water sub-storage barrel from the small hole on the drinking water guide pipe along the drinking water guide pipe, and the water level in the drinking water sub-storage barrel is controlled through the ball float valve, so that the drinking water is supplied in all directions;
10. after the replenishment is finished, the replenishment tank control system controls the piston plate to move upwards, the powder feeding pipe, the water feeding pipe, the detection pipe and the honey feeding pipe are respectively pulled out from the pollen adding port, the water adding port, the detection device detecting port and the honey adding port, and the unmanned aerial vehicle flies away from the replenished sealed tank and replenishes the next beehive; after the unmanned aerial vehicle flies away, the electromagnet is switched off by the beehive control system, and the movable plate moves to the fixed plate to be close to the fixed plate under the tension of the spring because the electromagnet does not act on the permanent magnet on the movable plate;
11. when the electric quantity of a lithium battery in the unmanned aerial vehicle is insufficient, automatic return charging is carried out; the unmanned aerial vehicle judges pollen storage conditions in the pollen storage box, drinking water storage conditions in the drinking water storage box and honey storage conditions in the honey storage box according to the supply amount, and automatically returns to the home for supply under the condition of insufficient storage;
12. when the unmanned aerial vehicle returns to the home for supply, the pollen cover is opened to supply pollen, the water cover is opened to supply drinking water, and the honey cover is opened to supply honey.
Compared with the prior art, the invention has the following advantages: 1. based on the design of an unmanned aerial vehicle, the water supplement, the pollen supplement and the honey supplement are realized at the same time, so that the time and the cost are saved; 2. the influence on the bee colony is small when the box is not opened for supply; the temperature, humidity and video data acquisition in the honeycomb can be realized in the supply process, and the temperature detection device, the humidity detection device and the micro camera are directly arranged on the unmanned aerial vehicle and used together with the supply device, so that the defect that the cost is high because a plurality of patents adopt the modes of arranging a sensor, a camera and the like in the honeycomb to carry out real-time monitoring on the beehive is overcome; 4. the supply frame is designed, and adopts multi-layer supply, so that bees can collect water, honey and pollen in a larger range, and the supply effect is better; 5. the radio frequency sending module in the case cover broadcasts the position and the serial number information of the beehive to the unmanned aerial vehicle continuously, the radio frequency receiving module on the unmanned aerial vehicle receives the information sent by the radio frequency sending module and then transmits the information to the unmanned aerial vehicle control system for processing, and then the unmanned aerial vehicle control system commands the unmanned aerial vehicle to stop on the case cover accurately, so that the situation that part of beehives are supplied for multiple times or are not supplied for multiple times is prevented, and the unmanned aerial vehicle is ensured to stop accurately; 6. when the unmanned aerial vehicle is far away from the beehive, the position of the unmanned aerial vehicle is judged through the navigation camera, the unmanned aerial vehicle communication system and the positioning system, and control command is carried out through the cloud control system and the handheld controller, so that when the unmanned aerial vehicle is near the beehive, the micro camera also participates in video navigation when the unmanned aerial vehicle stops, and the unmanned aerial vehicle can be ensured to stop more accurately; 7. the movable plate and the fixed plate are arranged on the tank cover, in the parking process of the unmanned aerial vehicle, the unmanned aerial vehicle control system controls the supply tank control system, a supply tank communication system on the supply tank control system transmits a control signal to a beehive communication system on the beehive control system, the beehive control system controls the electromagnet to be opened, the electromagnet acts on a permanent magnet on the movable plate to push the movable plate away, and the electromagnet does not work under the condition of no supply, so that limited electric energy is saved, and a pollen adding port, a water adding port, a detection device detecting port and a honey adding port are exposed outside when no supply is carried out, so that rainwater and the like can enter; 8. the case cover is provided with an infrared transmitter, the infrared transmitter upwards sends out infrared light speed in a state that the movable plate is pushed outwards, three infrared receiving devices are arranged on a piston plate at the bottom of the supply case on the unmanned aerial vehicle, when the three infrared transmitters are aligned, the unmanned aerial vehicle lands on the case cover and just can ensure that a honey feeding pipe on the supply case is inserted into a honey adding port on the case cover, a water feeding pipe is inserted into a water adding port on the case cover, a detection pipe is inserted into a detection device detecting port on the case cover, and a powder feeding pipe is inserted into a pollen adding port on the case cover, so that the unmanned aerial vehicle can more accurately position the honey adding port, the water adding port, the detection device detecting port and the pollen adding port; 9. because the box cover is also provided with the vent hole, the vent hole is provided with the filter screen, the filter hole of the filter screen is smaller than the diameter of the pollen, the pollen storage barrel is provided with the flexible and retractable vent pipe, one end of the vent pipe is connected with the vent hole, the other end of the vent pipe is communicated with the pollen storage barrel, the pollen conveying pipe is provided with the sealing cover, the pollen enters the pollen storage barrel from the pollen distributing hole on the pollen guide pipe in the pollen supplying process, and the vent pipe and the vent hole ensure the air pressure balance in the pollen storage barrel and the pollen distributing barrel; 10. the powder feeding pipe, the sealing cover and the strong magnet in the sealing cover are ingeniously arranged and matched with the powder distribution storage barrel, the pollen guide pipe, the pollen distribution hole, the air vent and the air vent pipe, so that the multilayer pollen supply is realized, and pollen is prevented from flying into the beehive; 12. the honey storage barrel, the honey guide pipe, the honey separating hole on the honey guide pipe and the honey collecting box are skillfully arranged and matched to realize three-dimensional honey supply; the drinking water storage barrel, the drinking water guide pipe, the small hole on the drinking water guide pipe and the floating ball valve are skillfully arranged and matched to realize three-dimensional drinking water supply; 13. the ingenious design and the matching of the piston plate and the telescopic rod ensure that the powder feeding pipe, the water feeding pipe, the detection pipe and the honey feeding pipe can be conveniently extended for use when in use and can be contracted into the movable cavity for storage when not in use, so that the unmanned aerial vehicle is prevented from being damaged in the flying and landing processes; 14 the supply frame can be placed between the honeycombs in the beehive in parallel, and bee paths are arranged between the supply frame and the honeycombs, so that bees can conveniently collect pollen, drinking water and honey; or the supply frame can be placed at one end of the beehive perpendicular to the honeycomb, and a bee path is arranged between the supply frame and the honeycomb, so that the bees can conveniently collect pollen, drinking water and honey.
Drawings
Fig. 1 is a schematic structural view of a supply tank suspended below an unmanned aerial vehicle and provided with an extension rod in an extension state.
Fig. 2 is a schematic structural view of a supply tank suspended below an unmanned aerial vehicle and provided with an inner telescopic rod in a contraction limit state.
Fig. 3 and 4 are schematic diagrams of the overall structure of the beehive and the beehive cover.
FIG. 5 is a schematic view of a partial structure of a beehive and cover of the present invention.
FIG. 6 is a schematic view of the placement of a supply stand within a beehive in accordance with the present invention.
Fig. 7, 8, 9 and 10 are schematic structural views of the supply rack at different angles.
FIG. 11 is a front view of the supply tank with the telescoping rods extended.
FIG. 12 is a side view of the supply tank with the telescoping rod extended.
FIG. 13 is a front view of the extension rod in the replenishment box in a retracted state.
FIG. 14 is a side view of the extension pole in the supply box in the retracted position.
FIG. 15 is a view showing the entire structure of the extension rod in the replenishing tank in an extended state.
Fig. 16 and 17 are overall structural diagrams of the telescopic rod in the supply box at different angles in a contraction limit state.
Fig. 18 and 19 are internal cross-sectional structural views of the telescopic rod in the supply tank at different angles in the state of the telescopic rod being contracted to the limit.
FIG. 20 is a schematic illustration of the configuration of the piston plate within the supply tank.
FIG. 21 is a direct control relationship diagram of the electronic modules and components of the present invention.
The reference numbers in the figures are: the device comprises a navigation camera 1, an unmanned aerial vehicle 2, a supply tank 3, a support 4, a shock-absorbing support 5, a suspension column 6, a beehive 7, a box cover 8, a solar cell panel 9, a movable plate 10, a permanent magnet 11, an infrared emitter 12, a T-shaped slide bar 13, a vent hole 14, a spring 15, a honey adding port 16, a water adding port 17, a detection device detection port 18, a slide column 19, an electromagnet 20, a pollen adding port 21, a T-shaped chute 22, a slide hole 23, a supply frame 24, an upper plate 25, a middle plate 26, a bottom plate 27, a honey storing barrel 28, a through hole 29, a water storing barrel 30, a pollen storing barrel 31, a sealing gasket 32, a pollen separating barrel 33, a pollen conduit 34, a drinking water separating barrel 35, a ball float valve 36, a drinking water conduit 37, a honey collecting box 38, a honey conduit 39, a honey separating hole 40, a pollen separating hole 41, an infrared receiving device 42, a honey delivery pipe 43, a water delivery pipe 44, a detection pipe 45, a powder delivery pipe 46, The device comprises a main conductor bundle 47, a pollen cover 48, a water cover 49, a honey cover 50, a temperature detection device 51, a humidity detection device 52, a sealing cover 53, a micro camera 54, a pollen storage box 55, an electronic storage box 56, a drinking water storage box 57, a honey storage box 58, a pollen pump 59, a water pump 60, a circuit board 61, a honey pump 62, a pollen hose 63, a drinking water hose 64, a branch conductor bundle 65, a honey hose 66, a telescopic rod 67, a storage cavity 68, a piston plate 69, a movable cavity 70, a replenishment box control system 71, a radio frequency receiving module 72, a radio frequency sending module 73, a beehive control system 74, an unmanned aerial vehicle control system 75, an unmanned aerial vehicle communication system 76, an embedded gateway 77, a handheld controller 78, a flight execution mechanism 79, a cloud control system 80, a charging port 81, a fixing plate 82, a replenishment box communication system 83, a beehive communication system 84 and a vent pipe 85.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings in combination with the detailed description. It should be understood that these descriptions are only exemplary, and are not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-21, a bee replenishment and honeycomb detection system based on unmanned aerial vehicle and computer control mainly comprises an unmanned aerial vehicle 2, a replenishment tank 3 suspended on the unmanned aerial vehicle 2, a beehive 7, and a replenishment rack 24 arranged in the beehive 7; the unmanned aerial vehicle 2 is internally provided with an unmanned aerial vehicle control system 75, the unmanned aerial vehicle control system 75 is expanded based on the control system of the existing unmanned aerial vehicle and comprises an unmanned aerial vehicle communication system 76, a positioning system and an embedded gateway 77; the unmanned aerial vehicle 2 is provided with a navigation camera 1; the unmanned aerial vehicle 2 is communicated with a cloud control system 80 and a handheld controller 78 through an unmanned aerial vehicle control system 75, an unmanned aerial vehicle communication system 76 and an embedded gateway 77, and is controlled by the cloud control system 80 and the handheld controller 78; the supply tank 3 is suspended below the unmanned aerial vehicle 2 through a suspension column 6 at the bottom of the unmanned aerial vehicle 2; the flight executing mechanism 79 on the unmanned aerial vehicle 2 adopts the existing mechanism and is controlled by the unmanned aerial vehicle control system 75; a bracket 4 is arranged below the unmanned aerial vehicle 2;
the supply tank 3 is divided into a storage cavity 68 and a movable cavity 70; a pollen storage box 55 for storing pollen, an electronic storage box 56 for storing a circuit board 61, a drinking water storage box 57 for storing drinking water and a honey storage box 58 for storing honey are arranged in the storage cavity 68, feeding ports 81 for feeding pollen, drinking water and honey are respectively arranged above the pollen storage box 55, the drinking water storage box 57 and the honey storage box 58, and the feeding ports 81 are respectively covered by the pollen cover 48, the water cover 49 and the honey cover 50; a piston plate 69 capable of moving up and down is arranged in the movable cavity 70, the piston plate 69 is connected through an expansion link 67, the expansion link 67 and a motor of the expansion link 67 are fixed on a plate at the bottom of the storage cavity 68 together, the motor of the expansion link 67 is connected to the circuit board 61 and the lithium battery through a lead, and the expansion link 67 can drive the piston plate 69 and a device on the piston plate 69 to move up and down in the movable cavity 70; the piston plate 69 is fixedly provided with a honey feeding pipe 43, a water feeding pipe 44, a detection pipe 45 and a powder feeding pipe 46; a pollen pump 59 is arranged in the pollen storage box 55, a water pump 60 is arranged in the drinking water storage box 57, a circuit board 61 and a lithium battery are arranged in the electronic storage box 56, and a honey pump 62 is arranged in the honey storage box 58; the pollen conveying pipe 46 is connected with the pollen pump 59 through the pollen hose 63, and the pollen pump 59 can pump out pollen in the pollen storage box 55 from the bottom end of the pollen conveying pipe 46 to realize pollen supplement; the water supply pipe 44 is connected with the water pump 60 through the drinking water hose 64, and the water pump 60 can pump the drinking water in the drinking water storage tank 57 out from the bottom end of the water supply pipe 44 to realize water supplement; the honey delivery pipe 43 is connected with the honey pump 62 through a honey hose 66, and the honey pump 62 can pump the honey in the honey storage box 58 out from the bottom end of the honey delivery pipe 43 to realize the supplement of the honey; the miniature camera 54, the temperature detection device 51 and the humidity detection device 52 on the detection pipe 45 are connected to a circuit board 61 and a lithium battery in the electronic storage box 56 through a branch wiring harness 65 to realize power supply, control and data transmission, and the miniature camera 54, the temperature detection device 51 and the humidity detection device 52 on the detection pipe 45 are connected to the lithium battery through the branch wiring harness 65; the circuit board 61 in the electronic storage box 56 comprises a supply box control system 71, and the supply box control system 71 controls the pollen pump 59, the water pump 60, the honey pump 62 and the telescopic rod 67 and receives signals collected by the micro camera 54, the temperature detection device 51 and the humidity detection device 52;
the supply frame 24 comprises an upper plate 25, a middle plate 26, a bottom plate 27, a honey storage barrel 28, a water storage barrel 30 and a pollen storage barrel 31 on the upper plate 25, wherein the upper plate 25 is provided with a through hole 29 for the detection tube 45 to pass through, and the length of the middle plate 26 should not influence the extension of the detection tube 45 towards the bottom plate 27; pollen separate storage barrels 33 and drinking water separate storage barrels 35 are arranged on the middle plates 26 and the bottom plates 27 at the orthographic projection positions of the pollen storage barrel 31 and the water storage barrel 30, the pollen separate storage barrels 33 are arranged below the orthographic projection of the pollen storage barrel 31, and the drinking water separate storage barrels 35 are arranged below the orthographic projection of the water storage barrel 30; a honey collecting box 38 is arranged on the bottom plate 27 at the orthographic projection position of the honey storage barrel 28; the pollen guide pipe 34 penetrates through the pollen storage barrel 31 and the pollen separate storage barrel 33, the pollen separate storage barrel 33 is movably arranged to ensure that the pollen separate storage barrel 33 can move up and down on the pollen guide pipe 34, and the pollen guide pipe 34 is provided with a pollen separate hole 41 at the downward surface close to the upper plate 25 and the middle plate 26; the pollen storage barrel 33 is open at the upper part and made of metal material which can be attracted by a magnet; the drinking water sub-storage barrel 35 is fixedly arranged on the middle plate 26 and the bottom plate 27, the drinking water guide pipe 37 penetrates through the drinking water sub-storage barrel 35, a small hole with a ball float valve 36 is formed in the drinking water guide pipe 37 at the position of the drinking water sub-storage barrel 35, water in the water storage barrel 30 can flow into the drinking water sub-storage barrel 35 from the small hole in the drinking water guide pipe 37 along the drinking water guide pipe 37, and the water level in the drinking water sub-storage barrel 35 is controlled through the ball float valve 36; the honey guide pipe 39 is arranged below the honey storage barrel 28, the bottom of the honey guide pipe 39 is fixed with the bottom of the honey collection box 38, the honey guide pipe 39 is provided with honey separation holes 40, due to the viscosity of the honey, the honey can slowly flow downwards along the inner wall of the honey guide pipe 39 and flow out of the honey separation holes 40 on the honey guide pipe 39 and are distributed outside the whole honey guide pipe 39 for being eaten by bees, and the honey collection box 38 arranged at the bottom of the honey guide pipe 39 can collect the honey left from the honey guide pipe 39 for being eaten by the bees;
the suspension column 6 is hollow, a main conductor bundle 47 is arranged in the suspension column, the circuit board 61 in the electronic storage box 56 is electrically connected with the unmanned aerial vehicle control system 75 through the main conductor bundle 47, data transmission and control are achieved, and the supply box control system 71 is controlled by the unmanned aerial vehicle control system 75; the main conductor bundle 47 connects the lithium battery in the electronic storage box 56 and the lithium battery in the unmanned aerial vehicle 2 in parallel, so that common power supply and common charging are realized;
the supply frame 24 is placed in the beehive 7, the box cover 8 covers the beehive 7, and the beehive 7 is provided with a honey adding port 16, a water adding port 17, a detection device detecting port 18 and a pollen adding port 21; the upper top surface of the pollen storage barrel 31 on the supply frame 24 is opposite to the pollen adding opening 21 and is tightly attached to the pollen adding opening 21 on the box cover 8; the upper top surface of the water storage barrel 30 on the supply frame 24 is opposite to the water adding port 17 on the box cover 8 and is tightly attached to the water adding port 17 on the box cover 8; the through hole 29 on the supply frame 24 is opposite to the detection device detection port 18 on the box cover 8; the honey storage barrel 28 on the supply frame 24 is over against the honey adding port 16 on the box cover 8 and is tightly attached to the honey adding port 16 on the box cover 8; the box cover 8 is provided with a movable plate 10 and a fixed plate 82, the fixed plate 82 is provided with an electromagnet 20, the movable plate 10 is provided with a permanent magnet 11, the electromagnet 20 and the permanent magnet 11 are oppositely arranged, and the magnetic poles of the opposite ends of the electromagnet 20 and the permanent magnet 11 are the same under the working condition of the electromagnet 20; the fixed plate 82 is provided with a T-shaped sliding rod 13 and a sliding column 19, the sliding column 19 is sleeved with a spring 15, and the movable plate 10 is provided with a T-shaped sliding groove 22 and a sliding hole 23; the T-shaped sliding rod 13 is inserted into the T-shaped sliding groove 22, the sliding column 19 is inserted into the sliding hole 23, the movable plate 10 is fixed on the fixed plate 82, and the movable plate 10 can slide along the T-shaped sliding rod 13 and the sliding column 19; a beehive control system 74 is arranged in the beehive cover 8, and the electromagnet 20 is connected with the beehive control system 74 and is controlled by the beehive control system 74; when the electromagnet 20 is not operated, the spring 15 is in a normal state to tighten the movable plate 10 and cling to the fixed plate 82, when the electromagnet 20 is operated, the movable plate 10 is pushed outwards due to the fact that the magnetic poles of the magnet and the magnetic pole of the opposite end of the permanent magnet 11 are the same, and at the moment, the spring 15 is in a stretching state; a beehive communication system 84 is further arranged in the box cover 8, the beehive communication system 84 is connected with the beehive control system 74 and is controlled by the beehive control system 74, and the beehive communication system 84 and a supply box communication system 83 on the supply box control system 71 carry out information mutual transmission; because the supply box control system 71 is connected with the unmanned aerial vehicle control system 75, the unmanned aerial vehicle control system 75 can work in coordination with the beehive control system 74, and the unmanned aerial vehicle 2 can be accurately stopped on the box cover 8 by the coordination of the electromagnet 20, the flight execution mechanism 79 on the unmanned aerial vehicle 2, the navigation camera 1 and the micro camera 54, and the honey feeding pipe 43 on the supply box 3 is ensured to be inserted into the honey adding port 16 on the box cover 8, the water feeding pipe 44 is ensured to be inserted into the water adding port 17 on the box cover 8, the detection pipe 45 is inserted into the detection device detecting port 18 on the box cover 8, and the powder feeding pipe 46 is ensured to be inserted into the pollen adding port 21 on the box cover 8;
the box cover 8 is also provided with a vent hole 14, a filter screen is arranged at the vent hole 14, and the filter hole of the filter screen is smaller than the diameter of pollen; the pollen storage barrel 31 is provided with a flexible and retractable vent pipe 85; one end of the vent pipe 85 is connected with the vent hole 14, and the other end is communicated with the pollen storage barrel 31; the powder feeding pipe 46 is provided with a sealing cover 53, and a strong magnet is arranged in the sealing cover 53; when the pollen feeding pipe 46 is inserted into the pollen adding port 21, the bottom end of the pollen feeding pipe 46 falls into the pollen storage barrel 31, the pollen pump 59 pumps the pollen into the pollen storage barrel 31, the pollen distribution barrel 33 which can be attracted by the magnet moves upwards to the pollen distribution hole 41 along the pollen guide pipe 34 due to the action of the strong magnet in the sealing cover 53, the upper edge of the pollen distribution barrel 33 is tightly attached to the upper plate 25 or the middle plate 26 faces downwards, the pollen is prevented from blowing into the beehive 7, in the process, the pollen enters the pollen distribution barrel 33 from the pollen distribution hole 41 in the pollen guide pipe 34, and the air pipe 85 and the air vent 14 ensure the air pressure balance of the pollen storage barrel 31 and the pollen distribution barrel 33; when the pollen feeding pipe 46 is pulled out from the pollen adding port 21, the pollen storing barrel 33 slides down the pollen guide pipe 34 to the middle plate 26 or the bottom plate 27 without being affected by the strong magnet in the sealing cover 53, and the pollen stored therein is fed to the bees.
Further, a radio frequency sending module 73 is arranged in the box cover 8, the radio frequency sending module 73 broadcasts position and number information of the beehive 7 to the unmanned aerial vehicle 2, and a radio frequency receiving module 72 on the unmanned aerial vehicle 2 receives the information sent by the radio frequency sending module 73 and then transmits the information to the unmanned aerial vehicle control system 75 for processing, so that the unmanned aerial vehicle control system 75 commands the unmanned aerial vehicle 2 to accurately stop on the box cover 8, and the situation that part of the beehive 7 is supplied for multiple times or is not supplied for missing is prevented; in the process of stopping the unmanned aerial vehicle 2, the unmanned aerial vehicle control system 75 controls the supply tank control system 71, and a supply tank communication system 83 on the supply tank control system 71 transmits a control signal to a beehive communication system 84 on the beehive control system 74 to control the electronic device on the beehive 7 to work.
Further, the case cover 8 is provided with three infrared emitters 12 which emit infrared light upwards in a state that the movable plate 10 is pushed outwards, the piston plate 69 at the bottom of the supply case 3 on the unmanned aerial vehicle 2 is provided with three infrared receiving devices 42, when the three infrared receiving devices 42 are aligned with the three infrared emitters, the unmanned aerial vehicle 2 lands on the case cover 8 and just ensures that the honey feeding pipe 43 on the supply case 3 is inserted into the honey adding port 16 on the case cover 8, the water feeding pipe 44 is inserted into the water adding port 17 on the case cover 8, the detection pipe 45 is inserted into the detection device detecting port 18 on the case cover 8, and the powder feeding pipe 46 is inserted into the pollen adding port 21 on the case cover 8; the infrared emitter 12 is connected to the hive control system 74 and is controlled by the hive control system 74.
Furthermore, the supply frame 24 can be placed in parallel between the honeycombs in the beehive 7, and a bee space is arranged between the supply frame 24 and the honeycombs, so that the bees can conveniently collect pollen, drinking water and honey; or the supply frame 24 can be placed at one end of the beehive 7 perpendicular to the honeycomb, and bee paths are arranged between the supply frame 24 and the honeycomb, so that the bees can conveniently collect pollen, drinking water and honey.
Further, supply tank 3 hangs between support 4 to guarantee that unmanned aerial vehicle 2 focus is balanced.
Further, the middle plate 26 is not limited to one, and when the middle plate 26 is not limited to one, the drinking water storage barrel 35 is also arranged on the middle plate, and the drinking water storage barrel 35 is also provided with a hole with a ball float valve 36; the bottom plate 27 is not limited to one, and when the bottom plate 27 is not limited to one, the drinking water storage barrel 35 is also arranged on the bottom plate.
Further, the lowest part of the box body of the supply tank 3 does not exceed the bottom of the support 4 of the unmanned aerial vehicle 2, and in a state that the telescopic rod 67 is contracted to the limit, the lowest ends of the honey feeding pipe 43, the water feeding pipe 44, the detection pipe 45 and the powder feeding pipe 46 on the piston plate 69 do not exceed the lowest part of the box body of the supply tank 3.
Further, before unmanned aerial vehicle 2 falls to the ground, telescopic link 67 is in the limit contraction state.
Further, the charging port 81 is connected to the pollen cover 48, the water cover 49, and the honey cover 50 by screws, and the pollen cover 48, the water cover 49, and the honey cover 50 can be opened or closed by rotating the screws.
Furthermore, a sealing gasket 32 is arranged on the pollen storage barrel 33 to ensure that pollen is not blown into the beehive 7 when the pollen storage barrel 31 moves up and is tightly attached to the upper plate 25 or the middle plate 26 faces downwards for pollen supply; a sealing gasket 32 is also arranged between the pollen storage barrel 31 and the box cover 8 to ensure that pollen is not blown into the beehive 7 during pollen supply.
Further, the supply tank control system 71 and the beehive control system 74 are designed based on a minimum single-chip microcomputer system; the driving modules of all electronic equipment and elements on the supply box 3 are electrically connected with the singlechip through I/O ports on the singlechip, and the related electronic equipment and elements are controlled or driven by the singlechip; the driving modules of all electronic equipment and elements in the box cover 8 are electrically connected with the singlechip through the I/O port on the singlechip, and the related electronic equipment and elements are controlled or driven by the singlechip.
Furthermore, a damping support 5 is arranged at the bottom of the support 4.
Further, a solar cell panel 9 is arranged on the fixing plate 82, and the solar cell panel 9 is connected with a lithium battery in the box cover 8 through a charging circuit and supplies power to the lithium battery.
A bee supply and honeycomb detection system based on unmanned aerial vehicle and computer control, its working method is:
1. under the condition that the beehive 7 is not replenished, the electromagnet 20 on the beehive 7 does not work, the movable plate 10 is tightly attached to the fixed plate 82 under the action of the spring 15, and the honey adding port 16, the water adding port 17, the detection device detecting port 18 and the pollen adding port 21 are all covered by the movable plate 10; the radio frequency sending module 73 in the box cover 8 continuously broadcasts the position and the number information of the beehive 7 to the unmanned aerial vehicle 2;
2. the radio frequency receiving module 72 on the unmanned aerial vehicle 2 receives the information sent by the radio frequency sending module 73 and then transmits the information to the unmanned aerial vehicle control system 75 for processing, so that the unmanned aerial vehicle control system 75 commands the unmanned aerial vehicle 2 to accurately stop on the box cover 8, and as the radio frequency sending module 73 in the box cover 8 continuously broadcasts the position and the number information of the beehive 7 to the unmanned aerial vehicle 2, the situation that part of beehives 7 are supplied for multiple times or are not supplied for a long time is prevented, and the unmanned aerial vehicle 2 is ensured to accurately stop;
3. when the unmanned aerial vehicle 2 is far away from the beehive 7, the position of the unmanned aerial vehicle is judged through the navigation camera 1, the unmanned aerial vehicle communication system 76 and the positioning system, and the control command is carried out through the cloud control system 80 and the handheld controller 78;
4. when the unmanned aerial vehicle 2 is near the beehive 7, the micro camera 54 also participates in video navigation when the unmanned aerial vehicle stops;
5. in the process of stopping the unmanned aerial vehicle 2, the unmanned aerial vehicle control system 75 controls the supply tank control system 71, a supply tank communication system 83 on the supply tank control system 71 transmits a control signal to a beehive communication system 84 on the beehive control system 74, the beehive control system 74 controls the electromagnet 20 to be opened, and the electromagnet 20 acts on the permanent magnet 11 on the movable plate 10 to push the movable plate 10 away;
6. when the three infrared transmitters are aligned, the unmanned aerial vehicle 2 lands on the tank cover 8 and just ensures that the honey feeding pipe 43 on the replenishment tank 3 is inserted into the honey adding port 16 on the tank cover 8, the water feeding pipe 44 is inserted into the water adding port 17 on the tank cover 8, the detection pipe 45 is inserted into the detection device detection port 18 on the tank cover 8, and the powder feeding pipe 46 is inserted into the pollen adding port 21 on the tank cover 8, at this time, the unmanned aerial vehicle 2 normally falls onto the tank cover 8;
7. the replenishment box control system 71 controls the piston plate 69 to move downwards, so that the powder feeding pipe 46, the water feeding pipe 44, the detection pipe 45 and the honey feeding pipe 43 respectively extend into the pollen storage barrel 31, the water storage barrel 30, the through hole 29 and the honey storage barrel 28 on the replenishment rack 24; meanwhile, under the action of strong magnets in the sealing cover 53, the pollen separate storage barrel 33 moves upwards to the pollen separate hole 41 along the pollen guide pipe 34, and the upper edge of the pollen separate storage barrel 33 is tightly attached to the upper plate 25 or the middle plate 26 and faces downwards, so that pollen is prevented from blowing into the beehive 7;
8. the temperature detection device 51, the humidity detection device 52 and the micro camera 54 on the detection pipe 45 start to work, collect temperature, humidity and video images in the beehive 7, and upload the images to the cloud control system 80 layer by layer through the beehive control system 74, the beehive communication system 84, the supply box communication system 83, the supply box control system 71, the unmanned aerial vehicle control system 75, the unmanned aerial vehicle communication system 76 and the embedded gateway 77 to provide data for big data bee keeping; the unmanned aerial vehicle control system 75 judges the amount of pollen, water and honey which need to be added according to the video data collected by the micro camera 54, and controls the pollen pump 59, the water pump 60 and the honey pump 62 to pump out the pollen, the water and the honey as required by the supply tank control system 71 for supply according to the amount;
9. in the pollen supplying process, pollen enters the pollen separate storage barrel 33 from the pollen separate hole 41 on the pollen guide pipe 34, and the air pressure balance in the pollen storage barrel 31 and the pollen separate storage barrel 33 is ensured by the air pipe 85 and the air vent 14; after the honey is supplied, because of the viscosity of the honey, the honey can slowly flow downwards along the inner wall of the honey guide pipe 39 and flow out of the honey separating holes 40 on the honey guide pipe 39, and the honey is distributed outside the whole honey guide pipe 39 and is eaten by bees, and the honey collecting box 38 arranged at the bottom of the honey guide pipe 39 can collect the honey left on the honey guide pipe 39 and is eaten by the bees; after drinking water is supplied, the drinking water flows into the drinking water sub-storage barrel 35 from the small hole on the drinking water guide pipe 37 along the drinking water guide pipe 37, and the water level in the drinking water sub-storage barrel 35 is controlled through the ball float valve 36, so that the omnibearing supply of the drinking water is realized;
10. after the replenishment is finished, the replenishment tank control system 71 controls the piston plate 69 to move upwards, the powder feeding pipe 46, the water feeding pipe 44, the detection pipe 45 and the honey feeding pipe 43 are respectively pulled out from the pollen adding port 21, the water adding port 17, the detection device detection port 18 and the honey adding port 16, and the unmanned aerial vehicle 2 flies away from the replenished sealed tank and replenishes the next beehive 7; after the unmanned aerial vehicle 2 flies away, the electromagnet 20 is switched off by the beehive control system 74, and the movable plate 10 moves towards the fixed plate 82 to be close to the fixed plate 82 under the pulling force of the spring 15 because the electromagnet 20 does not act on the permanent magnet 11 on the movable plate 10;
11. when the electric quantity of a lithium battery in the unmanned aerial vehicle 2 is insufficient, automatic return charging is carried out; the unmanned aerial vehicle 2 judges the pollen storage condition in the pollen storage box 55, the drinking water storage condition in the drinking water storage box 57 and the honey storage condition in the honey storage box 58 according to the supply amount, and automatically navigates back for supply under the condition of insufficient storage;
12. when the unmanned aerial vehicle 2 returns to the home for supply, the pollen cover 48 is opened to supply pollen, the water cover 49 is opened to supply drinking water, and the honey cover 50 is opened to supply honey.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundary of the appended claims, or the equivalents of such scope and boundary.
Claims (3)
1. A working method of a bee supply and honeycomb detection system based on unmanned aerial vehicle and computer control is characterized in that: the detection system mainly comprises an unmanned aerial vehicle (2), a supply tank (3) hung on the unmanned aerial vehicle (2), a beehive (7) and a supply frame (24) arranged in the beehive (7); an unmanned aerial vehicle control system (75) is arranged in the unmanned aerial vehicle (2), the unmanned aerial vehicle control system (75) is expanded based on the control system of the existing unmanned aerial vehicle and comprises an unmanned aerial vehicle communication system (76), a positioning system and an embedded gateway (77); a navigation camera (1) is arranged on the unmanned aerial vehicle (2); the unmanned aerial vehicle (2) is communicated with the cloud control system (80) and the handheld controller (78) through the unmanned aerial vehicle control system (75), the unmanned aerial vehicle communication system (76) and the embedded gateway (77), and is controlled by the cloud control system (80) and the handheld controller (78); the supply tank (3) is suspended below the unmanned aerial vehicle (2) through a suspension column (6) at the bottom of the unmanned aerial vehicle (2); the flight executing mechanism (79) on the unmanned aerial vehicle (2) adopts the existing mechanism and is controlled by an unmanned aerial vehicle control system (75); a bracket (4) is arranged below the unmanned aerial vehicle (2);
the supply box (3) is divided into a storage cavity (68) and a movable cavity (70); a pollen storage box (55) for storing pollen, an electronic storage box (56) for storing a circuit board (61), a drinking water storage box (57) for storing drinking water and a honey storage box (58) for storing honey are arranged in the storage cavity (68), feeding ports (81) for adding pollen, drinking water and honey are respectively arranged above the pollen storage box (55), the drinking water storage box (57) and the honey storage box (58), and the feeding ports (81) are respectively covered by a pollen cover (48), a water cover (49) and a honey cover (50); a piston plate (69) capable of moving up and down is arranged in the movable cavity (70), the piston plate (69) is connected through a telescopic rod (67), the telescopic rod (67) and a motor of the telescopic rod (67) are fixed on a plate at the bottom of the storage cavity (68) together, the motor of the telescopic rod (67) is connected to the circuit board (61) and the lithium battery through a lead, and the telescopic rod (67) can drive the piston plate (69) and a device on the piston plate (69) to move up and down in the movable cavity (70); a honey feeding pipe (43), a water feeding pipe (44), a detection pipe (45) and a powder feeding pipe (46) are fixedly arranged on the piston plate (69); a pollen pump (59) is arranged in the pollen storage box (55), a water pump (60) is arranged in the drinking water storage box (57), a circuit board (61) and a lithium battery are arranged in the electronic storage box (56), and a honey pump (62) is arranged in the honey storage box (58); the pollen feeding pipe (46) is connected with a pollen pump (59) through a pollen hose (63), and the pollen pump (59) can pump out pollen in the pollen storage box (55) from the bottom end of the honey feeding pipe (43) to realize pollen supplement; the water supply pipe (44) is connected with the water pump (60) through the drinking water hose (64), and the water pump (60) can pump out drinking water in the drinking water storage tank (57) from the bottom end of the water supply pipe (44) to realize water supplement; the honey delivery pipe (43) is connected with a honey pump (62) through a honey hose (66), and the honey pump (62) can pump the honey in the honey storage tank (58) out from the bottom end of the honey delivery pipe (43) to realize the supplement of the honey; the detection tube (45) is provided with a micro camera (54), a temperature detection device (51) and a humidity detection device (52), and the micro camera (54), the temperature detection device (51) and the humidity detection device (52) on the detection tube (45) are connected to a circuit board (61) in the electronic storage box (56) and a lithium battery through branch conductor bundles (65) to realize power supply, control and data transmission; a circuit board (61) in the electronic storage box (56) comprises a supply box control system (71), the supply box control system (71) controls the pollen pump (59), the water pump (60), the honey pump (62) and the telescopic rod (67), and simultaneously receives signals collected by the micro camera (54), the temperature detection device (51) and the humidity detection device (52);
the supply frame (24) comprises an upper plate (25), a middle plate (26), a bottom plate (27), a honey storage barrel (28), a water storage barrel (30) and a pollen storage barrel (31) which are arranged on the upper plate (25), a through hole (29) for the detection tube (45) to pass through is arranged on the upper plate (25), and the length of the middle plate (26) does not influence the extension of the detection tube (45) towards the bottom plate (27); pollen separate storage barrels (33) and drinking water separate storage barrels (35) are respectively arranged on the middle plates (26) and the bottom plates (27) at the orthographic projections of the pollen storage barrel (31) and the water storage barrel (30), the pollen separate storage barrels (33) are arranged below the orthographic projection of the pollen storage barrel (31), and the drinking water separate storage barrels (35) are arranged below the orthographic projection of the water storage barrel (30); a honey collecting box (38) is arranged on the bottom plate (27) at the orthographic projection position of the honey storing barrel (28); the pollen guide pipe (34) penetrates through the pollen storage barrel (31) and the pollen separate storage barrel (33), the pollen separate storage barrel (33) is movably arranged to ensure that the pollen separate storage barrel (33) can move up and down on the pollen guide pipe (34), and the pollen guide pipe (34) is provided with a pollen separate hole (41) at the downward surface close to the upper plate (25) and the middle plate (26); the upper part of the pollen separate storage barrel (33) is open and is made of metal material which can be attracted by a magnet; the drinking water storage barrel (35) is fixedly arranged on the middle plate (26) and the bottom plate (27), a drinking water guide pipe (37) penetrates through the drinking water storage barrel (35), a small hole with a ball float valve (36) is formed in the drinking water guide pipe (37) at the position of the drinking water storage barrel (35), water in the water storage barrel (30) can flow into the drinking water storage barrel (35) from the small hole in the drinking water guide pipe (37) along the drinking water guide pipe (37), and the water level in the drinking water storage barrel (35) is controlled through the ball float valve (36); a honey guide pipe (39) is arranged below the honey storage barrel (28), the bottom of the honey guide pipe (39) is fixed with the bottom of the honey collection box (38), the honey guide pipe (39) is provided with honey separation holes (40), due to the viscosity of the honey, the honey can slowly flow down along the inner wall of the honey guide pipe (39) and flow out of the honey separation holes (40) on the honey guide pipe (39) and is distributed outside the whole honey guide pipe (39) for being eaten by bees, and the honey collection box (38) arranged at the bottom of the honey guide pipe (39) can collect the honey left from the honey guide pipe (39) for being eaten by the bees;
the suspension column (6) is hollow, a main conductor bundle (47) is arranged in the suspension column, the circuit board (61) in the electronic storage box (56) is electrically connected with the unmanned aerial vehicle control system (75) through the main conductor bundle (47), data transmission and control are achieved, and the supply box control system (71) is controlled by the unmanned aerial vehicle control system (75); the main conductor bundle (47) connects the lithium battery in the electronic storage box (56) and the lithium battery in the unmanned aerial vehicle (2) in parallel, so that common power supply and common charging are realized;
the supply frame (24) is placed in the beehive (7), the beehive cover (8) covers the beehive (7), and a honey adding port (16), a water adding port (17), a detection device probing port (18) and a pollen adding port (21) are arranged on the beehive (7); the upper top surface of the pollen storage barrel (31) on the supply frame (24) is opposite to the pollen adding opening (21) and is tightly attached to the pollen adding opening (21) on the box cover (8); the upper top surface of a water storage barrel (30) on the supply frame (24) is opposite to the water adding port (17) on the box cover (8) and is tightly attached to the water adding port (17) on the box cover (8); a through hole (29) on the supply frame (24) is over against a detection device detection port (18) on the box cover (8); a honey storage barrel (28) on the supply frame (24) is opposite to the honey adding port (16) on the box cover (8) and is tightly attached to the honey adding port (16) on the box cover (8); a movable plate (10) and a fixed plate (82) are arranged on the box cover (8), an electromagnet (20) is arranged on the fixed plate (82), a permanent magnet (11) is arranged on the movable plate (10), the electromagnet (20) and the permanent magnet (11) are oppositely arranged, and the magnetic poles of the opposite ends of the electromagnet (20) and the permanent magnet (11) are the same under the working condition of the electromagnet (20); a T-shaped sliding rod (13) and a sliding column (19) are arranged on the fixed plate (82), a spring (15) is sleeved on the sliding column (19), and a T-shaped sliding groove (22) and a sliding hole (23) are arranged on the movable plate (10); the T-shaped sliding rod (13) is inserted into the T-shaped sliding groove (22) and the sliding hole (23), the sliding column (19) is sleeved with the spring (15) and then inserted into the sliding hole (23), the movable plate (10) is fixed on the fixed plate (82), and the movable plate (10) can slide along the T-shaped sliding rod (13) and the sliding column (19); a beehive control system (74) is arranged in the box cover (8), and the electromagnet (20) is connected with the beehive control system (74) and is controlled by the beehive control system (74); when the electromagnet (20) is not in work, the spring (15) is in a normal state to tighten the movable plate (10) and cling to the fixed plate (82), when the electromagnet (20) is in work, the movable plate (10) is pushed outwards due to the fact that the magnet and the magnetic pole at the opposite end of the permanent magnet (11) are the same, and at the moment, the spring (15) is in a stretching state; a beehive communication system (84) is further arranged in the box cover (8), the beehive communication system (84) is connected with the beehive control system (74) and is controlled by the beehive control system (74), and the beehive communication system (84) and a replenishing box communication system (83) on the replenishing box control system (71) carry out mutual information transmission; because the supply box control system (71) is connected with the unmanned aerial vehicle control system (75), the unmanned aerial vehicle control system (75) can work in coordination with the beehive control system (74), and the unmanned aerial vehicle (2) can be accurately stopped on the box cover (8) through the coordination of the electromagnet (20), the flight execution mechanism (79) on the unmanned aerial vehicle (2), the navigation camera (1) and the micro camera (54), and the honey feeding pipe (43) on the supply box (3) is ensured to be inserted into the honey adding port (16) on the box cover (8), the water feeding pipe (44) is inserted into the water adding port (17) on the box cover (8), the detection pipe (45) is inserted into the detection device detecting port (18) on the box cover (8), and the powder feeding pipe (46) is inserted into the pollen adding port (21) on the box cover (8);
the box cover (8) is also provided with a vent hole (14), a filter screen is arranged at the vent hole (14), and the filter hole of the filter screen is smaller than the diameter of pollen; the pollen storage barrel (31) is provided with a flexible and retractable vent pipe (85); one end of the vent pipe (85) is connected with the vent hole (14), and the other end is communicated with the pollen storage barrel (31); a sealing cover (53) is arranged on the powder feeding pipe (46), and a strong magnet is arranged in the sealing cover (53); when the pollen feeding pipe (46) is inserted into the pollen adding port (21), the bottom end of the pollen feeding pipe (46) falls into the pollen storage barrel (31), the pollen pump (59) pumps pollen into the pollen storage barrel (31), the pollen distribution barrel (33) attracted by the magnet moves upwards to the pollen distribution hole (41) along the pollen guide pipe (34) due to the action of strong magnets in the sealing cover (53), the pollen distribution barrel (33) is tightly attached to the upper plate (25) or the middle plate (26) downwards along the upper edge of the pollen distribution barrel (33), pollen is prevented from blowing into the beehive (7), pollen enters the pollen distribution barrel (33) from the pollen distribution hole (41) in the pollen guide pipe (34) in the process, and the air pressure in the pollen storage barrel (31) and the pollen distribution barrel (33) is balanced by the vent pipe (85) and the vent hole (14); when the pollen feeding pipe (46) is pulled out from the pollen adding port (21), the pollen separate storage barrel (33) slides down the pollen guide pipe (34) to fall onto the middle plate (26) or the bottom plate (27) because the pollen separate storage barrel is not influenced by the strong magnet in the sealing cover (53), and the pollen stored in the pollen separate storage barrel is supplied for bees to eat;
the box cover (8) is provided with three infrared emitters (12), the infrared emitters upwards emit infrared light speed in a state that the movable plate (10) is pushed outwards, and three infrared receiving devices (42) are arranged on a piston plate (69) at the bottom of the supply box (3) on the unmanned aerial vehicle (2);
the working method comprises the following steps: when the three infrared receiving devices (42) are aligned with the three infrared transmitters, the unmanned aerial vehicle (2) is descended on the box cover (8) and just ensures that a honey feeding pipe (43) on the supply box (3) is inserted into a honey adding port (16) on the box cover (8), a water feeding pipe (44) is inserted into a water adding port (17) on the box cover (8), a detection pipe (45) is inserted into a detection device detecting port (18) on the box cover (8), and a powder feeding pipe (46) is inserted into a pollen adding port (21) on the box cover (8); the infrared emitter (12) is connected with a beehive control system (74) and is controlled by the beehive control system (74).
2. The method of claim 1, wherein the bee feeding and bee nest detecting system is based on unmanned aerial vehicle and computer control, and comprises: the supply frame (24) can be placed in parallel between the honeycombs in the beehive (7), and bee paths are arranged between the supply frame (24) and the honeycombs so as to facilitate the bees to collect pollen, drinking water and honey; or the supply frame (24) can also be vertically placed at one end of the beehive (7) and a bee path is arranged between the supply frame (24) and the honeycomb, so that the bees can conveniently collect pollen, drinking water and honey.
3. The method of claim 1, wherein the bee feeding and bee nest detecting system is based on unmanned aerial vehicle and computer control, and comprises: supply tank (3) hang between support (4) to guarantee that unmanned aerial vehicle (2) focus is balanced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110154679.XA CN112956429B (en) | 2019-04-29 | 2019-04-29 | Supply tank and unmanned aerial vehicle and computer-controlled honeybee supply and honeycomb detecting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110154679.XA CN112956429B (en) | 2019-04-29 | 2019-04-29 | Supply tank and unmanned aerial vehicle and computer-controlled honeybee supply and honeycomb detecting system |
| CN201910352799.3A CN110012848B (en) | 2019-04-29 | 2019-04-29 | Bee supply and honeycomb detecting system based on unmanned aerial vehicle and computer control |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910352799.3A Division CN110012848B (en) | 2019-04-29 | 2019-04-29 | Bee supply and honeycomb detecting system based on unmanned aerial vehicle and computer control |
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| CN112956429A CN112956429A (en) | 2021-06-15 |
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| CN201910352799.3A Expired - Fee Related CN110012848B (en) | 2019-04-29 | 2019-04-29 | Bee supply and honeycomb detecting system based on unmanned aerial vehicle and computer control |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112956429A (en) | 2021-06-15 |
| CN110012848A (en) | 2019-07-16 |
| CN110012848B (en) | 2021-05-14 |
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