CN113197182A - Plant protection unmanned aerial vehicle intelligence sprinkling system - Google Patents
Plant protection unmanned aerial vehicle intelligence sprinkling system Download PDFInfo
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- CN113197182A CN113197182A CN202110573901.XA CN202110573901A CN113197182A CN 113197182 A CN113197182 A CN 113197182A CN 202110573901 A CN202110573901 A CN 202110573901A CN 113197182 A CN113197182 A CN 113197182A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Abstract
The invention discloses an intelligent spraying system of a plant protection unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle systems. The above-mentioned system includes: the intelligent dispensing module, the accurate spraying module and the intelligent monitoring module; the intelligent dispensing module is used for carrying out high-precision pesticide proportioning and mixing according to different crops and pesticide application information, and conveying mixed liquid medicine to the precise spraying module; the accurate spraying module is used for receiving the information transmitted by the intelligent monitoring module, monitoring spraying data in real time and controlling the plant protection unmanned aerial vehicle to perform accurate spraying operation; the intelligent monitoring module is used for collecting and recording flight data, spraying data and external environment information, carrying out intelligent algorithm operation, transmitting relevant optimized information to the accurate spraying module, and spraying after optimization. The system provided by the invention realizes accurate configuration of the liquid medicine, and simultaneously intelligently adjusts and controls the spraying operation of the plant protection unmanned aerial vehicle, thereby meeting the requirement of the plant protection unmanned aerial vehicle for accurate intelligent spraying operation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle systems, in particular to an intelligent spraying system of a plant protection unmanned aerial vehicle.
Background
In recent years, with the continuous development of agricultural plant protection unmanned aerial vehicle technology, various types of plant protection unmanned aerial vehicles are widely applied to agricultural production, so that the working efficiency of the agricultural production is improved, and the consumption of manpower and material resources is reduced. Current plant protection unmanned aerial vehicle sprays the mode, generally adopts the operation mode relatively more extensive, and the liquid medicine high concentration, the thinner spraying technique of spraying rely on unmanned aerial vehicle driver's manual operation or procedure to a great extent to predetermine, by artifical place and the flow that decides the proportion of dispensing and medicament and spray. However, the judgment by human experience often causes unbalanced concentration of the liquid medicine, and the problems of missed spraying or repeated spraying and the like exist in the spraying process, especially in the links of avoiding obstacles, reducing speed and changing ridges and the like, the phenomena of seedling burning and the like often occur due to overlarge spraying amount, and certain influence is exerted on the growth of crops. In order to guarantee the operation quality of the plant protection unmanned aerial vehicle, the spraying system of the plant protection unmanned aerial vehicle needs to be further optimized. Therefore, the liquid medicine proportioning and flow control of the spraying system are still an obstacle to the wide application of the spraying system, and how to realize the intelligent control of the spraying system is a problem to be solved urgently at present.
Disclosure of Invention
In order to solve the problems that in the prior art, an unmanned aerial vehicle spraying system cannot realize liquid medicine proportioning and flow control of the spraying system, the spraying efficiency is low, crop growth is affected and the like, the invention provides the intelligent spraying system for the plant protection unmanned aerial vehicle.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides an intelligent spraying system of a plant protection unmanned aerial vehicle, which comprises: the intelligent dispensing module, the accurate spraying module and the intelligent monitoring module;
the intelligent dispensing module is used for carrying out high-precision pesticide proportioning and mixing according to different crops and pesticide application information, and conveying mixed liquid medicine to the precise spraying module; the accurate spraying module is used for receiving the information transmitted by the intelligent monitoring module, monitoring spraying data in real time and controlling the plant protection unmanned aerial vehicle to perform accurate spraying operation; the intelligent monitoring module is used for acquiring and recording flight data, spraying data and external environment information, performing intelligent algorithm operation to transmit relevant optimized information to the accurate spraying module, and spraying after optimization;
the intelligent dispensing module comprises a medicine box, a water tank, a first control unit, a second control unit, a blending unit, a mixing unit and a spraying box; the control unit I is used for collecting the liquid level and the concentration of the medicine box and controlling the flow of the medicine; the water tank is used for containing water, and the control unit is used for collecting the liquid level of the water tank and controlling the flow of the water; the blending unit is used for storing preset crop types and pesticide application information, receiving external crop information, then blending the preset pesticide application information and transmitting the preset pesticide application information to the control unit I and the control unit II, and the control unit I and the control unit II respectively carry out pesticide proportioning according to a certain proportion according to received signals; the mixing unit is used for mixing pesticide and water, detecting the concentration of the liquid medicine through a concentration sensor, and filling the liquid medicine into the spraying box after the liquid medicine is compared with the preset pesticide application information of the blending unit to be qualified.
Furthermore, the accurate spraying module comprises a spraying CPU, a frequency conversion unit, a water pump unit and an adjustable spray head unit; the spraying CPU is used for receiving a control signal of the intelligent monitoring module and sending the control signal to the frequency conversion unit, the frequency conversion unit controls and adjusts the water pump unit through the control signal after frequency conversion processing, the water pump unit is used for storing liquid medicine conveyed by the spraying box and conveying the liquid medicine to the spray head unit, and the spray head unit sprays the liquid medicine.
Furthermore, the intelligent monitoring module comprises a monitoring CPU, a flight data acquisition unit, a spraying data acquisition unit, an external environment information acquisition unit and an intelligent algorithm unit;
the flight data acquisition unit is used for acquiring real-time flight data of an airplane and transmitting the real-time flight data to the monitoring CPU; the spraying data acquisition unit is used for acquiring spraying data and transmitting the spraying data to the monitoring CPU; the external environment information acquisition unit is used for acquiring external environment data and transmitting the external environment data to the monitoring CPU; the monitoring CPU transmits the received data to the intelligent algorithm unit, optimizes the received data through intelligent algorithm analysis, transmits the optimized data to the monitoring CPU for storage, and transmits the received optimized data to the spraying CPU for spraying after optimization.
Further, the real-time flight data comprises flight speed, altitude, angle and real-time position information of the airplane; the spray data includes spray pressure and flow rate; the corresponding data of the external environment include wind power, wind direction, temperature and humidity.
Preferably, the corresponding data of the external environment further includes an environment real-time picture; the monitoring CPU transmits the received environment real-time picture to an intelligent algorithm unit, optimizes the received environment real-time picture through intelligent algorithm analysis, transmits optimized data to the monitoring CPU for storage, and transmits the received optimized data to the allocation unit, compares the optimized data with preset crop types, determines pesticide application information and dispenses the pesticide.
Further, the water pump unit feeds back a water pressure detection signal to the spraying CPU, and the sprayer unit feeds back a flow monitoring signal to the spraying CPU.
Preferably, the spraying angle of the spray heads in the spray head unit can be independently controlled by the spraying CPU.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an intelligent spraying system of a plant protection unmanned aerial vehicle, which comprises an intelligent dispensing module, an accurate spraying module and an intelligent monitoring module. The intelligent dispensing module is mainly used for high-precision pesticide proportioning and mixing, collecting the liquid level heights of the pesticide box and the water tank, manually proportioning the pesticides according to operation requirements or carrying out blending and mixing according to certain proportion according to crop information detected by the intelligent monitoring module, and filling the mixture into the spraying box after the detected concentration is qualified; the accurate spraying module is used for controlling the plant protection unmanned aerial vehicle to carry out accurate spraying operation, collecting flow data and water pressure data and feeding back the collected information to the spraying CPU; the intelligent monitoring module is used for monitoring and recording real-time flight data and spraying data of the airplane, acquiring corresponding data of an external environment, and performing real-time feedback processing and real-time correction on the airplane spraying system after analysis through an intelligent algorithm. Thereby can carry out intelligent adjustment and control to the operation of spraying of plant protection unmanned aerial vehicle to satisfy plant protection unmanned aerial vehicle and carry out the demand that accurate intelligence sprayed the operation.
According to the invention, different crop types and related pesticide application information are preset and stored, then different pesticide application information is selected according to different crops, the intelligent pesticide dispensing module is used for realizing accurate pesticide application, and the spraying process is monitored, so that the plant protection operation can be more finely implemented.
Drawings
FIG. 1 is a schematic view of an intelligent spraying system of a plant protection unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of an intelligent dispensing module in the intelligent spraying system of the plant protection unmanned aerial vehicle of the invention;
FIG. 3 is a schematic diagram of a precise spraying module in the intelligent spraying system of the plant protection unmanned aerial vehicle of the invention;
FIG. 4 is a schematic view of an intelligent monitoring module in the intelligent spraying system of the plant protection unmanned aerial vehicle of the present invention;
the arrow direction in the figure indicates the signal transfer direction.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description is given with reference to specific embodiments.
In the present invention, the materials and reagents used are not specifically described, and are commercially available.
The invention provides an intelligent spraying system of a plant protection unmanned aerial vehicle, which is shown in the figures 1-4 and comprises the following components: the intelligent dispensing module, the accurate spraying module and the intelligent monitoring module;
the intelligent dispensing module is used for carrying out high-precision pesticide proportioning and mixing according to different crops and pesticide application information and conveying the mixed liquid medicine to the precise spraying module; the accurate spraying module is used for receiving the information transmitted by the intelligent monitoring module, monitoring spraying data in real time and controlling the plant protection unmanned aerial vehicle to perform accurate spraying operation; the intelligent monitoring module is used for acquiring and recording flight data, spraying data and external environment information, carrying out intelligent algorithm operation, transmitting the relevant optimized information to the accurate spraying module, and spraying after optimization;
the intelligent dispensing module comprises a medicine box, a water tank, a first control unit, a second control unit, a blending unit, a mixing unit and a spraying box; the control unit I is used for collecting the liquid level and the concentration of the medicine box and controlling the flow of the medicine; the water tank is used for containing water, and the control unit is used for collecting the liquid level of the water tank and controlling the flow of the water; the blending unit is used for storing preset crop types and pesticide application information, receiving external crop information, then calling out the preset pesticide application information and transmitting the preset pesticide application information to the first control unit and the second control unit, and the first control unit and the second control unit are used for carrying out pesticide proportioning according to a certain proportion according to received signals respectively; the mixing unit is used for mixing pesticide and water, detecting the concentration of the liquid medicine through the concentration sensor, and filling the liquid medicine into the spraying box after the liquid medicine is compared with the preset pesticide application information of the blending unit to be qualified.
According to the intelligent spraying system, the crop types (such as paddy fields, short crops, tall and short crops, fruit trees and the like) and the related pesticide application information which are pre-stored in the allocation unit are selected for different crops, the related pesticide application information is corresponded, then the allocation unit regulates the first control unit and the second control unit, different amounts of pesticides and water are mixed, concentration detection is carried out, the pesticide and the water are filled into the spraying box after the pesticide and the water are consistent with the stored concentration in the allocation unit, and accurate pesticide dispensing is realized; and get into the accurate module of spraying through spraying the case, realize spraying of pesticide, intelligent monitoring module detects simultaneously that the correlation sprays the information and feeds back to the accurate module of spraying, but real time monitoring and correction spray the condition, realize advancing the accurate spraying.
The intelligent dispensing module is specifically used for mixing pesticide and water according to the proportion required by crops in the drug assembly stage before spraying. The medicines are premixed in the blending area, and because the mixing speed of part of the medicines is low or the medicines need to be stirred, the medicines are stirred and mixed by a mixing motor in the mixing area after being blended, and the medicines are filled into a spraying box after the concentration is detected to be qualified by a concentration sensor in the blending area.
In one embodiment of the invention, the intelligent dispensing module and the accurate spraying module are connected by a DuPont wire, and the accurate spraying module and the intelligent monitoring module are connected by a DuPont wire. The intelligent monitoring module and the accurate module of spraying are all installed on flying to the control panel. The intelligent medicine dispensing module is a profit-free detachable external device.
Furthermore, the accurate spraying module comprises a spraying CPU, a frequency conversion unit, a water pump unit and an adjustable spray head unit; spray CPU and be used for receiving intelligent monitoring module's control signal to with control signal transmission to frequency conversion unit, frequency conversion unit controls and adjusts water pump unit through the control signal after the frequency conversion is handled, water pump unit is used for storing the liquid medicine of being carried by spraying the case, and carries the liquid medicine to shower nozzle unit, and the shower nozzle unit sprays away the liquid medicine. The water pump unit feeds back a water pressure detection signal to the spraying CPU, and the sprayer unit feeds back a flow monitoring signal to the spraying CPU. The spraying CPU receives the water pressure detection signal and the flow detection signal and is used for feeding back whether spraying can be carried out according to a given signal or not, and the effect of feeding back operation is achieved. The spraying angle of the spray head in the spray head unit can be independently controlled by the spraying CPU, and the angle advance and accurate spraying is realized.
Furthermore, the intelligent monitoring module comprises a monitoring CPU, a flight data acquisition unit, a spraying data acquisition unit, an external environment information acquisition unit and an intelligent algorithm unit;
the flight data acquisition unit is used for acquiring real-time flight data of the airplane and transmitting the real-time flight data to the monitoring CPU; the spraying data acquisition unit is used for acquiring spraying data and transmitting the spraying data to the monitoring CPU; the external environment information acquisition unit is used for acquiring external environment data and transmitting the external environment data to the monitoring CPU; the monitoring CPU transmits the received data to the intelligent algorithm unit, optimizes the received data through intelligent algorithm analysis, transmits the optimized data to the monitoring CPU for storage, transmits the received optimized data to the spraying CPU, and sprays the optimized data. The real-time flight data comprises the flight speed, the altitude, the angle and the real-time position information of the airplane; the spray data includes spray pressure and flow rate; the corresponding data of the external environment include wind power, wind direction, temperature and humidity.
In another embodiment of the invention, the corresponding data of the external environment further comprises an environment real-time picture; the monitoring CPU transmits the received environment real-time picture to the intelligent algorithm unit, optimizes the received environment real-time picture through intelligent algorithm analysis, transmits optimized data to the monitoring CPU for storage, and wirelessly transmits the received optimized data to the allocation unit, compares the received optimized data with preset crop types, determines pesticide application information and dispenses the pesticide. In the embodiment, the crop species does not need to be determined manually, the pesticide application information is selected, the whole process is processed intelligently, and the operation is convenient and quick.
Preferably, the spraying CPU model is STM32F103C8T 6; the monitoring CPU model is ATSAME70Q 21.
According to the intelligent dispensing system, firstly, intelligent dispensing information is set according to different crops, then, information from the height of the crops is preset according to the information of the crops, and then, target spraying amount and spraying speed information are determined according to flight information and flow information of a spraying pump; through control flight data and altitude information, apart from the crop height and spray data, carry out intelligent attitude control in real time, come control to spray flow and plant protection unmanned aerial vehicle's flying speed and height to make the liquid medicine intelligence in the plant protection unmanned aerial vehicle medicine case spray.
The actual sprayed liquid medicine amount is determined by monitoring the flow information acquired by the flowmeter, and meanwhile, the planned flight speed and the actual flight speed are compared, so that stable work is achieved. If the actual spraying amount is zero, recording the current spraying position, and controlling the unmanned aerial vehicle to return; when the plant protection unmanned aerial vehicle starts to take off again, the plant protection unmanned aerial vehicle automatically returns to the last return flight point position to continue pesticide application, and the function of 'breakpoint continuous spraying' is realized.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides a plant protection unmanned aerial vehicle intelligence sprinkling system, its characterized in that includes: the intelligent dispensing module, the accurate spraying module and the intelligent monitoring module;
the intelligent dispensing module is used for carrying out high-precision pesticide proportioning and mixing according to different crops and pesticide application information, and conveying mixed liquid medicine to the precise spraying module; the accurate spraying module is used for receiving the information transmitted by the intelligent monitoring module, monitoring spraying data in real time and controlling the plant protection unmanned aerial vehicle to perform accurate spraying operation; the intelligent monitoring module is used for acquiring and recording flight data, spraying data and external environment information, performing intelligent algorithm operation to transmit relevant optimized information to the accurate spraying module, and spraying after optimization;
the intelligent dispensing module comprises a medicine box, a water tank, a first control unit, a second control unit, a blending unit, a mixing unit and a spraying box; the control unit I is used for collecting the liquid level and the concentration of the medicine box and controlling the flow of the medicine; the water tank is used for containing water, and the control unit is used for collecting the liquid level of the water tank and controlling the flow of the water; the blending unit is used for storing preset crop types and pesticide application information, receiving external crop information, then blending the preset pesticide application information and transmitting the preset pesticide application information to the control unit I and the control unit II, and the control unit I and the control unit II respectively carry out pesticide proportioning according to a certain proportion according to received signals; the mixing unit is used for mixing pesticide and water, detecting the concentration of the liquid medicine through a concentration sensor, and filling the liquid medicine into the spraying box after the liquid medicine is compared with the preset pesticide application information of the blending unit to be qualified.
2. The intelligent spraying system of a plant protection unmanned aerial vehicle of claim 1, wherein the precise spraying module comprises a spraying CPU, a frequency conversion unit, a water pump unit and an adjustable nozzle unit; the spraying CPU is used for receiving a control signal of the intelligent monitoring module and sending the control signal to the frequency conversion unit, the frequency conversion unit controls and adjusts the water pump unit through the control signal after frequency conversion processing, the water pump unit is used for storing liquid medicine conveyed by the spraying box and conveying the liquid medicine to the spray head unit, and the spray head unit sprays the liquid medicine.
3. The intelligent spraying system of a plant protection unmanned aerial vehicle of claim 2, wherein the intelligent monitoring module comprises a monitoring CPU, a flight data acquisition unit, a spraying data acquisition unit, an external environment information acquisition unit and an intelligent algorithm unit;
the flight data acquisition unit is used for acquiring real-time flight data of an airplane and transmitting the real-time flight data to the monitoring CPU; the spraying data acquisition unit is used for acquiring spraying data and transmitting the spraying data to the monitoring CPU; the external environment information acquisition unit is used for acquiring external environment data and transmitting the external environment data to the monitoring CPU; the monitoring CPU transmits the received data to the intelligent algorithm unit, optimizes the received data through intelligent algorithm analysis, transmits the optimized data to the monitoring CPU for storage, and transmits the received optimized data to the spraying CPU for spraying after optimization.
4. The plant protection unmanned aerial vehicle intelligent spraying system of claim 3, wherein the real-time flight data includes aircraft flight speed, altitude, angle, and aircraft real-time position information; the spray data includes spray pressure and flow rate; the corresponding data of the external environment include wind power, wind direction, temperature and humidity.
5. The plant protection unmanned aerial vehicle intelligent spraying system of claim 4, wherein the corresponding data of the external environment further comprises an environment real-time picture; the monitoring CPU transmits the received environment real-time picture to an intelligent algorithm unit, optimizes the received environment real-time picture through intelligent algorithm analysis, transmits optimized data to the monitoring CPU for storage, and transmits the received optimized data to the allocation unit, compares the optimized data with preset crop types, determines pesticide application information and dispenses the pesticide.
6. The intelligent spraying system of a plant protection unmanned aerial vehicle of claim 2, wherein the water pump unit feeds back a water pressure detection signal to the spraying CPU, and the sprayer unit feeds back a flow monitoring signal to the spraying CPU.
7. The plant protection unmanned aerial vehicle intelligent spraying system of claim 6, wherein the spraying angle of the spray heads in the spray head unit can be independently controlled by the spraying CPU.
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| CN117413815A (en) * | 2023-12-19 | 2024-01-19 | 山东源泉机械有限公司 | Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system |
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