CN113359814B - Plant protection unmanned aerial vehicle for breaking membrane of garlic seedling, and operation method and application thereof - Google Patents
Plant protection unmanned aerial vehicle for breaking membrane of garlic seedling, and operation method and application thereof Download PDFInfo
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- 235000004611 garlic Nutrition 0.000 title claims abstract description 122
- 239000012528 membrane Substances 0.000 title claims abstract description 104
- 241000196324 Embryophyta Species 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 42
- 244000245420 ail Species 0.000 title 1
- 240000002234 Allium sativum Species 0.000 claims abstract description 121
- 240000008042 Zea mays Species 0.000 claims abstract description 10
- 235000002017 Zea mays subsp mays Nutrition 0.000 claims abstract description 10
- 235000002637 Nicotiana tabacum Nutrition 0.000 claims abstract description 8
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 claims abstract description 8
- 235000005822 corn Nutrition 0.000 claims abstract description 8
- 244000061176 Nicotiana tabacum Species 0.000 claims abstract 2
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 9
- 241000208125 Nicotiana Species 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000035784 germination Effects 0.000 description 4
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000009973 maize Nutrition 0.000 description 2
- 235000016870 Allium oleraceum Nutrition 0.000 description 1
- 244000109568 Allium vineale Species 0.000 description 1
- 235000011403 Allium vineale Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000002362 mulch Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a plant protection unmanned aerial vehicle for garlic seedling film breaking, an operation method and application thereof, wherein the plant protection unmanned aerial vehicle comprises a machine body, a machine case and a propeller, a computer module is arranged at the center of the machine body, a main control board is arranged below the machine body, and a depth camera, an onboard ultrasonic sensor and a film breaking mechanical arm structure are arranged on a bracket below the machine body; the method comprises the steps of acquiring image information of the membrane rupture condition of garlic in the field by an onboard depth camera, transmitting the image information to a computer module to analyze the growth condition of the garlic and the membrane rupture condition of the garlic, realizing the position positioning of the garlic sprouts without membrane rupture, and sending a control instruction to a mechanical arm by a control end to assist the membrane rupture of the garlic sprouts; the method is time-saving and labor-saving, does not damage the condition of the garlic field, and is also suitable for planting corn and tobacco.
Description
Technical Field
The invention belongs to the technical field of garlic planting equipment, and particularly relates to a plant protection unmanned aerial vehicle for breaking membranes of garlic seedlings, and an operation method and application thereof.
Background
In recent years, the planting area of garlic in China is wider and wider, and garlic is sowed in autumn generally to resist severe winter, and farmers can cover a layer of mulching film to protect the garlic. However, some garlic sprouts cannot burst the mulching film when growing, and the garlic sprouts can be burnt out for a long time, so that the yield of the garlic sprouts is reduced, and manual film rupture is needed.
At present, garlic membrane rupture modes generally exist in two modes. Firstly, the auxiliary rupture of membranes is carried out on the garlic sprouts which are not ruptured by hands or tools in a manual mode, the speed of the mode is low, the efficiency is low, the labor cost is high, and the injury to the body can be caused by the long-time bending work. Secondly, the wet felt film breaking method has higher requirements on the time of the operation under the ground, the time is earlier, the garlic sprouts are separated from the germination period and are easy to damage, and the garlic sprouts which cannot be broken by the film still need to be broken manually after being pulled by the wet felt.
Disclosure of Invention
Aiming at the problem that part of garlic seedlings cannot break through a mulching film, the invention provides a plant protection unmanned aerial vehicle for breaking the mulching film of the garlic seedlings and an operation method. The invention can not damage garlic sprouts and the growth environment thereof during working, and can take different actions to assist the mechanical arm to break membranes after identifying the young seedlings in different periods, thereby solving the problems of time and labor waste and damage to the garlic sprouts caused by indiscriminate membrane breaking by wet felt membrane breaking method in the traditional manual method and ensuring the working accuracy.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a plant protection unmanned aerial vehicle for garlic seedling film breaking, which comprises a machine body, wherein a machine case is arranged in the center of the machine body, four propellers are uniformly distributed on the same horizontal plane of the machine case, two adjacent propellers are arranged at 90 degrees, the machine case and the propellers are connected by an unmanned aerial vehicle cross rod to form the machine body, a computer module is arranged in the center of the machine body, a main control board is arranged below the machine body, and a depth camera, an onboard ultrasonic sensor and a film breaking mechanical arm structure are arranged on a bracket below the machine body; the membrane breaking mechanical arm structure mainly comprises a first mechanical arm rod, a second mechanical arm rod and a third mechanical arm rod which are sequentially and movably connected, wherein the first mechanical arm rod is connected with a support below a machine body through a movable mechanical arm shaft I, the second mechanical arm rod is connected with the first mechanical arm rod through a movable mechanical arm shaft II, the third mechanical arm rod is connected with the second mechanical arm rod through a movable mechanical arm shaft III, a motor is arranged on the membrane breaking mechanical arm structure to control the action of the whole membrane breaking mechanical arm structure, a second section mechanical arm ultrasonic sensor is arranged on the second mechanical arm rod, a third section mechanical arm ultrasonic sensor is arranged on the third mechanical arm rod, and a machine hook is arranged at the tail part of the third mechanical arm rod.
The control module that sets up on computer module, motor and the main control board among the above-mentioned structure has constituted plant protection unmanned aerial vehicle control system, and the motor that rupture of membranes arm structurally was equipped with is servo motor, can obtain accurate rotation angle. The computer module processes three-dimensional information of garlic field transmitted by the depth camera, identifies two different types of garlic sprouts without membrane rupture, positions the garlic sprouts and transmits the garlic sprouts to the main control board. The ultrasonic sensor carried by the machine body detects the information of the machine body from the ground and transmits the information to the main control board. The master control board control module combines the two signals, adjusts the ground clearance height of the plant protection unmanned aerial vehicle, and then sends a control signal to the servo motor driving module to control the membrane rupture mechanical arm structure.
According to the plant protection unmanned aerial vehicle for the garlic seedling membrane rupture, the depth camera mainly collects images of garlic fields below the depth camera, and the obtained images are transmitted to the computer module for processing.
According to the plant protection unmanned aerial vehicle for garlic seedling membrane rupture, the computer module mainly analyzes the processed picture information to obtain the garlic seedling membrane rupture condition, and then transmits a control command to the main control board of the plant protection unmanned aerial vehicle, and the control of the membrane rupture mechanical arm structure is performed by combining the ground distance measured by the airborne ultrasonic sensor.
The invention also provides an operation method of the plant protection unmanned aerial vehicle for breaking the membrane of the garlic seedling, which comprises the following steps:
(1) Taking off the garlic seedling membrane by using a plant protection unmanned aerial vehicle, and reaching above an initial operating point of a garlic field;
(2) Firstly, a working mode I is implemented by an unmanned aerial vehicle for breaking the membrane of garlic seedlings, a membrane breaking mechanical arm structure is unfolded to a normal flight state, the height of the mechanical arm from the ground is measured by a third section of mechanical arm ultrasonic sensor, the height of the mechanical arm from the ground of the unmanned aerial vehicle is adjusted to reach a preset value, and cruising flight is started;
(3) When the ultrasonic sensor on the second mechanical arm of the unmanned aerial vehicle detects a front obstacle, the unmanned aerial vehicle makes the unmanned aerial vehicle fly to the right side in parallel to bypass the obstacle;
(4) When the ultrasonic sensor on the third mechanical arm of the plant protection unmanned aerial vehicle detects sudden rise or fall of the ground pattern, even if the flying height of the plant protection unmanned aerial vehicle is adjusted, the situation that the ground is blown off by overlarge wind pressure on the ground, the mechanical arm touches the ground and the wind pressure is too small is avoided, and the efficiency is too low;
(5) The unmanned aerial vehicle starts to fly for one week according to a preset route and returns to an initial operation point, and the working mode is finished;
(6) The second working mode is that the plant protection unmanned aerial vehicle continues to cruise according to the original route, the depth camera module starts to collect garlic field information and transmits the garlic field information to the computer module, the computer module stops advancing after detecting and positioning and identifying the type of the garlic sprouts which are not broken, the airborne ultrasonic sensor detects the ground clearance of the machine body, the flying height of the plant protection unmanned aerial vehicle is adjusted, the film breaking mechanical arm structure is unfolded, corresponding film breaking operation is carried out, and after the action is completed, the film breaking mechanical arm structure is restored to a normal flying state; the ultrasonic sensor on the third section of mechanical arm measures the ground height, the ground height of the mechanical arm of the plant protection unmanned aerial vehicle is adjusted to reach a preset value, and the plant protection unmanned aerial vehicle continues to advance;
(7) When the ultrasonic sensor of the second section mechanical arm of the plant protection unmanned aerial vehicle detects the obstacle in front, the plant protection unmanned aerial vehicle flies to the right side in parallel to bypass the obstacle.
(8) When the ultrasonic sensor of the third section mechanical arm of the plant protection unmanned aerial vehicle detects that the ground pattern suddenly rises, the flight height of the plant protection unmanned aerial vehicle is adjusted, and the situation that the wind pressure blows off the mulching film and the structure of the film breaking mechanical arm touches the ground is avoided;
(9) After the operation is finished, the membrane breaking mechanical arm structure is completely contracted, and the plant protection unmanned aerial vehicle returns to voyage and falls.
According to the operation method, when the membrane breaking mechanical arm structure detects that the garlic sprouts are not broken, the mechanical arm is controlled to perform corresponding actions after the growth state of the plants is analyzed, so that the aim of accurate operation is fulfilled.
According to the operation method, the membrane breaking mechanical arm structure is in the optimal state according to the flight state of the plant protection unmanned aerial vehicle, so that the detection of garlic field information can be better completed, and the membrane breaking of garlic sprouts and return landing can be facilitated.
According to the application of the operation method, the operation method can also be applied to corn or tobacco.
According to the invention, firstly, wind pressure generated when an unmanned aerial vehicle flies is utilized, the unmanned aerial vehicle blows downwards to a rotor wing, so that a mulching film is tightly stuck to the ground, and a garlic seedling breaks the mulching film to assist a part of garlic seedling to break the film; and secondly, acquiring image information of the field garlic film breaking condition by an airborne depth camera, transmitting the image information to a computer module to analyze the garlic growth condition and the film breaking condition of the garlic, realizing the position positioning of the garlic sprouts without film breaking, and sending a control instruction to a mechanical arm by a control end to assist the garlic sprout film breaking. For the manual method, the method saves time and labor and does not destroy the condition of the garlic field. Through the processing of the garlic field images, the growth period of the garlic sprouts is identified, different control instructions are sent to the mechanical arm for the garlic sprouts in the sprouting period and the seedling period, the damage to the mulching film is reduced as much as possible, the heat preservation effect is maintained, and the garlic sprouts are ensured to pass through winter stably.
Compared with the prior art, the invention can obtain the following technical effects:
1. according to the invention, the unmanned aerial vehicle carrying mechanical arm is adopted for the first time to break the membrane of the garlic sprouts, so that damage to garlic fields can not be caused.
2. According to the invention, the wind pressure membrane is firstly adopted, so that a part of garlic sprouts are firstly broken, the workload of a second working mode is reduced, and the overall efficiency is improved.
2. According to the invention, the depth camera and the computer module are carried on the plant protection unmanned aerial vehicle for the first time to accurately identify the garlic sprouts without rupture of membranes, so that the operation is accurate.
3. The computer module can identify the types of the garlic sprouts without rupture of the membranes, and control the mechanical arm to make different actions so as to reduce damage to the mulch.
4. The invention adopts the foldable membrane-breaking mechanical arm structure, and the membrane-breaking mechanical arm structure is unfolded when in work, so that the ground distance of the unmanned aerial vehicle is kept, and the membrane-breaking mechanical arm structure is retracted when the operation is stopped, so that the plant protection unmanned aerial vehicle can return to navigation and land conveniently.
Of course, it is not necessary for any of the products embodying the invention to achieve all of the technical effects described above at the same time.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the relative states of the mechanical arm and the unmanned aerial vehicle when the unmanned aerial vehicle is in a normal flight state;
FIG. 3 is a schematic diagram of the relative states of the mechanical arm and the unmanned aerial vehicle when the membrane breaking device is in the membrane breaking working state 1;
fig. 4 is a schematic diagram of a state of the mechanical arm relative to the unmanned aerial vehicle when the mechanical arm is in a membrane breaking working state 2;
FIG. 5 is an enlarged schematic view of a mechanical arm structure according to the present invention;
FIG. 6 is a schematic view of the relative states of the mechanical arm and the unmanned aerial vehicle when the mechanical arm is in a stop working state;
in the figure, a propeller 1, a cross rod of a 2-unmanned aerial vehicle, a 3-case, a 4-mechanical arm shaft I, a 5-mechanical arm shaft II, a 6-mechanical arm shaft III, a 7-third section ultrasonic sensor, an 8-machine hook, a 9-depth camera, a 10-main control board module, an 11-computer module, a 12-second section mechanical arm ultrasonic sensor and a 13-airborne ultrasonic sensor are arranged.
Detailed Description
The following will describe embodiments of the present invention in detail by referring to examples, so that the implementation process of how to apply the technical means to solve the technical problems and achieve the technical effects of the present invention can be fully understood and implemented.
Example 1
The invention discloses a plant protection unmanned aerial vehicle for garlic seedling membrane rupture, which comprises a machine body, wherein a machine case 3 is arranged in the center of the machine body, four propellers 1 are uniformly distributed on the same horizontal plane of the machine case, two adjacent propellers 1 are arranged at 90 degrees, the machine case 3 and the propellers 1 are connected by an unmanned aerial vehicle cross rod 2 to form the machine body, a computer module 11 is arranged in the center of the machine body, a main control board 10 is arranged below the machine body, and a depth camera 9, an onboard ultrasonic sensor 13 and a membrane rupture mechanical arm structure are arranged on a bracket below the machine body; the membrane breaking mechanical arm structure mainly comprises a first mechanical arm rod, a second mechanical arm rod and a third mechanical arm rod which are sequentially and movably connected, wherein the first mechanical arm rod is connected with a support below a machine body through a movable mechanical arm shaft I4, the second mechanical arm rod is connected with the first mechanical arm rod through a movable mechanical arm shaft II5, the third mechanical arm rod is connected with the second mechanical arm rod through a movable mechanical arm shaft III6, a motor is arranged on the membrane breaking mechanical arm structure to control the action of the whole membrane breaking mechanical arm structure, a second section mechanical arm ultrasonic sensor 12 is arranged on the second mechanical arm rod, a third section mechanical arm ultrasonic sensor 7 is arranged on the third mechanical arm rod, and a machine hook 8 is arranged at the tail part of the third mechanical arm rod.
Above-mentioned garlic seedling rupture of membranes is with plant protection unmanned aerial vehicle, the motor that rupture of membranes arm structure was equipped with is servo motor.
According to the plant protection unmanned aerial vehicle for garlic seedling film breaking, the depth camera 9 is mainly used for collecting images of garlic fields below the depth camera, the obtained images are transmitted to the computer module 11 for processing, the computer module 11 is mainly used for analyzing the film breaking condition of garlic seedlings according to processed picture information, then a control command is transmitted to the main control board 10 of the plant protection unmanned aerial vehicle, and the ground distance measured by the airborne ultrasonic sensor 13 is combined for controlling the film breaking mechanical arm structure.
The operation method of the plant protection unmanned aerial vehicle for breaking the membrane of the garlic seedling comprises the following steps:
(1) Taking off the garlic seedling membrane by using a plant protection unmanned aerial vehicle, and reaching above an initial operating point of a garlic field;
(2) Firstly, a working mode I is implemented by an unmanned aerial vehicle for breaking the membrane of garlic seedlings, a membrane breaking mechanical arm structure is unfolded to a normal flight state, the height of the mechanical arm from the ground is measured by a third section of mechanical arm ultrasonic sensor, the height of the mechanical arm from the ground of the unmanned aerial vehicle is adjusted to reach a preset value, and cruising flight is started;
(3) When the ultrasonic sensor on the second mechanical arm of the unmanned aerial vehicle detects a front obstacle, the unmanned aerial vehicle makes the unmanned aerial vehicle fly to the right side in parallel to bypass the obstacle;
(4) When the ultrasonic sensor on the third mechanical arm of the plant protection unmanned aerial vehicle detects sudden rise or fall of the ground pattern, even if the flying height of the plant protection unmanned aerial vehicle is adjusted, the situation that the ground is blown off by overlarge wind pressure on the ground, the mechanical arm touches the ground and the wind pressure is too small is avoided, and the efficiency is too low;
(5) The unmanned aerial vehicle starts to fly for one week according to a preset route and returns to an initial operation point, and the working mode is finished;
(6) The second working mode is that the plant protection unmanned aerial vehicle continues to cruise according to the original route, the depth camera module starts to collect garlic field information and transmits the garlic field information to the computer module, the computer module stops advancing after detecting and positioning and identifying the type of the garlic sprouts which are not broken, the airborne ultrasonic sensor detects the ground clearance of the machine body, the flying height of the plant protection unmanned aerial vehicle is adjusted, the film breaking mechanical arm structure is unfolded, corresponding film breaking operation is carried out, and after the action is completed, the film breaking mechanical arm structure is restored to a normal flying state; the ultrasonic sensor on the third section of mechanical arm measures the ground height, the ground height of the mechanical arm of the plant protection unmanned aerial vehicle is adjusted to reach a preset value, and the plant protection unmanned aerial vehicle continues to advance;
(7) When the ultrasonic sensor of the second section mechanical arm of the plant protection unmanned aerial vehicle detects the obstacle in front, the plant protection unmanned aerial vehicle flies to the right side in parallel to bypass the obstacle.
(8) When the ultrasonic sensor of the third section mechanical arm of the plant protection unmanned aerial vehicle detects that the ground pattern suddenly rises, the flight height of the plant protection unmanned aerial vehicle is adjusted, and the situation that the wind pressure blows off the mulching film and the structure of the film breaking mechanical arm touches the ground is avoided;
(9) After the operation is finished, the membrane breaking mechanical arm structure is completely contracted, and the plant protection unmanned aerial vehicle returns to voyage and falls.
Example 2
The operation method of the plant protection unmanned aerial vehicle for breaking the membrane of the garlic seedling in the embodiment comprises the following steps:
(1) The plant protection unmanned aerial vehicle takes off and reaches the position above the operation starting point;
(2) Firstly, starting a working mode I, developing a membrane breaking mechanical arm structure into a normal flight state shown in fig. 2, cruising for one circle according to a preset route by using proper wind pressure, and returning to a starting point;
(3) Starting the working mode II, after the depth camera acquires three-dimensional information of the garlic field and transmits the three-dimensional information to the computer module for processing, selecting the following two modes to operate correspondingly according to the unmanned aerial vehicle with the garlic sprout type not broken by the film, firstly changing the normal flight state of the film from the film breaking working state 1 of the film drawing 2, and then changing the film drawing back to the normal flight state of the film drawing 2; secondly, the normal flight state of the plant protection unmanned aerial vehicle is changed into the membrane breaking working state 1 of fig. 3 from the normal flight state of fig. 2, then the membrane breaking working state 2 of fig. 4 is changed back, and finally the normal flight state of fig. 2 is adjusted.
(4) In the operation process, the second section of mechanical arm ultrasonic sensor detects a front obstacle, and the plant protection unmanned aerial vehicle is adjusted to bypass the obstacle to continue flying;
(5) In the operation process, an ultrasonic sensor on a third mechanical arm detects sudden rise or fall of the terrain, and the unmanned aerial vehicle is adjusted to fall or rise so as to keep the wind pressure of the unmanned aerial vehicle on the mulching film unchanged;
(6) After the operation is finished, the membrane breaking mechanical arm structure is retracted to reach the stop working state of fig. 6, and the unmanned aerial vehicle returns to the home position and descends.
In the operation method, when the membrane breaking mechanical arm structure detects that the garlic sprouts are not broken, the mechanical arm is controlled to perform corresponding actions after the growth state of the plants is analyzed, so that the aim of accurate operation is fulfilled.
The different states of rupture of membranes arm structure all are the best state of making according to the unmanned aerial vehicle flight condition of plant protection, can accomplish the detection of garlic field information better, help the garlic sprout rupture of membranes and return to the home and descend.
The working principle of the plant protection unmanned aerial vehicle for breaking the membrane of the garlic seedling is as follows:
this plant protection unmanned aerial vehicle working method falls into two steps, and unmanned aerial vehicle flies one round according to predetermined mode in garlic field sky with suitable height when first working method, and plant protection unmanned aerial vehicle state is as shown in fig. 2, keeps normal flight state. The purpose is when unmanned aerial vehicle flies, can produce the garlic sprout rupture of membranes of suitable wind pressure help part germination period to the garlic field, reduces the work load of second kind of working method, promotes work efficiency. The second working mode is that the plant protection unmanned aerial vehicle returns to the working starting point, the depth camera performs image acquisition on the garlic field below, the acquired image is transmitted to the computer module for processing, the condition of garlic sprout rupture is analyzed, then a control command is transmitted to the unmanned aerial vehicle main control board, and the ground distance measured by the airborne ultrasonic sensor is combined to control the mechanical arm.
When the working mode is started, the movable shaft of the film-breaking mechanical arm structure of the plant protection unmanned aerial vehicle takes off, the film-breaking mechanical arm structure is adjusted to be in the normal flight state of fig. 2, the flight height is adjusted according to the condition of the mulching film, the unmanned aerial vehicle can generate proper air pressure to the ground, the mulching film is enabled to be close to the ground, and a part of garlic sprouts in the germination period can be extruded to break the mulching film.
In the operation process of the plant protection unmanned aerial vehicle, the air pressure to the ground is adjusted according to the condition of the garlic field, so that the workload is reduced for the follow-up working mode, and the working efficiency is improved.
When the second working mode is started, the depth camera collects garlic field information, and after the garlic field information is processed by the computer module, a command is sent to the servo motor module through the main control board. The unmanned aerial vehicle is changed from the normal flight state of the figure 2 to the membrane-breaking working state 1 and then back to the normal flight state of the figure 2 when the membrane-breaking garlic sprouts are found in the sprouting period; the method comprises the steps that when no film-breaking garlic sprouts are found in a seedling stage, the normal flight state of the plant protection unmanned aerial vehicle is changed into the film-breaking working state 1 of fig. 3 from the normal flight state of fig. 2, then the plant protection unmanned aerial vehicle is changed back into the film-breaking working state 2 of fig. 4, and finally the plant protection unmanned aerial vehicle is adjusted into the normal flight state of fig. 2.
The unmanned aerial vehicle is provided with three ultrasonic sensors, and the airborne ultrasonic sensors are arranged below the machine body, mainly for providing the heights of the mechanical arm and the mulching film when the film breaking work is performed, and providing a basis for the control of the mechanical arm; the second section of mechanical arm is provided with a second section of mechanical arm ultrasonic sensor, which mainly detects the front obstacle when the unmanned aerial vehicle flies normally; the third section of mechanical arm is provided with a third section of mechanical arm ultrasonic sensor, and the ultrasonic sensor is mainly used for judging the ground clearance when the unmanned aerial vehicle normally flies and falls.
The depth camera carried by the unmanned plane can acquire three-dimensional information of the garlic field, the information is transmitted to the computer module for processing, whether the garlic sprouts rupture the membranes is judged, the garlic sprouts without rupture the membranes are positioned, and then the growth condition of the garlic sprouts without rupture of the membranes is judged. The garlic sprouts in the germination period are pointed and thin, the garlic sprouts in the seedling period grow out leaves, and the area is larger when overlooking from the top. If the garlic sprouts are judged to be in the sprouting period, the computer module sends a first instruction which controls the mechanical arm to be unfolded to reach the membrane breaking state shown in fig. 3, the mechanical arm is moved to a position slightly deviated from the tips of the garlic to downwards stamp the membrane, and the mechanical arm is retracted to return to the normal flight state shown in fig. 2 after membrane breaking; if the garlic sprouts are judged to be in the seedling stage, the computer module sends out a second instruction, the instruction controls the mechanical arm to be unfolded to reach the membrane breaking working state 1 in the figure 3, the mechanical arm is moved to the lower end of the stem part of the garlic sprouts to puncture the mulching film, then the mechanical arm shaft 1 rotates, the shaft 2 and the shaft 3 do not move, the airplane slowly moves along with the rotation speed of the shaft 1, the membrane breaking working state 2 in the figure 4 is reached, the stem part of the garlic sprouts is hooked to carry out the whole garlic sprout plants, and finally the mechanical arm is retracted to return to the normal flight state in the figure 2.
In the working process of the plant protection unmanned aerial vehicle, different instructions are sent out according to different garlic sprouts, so that the working process is more accurate, and damage to the mulching film is reduced to the greatest extent.
Example 3
The embodiment provides a plant protection unmanned aerial vehicle operation method for membrane rupture of corn, which comprises the following steps:
(1) The plant protection unmanned aerial vehicle takes off and reaches the position above the operation starting point;
(2) Firstly, starting a working mode I, developing a membrane breaking mechanical arm structure into a normal flight state shown in fig. 2, cruising for one circle according to a preset route by using proper wind pressure, and returning to a starting point;
(3) Starting the working mode II, after the depth camera acquires three-dimensional information of the corn field and transmits the three-dimensional information to the computer module for processing, selecting the following two modes to operate correspondingly according to the non-broken corn seedling type unmanned aerial vehicle, firstly changing the normal flight state of the figure 2 into the broken film working state 1 and then returning to the normal flight state of the figure 2; secondly, changing the normal flight state of the plant protection unmanned aerial vehicle from the figure 2 to the figure 3 membrane breaking working state 1, returning to the figure 4 membrane breaking working state 2, and finally adjusting to the figure 2 normal flight state; (4) In the operation process, the second section of mechanical arm ultrasonic sensor detects a front obstacle, and the plant protection unmanned aerial vehicle is adjusted to bypass the obstacle to continue flying;
(5) In the operation process, the ultrasonic sensor on the third mechanical arm detects sudden rise or fall of the ground pattern, and the unmanned aerial vehicle is adjusted to fall or rise so that the wind pressure of the unmanned aerial vehicle on the mulching film is kept unchanged.
(6) After the operation is finished, the membrane breaking mechanical arm structure is retracted to reach the stop working state of fig. 6, and the unmanned aerial vehicle returns to the home position and descends.
In the operation method, when the film breaking mechanical arm structure detects that the corn seedlings are not broken, the mechanical arm is controlled to make corresponding actions after the growth state of the plants is analyzed, so that the purpose of accurate operation is achieved.
The different states of rupture of membranes arm structure all are the best state of making according to the unmanned aerial vehicle flight state of plant protection, can accomplish the detection of maize field information better, help maize seedling rupture of membranes and return to the home and land.
Example 4
The embodiment provides a plant protection unmanned aerial vehicle operation method for membrane rupture of corn, which comprises the following steps:
(1) The plant protection unmanned aerial vehicle takes off and reaches the position above the operation starting point;
(2) Firstly, starting a working mode I, developing a membrane breaking mechanical arm structure into a normal flight state shown in fig. 2, cruising for one circle according to a preset route by using proper wind pressure, and returning to a starting point;
(3) Starting the working mode II, after the depth camera acquires three-dimensional information of the tobacco field and transmits the three-dimensional information to the computer module for processing, selecting the following two modes to operate correspondingly according to the unmanned aerial vehicle of the type of the tobacco seedlings without membrane rupture, firstly changing the normal flight state of the figure 2 into the membrane rupture working state 1 and then returning to the normal flight state of the figure 2; secondly, the normal flight state of the plant protection unmanned aerial vehicle is changed into the membrane breaking working state 1 of fig. 3 from the normal flight state of fig. 2, then the membrane breaking working state 2 of fig. 4 is changed back, and finally the normal flight state of fig. 2 is adjusted.
(4) In the operation process, the second section of mechanical arm ultrasonic sensor detects a front obstacle, and the plant protection unmanned aerial vehicle is adjusted to bypass the obstacle to continue flying;
(5) In the operation process, an ultrasonic sensor on a third mechanical arm detects sudden rise or fall of the terrain, and the unmanned aerial vehicle is adjusted to fall or rise so as to keep the wind pressure of the unmanned aerial vehicle on the mulching film unchanged;
(6) After the operation is finished, the membrane breaking mechanical arm structure is retracted to reach the stop working state of fig. 6, and the unmanned aerial vehicle returns to the home position and descends.
In the operation method, when the film breaking mechanical arm structure detects that the tobacco seedlings are not broken, the mechanical arm is controlled to perform corresponding actions after the growth state of the plants is analyzed, so that the aim of accurate operation is fulfilled.
The different states of rupture of membranes arm structure all are the best state of making according to plant protection unmanned aerial vehicle flight state, can accomplish the detection of tobacco field information better, help tobacco seedling rupture of membranes and return to the home and descend.
The present invention may be summarized in other specific forms without departing from the spirit or essential characteristics thereof. The above-described embodiments of the invention are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. The utility model provides a garlic seedling is plant protection unmanned aerial vehicle for rupture of membranes, it includes the organism, and the center of organism is equipped with machine case (3), and the equipartition has four screw (1) on the same horizontal plane of machine case, is 90 setting between two adjacent screw (1), is connected by unmanned aerial vehicle horizontal pole (2) between machine case (3) and screw (1) and constitutes the organism, its characterized in that: the center of the machine body is provided with a computer module (11), a main control board (10) is arranged below the machine body, and a depth camera (9), an onboard ultrasonic sensor (13) and a membrane rupture mechanical arm structure are arranged on a bracket below the machine body; the membrane breaking mechanical arm structure mainly comprises a first mechanical arm rod, a second mechanical arm rod and a third mechanical arm rod which are sequentially and movably connected, wherein the first mechanical arm rod is connected with a support below a machine body through a movable mechanical arm shaft I (4), the second mechanical arm rod is connected with the first mechanical arm rod through a movable mechanical arm shaft II (5), the third mechanical arm rod is connected with the second mechanical arm rod through a movable mechanical arm shaft III (6), a motor is arranged on the membrane breaking mechanical arm structure to control the action of the whole membrane breaking mechanical arm structure, the second mechanical arm rod is provided with a second section mechanical arm ultrasonic sensor (12), the third mechanical arm rod is provided with a third section mechanical arm ultrasonic sensor (7), and the tail part of the third mechanical arm rod is provided with a mechanical hook (8);
the operation method of the plant protection unmanned aerial vehicle for breaking the membrane of the garlic seedling specifically comprises the following steps:
(1) Taking off the garlic seedling membrane by using a plant protection unmanned aerial vehicle, and reaching above an initial operating point of a garlic field;
(2) Firstly, a working mode I is implemented by an unmanned aerial vehicle for breaking the membrane of garlic seedlings, a membrane breaking mechanical arm structure is unfolded to a normal flight state, the height of the mechanical arm from the ground is measured by a third section of mechanical arm ultrasonic sensor, the height of the mechanical arm from the ground of the unmanned aerial vehicle is adjusted to reach a preset value, and cruising flight is started;
(3) When the ultrasonic sensor on the second mechanical arm of the unmanned aerial vehicle detects a front obstacle, the unmanned aerial vehicle makes a parallel flight to the right side to bypass the obstacle;
(4) When the ultrasonic sensor on the third mechanical arm of the plant protection unmanned aerial vehicle detects sudden rise or fall of the ground pattern, even if the flying height of the plant protection unmanned aerial vehicle is adjusted, the situation that the ground is blown off by overlarge wind pressure on the ground, the mechanical arm touches the ground and the wind pressure is too small is avoided, and the efficiency is too low;
(5) The unmanned aerial vehicle starts to fly for one week according to a preset route and returns to an initial operation point, and the working mode is finished;
(6) The second working mode is that the plant protection unmanned aerial vehicle continues to cruise according to the original route, the depth camera module starts to collect garlic field information and transmits the garlic field information to the computer module, the computer module stops advancing after detecting and positioning and identifying the type of the garlic sprouts which are not broken, the airborne ultrasonic sensor detects the ground clearance of the machine body, the flying height of the plant protection unmanned aerial vehicle is adjusted, the film breaking mechanical arm structure is unfolded, corresponding film breaking operation is carried out, and after the action is completed, the film breaking mechanical arm structure is restored to a normal flying state; the ultrasonic sensor on the third section of mechanical arm measures the ground height, the ground height of the mechanical arm of the plant protection unmanned aerial vehicle is adjusted to reach a preset value, and the plant protection unmanned aerial vehicle continues to advance;
(7) When the second section mechanical arm ultrasonic sensor of the plant protection unmanned aerial vehicle detects a front obstacle, the plant protection unmanned aerial vehicle flies to the right side in parallel to bypass the obstacle;
(8) When the ultrasonic sensor of the third section mechanical arm of the plant protection unmanned aerial vehicle detects that the ground pattern suddenly rises, the flight height of the plant protection unmanned aerial vehicle is adjusted, and the situation that the wind pressure blows off the mulching film and the structure of the film breaking mechanical arm touches the ground is avoided;
(9) After the operation is finished, the membrane breaking mechanical arm structure is completely contracted, and the plant protection unmanned aerial vehicle returns to voyage and falls.
2. The plant protection unmanned aerial vehicle for breaking membrane of garlic seedlings according to claim 1, wherein: the motor arranged on the membrane breaking mechanical arm structure is a servo motor.
3. The plant protection unmanned aerial vehicle for breaking membrane of garlic seedlings according to claim 1, wherein: the depth camera (9) is mainly used for collecting images of garlic fields below the depth camera, and the obtained images are transmitted to the computer module (11) for processing.
4. The plant protection unmanned aerial vehicle for breaking membrane of garlic seedlings according to claim 1, wherein: the computer module (11) is mainly used for analyzing the processed picture information to obtain the membrane rupture condition of the garlic sprouts, transmitting a control command to the main control board (10) of the plant protection unmanned aerial vehicle, and controlling the membrane rupture mechanical arm structure by combining the ground distance measured by the airborne ultrasonic sensor (13).
5. The plant protection unmanned aerial vehicle for breaking membrane of garlic seedlings according to claim 1, wherein: when the membrane rupture mechanical arm structure detects that the garlic sprouts are not ruptured, the mechanical arm is controlled to make corresponding actions after the growth state of the plants is analyzed, so that the aim of accurate operation is fulfilled.
6. The plant protection unmanned aerial vehicle for breaking membrane of garlic seedlings according to claim 5, wherein: the different states of rupture of membranes arm structure all are the best state of making according to the unmanned aerial vehicle flight condition of plant protection, accomplish the detection of garlic field information, help the garlic sprout rupture of membranes and return to the home and descend.
7. Use of the method for operating a plant protection unmanned aerial vehicle for breaking garlic seedlings according to any one of claims 1 to 5, characterized in that: the method can also be applied to corn or tobacco.
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| CN202110535983.9A CN113359814B (en) | 2021-05-17 | 2021-05-17 | Plant protection unmanned aerial vehicle for breaking membrane of garlic seedling, and operation method and application thereof |
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| CN113359814B true CN113359814B (en) | 2023-09-15 |
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| CN112572804A (en) * | 2020-12-23 | 2021-03-30 | 河南科技大学 | Spraying control system with airborne mechanical arm unmanned aerial vehicle |
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| CN109168822A (en) * | 2018-10-01 | 2019-01-11 | 郑州天狼实业有限公司 | A kind of tobacco seedlings mulch draws seedling device |
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| CN113359814A (en) | 2021-09-07 |
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