CN113361820A - Multi-unmanned aerial vehicle cooperative scheduling method, controller and medium applied to agricultural pesticide spraying - Google Patents
Multi-unmanned aerial vehicle cooperative scheduling method, controller and medium applied to agricultural pesticide spraying Download PDFInfo
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Abstract
The invention discloses a multi-unmanned aerial vehicle cooperative scheduling method, a controller and a medium applied to agricultural pesticide spraying, wherein the scheduling method comprises the following steps: controlling each plant protection unmanned aerial vehicle to execute stage pesticide spraying operation in the corresponding operation area; the stage spraying operation comprises a stage operation path of the plant protection unmanned aerial vehicle, and the tail end of the stage operation path is a landing point of the plant protection unmanned aerial vehicle; and controlling the medicine supplementing unmanned vehicle to move to the landing point of each plant protection unmanned aerial vehicle in sequence, and supplementing medicines for each plant protection unmanned aerial vehicle. According to the unmanned aerial vehicle pesticide spraying system, the pesticide supplementing unmanned vehicles are scheduled to move between the landing points of the plant protection unmanned aerial vehicles and supplement pesticides for the unmanned aerial vehicles, so that the unmanned aerial vehicles do not need to fly unnecessarily, electric quantity can be used for pesticide spraying flight, invalid flight time is reduced, and pesticide spraying efficiency of the unmanned aerial vehicles is improved.
Description
Technical Field
The invention relates to the technical field of agricultural unmanned aerial vehicle scheduling, in particular to a multi-unmanned aerial vehicle cooperative scheduling method, a controller and a medium applied to agricultural pesticide spraying.
Background
Many rotor unmanned aerial vehicle is because its easily controls, flight stable characteristics, wide application has been in the agricultural field and mainly be applied to for crops spouts the medicine, many rotor unmanned aerial vehicle is because its load is less, consequently the design load of the medical kit of its delivery is comparatively limited, need supply the medicament to it after the medicament in the medical kit is used up, in the prior art, the position of the supply station of supplementary medicament is fixed, so this plant protection unmanned aerial vehicle need frequently come and go the supply station and go on in order to supply the liquid medicine, unmanned aerial vehicle comes and goes the supply station and needs more time, and it needs to consume the originally not abundant electric quantity of unmanned aerial vehicle, be unfavorable for the operating efficiency.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a multi-unmanned aerial vehicle cooperative scheduling method, a controller and a medium which are less in time waste and electric quantity and high in operation efficiency and are applied to agricultural pesticide spraying.
The technical scheme is as follows: in order to achieve the purpose, the invention discloses a multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying, which comprises the following steps:
controlling each plant protection unmanned aerial vehicle to execute stage pesticide spraying operation in the corresponding operation area; the stage spraying operation comprises a stage operation path of the plant protection unmanned aerial vehicle, and the tail end of the stage operation path is a landing point of the plant protection unmanned aerial vehicle;
and controlling the medicine supplementing unmanned vehicle to move to the landing point of each plant protection unmanned aerial vehicle in sequence, and supplementing medicines for each plant protection unmanned aerial vehicle.
Further, the control of each plant protection unmanned aerial vehicle to execute stage spraying operation in the corresponding operation area comprises:
calculating a predicted pesticide spraying time interval of the plant protection unmanned aerial vehicle according to the pesticide spraying flow of the plant protection unmanned aerial vehicle;
determining the landing time of the plant protection unmanned aerial vehicle;
calculating the stage flight time of the plant protection unmanned aerial vehicle according to the landing time of the plant protection unmanned aerial vehicle;
calculating the flight distance of the plant protection unmanned aerial vehicle according to the stage flight time of the plant protection unmanned aerial vehicle and the average speed of the plant protection unmanned aerial vehicle;
and planning a flight path for the plant protection unmanned aerial vehicle according to the flight distance and the non-spraying area in the operation area corresponding to the plant protection unmanned aerial vehicle so as to obtain the stage spraying operation of the plant protection unmanned aerial vehicle.
Further, the determining the landing time of the plant protection unmanned aerial vehicle specifically comprises:
and selecting a time point from the predicted pesticide spraying time interval as landing time, so that the landing time of each plant protection unmanned aerial vehicle is staggered.
Further, the control unmanned vehicle of making up the prescription moves in proper order to each plant protection unmanned aerial vehicle the landing point, and for each plant protection unmanned aerial vehicle carry out the prescription filling and include:
controlling the drug supplementing unmanned vehicle to move to the falling point;
controlling the plant protection unmanned aerial vehicle corresponding to the current landing point to be in butt joint with the medicine supplementing unmanned aerial vehicle;
and controlling the medicine supplementing unmanned vehicle to supplement the medicine for the plant protection unmanned aerial vehicle.
Further, control is present the corresponding plant protection unmanned aerial vehicle of landing with still include after the unmanned car of benefit medicine docks:
and controlling the drug supplementing unmanned vehicle to replace the battery of the plant protection unmanned aerial vehicle.
A controller comprises a memory and a processor, wherein the memory stores an executable program, and the executable program is executed by the processor to implement the multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying.
A medium, in which an executable program is stored, and when the executable program is executed by a processor, the multi-drone collaborative scheduling method applied to agricultural chemical spraying can be implemented.
Has the advantages that: the multi-unmanned aerial vehicle cooperative scheduling method, the controller and the medium for agricultural pesticide spraying move among the landing points of the plant protection unmanned aerial vehicles by scheduling the pesticide supplementing unmanned vehicles and supplement pesticides for the unmanned aerial vehicles, so that the unmanned aerial vehicles do not need to fly unnecessarily, electric quantity can be used for pesticide spraying flight, invalid flight time is reduced, and pesticide spraying efficiency of the unmanned aerial vehicles is improved.
Drawings
Fig. 1 is a system configuration diagram of a multi-drone cooperative operation system;
FIG. 2 is a schematic flow chart of a multi-UAV cooperative scheduling method applied to agricultural pesticide spraying;
FIG. 3 is a diagram of the components of the operating system;
FIG. 4 is a three-dimensional structure diagram of an automatic supply device of an agricultural plant protection unmanned aerial vehicle;
fig. 5 is a front view of an automatic replenishment device of an agricultural plant protection unmanned aerial vehicle;
FIG. 6 is a view showing the construction of the fluid infusion apparatus;
FIG. 7 is a first state diagram of the fluid infusion device;
FIG. 8 is a second state diagram of the fluid infusion device;
FIG. 9 is a structural view of the rotating shaft;
fig. 10 is a structural diagram of a docking device of the unmanned aerial vehicle;
fig. 11 is a first state diagram of the docking device of the drone;
fig. 12 is a second state diagram of the docking device of the drone;
fig. 13 is a combined state diagram of the plant protection unmanned aerial vehicle and the unmanned aerial vehicle docking device after docking;
FIG. 14 is a structural view of an automatic battery replacement apparatus;
fig. 15 is a combination diagram of the battery charging base and the lifting driving assembly.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying is based on a multi-unmanned aerial vehicle cooperative operation system (hereinafter referred to as an operation system) shown in the attached drawing 1, as shown in the drawing, the operation system comprises a plurality of plant protection unmanned aerial vehicles 5, a pesticide supplementing unmanned vehicle A and a scheduling center, a pesticide spraying device 54 and a pesticide box 51 are arranged on the plant protection unmanned aerial vehicles 5, and the pesticide spraying device 54 sucks liquid pesticide in the pesticide box 51 and atomizes the liquid pesticide to spray pesticide on crops. When the operation is executed, each plant protection unmanned aerial vehicle 5 is responsible for the spraying task of a farmland, the farmland that each plant protection unmanned aerial vehicle 5 is responsible for is called as the operation area of the unmanned aerial vehicle, and all the operation areas form the whole farmland area to be sprayed with the pesticide together. Unmanned car of benefit medicine A can walk in the whole farmland region of waiting to spout the medicine, and unmanned car of benefit medicine A is including removing automobile body 6, medicine cabin 4 and automatic feeding device triplex, and after plant protection unmanned aerial vehicle 5's medicament used up basically, plant protection unmanned aerial vehicle 5 can berth to unmanned car of benefit medicine A, and automatic feeding device docks with medical kit 51 and supplements the medicament for medical kit 51. The dispatching center can be communicated with each plant protection unmanned aerial vehicle 5 and the medicine supplementing unmanned vehicle A, and the multi-unmanned aerial vehicle cooperative dispatching method applied to agricultural pesticide spraying is implemented by the dispatching center.
Based on the operation system, the multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying comprises the following steps of S101-S102:
step S101, controlling each plant protection unmanned aerial vehicle 5 to execute stage spraying operation in a corresponding operation area; the stage spraying operation comprises a stage operation path of the plant protection unmanned aerial vehicle 5, and the tail end of the stage operation path is a landing point of the plant protection unmanned aerial vehicle 5;
in this step, the scheduling center assigns the pesticide spraying operation to each plant protection unmanned aerial vehicle 5 in stages, and the scheduling center assigns the pesticide spraying operation to the next stage when the plant protection unmanned aerial vehicle 5 finishes one-stage pesticide spraying operation. The stage spraying operation is assigned with reference to the time length of spraying by single operation of the plant protection unmanned aerial vehicle 5.
And S102, controlling the medicine supplementing unmanned aerial vehicle A to sequentially move to the landing point of each plant protection unmanned aerial vehicle 5, and supplementing medicines for each plant protection unmanned aerial vehicle 5.
In the steps S101-S102, the unmanned aerial vehicle A is dispatched to move between the landing points of the plant protection unmanned aerial vehicles 5 and supplement the pesticide for the unmanned aerial vehicles, so that the unmanned aerial vehicles do not need to fly unnecessarily, the electric quantity can be used for spraying pesticide to fly, the invalid flying time is reduced, and the pesticide spraying efficiency of the unmanned aerial vehicles is improved.
Preferably, the step S101 of controlling each plant protection unmanned aerial vehicle 5 to perform the staged pesticide spraying operation in the corresponding operation area includes the following steps S201 to S205:
step S201, calculating a predicted pesticide spraying time interval of the plant protection unmanned aerial vehicle 5 according to the pesticide spraying flow of the plant protection unmanned aerial vehicle 5;
in this step, since the pesticide box capacity of the plant protection unmanned aerial vehicle 5 is fixed, the maximum value of the predicted spraying time duration interval can be obtained according to the time when the pesticide liquid in the pesticide box is completely sprayed and the time required for the take-off and landing of the plant protection unmanned aerial vehicle 5, the minimum value of the predicted spraying time duration interval can be obtained according to the preset minimum pesticide spraying amount of the single spraying task and the time required for the take-off and landing of the plant protection unmanned aerial vehicle 5, so that the predicted spraying time duration interval can be obtained, because the pesticide boxes of the unmanned aerial vehicles have different capacities, the time duration intervals of the predicted spraying of the unmanned aerial vehicles are different, the preset minimum pesticide spraying amount of the single spraying task is related to the pesticide box capacity, if the minimum pesticide spraying amount can be 70% of the pesticide box capacity, so that the plant protection unmanned aerial vehicle 5 can be prevented from excessively compressing the single task amount for the scheduling convenience of the pesticide supplementing unmanned aerial vehicle a.
Step S202, determining the landing time of the plant protection unmanned aerial vehicle 5;
in this step, the landing time of the plant protection unmanned aerial vehicle 5 is a time point selected from the predicted pesticide spraying time interval.
Step S203, calculating the phase flight time of the plant protection unmanned aerial vehicle 5 according to the landing time of the plant protection unmanned aerial vehicle 5;
step S204, calculating the flight distance of the plant protection unmanned aerial vehicle 5 according to the phase flight time of the plant protection unmanned aerial vehicle 5 and the average speed of the plant protection unmanned aerial vehicle 5;
step S205, planning a flight path for the plant protection unmanned aerial vehicle 5 according to the flight distance and an un-sprayed area in an operation area corresponding to the plant protection unmanned aerial vehicle 5, so as to obtain a staged spraying operation of the plant protection unmanned aerial vehicle 5.
Preferably, the determining the landing time of the plant protection unmanned aerial vehicle 5 in step S202 is specifically:
and selecting a time point from the predicted pesticide spraying time interval as landing time, so that the landing time of each plant protection unmanned aerial vehicle 5 is staggered.
The landing time of each plant protection unmanned aerial vehicle 5 can be staggered in the steps S201-S205, so that the drug supplementation unmanned vehicle a can respectively supply the drug to each plant protection unmanned aerial vehicle 5 to the landing point of each unmanned aerial vehicle in sequence, the landing time of the unmanned aerial vehicles is prevented from conflicting with each other, and the waiting time of the unmanned aerial vehicles can be reduced.
Preferably, the landing time determined in step S202 is such that the replenishment unmanned vehicle a can reach the landing point of the plant protection unmanned aerial vehicle 5 no later than the landing point of the plant protection unmanned aerial vehicle 5. Therefore, when each plant protection unmanned aerial vehicle 5 reaches the landing point of the medicine spraying operation in one stage, the plant protection unmanned aerial vehicle can be directly butted with the medicine supplementing unmanned vehicle A and receive the medicine supplementing, the medicine supplementing unmanned aerial vehicle A continues to execute the medicine spraying operation in the next stage after the medicine supplementing is completed, the plant protection unmanned aerial vehicle 5 does not need to wait for the medicine supplementing unmanned vehicle A to reach the landing point, the plant protection unmanned aerial vehicle can continuously execute the operation, and the operation efficiency is high.
In the step S102, the controlling the unmanned vehicle a for replenishment to sequentially move to the landing point of each plant protection unmanned aerial vehicle 5, and replenishing replenishment for each plant protection unmanned aerial vehicle 5 includes the following steps S301 to S303:
step S301, controlling the drug supplementation unmanned vehicle A to move to a drop point;
step S302, controlling the plant protection unmanned aerial vehicle 5 corresponding to the current landing point to be in butt joint with the drug supplementation unmanned vehicle A;
step S303, controlling the medicine supplementing unmanned vehicle A to supplement the medicine for the plant protection unmanned aerial vehicle 5.
Preferably, the unmanned vehicle a for drug supplementation can replace a battery for the plant protection unmanned aerial vehicle 5 in addition to being capable of supplementing a liquid medicine for the plant protection unmanned aerial vehicle 5, and at this time, after the control of the plant protection unmanned aerial vehicle 5 corresponding to the current landing point in the step S302 is docked with the unmanned vehicle a for drug supplementation, the method further includes the following step S401:
step S401, the unmanned drug supplementation vehicle A is controlled to replace the battery of the unmanned plant protection vehicle 5.
Preferably, the step S202 of determining the landing time of the plant protection unmanned aerial vehicle 5 includes the following steps S501 to S504:
step S501, obtaining the landing time of each task plant protection unmanned aerial vehicle 5;
step S502, generating a masking time interval corresponding to each tasked plant protection unmanned aerial vehicle 5; the shielding time interval is obtained by offsetting the set time before and after the landing time;
in this step, the shielding time interval indicates that other plant protection unmanned aerial vehicles 5 cannot be scheduled to land in this time period, so that it can be ensured that the replenishment unmanned vehicle a has enough time to move from the landing point of one plant protection unmanned aerial vehicle 5 to the landing point of another plant protection unmanned aerial vehicle 5, and replenishment is performed on the plant protection unmanned aerial vehicle 5 (when the replenishment unmanned vehicle a has a battery replacement function, the battery replacement time is also included), and it is ensured that each plant protection unmanned aerial vehicle 5 reaches the corresponding landing point no later than the arrival of the plant protection unmanned aerial vehicle 5.
Step S503, removing each shielding time interval from the predicted spraying time interval to obtain alternative time;
in this step, the alternative time may be a time point or a time interval.
Step S504, selecting a final landing time from the candidate times.
Preferably, the step S504 of selecting the final drop time from the candidate times specifically includes the following steps:
step S601, selecting a plurality of alternative time points from the alternative time;
in the step, all the alternative time which is the time point is selected as the alternative time point; and selecting time points as alternative time points at equal intervals from all alternative times which are time intervals.
Step S602, calculating a predicted distance between the predicted landing point corresponding to each candidate time point and the landing point of the plant protection unmanned aerial vehicle 5 corresponding to the landing time located before the candidate time point on the time axis;
in this step, the predicted landing point is an end point of a virtual path obtained by planning the virtual path of the plant protection unmanned aerial vehicle 5 according to the alternative time point.
Step S603, selecting an alternative time point corresponding to the minimum predicted distance as a final landing time.
The invention also provides a controller which comprises a memory and a processor, wherein the memory stores an executable program, and the executable program is executed by the processor to implement the multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying.
The invention also provides a medium, wherein an executable program is stored in the medium, and when the executable program is executed by a processor, the multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying can be implemented.
Fig. 3 is a general diagram of each component device in an operation system, wherein a drug supplementation unmanned vehicle a comprises a vehicle body 6, an automatic replenishment device is mounted on the vehicle body 6, as shown in fig. 4-5, the automatic replenishment device comprises a seat body 1, and an unmanned aerial vehicle docking device 2, a fluid replenishment device 3 and a drug cabin 4 are mounted on the seat body 1; the unmanned aerial vehicle docking device 2 is docked with a plant protection unmanned aerial vehicle 5 so that the plant protection unmanned aerial vehicle is fixedly positioned relative to the seat body 1; the liquid supplementing device 3 is used for being in butt joint with a medicine cabin 51 of the plant protection unmanned aerial vehicle 5 and drawing liquid medicine in the medicine cabin 4 to be injected into the medicine cabin 51.
The plant protection unmanned aerial vehicle 5 comprises an unmanned aerial vehicle body 53 and a pesticide spraying device 54 besides the pesticide cabin 51, the pesticide cabin 51 is installed at the bottom of the unmanned aerial vehicle body 53, and the lower end of the pesticide cabin 51 is provided with a first butt joint 52; the spraying device 54 includes a plurality of spraying nozzles 541, and the spraying device 54 is connected to the medicine tank 51, and can draw the liquid medicine in the medicine tank 51 and spray the liquid medicine from the spraying nozzles 541 to spray the agricultural field.
As shown in fig. 6, the fluid infusion device 3 includes a second butt joint 31 capable of butting against the first butt joint 52; the second butt joint 31 can be switched between a low position and a high position; the second butt joint 31 is installed on the seat body 1 through a pose conversion device; the posture conversion device causes the second butt joint 31 to be in a flat state when in a low position, and causes the second butt joint 31 to be in a vertical state when in a high position. Second butt joint 31 is connected with medicine cabin 4, and fluid infusion device 3 can not only export the liquid medicine for plant protection unmanned aerial vehicle 5's medicine cabin 51 through second butt joint 31, can also supply the liquid medicine in to medicine cabin 4 through second butt joint 31.
With the above arrangement, when the second docking head 31 is in the low position, it is in the horizontal state (as shown in fig. 7), and the third docking head 71 on the external supply station 7 can be conveniently docked with the second docking head 31 to deliver the liquid medicine into the medicine tank 4; when the second docking head 31 is in the raised position, it is in an upright position (as shown in figure 8), and since the first docking head 52 is at the bottom of the chamber 51, it can be conveniently docked with the first docking head 52.
Preferably, the posture conversion device comprises a lifting seat 32, a rotating shaft 33 is fixed on the second butt joint 31, and the rotating shaft 33 is rotatably installed on the lifting seat 32; the rotating shaft 33 is also fixedly provided with an attitude conversion gear 34, the seat body 1 is provided with an attitude conversion rack 35, and the attitude conversion gear 34 rotates for 90 degrees after moving from one end to the other end of the attitude conversion rack 35; the posture conversion gear 34 can be disengaged from the posture conversion rack 35, and when the two are disengaged, the second butt joint 31 is fixed relative to the seat body 1.
Through the structure, the posture conversion device can enable the second butt joint 31 to automatically complete posture conversion in the process of moving from a high position to a low position or in the process of moving from the low position to the high position, a power element is not required to be additionally arranged to control the second butt joint 31 to move, so that the control is simple, the relation between the posture and the position of the second butt joint 31 is established through a mechanical structure, the automatic supply device is stable in operation, and the situation that the posture of the second butt joint 31 is not butted to cause butt joint failure can be avoided. The elevating movement of the elevating base 32 is driven by an elevating driving screw 37.
Further, both ends of the posture conversion rack 35 are provided with guide rails 36, and the guide rails 36 are provided with sliding grooves 361 penetrating through the length direction thereof; the shaft end of the rotating shaft 33 is square, that is, the shaft end is provided with two groups of opposite planes, the distance between the two pairs of opposite planes is a first distance, and the groove width of the sliding groove 361 is also a first distance; when the posture switching gear 34 is disengaged from the posture switching rack 35, the shaft end of the rotating shaft 33 is disposed in the sliding groove 361 of the guide rail 36 on one of the two sides of the posture switching rack 35. Namely: when the posture conversion gear 34 is positioned on the first side of the posture conversion rack 35, the shaft end of the rotating shaft 33 is placed in the sliding groove 361 of the guide rail 36 on the first side of the posture conversion rack 35, and a set of opposite planes thereof are respectively in contact with two groove walls of the sliding groove 361; when the posture switching gear 34 is located on the second side of the posture switching rack 35, the shaft end of the rotary shaft 33 is placed in the sliding groove 361 of the guide rail 36 on the second side of the posture switching rack 35, and the other set of the opposite planes thereof are in contact with the two groove walls of the sliding groove 361, respectively.
Through the structure, after the posture conversion gear 34 is separated relative to the posture conversion rack 35, the second butt joint 31 is kept fixed relative to the lifting seat 32, so that the second butt joint 31 can be kept stable when the second butt joint 31 is butted with other butt joints, and the posture conversion gear 34 and the posture conversion rack 35 can be smoothly meshed without being blocked when the posture conversion gear 34 and the posture conversion rack 35 are transited from a separated state to a meshed state.
Plant protection unmanned aerial vehicle 5 is last to have the auxiliary positioning device 8 that is used for with the butt joint of unmanned aerial vehicle interfacing apparatus 2, and auxiliary positioning device 8 is installed including the symmetry two undercarriage 81 of unmanned aerial vehicle's lower extreme, undercarriage 81 is the U font, and it includes horizontal pole 811 and will respectively horizontal pole 811's both ends are connected pole 812 is put to two erects of unmanned aerial vehicle's body.
As shown in fig. 10 to 13, the unmanned aerial vehicle docking device 2 includes two sets of positioning claws 21 and an opening and closing driving assembly 22, where each set of positioning claws 21 includes two finger portions 211 capable of moving toward or away from each other; the finger part 211 is provided with a V-shaped positioning part 212; the opening and closing driving component 22 can drive the two sets of positioning claws 21 to open and close.
The opening and closing driving assembly 22 includes two driving shafts 221 which are parallel to each other and rotate in opposite directions at a constant speed, and the two driving shafts 221 are respectively used for driving the two positioning claws 21 to operate.
Adopt above-mentioned structure, the process that unmanned aerial vehicle interfacing apparatus 2 advances line location to protecting unmanned aerial vehicle 5 is as follows: in an initial state (as shown in fig. 11 to 12), two sets of positioning claws 21 are in a closed state, and two finger portions 211 included in each set of positioning claws 21 are in a mutually close state, the plant protection unmanned aerial vehicle 5 flies to a first designated position and hovers at the first designated position, and at this time, the V-shaped positioning portions 212 of the two sets of positioning claws 21 are both placed between two transverse rods 811; then, the controller controls the two groups of positioning claws 21 to be switched to a scattered state, in the process, the two groups of V-shaped positioning parts 212 of the two groups of positioning claws 21 are mutually far away and respectively act on the two transverse rods 811, and when the distance between the two groups of V-shaped positioning parts 212 reaches the maximum, each transverse rod 811 is arranged at the groove bottom position of the V-shaped positioning part 212 contacted with the transverse rod; finally, the opening and closing driving assembly 22 operates to drive the two sets of positioning claws 21 to be switched from the closed state to the away state, and when the distance between the two sets of positioning claws 21 reaches the maximum, the two V-shaped positioning portions 212 of the same positioning claw 21 respectively abut against the two vertical rods 812 of the corresponding undercarriage 81, so that the positioning of the unmanned aerial vehicle is completed (as shown in fig. 13).
Preferably, the positioning claw 21 further comprises a connecting rod 213 and a sliding block 214; the V-shaped positioning part 212 is hinged on the finger part 211; the connecting rod 213 is always parallel to the finger part 211, two ends of the connecting rod 213 are respectively hinged to the V-shaped positioning part 212 and the sliding block 214, the sliding block 214 is slidably mounted relative to the driving shaft 221, and the sliding block 214 can axially slide relative to the driving shaft 221 but cannot rotate relative to the driving shaft 221. Thus, since the connecting rod 213 is always parallel to the finger part 211, two hinge centers on the connecting rod 213 and two hinge centers on the finger part 211 form four corner points of a parallelogram, when the driving shaft 221 rotates, the connecting rod 213 and the finger part 211 rotate synchronously, so that the two sets of positioning claws 21 make opening and closing movements, and the posture of the V-shaped positioning part 212 can be kept unchanged due to the characteristics of the parallelogram.
The driving shaft 221 is driven by an opening and closing motor 222 to operate, the opening and closing driving assembly 22 has two intermediate shafts 223, the two intermediate shafts 223 are respectively rotatably provided with first transition gears 224, the two first transition gears 224 are engaged with each other, and the two driving shafts 221 are respectively in driving connection with the two first transition gears 224 through two sets of synchronous belt assemblies 225. One of the driving shafts 221 is directly connected with the opening and closing motor 222 in a driving way, so that the two driving shafts 221 can rotate reversely at a constant speed;
the two intermediate shafts 223 are further respectively and rotatably provided with second transition gears 216, the two second transition gears 216 are mutually meshed, the two screw rods 215 are respectively and fixedly provided with transmission gears 217, the two transmission gears 217 are respectively meshed with the two second transition gears 216, one of the screw rods 215 is in driving connection with a screw rod motor 218, and thus, the two screw rods 215 can be driven to run by one screw rod motor 218.
Every group two that location claw hand 21 contains finger portion 211 is operated by lead screw 215 drive, the both ends of lead screw 215 set up left-handed screw and right-handed screw respectively, two on the finger portion 211 corresponding to the lead screw nut of left-handed screw and right-handed screw. Thus, the same lead screw 215 can drive the two finger parts 211 to move in an opening and closing manner.
Preferably, the base 1 is further provided with an automatic battery replacing device 9 and a battery charging seat 10. So, automatic supply device not only can supply the liquid medicine for plant protection unmanned aerial vehicle 5, can also change the battery for plant protection unmanned aerial vehicle 5, can solve plant protection unmanned aerial vehicle 5 duration simultaneously and frequently supply the problem of liquid medicine with the needs, need not artifical on duty and can realize that the battery changes and supply the liquid medicine. The battery charging base 10 is provided with a plurality of charging cabins 101 for accommodating batteries, and the automatic battery replacement device 9 is used for replacing the batteries between the unmanned aerial vehicle and the battery charging base 10.
The automatic battery replacing device 9 comprises a pick-and-place claw 92 which can move between the unmanned aerial vehicle docking device 2 and the battery charging seat 10 and is arranged on the automatic battery replacing device 9.
As shown in fig. 14, the automatic battery replacement device 9 further comprises a moving seat 91 which reciprocates; the picking and placing claw 92 can rotate along with the moving seat 91 and can be turned over by a set angle relative to the moving seat 91, so that the head of the picked battery faces the plant protection unmanned aerial vehicle or the battery charging seat 10. When getting the claw 92 and needing to load and unload the battery on and off the unmanned aerial vehicle, the head of the claw 92 faces the unmanned aerial vehicle, and when getting the claw 92 and needing to load and unload the battery on and off the battery charging base 10, the head of the claw 92 faces the battery charging base 10.
Preferably, in order to make the control of the automatic battery replacing device 9 simple, the translational motion of the moving seat 91 and the turning motion of the picking and placing claw 92 can be linked, specifically, the picking and placing claw 92 comprises a claw seat 921, and the claw seat 921 is rotatably mounted on the moving seat 91 through a gear shaft 95; a gear 93 is further rotatably mounted on the movable seat 91, and a rack 94 capable of being meshed with the gear 93 is fixedly mounted on the machine seat 1; the gear 93 and the gripper seat 921 have a transmission relationship, so that the gripper seat 921 rotates along with the gear 93; a holding part 951 is formed on the gear shaft 95, and the holding part 951 is provided with two surfaces which are parallel to each other and have a first distance between the surfaces; two holding rails 96 are further mounted on the base 1, a holding groove 961 for the holding part 951 to go in and out is formed in the holding rail 96, and the width of the holding groove 961 is equal to the first distance; the two holding rails 96 are disposed at both ends of the rack gear 94, and when the gear 93 is disengaged from the rack gear 94, the holding part 951 enters the holding groove 961 of the holding rail 96 and slides with respect to the holding groove 961. The movable base 91 is driven to move by a movable lead screw 97, and the movable lead screw 97 is in driving connection with a translation motor 98.
As shown in fig. 15, the battery charging seat 10 is mounted on the base 1 through a lifting driving assembly 20, the lifting driving assembly 20 includes a lifting slide 201, a lifting screw 202 and a lifting motor 203, and the battery charging seat 10 is mounted on the lifting slide 201; the lifting slide 201 is driven by the lifting screw 202 to move up and down, and the lifting motor 203 is in driving connection with the lifting screw 202.
With the above structure, the automatic battery replacement device 9 performs the battery replacement process as follows: in an idle state without task execution, the head of the picking and placing claw 92 faces the plant protection unmanned aerial vehicle positioning device 2, the holding part 951 is placed in the holding groove 961 of the holding guide rail 96 close to the plant protection unmanned aerial vehicle positioning device 2, and at the moment, the claw seat 921 cannot rotate relative to the moving seat 91 and can only slide relative to the base 1; when the plant protection unmanned aerial vehicle is fixed by the plant protection unmanned aerial vehicle positioning device 2, the operation of the lifting drive component 20 is controlled to enable the charging cabin 101 above the battery charging seat 10 to be flush with the picking and placing claw 92, the translation motor 98 is driven to operate, the moving seat 91 is controlled to move to a first limit position to the plant protection unmanned aerial vehicle, the picking and placing claw 92 picks up an old battery, the translation motor 98 is driven to rotate reversely, the moving seat 91 translates reversely, in the translation process, the holding part 951 moves to the tail end of the current holding groove 961 and is separated from the holding groove 961, when the holding part 951 is separated from the holding groove 961, the gear 93 is in butt joint with the rack 94 to establish a meshing relationship, along with the movement of the moving seat 91, the meshing relationship between the gear 93 and the rack 94 enables the claw 921 to turn over for 180 degrees, and therefore, the end part of the picking and placing claw 92 faces the battery charging seat 10. After the claw seat 921 is turned over 180 degrees, the gear 93 is disengaged from the rack 94, and the holding part 951 enters the holding groove 961 of the holding guide rail 96 at the side close to the battery charging seat 10, so that the claw seat 921 can only slide relative to the base 1 and can not rotate relative to the movable seat 91, and when the movable seat 91 moves to the second limit position, the picking and placing claw 92 loads the used battery into the empty charging chamber 101. Then, the movable seat 91 is controlled to move reversely for a set distance, the lifting driving assembly 11 is controlled to operate, a charging cabin 101 which is arranged on the battery charging seat 10 and is filled with fully charged batteries is flush with the picking and placing claw 92, and then the movable seat 91 is controlled to move to a second limit position, so that the picking and placing claw 92 picks up new batteries; then, the movable seat 91 is controlled to move reversely to the first limit position, the battery is loaded into the battery cabin of the plant protection unmanned aerial vehicle, and finally, the movable seat 91 is controlled to return to the initial position.
As shown in fig. 3, the operation system further includes a total supply station 7, the total supply station 7 can supply the medicine to the medicine cabin 4, the total supply station 7 has a third butt joint 71 capable of butting with the second butt joint 31, when the medicine is insufficient in the unmanned medicine replenishment vehicle a, the movable vehicle body 6 carries the automatic replenishment device to move to a specific position beside the total supply station 7, then the third butt joint 71 of the total supply station 7 butts with the second butt joint 31 to connect the total supply station 7 with the medicine cabin 4, and then the total supply station 7 outputs the medicine to the medicine cabin 4 to replenish the medicine cabin 4.
The multi-unmanned aerial vehicle cooperative scheduling method, the controller and the medium for agricultural pesticide spraying move among the landing points of the plant protection unmanned aerial vehicles by scheduling the pesticide supplementing unmanned vehicles and supplement pesticides for the unmanned aerial vehicles, so that the unmanned aerial vehicles do not need to fly unnecessarily, electric quantity can be used for pesticide spraying flight, invalid flight time is reduced, and pesticide spraying efficiency of the unmanned aerial vehicles is improved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: 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 these are intended to be within the scope of the invention.
Claims (7)
1. A multi-unmanned aerial vehicle cooperative scheduling method applied to agricultural pesticide spraying is characterized by comprising the following steps:
controlling each plant protection unmanned aerial vehicle to execute stage pesticide spraying operation in the corresponding operation area; the stage spraying operation comprises a stage operation path of the plant protection unmanned aerial vehicle, and the tail end of the stage operation path is a landing point of the plant protection unmanned aerial vehicle;
and controlling the medicine supplementing unmanned vehicle to move to the landing point of each plant protection unmanned aerial vehicle in sequence, and supplementing medicines for each plant protection unmanned aerial vehicle.
2. The cooperative scheduling method for multiple unmanned aerial vehicles for agricultural pesticide spraying according to claim 1, wherein the controlling each plant protection unmanned aerial vehicle to perform staged pesticide spraying operation in the respective corresponding operation area comprises:
calculating a predicted pesticide spraying time interval of the plant protection unmanned aerial vehicle according to the pesticide spraying flow of the plant protection unmanned aerial vehicle;
determining the landing time of the plant protection unmanned aerial vehicle;
calculating the stage flight time of the plant protection unmanned aerial vehicle according to the landing time of the plant protection unmanned aerial vehicle;
calculating the flight distance of the plant protection unmanned aerial vehicle according to the stage flight time of the plant protection unmanned aerial vehicle and the average speed of the plant protection unmanned aerial vehicle;
and planning a flight path for the plant protection unmanned aerial vehicle according to the flight distance and the non-spraying area in the operation area corresponding to the plant protection unmanned aerial vehicle so as to obtain the stage spraying operation of the plant protection unmanned aerial vehicle.
3. The cooperative scheduling method for multiple unmanned aerial vehicles for agricultural pesticide spraying according to claim 2, wherein the determining of the landing time of the plant protection unmanned aerial vehicle specifically comprises:
and selecting a time point from the predicted pesticide spraying time interval as landing time, so that the landing time of each plant protection unmanned aerial vehicle is staggered.
4. The cooperative multi-unmanned aerial vehicle scheduling method for agricultural chemical spraying according to claim 1, wherein the controlling of the replenishment unmanned vehicle to sequentially move to the landing point of each plant protection unmanned aerial vehicle and to replenish the replenishment for each plant protection unmanned aerial vehicle comprises:
controlling the drug supplementing unmanned vehicle to move to the falling point;
controlling the plant protection unmanned aerial vehicle corresponding to the current landing point to be in butt joint with the medicine supplementing unmanned aerial vehicle;
and controlling the medicine supplementing unmanned vehicle to supplement the medicine for the plant protection unmanned aerial vehicle.
5. The cooperative scheduling method for multiple unmanned aerial vehicles for agricultural pesticide spraying according to claim 4, wherein the controlling of the docking of the plant protection unmanned aerial vehicle corresponding to the current landing point with the pesticide supplementing unmanned vehicle further comprises:
and controlling the drug supplementing unmanned vehicle to replace the battery of the plant protection unmanned aerial vehicle.
6. A controller, characterized in that it comprises a memory and a processor, wherein the memory stores an executable program, and the executable program is executed by the processor to implement the method for cooperative scheduling of multiple drones for agricultural chemical spraying according to any one of claims 1 to 5.
7. A medium, characterized in that it stores an executable program, which when executed by a processor can implement the method for cooperative scheduling of multiple drones for agricultural chemical spraying according to any one of claims 1 to 5.
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