CN114089650A - Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things - Google Patents
Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things Download PDFInfo
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- CN114089650A CN114089650A CN202111146477.7A CN202111146477A CN114089650A CN 114089650 A CN114089650 A CN 114089650A CN 202111146477 A CN202111146477 A CN 202111146477A CN 114089650 A CN114089650 A CN 114089650A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses an intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things, and aims at solving the problems that a farmland area cannot be surveyed in a targeted manner, insect pests are serious, a spraying area is limited and serious, and the insect pest control pertinence is poor. According to the invention, the probe and the information acquisition module are used for obtaining the region of the key insect pest, then the marking module is used for marking the position, and the route and the pesticide spraying plan of the key position are designed, so that the farmland insect pest control is more targeted.
Description
Technical Field
The invention relates to the technical field of intelligent farmland management, in particular to an intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things.
Background
At present, an intelligent farmland management system means that farmland irrigation and fertilization are fully automated, soil humidity and temperature can be monitored in real time through a mobile phone, a water pump valve is opened to irrigate and spray by remotely sending an instruction, accurate planting is realized through banana field management, and quality is guaranteed; agricultural production as an economic process, both for high yield, and with emphasis on efficiency, the amount of products produced and the amount of resources consumed, as well as the production to input ratio between the two, including the ratio of the total amount of products output to the total amount of resources input to the agricultural system, and the ratio of products produced to the amount of resources consumed for each subsystem of primary production and secondary production, is essentially a series of ecological efficiency and functional problems. The improvement of the productivity of the agricultural system cannot only seek to improve the efficiency of a certain department, but also simply and equally improve the efficiency of each department, and on the basis of improving the efficiency of each department in the agriculture, the scientific connection and close cooperation among all the departments are obtained to form a reasonable operation system, so that the optimal conversion efficiency of the whole system can be obtained, particularly, the plain planting is the main planting industry in China, the grain yield is high, and meanwhile, the fertilization and pesticide application are difficult.
The existing farmland spraying control system has the following problems: the regional where insect pest of surveying the farmland that can't the pertinence is serious, and it is limited seriously to spray the region simultaneously, and the pest control pertinence is relatively poor, lacks intelligent automated control means, and current patent is difficult to solve this type of problem, consequently, needs an intelligent farmland based on thing networking to spout medicine electronic automatic control system and solves above-mentioned problem urgently.
Disclosure of Invention
Based on the technical problems that the existing farmland pesticide spraying system cannot be used for surveying the farmland region with serious insect damage pertinently, the spraying region is limited seriously, and the insect damage control pertinence is poor, the invention provides an intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things comprises a human-computer interaction system, a mobile device, an automatic spraying device and an unmanned aerial vehicle device, wherein the mobile device, the automatic spraying device and the unmanned aerial vehicle device are connected with the human-computer interaction system through the Internet, the human-computer interaction system comprises a control module, a first communication module, a positioning module, a route making module, an operation module, a timing module, a display module and a data processing module, the control module respectively controls the first communication module, the positioning module, the route making module, the operation module, the timing module, the display module and the data processing module, the first communication module is used for providing interconnection between the human-computer interaction system and each device network, the positioning module is used for positioning a punctuation mark track of the unmanned aerial vehicle device, the route making module is used for making a reasonable moving route for the mobile device, the operation module includes handle operation and touch screen operation, the timing module is used for formulating unmanned aerial vehicle time of cruising every day, even display module is used for showing unmanned aerial vehicle flight route, and data processing module is used for handling the information of gathering.
Preferably, the mobile equipment comprises a second communication module and a driving module, the first communication module is connected with the second communication module through a 5G network, the control module controls the driving device to operate, and the driving device is used for driving the mobile equipment to move on a farmland route.
Preferably, the automatic spraying device comprises a third communication module and an adjusting module, and the automatic spraying device is installed on the mobile device.
Preferably, the third communication module is connected with the first communication module through a 5G network, and the control module controls the adjusting module.
Preferably, the adjusting module is used for controlling the spraying angle of the automatic spraying device.
Preferably, the unmanned aerial vehicle device is provided with a probe module, a fourth communication module, an information acquisition module and a marking module, and the probe module is connected with the information acquisition module.
Preferably, the fourth communication module is connected with the first communication module through a 5G network, the control module controls the information acquisition module to work, and the information acquisition module is used for acquiring a farmland area with key pests.
Preferably, the information acquisition module is connected with the data processing module, the data processing module comprises a calculation module and a model building module, and the calculation module is used for obtaining the optimal route of the mobile device and the spraying angle of the pesticide spraying device through calculation.
Preferably, the calculation module is respectively connected with the route making module, the driving module and the adjusting module.
Preferably, the model building module is connected with the computing module, and the model building equipment is used for building a three-dimensional model and displaying the three-dimensional model on the display module.
Compared with the prior art, the technical scheme of the invention at least has the following beneficial effects:
according to the scheme, by arranging the unmanned aerial vehicle equipment, starting the unmanned aerial vehicle equipment, under the connecting action of the first communication module and the fourth communication module, the control module controls the unmanned aerial vehicle equipment to patrol the farmland, a region with key pests is obtained through the probe and the information acquisition module, then the position is marked through the marking module, then the unmanned aerial vehicle is recovered, a design route and a pesticide spraying plan of the key position are started, and the farmland pest control is more targeted;
by arranging the mobile equipment and the automatic spraying equipment, under the connecting action of the first communication module and the second communication module, the control module controls the driving module on the mobile equipment to start, meanwhile, the calculation module in the data processing module calculates an optimal route through an algorithm, the mobile equipment automatically moves to a position close to a punctuation along the optimal route, then the spraying angle of the pesticide spraying equipment is calculated according to actual problems, the adjustment module in the automatic spraying equipment is matched with adaptation adjustment, the scheme is strong in automation and more intelligent;
through setting up operation module and display module, operation module includes handle operation and touch screen operation, when unmanned aerial vehicle operation and mobile device route are rectified, the handle operation is more stable, when the route selection, it is simpler to carry out touch screen operation from display module, through the nimble cooperation of specific operation, has ensured the accurate of pesticide and has sprayed, and the device operation is more humanized with systematic calculation.
Drawings
FIG. 1 is a block diagram of the overall structure of an intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things, which is provided by the invention;
FIG. 2 is a schematic structural diagram of a data processing module of the intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things, which is provided by the invention;
FIG. 3 is a work flow chart of the intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things, which is provided by the invention;
FIG. 4 is a schematic diagram of an internal circuit of a steering engine according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating the principle of controlling the spraying angle of the medicine according to the embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
The components of the patented embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present patent, presented in the figures, is not intended to limit the scope of the patent, as claimed, but is merely representative of selected embodiments of the patent.
All other embodiments obtained by a person skilled in the art based on the embodiments in the patent of the invention without any inventive work belong to the protection scope of the patent of the invention.
In the description of the present patent, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present patent and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present patent. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present patent application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present patent can be understood in a specific case by those skilled in the art.
It is well within the skill of those in the art to implement, without undue experimentation, the subject invention as claimed and not related to software and process improvements.
As shown in fig. 1-3, the invention provides an intelligent farmland pesticide spraying electronic automatic control system based on the internet of things, which comprises a human-computer interaction system, a mobile device, an automatic spraying device and an unmanned aerial vehicle device, wherein the mobile device, the automatic spraying device and the unmanned aerial vehicle device are connected with the human-computer interaction system through the internet, the human-computer interaction system comprises a control module, a first communication module, a positioning module, a route making module, an operation module, a timing module, a display module and a data processing module, the control module respectively controls the first communication module, the positioning module, the route making module, the operation module, the timing module, the display module and the data processing module, the first communication module is used for providing network interconnection between the human-computer interaction system and each device, the positioning module is used for positioning a punctuation track of the unmanned aerial vehicle device, the route making module is used for making a reasonable moving route for the mobile device, the operation module comprises a handle operation and a touch screen operation, the timing module is used for setting the cruising time of the unmanned aerial vehicle every day, the display module is used for processing the acquired information even if the flight route of the unmanned aerial vehicle is displayed, and the handle operation is more stable when the unmanned aerial vehicle equipment is operated and the route of the mobile equipment is corrected; when the route is selected, the operation of touching the screen from the display module is simpler, and the accurate spraying of the pesticide is ensured through the flexible cooperation of the two operations. The operation module, the timing module and the display module are respectively an operation key, a touch screen or a handle, the timing module is a timer or a timing chip, the display module is an LCD display screen or a touch screen, and the data processing module is a single chip microcomputer, an ARM processor or other intelligent control chips.
The mobile equipment comprises a second communication module and a driving module, the first communication module is connected with the second communication module through a 5G network, the control module controls the driving device to operate, the driving device is used for driving the mobile equipment to move on a farmland route, a calculation module in the data processing module calculates an optimal route through an algorithm, and the mobile equipment automatically moves to a position close to a punctuation mark along the optimal route. The first communication module and the second communication module are 5G communication modules. The control module is a control circuit board based on a single chip microcomputer, an ARM processor or other intelligent control chips, the driving module is a power source of the mobile device and can be driven by electric energy, traditional diesel oil or gasoline or hybrid power, and details are not repeated here. However, the driving module of the invention also drives the mobile equipment to move in the farmland according to the calculated optimal route, so the driving module also comprises a control mechanism for controlling the movement direction of the mobile equipment, the existing design of the unmanned vehicle can be referred, and the control mechanism for controlling the movement direction of the mobile equipment carries out direction control according to the path control instruction sent by the control module.
The automatic spraying equipment comprises a third communication module and an adjusting module, the automatic spraying equipment is installed on the mobile equipment, and a spray gun on the automatic spraying equipment is adjustable in angle and mainly controlled by a control module in the human-computer interaction system. The third communication module is connected with the first communication module through a 5G network, the control module controls the adjusting module, and the adjusting module can adjust the angle of a spray gun of the pesticide spraying equipment according to the calculation result of the calculating module. The automatic spraying equipment is an automatic spraying head or a sprayer which is arranged on the mobile equipment and is specially used for spraying chemicals to farmlands, and the spraying angle of the spraying head is controlled through an adjusting module; the third communication module is a 5G communication module.
The adjusting module is used for controlling the spraying angle of the automatic spraying equipment and is a steering engine for controlling the angle of the automatic spray head. The steering engine is a position servo driver. The device receives a certain control signal and outputs a certain angle, and is suitable for control systems which need to change the angle constantly and can be kept. In a micro-electromechanical system and an aeromodelling, it is a basic output actuator. Taking the FUTABA-S3003 steering engine as an example, FIG. 4 shows an internal circuit of the FUFABA-S3003 steering engine. The operating principle of the steering engine is as follows: the PWM signal is demodulated by pin 12 of the receive channel incoming signal demodulation circuit BA6688L to obtain a dc bias voltage. The DC bias voltage is compared with the voltage of the potentiometer to obtain a voltage difference which is output by a pin 3 of BA6688, and the output is sent to a motor driving integrated circuit BA6686L to drive the motor to rotate forwards and reversely. When the rotating speed of the motor is constant, the potentiometer RW is driven to rotate through the cascade reduction gear until the voltage difference is 0, and the motor stops rotating. The control signal of the steering engine is a PWM signal, and the position of the steering engine is changed by using the change of the duty ratio.
Be equipped with probe module, fourth communication module, information acquisition module and mark module on the unmanned aerial vehicle equipment, and probe module links to each other with information acquisition module, and control module control unmanned aerial vehicle equipment patrols the farmland, obtains the region of key pest through probe and information acquisition module, then marks this position through mark module, the follow-up appointed of key pest region spray plan of being convenient for. The probe module adopts a camera or an infrared sensing probe, and can acquire image information and pest flight information of an area with key pests. The information acquisition module is a data acquisition card connected with the output end of the probe module, and the model is not particularly limited. The marking module is a GPS positioning module or a Beidou positioning module and is used for positioning and marking the position of the area of the key insect pests obtained by the information acquisition module.
The fourth communication module is connected with the first communication module through a 5G network, the control module controls the information acquisition module to work, the information acquisition module is used for acquiring a farmland area with key pests, and the fourth communication module is also a 5G communication module. The first communication module, the second communication module, the third communication module and the fourth communication module are 5G communication modules, and the model is any one of a samsung Exynos5100, a high pass X55, a high pass 7250, a Unicode department M70 and a purple light sharp 510.
In addition, the information acquisition module is connected with the data processing module, the data processing module comprises a calculation module and a model building module, and the calculation module is used for obtaining the optimal route of the mobile device and the spraying angle of the pesticide spraying device through calculation. The model building module is connected with the computing module, the model building equipment is used for building a three-dimensional model and displaying the three-dimensional model on the display module, and touch screen operation on the display module is simpler.
The data processing module is an intelligent control chip electrically connected with the information acquisition module, such as a single chip microcomputer or an ARM processor. The calculation module and the model building module are designed software program modules, the model building module can be a mature GIS system, after the information acquisition module collects important insect pest farmland regions, an electronic map of the important insect pest farmland regions can be built based on the GIS technology by combining geographical coordinates of the important insect pest farmland regions, and meanwhile, the optimal route of the mobile device is obtained by calculation based on the electronic map of the important insect pest farmland regions. The specific method for obtaining the optimal route of the mobile equipment comprises the following steps:
after an electronic map of a farmland area with key insect pests is constructed based on a GIS technology, marking the farmland area with the key insect pests by a marking module; then, connecting the marked key insect pest farmland areas to form a broken line path; according to the position coordinates of the key insect pest farmland areas, a curve path which is most fit with a broken line path formed by each key insect pest farmland area is calculated through a calculating module and serves as an optimal path of the mobile device, the invalid moving distance of the mobile device is reduced to the maximum extent, and the working efficiency is improved.
The most suitable Curve path is a Curve path, and a common Curve Fitting algorithm is adopted, and the mathematical definition of Curve Fitting (Curve Fitting) refers to approximately depicting or comparing the functional relation between coordinates represented by a group of discrete points on a plane by using a continuous Curve, and is a method for approximating discrete data by using an analytical expression. For example, the least square method is used to find the best function matching of data by minimizing the sum of squares of errors, and the unknown data can be easily found by using the least square method, and the sum of squares of errors between the found data and actual data is minimized.
And the calculation module is respectively connected with the route formulation module, the driving module and the adjusting module. The calculation module not only needs to calculate the optimal path of the mobile device, but also calculates the spraying angle. This is because the above-described broken-line path and the curved-line path calculated by fitting the broken-line path have a distance error therebetween. Therefore, the mobile equipment with the optimal running path curve is far away from a certain key insect pest farmland region, and is near to the other region, so that the angles of the mobile equipment are different when the mobile equipment is required to spray the pesticide, namely the angles of the control module for controlling the steering engine and further controlling the spray head to spray are different. If the mobile equipment in the optimal driving path curve is far away from the important insect pest farmland area, as shown in L2 in fig. 5, under the condition that the pressure of the spraying equipment is certain, the included angle between the spraying angle and the horizontal plane is more than or equal to 0 degree, a parabola shape is formed, and the pesticide can be sprayed on crops remotely; if the mobile device on the optimal driving path curve is close to the region close to the important insect pest farmland, as shown in L1 in fig. 5, under the condition that the pressure of the spraying device is certain, the included angle between the spraying angle and the horizontal plane is less than or equal to 0 degrees, so that the pesticide is directly sprayed on crops.
Of course, fig. 5 only shows the situation that the height to be sprayed by the crops is lower than the spray head on the spraying vehicle, and if the mobile device on the optimal driving path curve is closer to the region with the key insect pests and the height to be sprayed by the crops is slightly higher than the spray head on the spraying vehicle (such as the crops with higher height like sorghum, corn, etc.), the angle between the spraying angle and the horizontal plane should be larger than 0 °, which is just a problem of presetting the program of the spraying angle.
As for the specific control of the spraying angle, the control program needs to be designed in combination with practical problems, namely, in combination with the above-mentioned parameters such as the GIS electronic map, the fitting curve, the distance between the spraying equipment and the pest and disease crops, the spraying pressure, the relative height between the nozzle and the crops, and the like, but the overall idea is within the above-mentioned range. The control program can be designed in advance, then the corresponding starting spraying point is set on the optimal running curve obtained by fitting, and the spraying angle of the spray head is set on the spraying point, so that the aims of preventing the spray vehicle from walking invalid lines and accurately spraying can be fulfilled.
When the automatic pesticide spraying device is used, before pesticide spraying, the unmanned aerial vehicle device is started, under the connecting action of the first communication module and the fourth communication module, the control module controls the unmanned aerial vehicle device to patrol a farmland, an area with key pests is obtained through the probe and the information acquisition module, the position is marked through the marking module, after the unmanned aerial vehicle is recovered, under the connecting action of the first communication module and the second communication module, the control module controls the driving module on the mobile device to start, meanwhile, the calculation module in the data processing module calculates the optimal route through an algorithm, the mobile device automatically moves to a position close to a mark point along the optimal route, then the spraying angle of the pesticide spraying device is calculated according to actual problems, the adjustment module in the automatic pesticide spraying device is matched with adaptive adjustment, and the pesticide spraying can be accurately sprayed to the position with the key pests, other normal positions are only needed by the common pesticide spraying program.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. An intelligent farmland pesticide spraying electronic automatic control system based on the Internet of things comprises a human-computer interaction system, a mobile device, an automatic spraying device and an unmanned aerial vehicle device, wherein the mobile device, the automatic spraying device and the unmanned aerial vehicle device are connected with the human-computer interaction system through the Internet, and the system is characterized in that the human-computer interaction system comprises a control module, a first communication module, a positioning module, a route making module, an operation module, a timing module, a display module and a data processing module, the control module respectively controls the first communication module, the positioning module, the route making module, the operation module, the timing module, the display module and the data processing module, the first communication module is used for providing network interconnection between the human-computer interaction system and each device, the positioning module is used for positioning a punctuation track of the unmanned aerial vehicle device, the route making module is used for making a reasonable moving route for the mobile device, the operation module includes handle operation and touch screen operation, the timing module is used for formulating unmanned aerial vehicle time of cruising every day, even display module is used for showing unmanned aerial vehicle flight route, and data processing module is used for handling the information of gathering.
2. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 1, wherein the mobile equipment comprises a second communication module and a driving module, the first communication module is connected with the second communication module through a 5G network, the control module controls the driving device to operate, and the driving device is used for driving the mobile equipment to move on a farmland route.
3. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 1, wherein the automatic spraying equipment comprises a third communication module and an adjusting module, and the automatic spraying equipment is installed on mobile equipment.
4. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 3, wherein the third communication module is connected with the first communication module through a 5G network, and the control module controls the adjusting module.
5. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 3, wherein the adjusting module is used for controlling the spraying angle of the automatic spraying equipment.
6. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 1, wherein the unmanned aerial vehicle device is provided with a probe module, a fourth communication module, an information acquisition module and a marking module, and the probe module is connected with the information acquisition module.
7. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 6, wherein the fourth communication module is connected with the first communication module through a 5G network, the control module controls the information acquisition module to work, and the information acquisition module is used for acquiring farmland areas with key pests.
8. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things as claimed in claim 6, wherein the information acquisition module is connected with the data processing module, the data processing module comprises a calculation module and a model building module, and the calculation module is used for obtaining the optimal route of the mobile device and the spraying angle of the pesticide spraying device through operation.
9. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 8, wherein the calculation module is respectively connected with the route making module, the driving module and the adjusting module.
10. The intelligent farmland pesticide spraying electronic automatic control system based on the internet of things of claim 8, wherein the model building module is connected with the computing module, and the model building equipment is used for building a three-dimensional model and displaying the three-dimensional model on the display module.
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| CN115119727A (en) * | 2022-05-23 | 2022-09-30 | 合肥一村信息科技有限公司 | Farmland monitoring system |
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| CN110050619A (en) * | 2019-05-10 | 2019-07-26 | 广西润桂科技有限公司 | Unmanned plane sugarcane prevention and control of plant diseases, pest control spray method based on accurate meteorological support technology |
| CN110282135A (en) * | 2019-06-14 | 2019-09-27 | 江苏农林职业技术学院 | A kind of accurate spraying system of plant protection drone pesticide and spraying method |
| CN111587872A (en) * | 2020-06-24 | 2020-08-28 | 重庆文理学院 | Robot for spraying pesticide |
| CN112965514A (en) * | 2021-01-29 | 2021-06-15 | 北京农业智能装备技术研究中心 | Air-ground cooperative pesticide application method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115119727A (en) * | 2022-05-23 | 2022-09-30 | 合肥一村信息科技有限公司 | Farmland monitoring system |
| CN115119727B (en) * | 2022-05-23 | 2023-10-10 | 合肥一村信息科技有限公司 | Farmland monitored control system |
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