CN114403116A - Intelligent forest and grass management system based on Beidou grid position codes - Google Patents
Intelligent forest and grass management system based on Beidou grid position codes Download PDFInfo
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- CN114403116A CN114403116A CN202210131117.8A CN202210131117A CN114403116A CN 114403116 A CN114403116 A CN 114403116A CN 202210131117 A CN202210131117 A CN 202210131117A CN 114403116 A CN114403116 A CN 114403116A
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- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 23
- 239000003814 drug Substances 0.000 claims abstract description 40
- 239000007788 liquid Substances 0.000 claims abstract description 27
- 230000002147 killing effect Effects 0.000 claims abstract description 24
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 19
- 201000010099 disease Diseases 0.000 claims abstract description 16
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 16
- 241000238631 Hexapoda Species 0.000 claims abstract description 8
- 241000196324 Embryophyta Species 0.000 claims abstract description 4
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims abstract description 3
- 238000005507 spraying Methods 0.000 claims description 21
- 238000007726 management method Methods 0.000 claims description 15
- 229940079593 drug Drugs 0.000 claims description 8
- 239000000575 pesticide Substances 0.000 claims description 8
- 239000000645 desinfectant Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000004659 sterilization and disinfection Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention provides a Beidou grid position code-based intelligent forest and grass management system which comprises an unmanned aerial vehicle, a medicine storage tank, a bearing cylinder, a main pump, a liquid guide pipe, telescopic rods and branch pumps, wherein the medicine storage tank is fixed at the bottom of the unmanned aerial vehicle; according to big dipper two-position grid position code coding structure, divide into the grid with forest grassland plant diseases and insect pests region and carry out accurate killing, minimum unit grid has six grades of grids, seventh grade grid, eighth grade grid, ninth grade grid these four kinds, according to the precision level of next grid in the flight route, and next grid is the grid of several grades promptly, adjusts unmanned aerial vehicle's flying height, flying speed, the switching and the output flow of main pump and branch pump.
Description
Technical Field
The invention relates to a management system, in particular to a smart forest and grass management system based on Beidou grid position codes.
Background
The traditional longitude and latitude expression method is not beneficial to marking block areas and cannot reflect geographical elevations. The Beidou grid position code is a multi-scale discrete global geographic grid coding form suitable for navigation positioning service developed on the basis of a global subdivision grid. Compared with the traditional method that a pair of longitude and latitude coordinates represents the position of a point, the Beidou grid code can represent the position of an area with unequal precision by using a number string with unequal length. The Beidou grid code can effectively express all-dimensional spatial data such as terrain, elevation and depth, technically solves the problem of how to identify irregular and non-equal-height areas, and fills the gap of longitude and latitude expression.
At present, information such as damage factors, damage ranges and grades of diseases and insect pests of forest and grassland can be detected by applying a remote sensing monitoring means. The severity of the forest grassland diseases and insect pests can be obtained through analysis of the remote sensing images, if the forest grassland disease and insect pest distribution map is subjected to grid division based on the Beidou grid, the relative position of the aircraft and the disease and insect pest area can be rapidly obtained, and the defect that a vector matrix is formed by longitude and latitude strings to perform complex floating point operation is overcome. By planning the air route of the aircraft, the disease and pest area is accurately killed, and the prevention and control of the disease and pest of the forest and grassland are realized.
In order to avoid the pesticide waste caused by overlapping spraying areas in the forest and grassland pest killing work, and simultaneously avoid leakage areas between the spraying areas in the pest killing work, the pests and the diseases need to be divided into grids with different sizes, and the spraying areas cover the forest and the grass in the grids and ensure the killing effect. A forest grassland management system for adjusting the spraying mode in real time according to grid position codes is designed, and the forest grassland management system has important significance for promoting sustainable development of forest grassland resources.
Disclosure of Invention
Therefore, in order to realize that the spraying area covers the forest and grass in the grid in the pest and disease damage killing link in forest and grassland management and ensure the killing effect, the invention designs the intelligent forest and grass management system based on the Beidou grid position code.
The technical scheme adopted by the invention is as follows: the utility model provides a wisdom forest and grass management system based on big dipper net position code which characterized in that:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a pesticide storage tank, a bearing cylinder, a main pump, a liquid guide pipe, a telescopic rod and a branch pump, wherein the pesticide storage tank is fixed at the bottom of the unmanned aerial vehicle body, and liquid disinfectant is stored in the liquid storage tank; bear the jar for around narrow, control long rectangular bodily form, be located medicine storage tank under, medicine storage tank's top surface is close to the outer end and is fixed with vertical columniform support, the top fixed connection of support is in the unmanned aerial vehicle bottom surface.
A front side guide cavity and a rear side guide cavity which are horizontally cylindrical and are parallel to each other are arranged in the bearing cylinder, the left end of the front side guide cavity is communicated with the outside, and the right end of the rear side guide cavity is communicated with the outside; and the inner walls of the right end of the front guide cavity and the left end of the rear guide cavity are provided with medicine discharge ports.
The main pump is fixedly arranged at the left and right middle positions of the top surface of the bearing cylinder, the main pump is provided with an inlet and two outlets, the liquid guide pipe is provided with three parts, a first liquid guide pipe is connected with an outlet at the bottom of the liquid storage tank and an inlet of the main pump, a second liquid guide pipe is connected with a left outlet of the main pump and a medicine discharge port at the left end of a rear side guide cavity in the bearing cylinder, and a third liquid guide pipe is connected with a right outlet of the main pump and a medicine discharge port at the right end of a front side guide cavity in the bearing cylinder; the main pump discharges the killing medicines in the medicine storage tank into the front side guide cavity and the rear side guide cavity.
The telescopic link is the thin cylinder of level, has two, adorns respectively in front side guide chamber and rear side guide chamber, the fixed piston that has elastic that is provided with in the inner of telescopic link, the outer end of telescopic link is located the outside that bears the weight of the jar, the fixed branch pump that is provided with in outer end bottom of telescopic link, the drain hole has been seted up along the central axis to the telescopic link is inside, the bottom of branch pump is equipped with spouts the medicine hole, and the branch pump that is located the telescopic link outer end in front side guide chamber arranges the disinfection medicine in front side guide chamber to the outside, and the branch pump that is located the telescopic link outer end in rear side guide chamber arranges the outside with the disinfection medicine in rear side guide chamber, spouts the medicine hole below and forms the vertical 90 contained angle sector spraying of symmetry line, and the sector is perpendicular with unmanned aerial vehicle's direction of advance.
Unmanned aerial vehicle embeds treater, storage module, communication module, and communication module receives ground instruction data and stores in storage module, and instruction data includes flight planning route, grid code, and the treater adjusts unmanned aerial vehicle flying height, unmanned aerial vehicle flying speed, the switching and the output flow of main pump and branch pump according to flight planning route and grid code.
Assuming that the output flow of the main pump is Q1, and the output flow of the branch pump is Q2, when the main pump and the branch pump work under rated power, the relative positions of the telescopic rod and the bearing cylinder are kept static, namely Q1=2Q 2; when the spraying and killing dosage per square meter is P, the effect of killing plant diseases and insect pests can be achieved; assume a forest height of H.
Dividing a forest and grassland pest and disease area into grids for accurate killing according to a Beidou two-position grid position code coding structure, wherein the minimum unit grid comprises a sixth-level grid, a seventh-level grid, an eighth-level grid and a ninth-level grid, and the minimum unit grid sequentially comprises a 61.84mx61.84m grid, a 7.73 mx 7.73m grid, a 0.97 mx 0.97m grid and a 12.0cm mx 12.0cm grid;
and 3, when the next grid is a seven-level grid, the unmanned aerial vehicle firstly adjusts the main pump to rated power and suspends two sub pumps at the grid boundary, the two sub pumps are started to rated power after the distance between the two sub pumps is adjusted to be maximum, and the height of the unmanned aerial vehicle is adjusted to (3.865+ H) m and then is adjusted at speedv= Q1/7.73P flies through the grid at a constant speed horizontally;
step 4, when the next grid is an eight-level grid, the unmanned aerial vehicle firstly suspends the main pump at the grid boundary, starts the two branch pumps to rated power, adjusts the distance between the two branch pumps to the minimum, then closes one branch pump,starting the main pump, adjusting the output flow Q1= branch pump output flow Q2, and adjusting the height of the unmanned aerial vehicle to be (0.485+ H) m, and then adjusting the speedv= Q2/0.97P fly horizontally through the grid at a constant velocity;
The principle of the invention is as follows: the grid division mode of the Beidou two-dimensional grid position code is as follows: the division origin of the Beidou two-dimensional grid on the earth surface is at the intersection point of the equatorial plane and the meridian plane, and the two-dimensional grid of the non-dipolar region (88 degrees south latitude to 88 degrees north latitude) on the earth surface is divided into ten levels, and the method comprises the following steps:
a) first-level meshing: the first-level grid is divided according to 1:100 ten thousand of picture frames in GB/T13989-2012, and the unit size is 6 degrees multiplied by 4 degrees;
b) and (3) second-level grid division: dividing the first-stage grid of 6 degrees multiplied by 4 degrees into 12 multiplied by 8 second-stage grids equally according to the longitude and latitude, corresponding to the 30 'multiplied by 30' grid, and being approximately equal to the 55.66km multiplied by 55.66km grid at the equator of the earth;
c) and (3) third-level meshing: dividing the second-level grid into 2 x 3 third-level grids equally according to the longitude and latitude, wherein the third-level grids correspond to 15 'x 10' grids of 1:5 ten thousand map panels and are approximately equal to 27.83km x 18.55km grids at the equator of the earth;
d) fourth-level meshing: equally dividing the third-level grid into 15 multiplied by 10 fourth-level grids according to the longitude and latitude, wherein the fourth-level grids are approximately equal to 1.85km multiplied by 1.85km of the equator of the earth;
e) and fifth-level meshing: equally dividing the fourth-level grid into 15 multiplied by 15 fifth-level grids according to the longitude and latitude, wherein the fourth-level grids are approximately equal to 123.69 multiplied by 123.69m grids at the equator of the earth;
f) and sixth-level meshing: equally dividing the fifth-level grid into 2 x 2 sixth-level grids according to the longitude and latitude, wherein the sixth-level grids are approximately equal to 61.84mx61.84m grids at the equator of the earth;
g) and a seventh level of meshing: equally dividing the sixth-level grid into 8 multiplied by 8 seventh-level grids according to the longitude and latitude, wherein the seventh-level grids are approximately equal to 7.73 multiplied by 7.73m grids at the equator of the earth;
h) and eighth-level meshing: equally dividing the seventh-level grid into 8 multiplied by 8 eighth-level grids according to the longitude and latitude, wherein the number of the eighth-level grids is approximately equal to 0.97 multiplied by 0.97m grid at the equator of the earth;
i) and ninth-level meshing: equally dividing the eighth-level grid into 8 multiplied by 8 ninth-level grids according to the longitude and latitude, wherein the grid is approximately equal to a grid at the equator position of 12.0cm multiplied by 12.0 cm;
j) and a tenth level of meshing: and equally dividing the ninth-level grid into 8 multiplied by 8 tenth-level grids according to the longitude and latitude, wherein the number of the tenth-level grids is approximately equal to 1.5 multiplied by 1.5cm grids at the equator of the earth.
When the next grid unit is a six-level grid and a seven-level grid, the distance between the two sub pumps is ignored, and the distance between the two sub pumps is adjusted to be the maximum so as to facilitate the killing medicines to fully cover the forest and grass in the grids; when the next grid unit is an eight-level grid and a nine-level grid, the forest and grass covered by the disinfectant can be ensured by only reserving one slave cylinder. Because the killing medicine is sprayed downwards in the shape of fan-shaped spray with an included angle of 90 degrees, flowing wind and air resistance are ignored, the height of a spraying hole is increased by half the width of a grid on the basis of the height of forest and grass, the flight time t of the unmanned aerial vehicle in the grid is = (the grid width is multiplied by the grid width multiplied by P) ÷ spraying amount, and the flight speed of the unmanned aerial vehicle in the gridv= grid width ÷ time of flight.
The intelligent forest and grass management system based on the Beidou grid position code has the following advantages:
(1) the spraying system of the unmanned aerial vehicle is designed into a two-stage pump matched telescopic rod structure, so that the spraying width is adjustable, and the design is novel;
(2) dividing a forest and grass pest area into grids with different sizes according to the Beidou two-dimensional grid position code and coding to realize rapid calculation of the flight path of the unmanned aerial vehicle;
(3) according to the precision grade of the next grid in the flight path, the flying height, the flying speed, the opening and closing of the main pump and the branch pump and the output flow of the unmanned aerial vehicle are adjusted, and the thinking is ingenious.
Therefore, the intelligent forest and grass management system based on the Beidou grid position codes realizes that the spraying area covers the forest and grass in the grid in the pest and disease damage killing link in forest and grassland management and ensures the killing effect, and has important significance for promoting the sustainable development of forest and grassland resources.
Additional features and advantages of the invention will be set forth in the description which follows, or may be learned by practice of the invention.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic top view of an assembly.
Fig. 2 is a schematic view of the bottom structure of the assembly.
FIG. 3 is a schematic view of the assembly structure of the drug storage tank, the main pump, the bracket, the catheter, the bearing cylinder and the telescopic rod.
FIG. 4 is a schematic view of the assembly structure of the drug storage tank, the main pump, the catheter, the bearing cylinder and the telescopic rod.
Fig. 5 is a schematic view of the assembly structure of the telescopic rod and the bearing cylinder on the right side.
FIG. 6 is a schematic view of the assembly structure of the telescopic rod and the rear guide chamber in a state of the right end of the bearing cylinder being cut open.
Fig. 7 is a schematic view of an assembly structure of the sub-pump.
Fig. 8 is a schematic view of a 90 ° angle spray zone.
FIG. 9 is a Beidou two-dimensional grid position code encoding structure diagram.
FIG. 10 is a schematic diagram of a forest and grass management method based on Beidou grid position codes.
Reference numbers in the figures: 1-unmanned aerial vehicle, 2-medicine storage tank, 3-bearing cylinder, 301-support, 302-front side guide cavity, 303-rear side guide cavity, 304-medicine discharge port, 4-main pump, 5-liquid guide pipe, 6-telescopic rod, 601-piston, 602-liquid guide hole, 7-branch pump, 701-medicine spraying hole and spraying area with an included angle of A-90 degrees.
Detailed Description
The following will describe in further detail the smart forest and grass management system based on the Beidou grid position code in combination with the accompanying drawings and embodiments, and the direction description takes the advancing direction of the unmanned aerial vehicle as the front direction and the moving direction of the telescopic rod as the left-right direction.
The invention adopts a technical scheme that a smart forest and grass management system based on Beidou grid position codes is shown in figures 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, and is characterized in that:
the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a pesticide storage tank 2, a bearing cylinder 3, a main pump 4, a catheter 5, a telescopic rod 6 and a branch pump 7, wherein the pesticide storage tank 2 is fixed at the bottom of the unmanned aerial vehicle 1, and liquid disinfectant is stored in the liquid storage tank 2; bear jar 3 for around narrow, control long rectangular bodily form, be located medicine storage tank 2 under, medicine storage tank 2's top surface is close to the outer end and is fixed vertical columniform support 301 that is provided with, support 301's top fixed connection is in 1 bottom surface of unmanned aerial vehicle.
A front cylindrical front guide cavity 302 and a rear cylindrical rear guide cavity 303 which are parallel to each other are formed in the bearing cylinder 3, the opening of the front guide cavity 302 is arranged at the left end, and the opening of the rear guide cavity 303 is arranged at the right end; the inner walls of the right end of the front guide cavity 302 and the left end of the rear guide cavity 303 are provided with a medicine discharge port 304.
The main pump 4 is fixedly arranged at the left and right middle positions of the top surface of the bearing cylinder 3, the main pump 4 is provided with one inlet and two outlets, the liquid guide pipes 5 are three, the first liquid guide pipe 5 is connected with the outlet at the bottom of the liquid storage tank 2 and the inlet of the main pump 4, the second liquid guide pipe 5 is connected with the left outlet of the main pump 4 and the medicine discharge port 304 at the left end of the rear side guide cavity 303 in the bearing cylinder 3, and the third liquid guide pipe 5 is connected with the right outlet of the main pump 4 and the medicine discharge port 304 at the right end of the front side guide cavity 302 in the bearing cylinder 3; the main pump 4 discharges the disinfectant in the drug tank 2 into the front guide chamber 302 and the rear guide chamber 303.
The telescopic link 6 is the thin cylinder of level, has two, adorns respectively in front side guide chamber 302 and rear side guide chamber 303, the fixed piston 601 that has elastic that is provided with in the inner of telescopic link 6, the outer end of telescopic link 6 is located the outside that bears jar 3, the fixed branch pump 7 that is provided with in outer end bottom of telescopic link 6, drain hole 602 has been seted up along the central axis to telescopic link 6 inside, the bottom of branch pump 7 is equipped with spouts medicine hole 701, and the branch pump 7 that is located the 6 outer ends of telescopic link in front side guide chamber 302 arranges the disinfection medicine in front side guide chamber 302 to the outside, and the branch pump 7 that is located the 6 outer ends of telescopic link in rear side guide chamber 303 arranges the disinfection medicine in rear side guide chamber 303 to the outside, spouts the vertical decurrent 90 contained angle sector spraying of symmetrical line of medicine hole 701 below formation, and the sector is perpendicular with unmanned aerial vehicle's direction of advance.
Unmanned aerial vehicle 1 embeds treater, storage module, communication module, and communication module receives ground instruction data and stores in storage module, and instruction data includes flight planning route, grid code, and the treater adjusts the switching and the output flow of 1 flight height of unmanned aerial vehicle, 1 airspeed of unmanned aerial vehicle, main pump 4 and minute pump 7 according to flight planning route and grid code.
Assuming that the output flow of the main pump 4 is Q1 and the output flow of the branch pump 7 is Q2, when the main pump 4 and the branch pump 7 are both working under rated power, the relative position of the telescopic rod 6 and the bearing cylinder 3 is kept static, namely Q1=2Q 2; when the spraying and killing dosage per square meter is P, the effect of killing plant diseases and insect pests can be achieved; assume a forest height of H.
Dividing a forest and grassland pest and disease area into grids for accurate killing according to a Beidou two-position grid position code coding structure, wherein the minimum unit grid comprises a sixth-level grid, a seventh-level grid, an eighth-level grid and a ninth-level grid, and the minimum unit grid sequentially comprises a 61.84mx61.84m grid, a 7.73 mx 7.73m grid, a 0.97 mx 0.97m grid and a 12.0cm mx 12.0cm grid;
step 4, when the next grid is an eight-level grid, the unmanned aerial vehicle 1 firstly suspends the main pump 4 at the grid boundary, starts the two branch pumps 7 to rated power, closes one branch pump 7 after adjusting the distance between the two branch pumps 7 to be minimum, starts the main pump 4 and adjusts the output flow Q1= the output flow Q2 of the branch pump, and adjusts the height of the unmanned aerial vehicle 1 to (0.485+ H) m, and then uses the speed to adjustv= Q2/0.97P fly horizontally through the grid at a constant velocity;
The grid division mode of the Beidou two-dimensional grid position code is as follows: the division origin of the Beidou two-dimensional grid on the earth surface is at the intersection point of the equatorial plane and the meridian plane, and the two-dimensional grid of the non-dipolar region (88 degrees south latitude to 88 degrees north latitude) on the earth surface is divided into ten levels, and the method comprises the following steps:
a) first-level meshing: the first-level grid is divided according to 1:100 ten thousand of picture frames in GB/T13989-2012, and the unit size is 6 degrees multiplied by 4 degrees;
b) and (3) second-level grid division: dividing the first-stage grid of 6 degrees multiplied by 4 degrees into 12 multiplied by 8 second-stage grids equally according to the longitude and latitude, corresponding to the 30 'multiplied by 30' grid, and being approximately equal to the 55.66km multiplied by 55.66km grid at the equator of the earth;
c) and (3) third-level meshing: dividing the second-level grid into 2 x 3 third-level grids equally according to the longitude and latitude, wherein the third-level grids correspond to 15 'x 10' grids of 1:5 ten thousand map panels and are approximately equal to 27.83km x 18.55km grids at the equator of the earth;
d) fourth-level meshing: equally dividing the third-level grid into 15 multiplied by 10 fourth-level grids according to the longitude and latitude, wherein the fourth-level grids are approximately equal to 1.85km multiplied by 1.85km of the equator of the earth;
e) and fifth-level meshing: equally dividing the fourth-level grid into 15 multiplied by 15 fifth-level grids according to the longitude and latitude, wherein the fourth-level grids are approximately equal to 123.69 multiplied by 123.69m grids at the equator of the earth;
f) and sixth-level meshing: equally dividing the fifth-level grid into 2 x 2 sixth-level grids according to the longitude and latitude, wherein the sixth-level grids are approximately equal to 61.84mx61.84m grids at the equator of the earth;
g) and a seventh level of meshing: equally dividing the sixth-level grid into 8 multiplied by 8 seventh-level grids according to the longitude and latitude, wherein the seventh-level grids are approximately equal to 7.73 multiplied by 7.73m grids at the equator of the earth;
h) and eighth-level meshing: equally dividing the seventh-level grid into 8 multiplied by 8 eighth-level grids according to the longitude and latitude, wherein the number of the eighth-level grids is approximately equal to 0.97 multiplied by 0.97m grid at the equator of the earth;
i) and ninth-level meshing: equally dividing the eighth-level grid into 8 multiplied by 8 ninth-level grids according to the longitude and latitude, wherein the grid is approximately equal to a grid at the equator position of 12.0cm multiplied by 12.0 cm;
j) and a tenth level of meshing: and equally dividing the ninth-level grid into 8 multiplied by 8 tenth-level grids according to the longitude and latitude, wherein the number of the tenth-level grids is approximately equal to 1.5 multiplied by 1.5cm grids at the equator of the earth.
When the next grid unit is a six-level grid and a seven-level grid, the distance between the two branch pumps 7 is ignored, and the distance between the two branch pumps 7 is adjusted to be the maximum so as to facilitate the killing drugs to fully cover the forest and grass in the grids; when the next grid unit is an eight-level grid and a nine-level grid, the forest and grass covered by the disinfectant can be ensured by only reserving one branch pump 7. Because the killing medicine is sprayed downwards in the shape of fan-shaped spray with an included angle of 90 degrees, flowing wind and air resistance are ignored, the height of a spraying hole is increased by half the width of a grid on the basis of the height of forest and grass, the flight time t of the unmanned aerial vehicle 1 in the grid is = (grid width is multiplied by grid width multiplied by P) ÷ spraying amount, and the flight speed of the unmanned aerial vehicle 1 in the gridv= grid width ÷ time of flight.
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 changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (1)
1. The utility model provides a wisdom forest and grass management system based on big dipper net position code which characterized in that:
the unmanned aerial vehicle comprises an unmanned aerial vehicle (1), a medicine storage tank (2), a bearing cylinder (3), a main pump (4), a liquid guide pipe (5), a telescopic rod (6) and a branch pump (7), wherein the medicine storage tank (2) is fixed at the bottom of the unmanned aerial vehicle (1), and liquid disinfection and killing medicines are stored in the liquid storage tank (2); the bearing cylinder (3) is in a rectangular shape with a narrow front and back part and a long left and right part and is positioned under the pesticide storage tank (2), a vertical cylindrical support (301) is fixedly arranged close to the outer end of the top surface of the pesticide storage tank (2), and the top end of the support (301) is fixedly connected to the bottom surface of the unmanned aerial vehicle (1);
a front side guide cavity (302) and a rear side guide cavity (303) which are parallel in the front-rear direction are formed in the bearing cylinder (3), the opening of the front side guide cavity (302) is arranged at the left end, and the opening of the rear side guide cavity (303) is arranged at the right end; the inner walls of the right end of the front guide cavity (302) and the left end of the rear guide cavity (303) are provided with a medicine discharge port (304);
the main pump (4) is fixedly arranged at the left and right middle positions of the top surface of the bearing cylinder (3), the main pump (4) is provided with one inlet and two outlets, the liquid guide pipes (5) are provided with three parts, the first liquid guide pipe (5) is connected with the bottom outlet of the liquid storage tank (2) and the inlet of the main pump (4), the second liquid guide pipe (5) is connected with the left outlet of the main pump (4) and the medicine discharge port (304) at the left end of the inner rear side guide cavity (303) of the bearing cylinder (3), and the third liquid guide pipe (5) is connected with the right outlet of the main pump (4) and the medicine discharge port (304) at the right end of the inner front side guide cavity (302) of the bearing cylinder (3); the main pump (4) discharges the killing medicines in the medicine storage tank (2) into the front side guide cavity (302) and the rear side guide cavity (303);
the telescopic rod (6) is a horizontal thin cylinder and is provided with two pieces, the two pieces are respectively arranged in a front side guide cavity (302) and a rear side guide cavity (303), an elastic piston (601) is fixedly arranged at the inner end of the telescopic rod (6), the outer end of the telescopic rod (6) is positioned outside the bearing cylinder (3), a sub-pump (7) is fixedly arranged at the bottom of the outer end of the telescopic rod (6), a liquid guide hole (602) is formed in the telescopic rod (6) along the central axis, a pesticide spraying hole (701) is formed in the bottom of the sub-pump (7), the sub-pump (7) at the outer end of the telescopic rod (6) in the front side guide cavity (302) discharges the disinfectant in the front side guide cavity (302) to the outside, the sub-pump (7) at the outer end of the telescopic rod (6) in the rear side guide cavity (303) discharges the disinfectant in the rear side guide cavity (303) to the outside, and the pesticide spraying hole (701) forms a 90-degree vertical downward included angle of a symmetrical line, the sector is vertical to the advancing direction of the unmanned aerial vehicle (1);
the unmanned aerial vehicle (1) is internally provided with a processor, a storage module and a communication module, the communication module receives ground instruction data and stores the ground instruction data in the storage module, the instruction data comprise a flight planning route and a grid code, and the processor adjusts the flight height of the unmanned aerial vehicle (1), the flight speed of the unmanned aerial vehicle (1), the opening and closing of a main pump (4) and a branch pump (7) and the output flow according to the flight planning route and the grid code;
assuming that the output flow of the main pump (4) is Q1 and the output flow of the branch pump (7) is Q2, when the main pump (4) and the branch pump (7) work under rated power, the relative position of the telescopic rod (6) and the bearing cylinder (3) is kept static, namely Q1=2Q 2; when the spraying and killing dosage per square meter is P, the effect of killing plant diseases and insect pests can be achieved; assuming that the height of the forest and grass is H;
dividing a forest and grassland pest and disease area into grids for accurate killing according to a Beidou two-position grid position code coding structure, wherein the minimum unit grid comprises a sixth-level grid, a seventh-level grid, an eighth-level grid and a ninth-level grid, and the minimum unit grid sequentially comprises a 61.84mx61.84m grid, a 7.73 mx 7.73m grid, a 0.97 mx 0.97m grid and a 12.0cm mx 12.0cm grid;
step 1, flying an unmanned aerial vehicle (1) along a minimum grid unit;
step 2, when the next grid is a six-level grid, the unmanned aerial vehicle (1) firstly adjusts the main pump (4) to rated power and suspends the two branch pumps (7) at the grid boundary, the two branch pumps (7) are started to rated power after the distance between the two branch pumps (7) is adjusted to be maximum, and after the height of the unmanned aerial vehicle (1) is adjusted to be 30.92m + H, the unmanned aerial vehicle is adjusted to be at speedv= Q1/61.84P flies through the grid at a constant speed horizontally;
step 3, when the next grid is a seven-level grid, the unmanned aerial vehicle (1) is divided into gridsThe main pump (4) is adjusted to rated power and the two branch pumps (7) are suspended at the boundary, the two branch pumps (7) are started to rated power after the distance between the two branch pumps (7) is adjusted to be maximum, and the height of the unmanned aerial vehicle (1) is adjusted to be 3.865m + H and then the speed is increasedv= Q1/7.73P flies through the grid at a constant speed horizontally;
step 4, when the next grid is an eight-level grid, the unmanned aerial vehicle (1) firstly suspends the main pump (4) at the grid boundary, starts the two branch pumps (7) to rated power, closes one branch pump (7) after adjusting the distance between the two branch pumps (7) to be minimum, starts the main pump (4) and adjusts the output flow Q1= the output flow Q2 of the branch pump, and adjusts the height of the unmanned aerial vehicle (1) to 0.485m + H, and then stops the main pump at the speedv= Q2/0.97P fly horizontally through the grid at a constant velocity;
step 5, when the next grid is a nine-level grid, the unmanned aerial vehicle (1) firstly suspends the main pump (4) at the grid boundary, starts the two branch pumps (7) to rated power, closes one branch pump (7) after adjusting the distance between the two branch pumps (7) to be minimum, starts the main pump (4) and adjusts the output flow Q1= the output flow Q2 of the branch pump, and adjusts the height of the unmanned aerial vehicle (1) to 0.06m + H height and then uses the speed to adjust the heightvAnd (4) flying through the grid at a constant speed by the level of = Q2/0.12P.
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