CN114415727A - Intelligent control system of agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting - Google Patents
Intelligent control system of agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting Download PDFInfo
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- CN114415727A CN114415727A CN202210069989.6A CN202210069989A CN114415727A CN 114415727 A CN114415727 A CN 114415727A CN 202210069989 A CN202210069989 A CN 202210069989A CN 114415727 A CN114415727 A CN 114415727A
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- 238000005422 blasting Methods 0.000 title claims abstract description 41
- 230000003111 delayed effect Effects 0.000 title claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention discloses an intelligent control system of an agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting, which consists of a monitoring module, a wireless transmission module, a main control unit, a remote control module, an accurate guidance module and a delayed blasting module; the unmanned aerial vehicle control system has the characteristics of high efficiency and accuracy, can quickly realize accurate plant protection operation of large-area vegetation and accurate striking of forest fire points, is not limited by geographic environment, and can realize accurate operation even in a complex mountain area; greatly reducing the cost and saving the resources. The infrared radar range finder in the monitoring module is installed on unmanned aerial vehicle, and the separation is realized with it and projectile body to effectual, but costly infrared radar range finder cyclic utilization.
Description
Technical Field
The invention relates to the field of agriculture and forestry plant protection, in particular to an agriculture and forestry unmanned aerial vehicle intelligent control system based on accurate guidance and delayed blasting.
Background
At present, unmanned aerial vehicle begins to extensively be applicable to agricultural plant protection and forestry fire control, and agricultural and forestry multi-purpose plant protection unmanned aerial vehicle, fire control unmanned aerial vehicle begin to adopt the form high efficiency completion operation of projectile or pellet such as transmission fire extinguishing bomb, plant protection bomb gradually. This operation mode carries on the projectile through unmanned aerial vehicle, arrives appointed operating position transmission and explodes at preset position, will put out a fire agent or plant protection medicament evenly unrestrained to the realization is planted the life-keeping fire control operation effect. For example, an unmanned aerial vehicle produced by a certain aeronautics and scientific limited Shanghai carries four fire extinguishing bombs of 25kg, and time-delay blasting control is adopted, but all control devices and control systems of the unmanned aerial vehicle are arranged in the fire extinguishing bombs and can only be used once, height monitoring transmission and intelligent control cannot be realized, and only single time-delay blasting is adopted; the unmanned aerial vehicle-mounted fire extinguishing bomb of a certain group in Huaihai province has two specifications of 35kg and 70kg, and the front end of the fire extinguishing bomb adopts a miniature infrared guidance technology, so that accurate striking and direction fine adjustment in the flight process can be realized, but the fire extinguishing bomb is still disposable, a control device is concentrated inside the fire extinguishing bomb, the fire extinguishing bomb is destroyed after being exploded, and the cost is huge.
In summary, in the agriculture and forestry multipurpose unmanned aerial vehicle control based on accurate guidance and delayed blasting, almost all blasting control devices and control systems are designed inside the projectile body or the projectile, so that the cost of the projectile body or the projectile is increased, the cost is increased once, the industrialized popularization of the technology is prevented, and serious resource waste is caused.
Therefore, a low-cost intelligent control system is urgently needed to realize that the agricultural and forestry multipurpose unmanned aerial vehicle based on infrared guidance and delayed blasting completes plant protection and fire fighting operation with high efficiency and low cost, greatly reduces resource waste and provides new ideas and new means for agricultural production.
Disclosure of Invention
The present invention aims to overcome the above-mentioned shortcomings and provide a technical solution to solve the above-mentioned problems.
An intelligent control system of an agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting is composed of a monitoring module, a wireless transmission module, a main control unit, a remote control module, an accurate guidance module and a delayed blasting module;
the wireless transmission module is used for realizing remote communication and data transmission between the monitoring module and the main control unit;
the monitoring module is used for monitoring flight attitude information of the unmanned aerial vehicle, height data from an operating point, temperature of the operating point and other information in real time, the monitoring module is connected with the main control unit through the wireless transmission module and feeds back the height or temperature information to the main control unit, and the monitoring module is connected with the accurate guidance module and transmits the flight attitude information to the accurate guidance module;
the remote control module is used for transmitting preset blasting height or temperature information to the main control unit;
the main control unit is used for receiving, processing and deciding various data, comparing the received information such as the preset blasting height or temperature and the like from the remote control module with the information such as the actual height or temperature and the like monitored by the monitoring module, and combining the difference with a set algorithm;
the accurate guidance module is used for receiving the flight attitude information of the unmanned aerial vehicle and the flight attitude information of the projectile body after being launched, which are monitored by the monitoring module, and adjusting the flight attitude in real time according to a preset target;
and the delayed blasting module is used for controlling the blasting time of the projectile body and finishing time adjustment work according to the instruction given by the main control unit.
As a further scheme of the invention: the monitoring module comprises an infrared radar range finder and a temperature sensor, the infrared radar range finder is used for measuring height data of a distance operation point, and the temperature sensor is used for measuring.
As a further scheme of the invention: the time delay blasting module adopts a timer component and realizes time control based on the timer component.
The invention has the beneficial effects that: the unmanned aerial vehicle can improve the operation precision, the control system adopts accurate guidance, has the characteristics of high efficiency and accuracy, can quickly realize accurate plant protection operation of large-area vegetation and accurate striking of forest fire points, and the unmanned aerial vehicle platform is not limited by geographical environment and can realize accurate operation even in a complex mountain area; greatly reducing the cost and saving the resources. The infrared radar range finder in the monitoring module is installed on unmanned aerial vehicle, and the separation is realized with it and projectile body to effectual, but costly infrared radar range finder cyclic utilization.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, an intelligent control system for an agricultural and forestry unmanned aerial vehicle based on precise guidance and delayed blasting is composed of a monitoring module, a wireless transmission module, a main control unit, a remote control module, a precise guidance module, and a delayed blasting module;
the wireless transmission module is used for realizing remote communication and data transmission between the monitoring module and the main control unit;
the monitoring module is used for monitoring flight attitude information of the unmanned aerial vehicle, height data from an operating point, temperature of the operating point and other information in real time, the monitoring module is connected with the main control unit through the wireless transmission module and feeds back the height or temperature information to the main control unit, and the monitoring module is connected with the accurate guidance module and transmits the flight attitude information to the accurate guidance module;
the remote control module is used for transmitting the preset blasting height or temperature information to the main control unit, and an operator can adjust the preset height in real time to realize intelligent control;
the main control unit is used for receiving, processing and deciding various data, compares the received information such as preset blasting height or temperature from the remote control module with the information such as actual height or temperature monitored by the monitoring module, combines the difference with a set algorithm, and has optimal fire extinguishing and plant protection effects when a specific projectile is 5 meters away from a fire point or above vegetation, so that the difference algorithm is preset in the main control unit, when the monitoring module transmits the real-time height h of the unmanned aerial vehicle to the main control unit, the height difference h-5 is automatically calculated to be the displacement which the projectile needs to pass through when reaching the blasting point, and the corresponding time t can be calculated by utilizing a kinematic formula and transmitted to the delay blasting module;
the accurate guidance module is used for receiving the flight attitude information of the unmanned aerial vehicle and the flight attitude information of the projectile body after being launched, which are monitored by the monitoring module, and adjusting the flight attitude in real time according to a preset target to ensure accurate operation;
and the delayed blasting module is used for controlling the blasting time of the projectile body, finishing a series of adjustment works such as timing, delaying and the like according to the instruction given by the main control unit, and ensuring the accurate blasting of the projectile body at the specified time and the specified position.
The working principle of the invention is as follows: the invention integrates the technologies of intelligent control, wireless transmission, unmanned aerial vehicle and the like, and the main control system and the control idea are that a projectile body is mounted on an unmanned flying platform, when the flying platform flies to a specified position above vegetation or a specified position above a fire point, an infrared radar distance meter in a monitoring module measures the vertical distance between the flying platform and the vegetation or the fire point in real time, measured data is transmitted to a main control unit in the projectile body through a wireless transmission module, the blasting delay time after the projectile body is launched is automatically set according to a preset algorithm, the obtained data and a preset blasting height instruction given by a remote control module, and when a projectile body button is triggered by a flying hand point, the projectile body falls down, the delayed blasting system synchronously works, and the projectile body automatically explodes after reaching the preset blasting point, so that the effects of precise plant protection and precise fire extinguishment are realized.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (5)
1. An intelligent control system of an agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting is characterized by comprising a monitoring module, a wireless transmission module, a main control unit, a remote control module, an accurate guidance module and a delayed blasting module;
the monitoring module is used for monitoring the flight attitude information of the unmanned aerial vehicle, the height data from an operating point and the temperature information of the operating point in real time, is connected with the main control unit through the wireless transmission module and feeds back the height or temperature information to the main control unit;
the remote control module is used for transmitting preset blasting height or temperature information to the main control unit;
the main control unit is used for receiving, processing and deciding various data, comparing the received information such as the preset blasting height or temperature and the like from the remote control module with the information such as the actual height or temperature and the like monitored by the monitoring module, and combining the difference with a set algorithm;
the accurate guidance module is used for receiving the flight attitude information of the unmanned aerial vehicle and the flight attitude information of the projectile body after being launched, which are monitored by the monitoring module, and adjusting the flight attitude in real time according to a preset target;
and the delayed blasting module is used for controlling the blasting time of the projectile body and finishing time adjustment work according to the instruction given by the main control unit.
2. The intelligent control system for agricultural and forestry unmanned aerial vehicles based on accurate guidance and delayed blasting according to claim 1, wherein the monitoring module comprises an infrared radar range finder and a temperature sensor.
3. The intelligent control system for the agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting as claimed in claim 1, wherein the wireless transmission module is used for realizing remote communication and data transmission between the monitoring module and the main control unit.
4. The intelligent control system for the agriculture and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting as claimed in claim 1, wherein the monitoring module is connected with the accurate guidance module and transmits flight attitude information to the accurate guidance module.
5. The intelligent control system for the agricultural and forestry unmanned aerial vehicle based on accurate guidance and time-delay blasting according to claim 1, wherein the time-delay blasting module adopts a timer component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210069989.6A CN114415727A (en) | 2022-01-21 | 2022-01-21 | Intelligent control system of agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting |
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| CN202210069989.6A CN114415727A (en) | 2022-01-21 | 2022-01-21 | Intelligent control system of agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting |
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|---|---|---|---|---|
| CN109341442A (en) * | 2018-09-25 | 2019-02-15 | 湖南科华军融民科技研究院有限公司 | A kind of GNSS and INS integrated navigation precise guidance Extinguishing bomb device |
| CN109443115A (en) * | 2018-12-14 | 2019-03-08 | 江苏溧航航空科技有限公司 | A kind of fire extinguisher bomb system with the compound time-delay fuze of electronics |
| CN110302488A (en) * | 2019-06-12 | 2019-10-08 | 天府新区西南交通大学研究院 | Autonomous fire-fighting UAV system and fire-fighting method |
| KR20200059522A (en) * | 2018-11-21 | 2020-05-29 | 대한민국(산림청 국립산림과학원장) | A Control System for Forest Fire using Unmanned Aerial Vehicle |
| CN113008087A (en) * | 2021-04-16 | 2021-06-22 | 山东龙翼航空科技有限公司 | Laser guidance projection fire extinguishing bomb |
| CN113244547A (en) * | 2021-06-21 | 2021-08-13 | 宇称智控(北京)科技有限公司 | Accurate guidance fire extinguishing bomb system applied to forest fire extinguishing |
| KR102307251B1 (en) * | 2021-04-15 | 2021-09-30 | (주)네온테크 | Fire-fighting drone equipped with fire extinguishing bomb and fire extinguishing method by the same |
-
2022
- 2022-01-21 CN CN202210069989.6A patent/CN114415727A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341442A (en) * | 2018-09-25 | 2019-02-15 | 湖南科华军融民科技研究院有限公司 | A kind of GNSS and INS integrated navigation precise guidance Extinguishing bomb device |
| KR20200059522A (en) * | 2018-11-21 | 2020-05-29 | 대한민국(산림청 국립산림과학원장) | A Control System for Forest Fire using Unmanned Aerial Vehicle |
| CN109443115A (en) * | 2018-12-14 | 2019-03-08 | 江苏溧航航空科技有限公司 | A kind of fire extinguisher bomb system with the compound time-delay fuze of electronics |
| CN110302488A (en) * | 2019-06-12 | 2019-10-08 | 天府新区西南交通大学研究院 | Autonomous fire-fighting UAV system and fire-fighting method |
| KR102307251B1 (en) * | 2021-04-15 | 2021-09-30 | (주)네온테크 | Fire-fighting drone equipped with fire extinguishing bomb and fire extinguishing method by the same |
| CN113008087A (en) * | 2021-04-16 | 2021-06-22 | 山东龙翼航空科技有限公司 | Laser guidance projection fire extinguishing bomb |
| CN113244547A (en) * | 2021-06-21 | 2021-08-13 | 宇称智控(北京)科技有限公司 | Accurate guidance fire extinguishing bomb system applied to forest fire extinguishing |
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