CN117413815A - Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system - Google Patents
Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system Download PDFInfo
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- CN117413815A CN117413815A CN202311743704.3A CN202311743704A CN117413815A CN 117413815 A CN117413815 A CN 117413815A CN 202311743704 A CN202311743704 A CN 202311743704A CN 117413815 A CN117413815 A CN 117413815A
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- 241000607479 Yersinia pestis Species 0.000 title claims abstract description 22
- 241000238631 Hexapoda Species 0.000 title claims abstract description 15
- 201000010099 disease Diseases 0.000 title claims abstract description 15
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 15
- 239000007921 spray Substances 0.000 title claims description 28
- 238000005507 spraying Methods 0.000 claims abstract description 112
- 238000012544 monitoring process Methods 0.000 claims abstract description 44
- 239000003814 drug Substances 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 24
- 229940079593 drug Drugs 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 239000007788 liquid Substances 0.000 claims description 23
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000007405 data analysis Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000002360 preparation method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- -1 seed Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
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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
- A01M7/0089—Regulating or controlling systems
-
- 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
- B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
-
- 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
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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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
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The invention discloses a spraying treatment system of a forestry plant diseases and insect pests unmanned aerial vehicle, and belongs to the technical field of forestry plant diseases and insect pests treatment. The device comprises a spraying unmanned aerial vehicle, a current drug quantity monitoring module, a calibration terminal, an off-line communication module, an obstacle avoidance module, a field control platform and a standby takeoff calculation module; the spraying unmanned aerial vehicle comprises a working unmanned aerial vehicle and a standby unmanned aerial vehicle; the current dosage monitoring module is arranged on the unmanned spraying plane, the calibration terminal comprises a first calibration terminal and a second calibration terminal, and the first calibration terminal and the second calibration terminal comprise a longitude and latitude positioning module and an altitude measuring instrument; the Bluetooth communication module is connected with the monitoring controller; the obstacle avoidance module is fixed on the spraying unmanned aerial vehicle, and the spraying treatment system of the forestry plant diseases and insect pests unmanned aerial vehicle can automatically generate a spraying path, and does not have a spraying dead angle phenomenon on the same spraying path and adjacent spraying paths.
Description
Technical Field
The invention particularly relates to a spraying treatment system of a forestry plant diseases and insect pests unmanned aerial vehicle, and belongs to the technical field of forestry plant diseases and insect pests treatment.
Background
Forestry plant diseases and insect pests unmanned aerial vehicle is also known as plant protection unmanned aerial vehicle, is the unmanned aerial vehicle that is used for agriculture and forestry plant protection operation, this unmanned aerial vehicle is by flight deck, navigation flight control and spray mechanism triplex, fly the accuse through ground remote control or navigation, realize spraying operation, can spray medicament, seed, powder etc. and it is comparatively extensive to use in forestry plant diseases and insect pests control, when current forestry plant diseases and insect pests unmanned aerial vehicle operation, mainly spray medicament to the region that needs to administer through controller control unmanned aerial vehicle, can not actively judge whether this regional position spouts the medicine repeatedly many times, for this, chinese patent publication No.: CN114852340a discloses a spraying treatment system for unmanned aerial vehicle for forestry diseases and insect pests, when the unmanned aerial vehicle body flies repeatedly, the picture information of the position is uploaded into the data storage module again, at this time, the area identification analysis module marks the main features in the picture again, and compares the main features with the picture data stored in the data storage module one by one, the comparison information is matched with each other, so as to judge that the position has sprayed medicine repeatedly; however, due to the relation between mountain forest topography and forest height, when the unmanned aerial vehicle is sprayed, the spraying height is required to be adjusted according to the height of the forest, so that the height and longitude and latitude of the unmanned aerial vehicle are in a dynamic state, and due to the fact that the unmanned aerial vehicle is at different heights, the width of an atomized belt under spraying is greatly different, the spraying treatment system cannot realize accurate height positioning and position positioning, and when the unmanned aerial vehicle is sprayed and butted in front and back times, spraying dead angles are easy to occur; and when the existing spraying operation is performed, the spraying paths are controlled to participate manually, and the phenomenon that the front and back spraying paths coincide or the spraying dead angle occurs easily occurs.
Disclosure of Invention
In order to solve the problems, the invention provides a spraying treatment system of an unmanned aerial vehicle for forestry diseases and insect pests, which can automatically generate spraying paths, and does not generate spraying dead angles on the same spraying paths and adjacent spraying paths.
The invention relates to a forestry plant diseases and insect pests unmanned aerial vehicle spraying treatment system, which comprises:
the unmanned spraying machine comprises an operation unmanned machine and a standby unmanned machine;
the current drug quantity monitoring module is arranged on the spraying unmanned aerial vehicle and comprises a liquid level transmitter connected with the monitoring controller, a timer and a flow transmitter, wherein the liquid level transmitter is arranged in a drug kettle of the spraying unmanned aerial vehicle, and the flow transmitter is arranged on a liquid outlet pipeline of the spraying unmanned aerial vehicle; the monitoring controller is connected with a temporary memory;
the system comprises a calibration terminal, a first control terminal and a second control terminal, wherein the calibration terminal comprises a first calibration terminal and a second calibration terminal, the first calibration terminal is fixed on a spraying unmanned aerial vehicle, the second calibration terminal is movably arranged at a flying spot of the unmanned aerial vehicle, and the first calibration terminal and the second calibration terminal both comprise a longitude and latitude positioning module and an altitude meter; the longitude and latitude positioning module and the altitude measuring instrument of the first calibration terminal are connected to the monitoring controller; the longitude and latitude positioning module and the altitude measuring instrument of the second calibration terminal are connected to a calibration controller;
the off-line communication module is a Bluetooth communication module fixed on the spraying unmanned aerial vehicle and is connected to the monitoring controller;
the unmanned aerial vehicle comprises an obstacle avoidance module, a steering engine module, a control module and a control module, wherein the obstacle avoidance module is fixed on the unmanned aerial vehicle, the obstacle avoidance module comprises a trace searching module arranged on the unmanned aerial vehicle and a first obstacle avoidance vision sensor arranged at the bottom of the unmanned aerial vehicle, the trace searching module and the first obstacle avoidance vision sensor are connected to an obstacle avoidance controller, and the obstacle avoidance controller is in communication connection with the steering engine module of the unmanned aerial vehicle;
the spraying unmanned aerial vehicle, the current drug quantity monitoring module and the flying spot calibration terminal are connected to the field control platform; the field control platform is connected with a manual and automatic switching button, a following and returning button and a recall button;
and the standby machine take-off calculation module is arranged in the field control platform.
The spraying unmanned aerial vehicle adopts one or more groups of operation unmanned aerial vehicles and standby unmanned aerial vehicles, wherein the operation unmanned aerial vehicles and the standby unmanned aerial vehicles are mutually alternated, namely when the standby unmanned aerial vehicles enter a spraying position to work, at the moment, the standby unmanned aerial vehicles are converted into operation unmanned aerial vehicles, and when the operation unmanned aerial vehicles return to a flying spot to refuel and fill spraying liquid, the operation unmanned aerial vehicles are converted into standby unmanned aerial vehicles;
when the unmanned aerial vehicle is in operation, a current dosage monitoring module on the unmanned aerial vehicle feeds back the residual spraying quantity in real time, residual spraying time is calculated, a field control platform acquires altitude and longitude and latitude data of the unmanned aerial vehicle and the flying point through a calibration terminal, and then the distance, the path and the required flight time between the unmanned aerial vehicle and the flying point are calculated through the field control platform; the standby aircraft take-off calculation module calculates take-off time of the standby aircraft unmanned aerial vehicle; after the unmanned aerial vehicle of the standby aircraft takes off, the unmanned aerial vehicle is communicated with the operation unmanned aerial vehicle through the off-line communication module, so that the control instructions can be mutually sent; when the standby unmanned aerial vehicle flies to the working unmanned aerial vehicle, the obstacle avoidance module is used for avoiding the obstacle and carrying out tracking and following on the working unmanned aerial vehicle; after the tracking and following are completed, the operation unmanned aerial vehicle returns to the flying spot, and the standby unmanned aerial vehicle enters the operation position of the operation unmanned aerial vehicle to carry out spraying operation.
When the monitoring controller calculates the current medicine amount, the current liquid level data in the medicine kettle is monitored in real time through the liquid level transmitter, the current residual medicine amount is calculated according to the medicine kettle volume, the time value required to be calculated after the medicine liquid in the medicine kettle is sprayed is calculated according to the flow data acquired by the flow transmitter, when the monitoring controller starts a signal for a pressure pump of a spraying unmanned aerial vehicle, the monitoring controller synchronously gives a signal for a timer, the timer counts time, the time value required to be estimated after the medicine liquid in the medicine kettle is sprayed can be obtained by presetting the average time required to finish the medicine liquid in the medicine kettle in the monitoring controller and subtracting the time counted by the timer from the average time; the start and stop of the timer are synchronously carried out along with the start and stop of the pressure pump, and when the unmanned aerial vehicle is sprayed for returning, the timer is automatically cleared; the monitoring controller feeds back the calculated time value and the estimated time value to the field control platform in real time.
The method comprises the steps that a current medicine amount monitoring module feeds back the residual medicine amount spraying time data, longitude and latitude data and altitude data to a field control platform in real time, the field control platform obtains the residual spraying time of a current medicine pot and the flight time required by an unmanned aerial vehicle from a flying point to a working unmanned aerial vehicle which is working currently, when the time difference between the residual spraying time and the flight time is lower than a first set time threshold value, a standby aircraft take-off calculation module sends out a take-off preparation instruction, when the time difference is lower than a second set time threshold value, the standby aircraft take-off calculation module sends out a take-off instruction, the field control platform switches a manual take-off mode and an automatic take-off mode to realize the take-off operation of the standby unmanned aerial vehicle, when the unmanned aerial vehicle is in the manual take-off mode, a take-off button needs to be pressed on the field control platform, and when the unmanned aerial vehicle is in the automatic take-off mode, the field control platform directly controls the take-off operation of the unmanned aerial vehicle of the preparation machine;
the flight time required for the unmanned aerial vehicle to fly from the departure point to the currently working unmanned aerial vehicle is calculated as follows:
the method comprises the steps of obtaining a linear height difference between a first calibration terminal and a second calibration terminal through calculation of an altitude altimeter of the first calibration terminal and a second calibration terminal, calculating a linear horizontal distance between the first calibration terminal and the second calibration terminal through longitude and latitude of a longitude and latitude positioning module of the first calibration terminal and longitude and latitude of a longitude and latitude positioning module of the second calibration terminal, respectively taking the linear height difference and the linear horizontal distance as two right-angle sides of a right-angle triangle, calculating the length of a hypotenuse through a Pythagorean theorem, dividing the linear distance by the average flight speed of a spraying unmanned aerial vehicle to obtain uniform flight time, and adding the uniform flight time to a preset initial stage climbing preparation time to obtain the flight time from a departure point to a target point.
Before the unmanned aerial vehicle of the standby aircraft takes off, the standby aircraft takes off and calculates the module and transmits the calculated flight path or flight end point to the temporary storage of the unmanned aerial vehicle of the standby aircraft, then, the unmanned aerial vehicle of the standby aircraft takes off according to the flight path or flight end point which is preset, when the distance threshold value is set for the distance from the flight end point, the obstacle avoidance module is started, when the obstacle avoidance module monitors that the distance between the unmanned aerial vehicle and the unmanned aerial vehicle of the operation reaches the set distance, the unmanned aerial vehicle of the standby aircraft is lifted for 2-3 m and continuously approaches to the unmanned aerial vehicle of the operation until the Bluetooth communication module is automatically matched and connected, the unmanned aerial vehicle of the standby aircraft transmits a hover instruction to the unmanned aerial vehicle of the operation through the Bluetooth communication module, at this moment, the unmanned aerial vehicle of the standby aircraft carries out tracking on the unmanned aerial vehicle of the operation, the tracking direction is the monitoring direction of the obstacle avoidance module, the obstacle avoidance controller monitors whether the unmanned aerial vehicle of the standby aircraft reaches the unmanned aerial vehicle of the operation through the first obstacle avoidance vision sensor, and when the monitoring reaches the right above, the altitude difference between the unmanned aerial vehicle of the standby aircraft and the unmanned aerial vehicle of the operation is measured; at the moment, working according to a following mode or a returning mode sent by the site control platform in advance, and when the returning mode is carried out, whether the operation unmanned aerial vehicle finishes liquid medicine spraying in the medicine kettle or not, the operation unmanned aerial vehicle directly returns to a flying spot, the standby unmanned aerial vehicle descends to measure the height difference, replaces the position of the operation unmanned aerial vehicle, and continues spraying operation; when the operation unmanned aerial vehicle works in the following mode, the operation unmanned aerial vehicle sprays, meanwhile, the standby unmanned aerial vehicle follows through the first obstacle avoidance vision sensor until the operation unmanned aerial vehicle finishes spraying, the operation unmanned aerial vehicle sends a hovering instruction to the standby unmanned aerial vehicle through the Bluetooth communication module, the operation unmanned aerial vehicle returns to a flying point, after the first obstacle avoidance vision sensor of the standby unmanned aerial vehicle cannot detect an operation unmanned aerial vehicle signal, the operation unmanned aerial vehicle descends to the position of the operation unmanned aerial vehicle, and spraying operation is continued; and in the set time, the Bluetooth communication modules of the standby unmanned aerial vehicle and the operation unmanned aerial vehicle are not matched, and the control instructions of the standby unmanned aerial vehicle and the operation unmanned aerial vehicle are transferred through the field control platform.
Further, the trace searching module is a laser radar module fixed on the top of the spraying unmanned aerial vehicle; or be fixed in spraying unmanned aerial vehicle circumference a plurality of second and keep away barrier vision sensor, adjacent second keeps away barrier vision sensor monitoring angle and is provided with the overlap area.
Further, a 360-degree electric rotating platform is arranged between the laser radar module and the unmanned spraying machine, the 360-degree electric rotating platform drives the laser radar module to perform tracking, and after a target is found, the 360-degree electric rotating platform stops rotating, and the laser radar module waits for target tracking and distance acquisition.
Further, the on-site control platform is in communication connection with a forest zone fitting module, the forest zone fitting module comprises a forest zone boundary line calibration assembly, the forest zone boundary line calibration assembly is a positioning unmanned aerial vehicle carrying a camera, a fitting acquisition controller is arranged on the positioning unmanned aerial vehicle and is respectively connected with a synchronous clock module, a longitude and latitude positioning module and the camera, and the output end of the fitting acquisition controller is connected to the on-site control platform; the field control platform is also connected with track processing equipment; when the positioning unmanned aerial vehicle operates, the positioning unmanned aerial vehicle is controlled to fly along a boundary line of a forest zone through the control handle, signals are given to the fitting acquisition controller through the control handle, the fitting acquisition controller gives signals to the longitude and latitude positioning module and the camera, the longitude and latitude positioning module and the camera acquire data respectively, and the two groups of acquired data are synchronized to the same time point through the synchronous clock module.
Further, the track processing equipment comprises a data analysis module, a path selection module and a forest fitting generation module; the field control platform acquires a packaging file sent by the fitting acquisition controller, the packaging file is sent to the data analysis module, and the data analysis module outputs a live-action video file with time and a longitude and latitude track line file with time; the timelines of the live video file and the longitude and latitude track line file are synchronized by a synchronous clock module; the method comprises the steps that a path selection module obtains a live-action video file, a plurality of video segments conforming to a forest boundary line are selected on the live-action video file, a forest fitting generation module obtains the selected video segments, each video segment is provided with a time segment, a forest fitting generation module obtains a plurality of longitude and latitude track lines matched with the video segments according to the time segments as indexes, then the forest fitting generation module carries out forest boundary line fitting, during fitting, end point longitude and latitude data of two adjacent longitude and latitude track lines are collected, and the two end point longitude and latitude data are fitted through a fitting straight line to complete forest boundary line fitting, and a fitting operation area is output.
Further, a spray path automatic generation module is arranged on the field control platform; the automatic spray path generation module comprises a fitting operation area acquisition module, a division setting module and a spray path generation module; the fitting operation area acquisition module is communicated with the forest area fitting generation module to acquire fitting operation area data, then, the operation mode is selected firstly through the division setting module, then the spraying bandwidth is selected, after the selection and the determination are completed, the spraying path generation module automatically generates a spraying mode, the operation mode is a block spraying mode, a linear spraying mode and an S-shaped spraying mode, and the automatic generating spraying mode is to output N groups of longitude and latitude track lines.
Further, the forest boundary line calibration component is a portable terminal, a portable acquisition controller is arranged in the portable terminal, the portable acquisition controller is respectively connected with a start-stop button and a longitude and latitude positioning module, and the output end of the portable acquisition controller is connected to a field control platform.
Compared with the prior art, the forestry plant diseases and insect pests unmanned aerial vehicle spraying treatment system can automatically generate a spraying path, the unmanned aerial vehicle sprays according to the path in the longitude and latitude direction, the height direction carries out automatic bottom obstacle avoidance and height tracking through the first obstacle avoidance visual sensor, the operation unmanned aerial vehicle and the standby unmanned aerial vehicle are matched, and two groups of spraying unmanned aerial vehicles are replaced in the same planning path.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a connection structure of each module on the unmanned spraying plane.
FIG. 3 is a schematic diagram of the overall workflow of the unmanned aerial vehicle spray abatement system of the present invention.
Fig. 4 is a schematic diagram of the workflow of the current medication quantity monitoring module of the present invention.
Fig. 5 is a schematic workflow diagram of a standby takeoff calculation module according to the present invention.
Fig. 6 is a schematic diagram of the overall workflow of the spray drone of the present invention.
Fig. 7 is a schematic diagram of a connection structure between a field control platform and a forest fitting module according to the present invention.
Fig. 8 is a schematic diagram of a connection structure of a track processing apparatus according to the present invention.
FIG. 9 is a schematic diagram of the workflow of the track processing apparatus of the present invention.
Fig. 10 is a schematic view of a spray path automatic generation module structure according to the present invention.
Fig. 11 is a schematic diagram of a portable terminal according to the present invention.
Detailed Description
Example 1:
forestry pest unmanned aerial vehicle spray abatement system as shown in fig. 1 and 2 includes:
the unmanned spraying machine comprises an operation unmanned machine and a standby unmanned machine;
the current drug quantity monitoring module is arranged on the spraying unmanned aerial vehicle and comprises a liquid level transmitter connected with the monitoring controller, a timer and a flow transmitter, wherein the liquid level transmitter is arranged in a drug kettle of the spraying unmanned aerial vehicle, and the flow transmitter is arranged on a liquid outlet pipeline of the spraying unmanned aerial vehicle; the monitoring controller is connected with a temporary memory;
the system comprises a calibration terminal, a first control terminal and a second control terminal, wherein the calibration terminal comprises a first calibration terminal and a second calibration terminal, the first calibration terminal is fixed on a spraying unmanned aerial vehicle, the second calibration terminal is movably arranged at a flying spot of the unmanned aerial vehicle, and the first calibration terminal and the second calibration terminal both comprise a longitude and latitude positioning module and an altitude meter; the longitude and latitude positioning module and the altitude measuring instrument of the first calibration terminal are connected to the monitoring controller; the longitude and latitude positioning module and the altitude measuring instrument of the second calibration terminal are connected to a calibration controller;
the off-line communication module is a Bluetooth communication module fixed on the spraying unmanned aerial vehicle and is connected to the monitoring controller;
the unmanned aerial vehicle comprises an obstacle avoidance module, a steering engine module, a control module and a control module, wherein the obstacle avoidance module is fixed on the unmanned aerial vehicle, the obstacle avoidance module comprises a trace searching module arranged on the unmanned aerial vehicle and a first obstacle avoidance vision sensor arranged at the bottom of the unmanned aerial vehicle, the trace searching module and the first obstacle avoidance vision sensor are connected to an obstacle avoidance controller, and the obstacle avoidance controller is in communication connection with the steering engine module of the unmanned aerial vehicle;
the spraying unmanned aerial vehicle, the current drug quantity monitoring module and the flying spot calibration terminal are connected to the field control platform; the field control platform is connected with a manual and automatic switching button, a following and returning button and a recall button;
and the standby machine take-off calculation module is arranged in the field control platform.
The spraying unmanned aerial vehicle adopts one or more groups of operation unmanned aerial vehicles and standby unmanned aerial vehicles, wherein the operation unmanned aerial vehicles and the standby unmanned aerial vehicles are mutually alternated, namely when the standby unmanned aerial vehicles enter a spraying position to work, at the moment, the standby unmanned aerial vehicles are converted into operation unmanned aerial vehicles, and when the operation unmanned aerial vehicles return to a flying spot to refuel and fill spraying liquid, the operation unmanned aerial vehicles are converted into standby unmanned aerial vehicles;
as shown in fig. 3, when the unmanned aerial vehicle is in operation, a current dosage monitoring module on the unmanned aerial vehicle feeds back the residual spraying quantity in real time, calculates the residual spraying time, acquires altitude and longitude and latitude data of the unmanned aerial vehicle and the flying point through a calibration terminal, and then calculates the distance, the path and the required flying time between the unmanned aerial vehicle and the flying point through the on-site control platform; the standby aircraft take-off calculation module calculates take-off time of the standby aircraft unmanned aerial vehicle; after the unmanned aerial vehicle of the standby aircraft takes off, the unmanned aerial vehicle is communicated with the operation unmanned aerial vehicle through the off-line communication module, so that the control instructions can be mutually sent; when the standby unmanned aerial vehicle flies to the working unmanned aerial vehicle, the obstacle avoidance module is used for avoiding the obstacle and carrying out tracking and following on the working unmanned aerial vehicle; after the tracking and following are completed, the operation unmanned aerial vehicle returns to the flying spot, and the standby unmanned aerial vehicle enters the operation position of the operation unmanned aerial vehicle to carry out spraying operation.
As shown in fig. 4, when the monitoring controller calculates the current dosage, the monitoring controller monitors the current liquid level data in the medicine kettle in real time through the liquid level transmitter, calculates the current residual dosage according to the volume of the medicine kettle, calculates the required calculated time value after the medicine liquid in the medicine kettle is sprayed according to the flow data acquired by the flow transmitter, and when the monitoring controller starts a signal for a pressure pump of the spraying unmanned aerial vehicle, the monitoring controller synchronously gives a timer signal, the timer counts time, and the required estimated time value after the medicine liquid in the medicine kettle is sprayed can be obtained by presetting the average time for completing the medicine liquid requirement of the medicine kettle in the monitoring controller and subtracting the timer counting time from the average time; the start and stop of the timer are synchronously carried out along with the start and stop of the pressure pump, and when the unmanned aerial vehicle is sprayed for returning, the timer is automatically cleared; the monitoring controller feeds back the calculated time value and the estimated time value to the field control platform in real time.
As shown in fig. 5, the current drug quantity monitoring module feeds back the residual drug quantity spraying time data, longitude and latitude data and altitude data to the field control platform in real time, the field control platform acquires the residual spraying time of the current drug kettle and the flight time required by the unmanned aerial vehicle from the flying point to the working unmanned aerial vehicle currently working, when the time difference between the residual spraying time and the flight time is lower than a first set time threshold value, the standby take-off calculation module sends a take-off preparation instruction, when the time difference is lower than a second set time threshold value, the standby take-off calculation module sends a take-off instruction, the field control platform switches a manual take-off mode and an automatic take-off mode to realize the take-off operation of the standby unmanned aerial vehicle, when the manual take-off mode is in, the field control platform needs to press a take-off button, and when the automatic take-off mode is in the field control platform directly controls the take-off operation of the unmanned aerial vehicle;
the flight time required for the unmanned aerial vehicle to fly from the departure point to the currently working unmanned aerial vehicle is calculated as follows:
the method comprises the steps of obtaining a linear height difference between a first calibration terminal and a second calibration terminal through calculation of an altitude altimeter of the first calibration terminal and a second calibration terminal, calculating a linear horizontal distance between the first calibration terminal and the second calibration terminal through longitude and latitude of a longitude and latitude positioning module of the first calibration terminal and longitude and latitude of a longitude and latitude positioning module of the second calibration terminal, respectively taking the linear height difference and the linear horizontal distance as two right-angle sides of a right-angle triangle, calculating the length of a hypotenuse through a Pythagorean theorem, dividing the linear distance by the average flight speed of a spraying unmanned aerial vehicle to obtain uniform flight time, and adding the uniform flight time to a preset initial stage climbing preparation time to obtain the flight time from a departure point to a target point.
As shown in fig. 6, before the standby unmanned aerial vehicle takes off, the standby unmanned aerial vehicle takes off and calculates the module to transmit the calculated flight path or flight end point to the temporary storage of the standby unmanned aerial vehicle, then the standby unmanned aerial vehicle takes off according to the preset flight path or flight end point, when the distance threshold value is set for the distance from the flight end point, the obstacle avoidance module is started, after the obstacle avoidance module monitors that the distance between the standby unmanned aerial vehicle and the operation unmanned aerial vehicle reaches the set distance, the standby unmanned aerial vehicle is lifted for 2-3 m and continuously approaches to the operation unmanned aerial vehicle until the bluetooth communication module is automatically matched and connected, the standby unmanned aerial vehicle sends a hover instruction to the operation unmanned aerial vehicle through the bluetooth communication module, at this time, the standby unmanned aerial vehicle carries out tracking on the operation unmanned aerial vehicle, the tracking direction is the obstacle avoidance module monitoring direction, the obstacle avoidance controller monitors whether the standby unmanned aerial vehicle reaches the operation unmanned aerial vehicle or not through the first obstacle avoidance vision sensor, and when the monitoring reaches the right upper side, the height difference between the standby unmanned aerial vehicle and the operation unmanned aerial vehicle is measured; at the moment, working according to a following mode or a returning mode sent by the site control platform in advance, and when the returning mode is carried out, whether the operation unmanned aerial vehicle finishes liquid medicine spraying in the medicine kettle or not, the operation unmanned aerial vehicle directly returns to a flying spot, the standby unmanned aerial vehicle descends to measure the height difference, replaces the position of the operation unmanned aerial vehicle, and continues spraying operation; when the operation unmanned aerial vehicle works in the following mode, the operation unmanned aerial vehicle sprays, meanwhile, the standby unmanned aerial vehicle follows through the first obstacle avoidance vision sensor until the operation unmanned aerial vehicle finishes spraying, the operation unmanned aerial vehicle sends a hovering instruction to the standby unmanned aerial vehicle through the Bluetooth communication module, the operation unmanned aerial vehicle returns to a flying point, after the first obstacle avoidance vision sensor of the standby unmanned aerial vehicle cannot detect an operation unmanned aerial vehicle signal, the operation unmanned aerial vehicle descends to the position of the operation unmanned aerial vehicle, and spraying operation is continued; and in the set time, the Bluetooth communication modules of the standby unmanned aerial vehicle and the operation unmanned aerial vehicle are not matched, and the control instructions of the standby unmanned aerial vehicle and the operation unmanned aerial vehicle are transferred through the field control platform.
The tracking module is a laser radar module fixed on the top of the spraying unmanned aerial vehicle; or be fixed in spraying unmanned aerial vehicle circumference a plurality of second and keep away barrier vision sensor, adjacent second keeps away barrier vision sensor monitoring angle and is provided with the overlap area.
And a 360-degree electric rotating platform is arranged between the laser radar module and the unmanned spraying machine, the 360-degree electric rotating platform drives the laser radar module to perform tracking, and after a target is found, the 360-degree electric rotating platform stops rotating and waits for the laser radar module to perform target tracking and distance acquisition.
As shown in fig. 7, the on-site control platform is in communication connection with a forest zone fitting module, the forest zone fitting module comprises a forest zone boundary line calibration assembly, the forest zone boundary line calibration assembly is a positioning unmanned aerial vehicle carrying a camera, a fitting acquisition controller is installed on the positioning unmanned aerial vehicle, the fitting acquisition controller is respectively connected with a synchronous clock module, a longitude and latitude positioning module and the camera, and the output end of the fitting acquisition controller is connected to the on-site control platform; the field control platform is also connected with track processing equipment; when the positioning unmanned aerial vehicle operates, the positioning unmanned aerial vehicle is controlled to fly along a boundary line of a forest zone through the control handle, signals are given to the fitting acquisition controller through the control handle, the fitting acquisition controller gives signals to the longitude and latitude positioning module and the camera, the longitude and latitude positioning module and the camera acquire data respectively, and the two groups of acquired data are synchronized to the same time point through the synchronous clock module.
As shown in fig. 8 and 9, the track processing device includes a data parsing module, a path selecting module and a forest fitting generating module; the field control platform acquires a packaging file sent by the fitting acquisition controller, the packaging file is sent to the data analysis module, and the data analysis module outputs a live-action video file with time and a longitude and latitude track line file with time; the timelines of the live video file and the longitude and latitude track line file are synchronized by a synchronous clock module; the method comprises the steps that a path selection module obtains a live-action video file, a plurality of video segments conforming to a forest boundary line are selected on the live-action video file, a forest fitting generation module obtains the selected video segments, each video segment is provided with a time segment, a forest fitting generation module obtains a plurality of longitude and latitude track lines matched with the video segments according to the time segments as indexes, then the forest fitting generation module carries out forest boundary line fitting, during fitting, end point longitude and latitude data of two adjacent longitude and latitude track lines are collected, and the two end point longitude and latitude data are fitted through a fitting straight line to complete forest boundary line fitting, and a fitting operation area is output.
As shown in fig. 10, the on-site control platform is provided with a spray path automatic generation module; the automatic spray path generation module comprises a fitting operation area acquisition module, a division setting module and a spray path generation module; the fitting operation area acquisition module is communicated with the forest area fitting generation module to acquire fitting operation area data, then, the operation mode is selected firstly through the division setting module, then the spraying bandwidth is selected, after the selection and the determination are completed, the spraying path generation module automatically generates a spraying mode, the operation mode is a block spraying mode, a linear spraying mode and an S-shaped spraying mode, and the automatic generating spraying mode is to output N groups of longitude and latitude track lines.
As shown in fig. 11, the forest boundary line calibration component is a portable terminal, a portable acquisition controller is arranged in the portable terminal, the portable acquisition controller is respectively connected with a start-stop button and a longitude and latitude positioning module, and the output end of the portable acquisition controller is connected to a field control platform.
The above embodiments are merely preferred embodiments of the present invention, and all changes and modifications that come within the meaning and range of equivalency of the structures, features and principles of the invention are therefore intended to be embraced therein.
Claims (7)
1. Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system, its characterized in that: comprising the following steps:
the unmanned spraying machine comprises an operation unmanned machine and a standby unmanned machine;
the current drug quantity monitoring module is arranged on the spraying unmanned aerial vehicle and comprises a liquid level transmitter connected with the monitoring controller, a timer and a flow transmitter, wherein the liquid level transmitter is arranged in a drug kettle of the spraying unmanned aerial vehicle, and the flow transmitter is arranged on a liquid outlet pipeline of the spraying unmanned aerial vehicle; the monitoring controller is connected with a temporary memory;
the system comprises a calibration terminal, a first control terminal and a second control terminal, wherein the calibration terminal comprises a first calibration terminal and a second calibration terminal, the first calibration terminal is fixed on a spraying unmanned aerial vehicle, the second calibration terminal is movably arranged at a flying spot of the unmanned aerial vehicle, and the first calibration terminal and the second calibration terminal both comprise a longitude and latitude positioning module and an altitude meter; the longitude and latitude positioning module and the altitude measuring instrument of the first calibration terminal are connected to the monitoring controller; the longitude and latitude positioning module and the altitude measuring instrument of the second calibration terminal are connected to a calibration controller;
the off-line communication module is a Bluetooth communication module fixed on the spraying unmanned aerial vehicle and is connected to the monitoring controller;
the unmanned aerial vehicle comprises an obstacle avoidance module, a steering engine module, a control module and a control module, wherein the obstacle avoidance module is fixed on the unmanned aerial vehicle, the obstacle avoidance module comprises a trace searching module arranged on the unmanned aerial vehicle and a first obstacle avoidance vision sensor arranged at the bottom of the unmanned aerial vehicle, the trace searching module and the first obstacle avoidance vision sensor are connected to an obstacle avoidance controller, and the obstacle avoidance controller is in communication connection with the steering engine module of the unmanned aerial vehicle;
the spraying unmanned aerial vehicle, the current drug quantity monitoring module and the flying spot calibration terminal are connected to the field control platform; the field control platform is connected with a manual and automatic switching button, a following and returning button and a recall button;
and the standby machine take-off calculation module is arranged in the field control platform.
2. A forestry pest control unmanned aerial vehicle spray management system as recited in claim 1, wherein: the trace searching module is a laser radar module fixed on the top of the spraying unmanned aerial vehicle; or be fixed in spraying unmanned aerial vehicle circumference a plurality of second and keep away barrier vision sensor, adjacent second keeps away barrier vision sensor monitoring angle and is provided with the overlap area.
3. A forestry pest unmanned aerial vehicle spray management system as recited in claim 2, wherein: and a 360-degree electric rotating platform is arranged between the laser radar module and the unmanned spraying machine.
4. A forestry pest control unmanned aerial vehicle spray management system as recited in claim 1, wherein: the on-site control platform is in communication connection with a forest zone fitting module, the forest zone fitting module comprises a forest zone boundary line calibration assembly, the forest zone boundary line calibration assembly is a positioning unmanned aerial vehicle carrying a camera, a fitting acquisition controller is arranged on the positioning unmanned aerial vehicle and is respectively connected with a synchronous clock module, a longitude and latitude positioning module and the camera, and the output end of the fitting acquisition controller is connected to the on-site control platform; the field control platform is also connected with track processing equipment.
5. A forestry pest control unmanned aerial vehicle spray management system as recited in claim 4, wherein: the track processing equipment comprises a data analysis module, a path selection module and a forest fitting generation module; the field control platform acquires a packaging file sent by the fitting acquisition controller, the packaging file is sent to the data analysis module, and the data analysis module outputs a live-action video file with time and a longitude and latitude track line file with time; the timelines of the live video file and the longitude and latitude track line file are synchronized by a synchronous clock module; the method comprises the steps that a path selection module obtains a live-action video file, a plurality of video segments conforming to a forest boundary line are selected on the live-action video file, a forest fitting generation module obtains the selected video segments, each video segment is provided with a time segment, a forest fitting generation module obtains a plurality of longitude and latitude track lines matched with the video segments according to the time segments as indexes, then the forest fitting generation module carries out forest boundary line fitting, during fitting, end point longitude and latitude data of two adjacent longitude and latitude track lines are collected, and the two end point longitude and latitude data are fitted through a fitting straight line to complete forest boundary line fitting, and a fitting operation area is output.
6. A forestry pest control unmanned aerial vehicle spray management system as recited in claim 5, wherein: the on-site control platform is provided with a spray path automatic generation module; the automatic spray path generation module comprises a fitting operation area acquisition module, a division setting module and a spray path generation module; the fitting operation area acquisition module is communicated with the forest area fitting generation module to acquire fitting operation area data, then, the operation mode is selected firstly through the division setting module, then the spraying bandwidth is selected, after the selection and the determination are completed, the spraying path generation module automatically generates a spraying mode, the operation mode is a block spraying mode, a linear spraying mode and an S-shaped spraying mode, and the automatic generating spraying mode is to output N groups of longitude and latitude track lines.
7. A forestry pest control unmanned aerial vehicle spray management system as recited in claim 4, wherein: the forest boundary line calibration assembly is a portable terminal, a portable acquisition controller is arranged in the portable terminal, the portable acquisition controller is respectively connected with a start-stop button and a longitude and latitude positioning module, and the output end of the portable acquisition controller is connected to a field control platform.
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