CN204415735U - A kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely - Google Patents
A kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely Download PDFInfo
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- CN204415735U CN204415735U CN201520075172.5U CN201520075172U CN204415735U CN 204415735 U CN204415735 U CN 204415735U CN 201520075172 U CN201520075172 U CN 201520075172U CN 204415735 U CN204415735 U CN 204415735U
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Abstract
The utility model discloses a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, comprise helicopter body and onboard electrical equipment, also comprise and fly control and navigation module, control module and mission payload module, the described control that flies comprises flight controller, attitude sensor, heading sensor, position transduser and height sensor with navigation module, described control module comprises airborne station and surface control station, and described mission payload module comprises spray appliance controller and pesticide dispersal equipment.The utility model, relative to existing pesticide spraying mode, first, avoids dispenser personnel and is exposed to around agricultural chemicals, reduce the risk of dispenser personnel pesticide poisoning; Secondly, depopulated helicopter is complete autonomous flight in the process of work, while improve sprinkling precision, so just it also avoid the waste of agricultural chemicals, save manpower and materials simultaneously.
Description
Technical field
The utility model relates to depopulated helicopter field, particularly relate to a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely.
Background technology
As everyone knows, agriculture autonomy-oriented mainly refers to that the technological means such as application autonomous control and automatic computer realize the autonomy-oriented of production and administration.Along with State owned land circulation, specialization of tilling the land, Unifying control implements and rural area labouring population reduce and the increase of human cost, agricultural autonomy-oriented is also imperative, agricultural autonomy-oriented comprises a lot of aspect, such as ploughing and weeding, cultivation, pesticide spraying, harvesting and transport etc., wherein agricultural spray development particularly rapid.
The sprinkling form of conventional crop agricultural chemicals mainly comprises following four kinds: the first, and artificial backpack sprayer performs crops pesticide spraying task; The second, use farm tractor to load agricultural chemicals and carry out farmland operation; 3rd, using large-scalely has people's aircraft to load agricultural chemicals to perform sprinkling task; 4th, use the dynamic or electronic plant protection depopulated helicopter of small-sized oil to perform pesticide spraying task.But all there is respective drawback in above four kinds of forms: first, for first two pesticide spraying mode, owing to will manually participate in directly in pesticide spraying, the not only a large amount of valuable human resources of waste, but also likely cause operational staff indirectly poisoning, so these two kinds of pesticide spraying modes are eliminated, the place only having minority very poor is in use; Flight tool is utilized to carry out pesticide spraying mode for latter two, the cost that the large-scale people's of having aircraft carries out pesticide spraying is higher, waste agricultural chemicals, and special landing site will be had, also have is exactly accident all can be had to occur when there being man-machine execution pesticide spraying task every year, cost is very large, so this pesticide spraying mode is also being eliminated gradually; When using the dynamic or electronic plant protection depopulated helicopter of small-sized oil to perform sprinkling task, it is all the form adopting manual remote control, high-grade a little installing additional of any increases steady flight control system, but general control accuracy is not high, and autonomy-oriented flight degree is also very limited, need the moment to dig-in aircraft during airplane operation person works, and the model plane of current domestic higher level manipulation hand limited amount, manipulation hand training and the cycle of putting into practice longer; Short during the boat of electronic plant protection depopulated helicopter, single rack subjob time general 4-10 minute, when adopting lithium electricity as electrical source of power, outfield operation also needs to configure electrical generator, in time for battery charges, therefore all not easily promotes on a large scale.
Utility model content
The purpose of this utility model be to provide a kind of can autonomous flight the unmanned helicopter system of spraying insecticide, in order to solve traditional flight autonomy-oriented limitation utilizing depopulated helicopter to carry out existing in the mode of pesticide spraying, pesticide spraying not problem accurately.
The utility model adopts following technical proposals:
A kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, comprise helicopter module, described helicopter module comprises helicopter body and onboard electrical equipment, described onboard electrical equipment comprises battery, switch, steering wheel and connection lead, also comprise and fly control and navigation module, control module and mission payload module, the described control that flies comprises flight controller with navigation module, attitude sensor, heading sensor, position transduser and height sensor, described control module comprises airborne station and surface control station, described mission payload module comprises spray appliance controller and pesticide dispersal equipment, described flight controller comprises PMU and central processing unit, described central processing unit comprises IO plate, keysets and microprocessor, described attitude sensor, heading sensor, the mouth of position transduser and height sensor is all electrically connected with the input end of the IO plate in the central processing unit of flight controller, the mouth of IO plate connects the input end of keysets, the mouth of keysets connects the input end of microprocessor, the mouth of microprocessor connects steering wheel and spray appliance controller by IO plate.
Described PMU comprises a DC/DC module, the 2nd DC/DC module and the 3rd DC/DC module.
Described microprocessor have employed the minimum circuit system based on PXA255.
Described pesticide dispersal equipment comprises 5 liters of agricultural chemicals capacity casees, pesticide spraying bar, atomizer and sprinkling water pumps.
Described helicopter body is that industrial grade Mini Tele-Copter AF25B, helicopter AF25B are outside equipped with half bag covering.
The lithium cell group that described battery adopts the lithium cell of two pieces of 22.2V to form.
The utility model discloses a kind of can autonomous flight the unmanned helicopter system of spraying insecticide, relative to existing pesticide spraying mode, first, avoid dispenser personnel and be exposed to around agricultural chemicals, reduce the risk of dispenser personnel pesticide poisoning; Secondly, depopulated helicopter is complete autonomous flight in the process of work, improves while spraying precision and avoids agricultural chemicals waste; Again, this system easily operates, and reduces operating personal threshold, more easily popularizes.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram described in the utility model;
Fig. 2 is the structural representation of the PMU described in this practicality.
Detailed description of the invention
As illustrated in fig. 1 and 2, a kind of can autonomous flight the unmanned helicopter system of spraying insecticide, comprise helicopter module, fly control and navigation module, control module and mission payload module, described helicopter module comprises helicopter body and onboard electrical equipment, described helicopter body is AF25B type helicopter, AF25B type helicopter is industrial grade Mini Tele-Copter, because it has that volume is little, load carrying ability large (maximum take-off weight 32Kg), uses the premium properties such as simple and dependable performance, be widely used in civilian taking photo by plane and the field such as Agricultural Monitoring.The utility model, according to the feature of AF25B type helicopter, is returned described AF25B type helicopter in use and is provided with half bag metal skin, also for the equipment of helicopter inside provides certain defencive function while increasing helicopter aesthetic measure.The onboard electrical equipment of AF25B type helicopter comprises power supply, switch, steering wheel and connection lead, the lithium cell group that described power acquisition is formed with the lithium cell of two pieces of 22.2V, and described lithium cell group adopts the redundant power supply design of dual input.
The described control that flies comprises flight controller, attitude sensor, heading sensor, position transduser and height sensor with navigation module; Described control module comprises airborne station and surface control station; Described mission payload module comprises spray appliance controller and pesticide dispersal equipment; Described pesticide dispersal equipment comprises 5 liters of agricultural chemicals capacity casees, pesticide spraying bar, atomizer and sprinkling water pumps; Described flight controller comprises PMU and central processing unit; Described central processing unit comprises IO plate, keysets and microprocessor; The mouth of described attitude sensor, heading sensor, position transduser and height sensor is all electrically connected with the input end of the IO plate in the central processing unit of flight controller, the mouth of IO plate connects the input end of keysets, the mouth of keysets connects the input end of microprocessor, and the mouth of microprocessor connects steering wheel and spray appliance controller by IO plate.Described PMU comprises a DC/DC module, 2nd DC/DC module and the 3rd DC/DC module, the 22.2V power supply signal produced when the lithium cell group of described depopulated helicopter can be converted to three kinds of power supply signals by PMU after entering PMU by IO plate, the first for 22.2V power supply signal enter a DC/DC module after be converted into 5V/10A power supply signal power to described steering wheel power supply and flight controller, the second be converted into 12V/1.5A after the power supply signal of 22.2V enters the 2nd DC/DC module power supply signal to described attitude sensor, heading sensor and airborne digital radio station power, the third power supply signal being 22.2V is converted into the power supply signal of 12V/3A as the optional power supply of powering to pesticide spraying water pump after entering the 3rd DC/DC module.Described IO plate comprises collection of simulant signal unit, D/A conversion unit and airborne digital radio station, and described microprocessor have employed the minimum circuit system based on PXA255.
When system works, first, unmanned helicopter system powers on by system operators, and flying quality is inputted in the control software design of surface control station (industrial computer), sprinkling work due to agricultural chemicals is all carry out in certain region, so these flying qualities are the position coordinates that can determine pesticide spraying region, after uploading flying quality, control software design can generate control command, then these control commands can be transferred to planning that surface control station finishes the work by industrial computer, and wait is taken off.(technology that mission planning belongs to existing routine is carried out to depopulated helicopter, has been widely used in depopulated helicopter field.）
Finish the work after planning, wireless telecommunications are carried out by the digital radio station on IO plate in surface control station (industrial computer) and unmanned helicopter flight controller, now, control command on surface control station (industrial computer) will be transferred in the airborne digital radio station in flight controller on IO plate by surface control station, then IO plate is by keysets and microprocessor communication, is transferred in microprocessor by described control command, simultaneously, IO plate collects and comprises attitude sensor, heading sensor, position transduser and height sensor sensor information are gone forward side by side row relax, these information collected due to sensor are all analog quantitys, and microprocessor can only processing digital signal, so IO plate will first pass through collection of simulant signal unit by this analog acquisition, keysets is transferred to after by D/A conversion unit these analog quantitys being converted to digital quantity again, then these digital quantities will be transferred to microprocessor according to the level agreement of keysets and communication protocol, then microprocessor can carry out computing to these signals, and compare with the mission planning that surface control station is transferred to microprocessor, depopulated helicopter steering wheel action correction depopulated helicopter attitude is driven afterwards by IO plate output port, make depopulated helicopter according to the Task Autonomous flight planned.
When depopulated helicopter is according to region autonomous flight planned in advance, when depopulated helicopter flies to predetermined pesticide spraying region, microprocessor in Central Processing Unit (CPU) can give spray appliance controller voltage signal, this voltage signal signal is transferred to the spray appliance controller on depopulated helicopter by IO plate output port, then spray appliance controller will be opened and spray the switch of water pump and carry out pesticide spraying operation.In the process of unmanned helicopter flight, system first can arrange a velocity amplitude, flight controller can be real-time according to sensor information the forward flight speed of acquisition depopulated helicopter, and central processing unit can control power supervisor to be selected according to the power supply voltage of this forward flight speed to spray appliance controller, if forward flight speed is less than setting value, so central processing unit will be selected to be powered to spraying water pump by the voltage of the 12V/3A of the 3rd DC/DC cell translation, if depopulated helicopter forward flight speed is greater than setting value, so central authorities' process will select lithium cell 22.2V voltage to power directly to sprinkling water pump.
The utility model discloses a kind of can autonomous flight the unmanned helicopter system of spraying insecticide, provide a kind of safer, accurate, efficient, low cost, easy-to-operate pesticide spraying technology.The utility model, relative to existing pesticide spraying mode, first, avoids dispenser personnel and is exposed to around agricultural chemicals, reduce the risk of dispenser personnel pesticide poisoning; Secondly, this system easily operates, and reduces operating personal threshold, more easily popularizes.
Claims (6)
1. one kind can autonomous flight the unmanned helicopter system of spraying insecticide entirely, comprise helicopter module, described helicopter module comprises helicopter body and onboard electrical equipment, described onboard electrical equipment comprises battery, switch, steering wheel and connection lead, it is characterized in that: also comprise and fly control and navigation module, control module and mission payload module, the described control that flies comprises flight controller with navigation module, attitude sensor, heading sensor, position transduser and height sensor, described control module comprises airborne station and surface control station, described mission payload module comprises spray appliance controller and pesticide dispersal equipment, described flight controller comprises PMU and central processing unit, described central processing unit comprises IO plate, keysets and microprocessor, described attitude sensor, heading sensor, the mouth of position transduser and height sensor is all electrically connected with the input end of the IO plate in the central processing unit of flight controller, the mouth of IO plate connects the input end of keysets, the mouth of keysets connects the input end of microprocessor, the mouth of microprocessor connects steering wheel and spray appliance controller by IO plate.
2. according to claim 1 a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, it is characterized in that: described PMU comprises a DC/DC module, the 2nd DC/DC module and the 3rd DC/DC module.
3. according to claim 1 a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, it is characterized in that: described microprocessor have employed the minimum circuit system based on PXA255.
4. according to claim 1 a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, it is characterized in that: described pesticide dispersal equipment comprises 5 liters of agricultural chemicals capacity casees, pesticide spraying bar, atomizer and sprinkling water pumps.
5. according to claim 1 a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, it is characterized in that: described helicopter body is that industrial grade Mini Tele-Copter AF25B, helicopter AF25B are outside equipped with half bag covering.
6. according to claim 1 a kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely, it is characterized in that: the lithium cell group that described battery adopts the lithium cell of two pieces of 22.2V to form.
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| CN201520075172.5U CN204415735U (en) | 2015-02-03 | 2015-02-03 | A kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely |
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| CN201520075172.5U CN204415735U (en) | 2015-02-03 | 2015-02-03 | A kind of can autonomous flight the unmanned helicopter system of spraying insecticide entirely |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN105961360A (en) * | 2016-05-10 | 2016-09-28 | 南京乐乐飞电子科技有限公司 | Unmanned plane chemical spray control and chemical dose detection device |
| TWI571719B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system |
| CN110461148A (en) * | 2017-03-24 | 2019-11-15 | 巴斯夫农化商标有限公司 | Drift correction during the application of crop protection agents |
| CN112514874A (en) * | 2020-11-24 | 2021-03-19 | 张金凤 | Correction method and system for sprayed material |
| RU2776757C2 (en) * | 2017-03-24 | 2022-07-26 | Басф Агро Трейдмаркс Гмбх | Correction for demolition in introduction of plant protection products |
-
2015
- 2015-02-03 CN CN201520075172.5U patent/CN204415735U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI571719B (en) * | 2015-09-08 | 2017-02-21 | Nat Chin-Yi Univ Of Tech | High-voltage electric obstruction unmanned aerial vehicle automatic cruising path planning and setting method and system |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN105961360A (en) * | 2016-05-10 | 2016-09-28 | 南京乐乐飞电子科技有限公司 | Unmanned plane chemical spray control and chemical dose detection device |
| CN110461148A (en) * | 2017-03-24 | 2019-11-15 | 巴斯夫农化商标有限公司 | Drift correction during the application of crop protection agents |
| CN110461148B (en) * | 2017-03-24 | 2022-07-05 | 巴斯夫农化商标有限公司 | Drift correction during application of crop protection agents |
| RU2776757C2 (en) * | 2017-03-24 | 2022-07-26 | Басф Агро Трейдмаркс Гмбх | Correction for demolition in introduction of plant protection products |
| US11608175B2 (en) | 2017-03-24 | 2023-03-21 | Basf Agro Trademarks Gmbh | Drift correction during the application of crop protection agents |
| CN112514874A (en) * | 2020-11-24 | 2021-03-19 | 张金凤 | Correction method and system for sprayed material |
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