CN205353770U - Spray sprays controlling means based on unmanned aerial vehicle - Google Patents
Spray sprays controlling means based on unmanned aerial vehicle Download PDFInfo
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- CN205353770U CN205353770U CN201620012715.3U CN201620012715U CN205353770U CN 205353770 U CN205353770 U CN 205353770U CN 201620012715 U CN201620012715 U CN 201620012715U CN 205353770 U CN205353770 U CN 205353770U
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Abstract
The utility model discloses a spray sprays controlling means based on unmanned aerial vehicle, including unmanned aerial vehicle, unmanned aerial vehicle is last to be provided with: flight control equipment for the control command of reception control platform or remote controller, unmanned aerial vehicle accomplishes flying behavior with the drive, the spray sprays equipment, sprays the controller with the spray and is connected, and it saves the spray to carry out the spray work of spraying, supervisory equipment sprays the controller with flight control equipment and spray and is connected, and its state of flight of monitoring unmanned aerial vehicle when the condition of presetting triggers, is sprayed the controller to the spray and is sent the pass stop instruction, the spray sprays the controller, and spray equipment and supervisory equipment is connected with the spray, its pass stop instruction of receiving supervisory equipment, and the work that the spray sprays equipment is closed down in control. The utility model discloses thereby can reduce the improper problem that influences agricultural crop growth of regional area spray quantity takes place.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, is specifically related to a kind of spray sprinkling control device based on unmanned plane.
Background technology
Current many rotary wind types unmanned vehicle obtains tremendous expansion, and is had an optimistic view of by professional market and consumer level market simultaneously.Why many rotary wind types unmanned vehicle can obtain development so rapidly, and the progress being because electronic related technologies makes the cost of this aircraft reduce rapidly, and safety simultaneously promotes rapidly.
Due to its be capable of VTOL, flight flexibly, control mode ripe, so someone starts to be applied to plant protection field；Being applied to the unmanned vehicle in plant protection field, a kind of topmost occupation mode is to adopt unmanned vehicle to be equipped with the container and flusher that store spray, then passes through flying method and completes the herbal sprinkling task for crops.Owing to the spraying range of unmanned vehicle is intensive controlled, spray sprays uniformly, so not only using very safe, and avoids the injury for human body of medicine that artificial mark spraying medicine can cause.
Prior art, for how, the pesticide demand for zones of different has carried out good improvement, such as, a kind of disclosed in Chinese patent literature 103719062A can the pesticide spraying unmanned plane of accuracy pesticide applying, pesticide spraying unmanned plane is provided with GPS module and stores the data base having zones of different formulation rate strategy, GPS module and data base are connected to single-chip microcomputer, single-chip microcomputer is connected to alarm module and display module, the output control signal of single-chip microcomputer is positioned at the dispenser flow valve on dispenser pipeline by RS232 Interface Controller, the demand of pesticide can be carried out accuracy pesticide applying according to different regions by this invention, thus improve the utilization ratio of pesticide, stop wasting phenomenon, avoid the appearance of dispenser deficiency problem.
A problem is that, mainly adopt the mode of radio communication to remove the unmanned vehicle controlling to fly in the sky due to current, due to some uncontrollable factors such as place or signal disturbing, sometimes can cause that unmanned vehicle is out of control or of short duration out of control awing.
Out of control in the air now for unmanned vehicle has had some treating methods targetedly, such as forwards Artificial Control pattern to from GPS navigation control model and solves, or forwards the pattern/contingency mode that automatically makes a return voyage from Artificial Control pattern to and solve.A problem is that, the route that sprays of spray is often what planned in advance, via the route planned in advance, can be achieved with best spray effect.But, if unmanned vehicle fails, according to the flight of programme path in advance, flight out-of-control condition even occurs, at that time, perhaps the control to unmanned plane is replied in the control that can pass through to fly hands, but the control sprayed for spray is often short of in time and effectiveness, this by cause spray spray beyond pre-designed scope, cause that regional area spray consumption is improper, affect crop growth.
But, such scheme there is the problem that no matter GPS navigation control model or Artificial Control pattern, unmanned vehicle awing out of control or of short duration out of control time, all have no way and well spray spray appliance is controlled in time, and then it is improper to cause that spray sprays, particularly spray sprays too much problem generation.
Utility model content
Goal of the invention of the present utility model is to provide a kind of spray sprinkling control device based on unmanned plane, fail even to occur the situation of flight out-of-control condition according to the flight of programme path in advance for unmanned vehicle, spray can be reduced and spray the possibility causing spray sprinkling to exceed pre-designed scope out of control, and then it is improper to reduce regional area spray consumption, and the problem affecting crop growth occurs.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is as follows:
A kind of spray sprinkling control device based on unmanned plane, including unmanned plane, described unmanned plane is provided with
Flight control unit, for receiving the control instruction of control station or remote controller, to drive unmanned plane to complete flare maneuver；
Spray spray appliance, sprays controller with spray and is connected, and it stores spray, and carries out spray sprinkling work；
Monitoring device, sprays controller with flight control unit and spray and is connected, the state of flight of its monitoring unmanned plane, when pre-conditioned triggering, sprays controller to spray and sends pass stop instruction；
Spray sprays controller, is connected with spray spray appliance and monitoring device, and it receives the pass stop instruction of monitoring device, controls to close down the work of spray spray appliance.
Further, described monitoring device includes barometer.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flying height in the course of the work, the flying height of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flying height is beyond pre-set flight altitude range, it is obvious that the flight of unmanned plane there is a problem；In this programme; barometer is set; can pass through to monitor the absolute flying height of unmanned plane; when the absolute flying height of unmanned plane is beyond preset range; illustrate that unmanned plane deviate from pre-set flight track; now, what monitoring device can trigger spray sprinkling work accordingly closes down mechanism, it is to avoid spray sprays the generation of improper problem；It addition, barometer can be arranged on unmanned plane surface, this may insure that barometer and air are fully contacted, and improves certainty of measurement.
Further, described monitoring device includes range finder.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flying height in the course of the work, the flying height of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flying height is beyond pre-set flight altitude range, it is obvious that the flight of unmanned plane there is a problem；In this programme; range finder is set; can pass through to monitor the relative flying height of unmanned plane; when the relative flying height of unmanned plane is beyond preset range; illustrate that unmanned plane deviate from pre-set flight track; now, what monitoring device can trigger spray sprinkling work accordingly closes down mechanism, it is to avoid spray sprays the generation of improper problem；It addition, range finder can be arranged on unmanned plane surface, this may insure that barometer and air are fully contacted, and improves certainty of measurement.
Further, described monitoring device includes tachymeter.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flight speed in the course of the work, this programme is provided with tachymeter, it is possible to the flight speed of monitoring unmanned plane, the state of flight of reaction unmanned plane, when flight speed is beyond pre-set flight velocity interval, it is obvious that the flight of unmanned plane there is a problem, now, judge deviation pre-set flight track and close down spray sprinkling work in time, it is possible to reduce spray consumption problem improperly.
Further, described monitoring device includes satellite navigation localizer.The state of flight of unmanned plane, and whether unmanned plane is according to the flight of pre-set flight track, it is possible to it is monitored by arranging satellite navigation localizer；When scheduled time node, unmanned plane is not up to preset geographical position coordinate, or unmanned plane is beyond the scope of predetermined sprinkling, all illustrates that the flight of unmanned plane there is a problem, meets pre-conditioned, it should close down spray sprinkling work.
Further, described monitoring device also includes condition trigger, and it processes the monitoring information that monitoring device collects, and when pre-conditioned triggering, sprays controller to described spray and sends pass stop instruction.The setting of condition trigger so that unmanned plane can independently process and analysis monitoring data, and when flight problem occurs in unmanned plane, trigger close down spray sprinkling work close down mechanism.
Further, condition trigger described in sprinkling progress includes memorizer, is used for recording sprinkling information.This sprinkling information can record in the memorizer additionally increasing to monitoring device, it is also possible to recorded in the memorizer on existing unmanned plane.Record sprinkling information can facilitate follow-up work, such as record sprinkling progress, management personnel can be facilitated to have continued spray sprinkling work after solution problem, can also recording the geographical coordinate stopping spraying and stop the reason spraying, this can facilitate management personnel to solve problem that may be present near this geographical coordinate, for instance, spray sprays very few, whether should supplementing sprinkling etc., this is all conducive to the expansion of follow-up work of management personnel, gives facility.
Further, described monitoring device also includes one and is wirelessly transferred chip, described in be wirelessly transferred chip for by described sprinkling information back to the control station of far-end.It is wirelessly transferred the setting of chip so that sprinkling information can be returned to by unmanned plane in time the control station of far-end, it is possible to help to solve timely problem, improves work efficiency.
Further, described memorizer sprays information described in time order and function sequential storage.Spray information according to time order and function sequential storage, after work completes, conveniently carry out leakage detection and fill a vacancy, and will remedy to go wrong without unmanned plane, to management personnel with facility.
Further, described spray spray appliance includes a motor-operated control valve able to programme, and described spray sprays controller and receives pass stop instruction, controls to close described motor-operated control valve able to programme.The setting of motor-operated control valve able to programme so that spray spray appliance is controlled, can be adjusted according to demand, especially, when flight problem occurs in unmanned plane, it is possible to close down spray sprinkling work by motor-operated control valve able to programme.
The control device of the present invention, the measure of unmanned plane practical flight track and the corresponding relation of pre-set flight track is monitored by monitoring device, monitor the state of flight of unmanned plane timely, so, when there is deviation pre-set flight trajectory problem in unmanned plane, spray sprinkling work can be sprayed controller by spray and automatically and timely closed down, and reduces regional area spray consumption problem improperly；And, if when flight problem occurs in unmanned plane, flight controls and spray controls to be flown hand-guided words by two respectively and will increase manpower burden, and individually flies hands and carry out different control, will be unable to take into account；But the method using the present invention, owing to spray sprinkling work will be automatically turned off, this makes the single hands that flies also be able to resuming work of wholwe-hearted carrying out flight control, and this decreases the possibility that unmanned plane damages from another point of view.
Described above is only the general introduction of technical solutions of the utility model, in order to make technological means of the present utility model clearly understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to above-mentioned and other objects, features and advantages of the present utility model can be become apparent, it is illustrated with detailed description of the invention of the present utility model below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, this utility model various other advantage and benefit those of ordinary skill in the art be will be clear from understanding.Figure of description is only for illustrating the purpose of preferred implementation, and is not considered as restriction of the present utility model.It should be evident that drawings discussed below is only embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, it is presented with like reference characters identical parts.In the accompanying drawings:
Fig. 1 illustrates the schematic diagram of a kind of spray sprinkling control device based on unmanned plane of this utility model embodiment；
Fig. 2 illustrates this utility model preferred embodiment schematic diagram based on the spray sprinkling control device of unmanned plane；
Fig. 3 illustrates that this utility model embodiment two is corresponding to controlling the flow chart of the control method of device.
Detailed description of the invention
It is more fully described specific embodiment of the utility model below with reference to accompanying drawings.Although accompanying drawing showing specific embodiment of the utility model, it being understood, however, that may be realized in various forms this utility model and should do not limited by embodiments set forth here.On the contrary, it is provided that these embodiments are able to be best understood from this utility model, and complete for scope of the present utility model can be conveyed to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Those skilled in the art it would be appreciated that, hardware manufacturer may call same assembly with different nouns.This specification and claims are not used as distinguishing in the way of assembly by the difference of noun, but are used as the criterion distinguished with assembly difference functionally." comprising " or " including " as mentioned in the middle of description and claim in the whole text is an open language, therefore should be construed to " comprise but be not limited to ".Description subsequent descriptions is for implementing better embodiment of the present utility model, and right described description is for the purpose of the rule of description, is not limited to scope of the present utility model.Protection domain of the present utility model is when being as the criterion depending on the defined person of claims.
For ease of the understanding to this utility model embodiment, it is further explained explanation below in conjunction with accompanying drawing for several specific embodiments, and each accompanying drawing is not intended that the restriction to this utility model embodiment.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..In recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of power set and battery durable ability so that it is the purposes in military, civilian is constantly expanded at a high speed, and unmanned plane market has bright prospects.
In the embodiment of the present invention, preferred unmanned plane is the unmanned plane for plant protection field, espespecially many rotary wind types unmanned vehicle, owing to it is capable of VTOL, flight is flexibly, control mode is ripe, so someone starts to be applied to plant protection field, this kind UAV flight has the container and flusher that store spray, then pass through flying method and complete the herbal sprinkling task for crops, spraying range is intensive controlled, spray sprays uniformly, so not only using very safe, and avoid the injury for human body of medicine that artificial mark spraying medicine can cause.
Embodiment one:
Fig. 1 is the embodiment of the present invention one one kinds schematic diagram based on the spray sprinkling control device of unmanned plane, as it can be seen, this control device, including unmanned plane 100, unmanned plane 100 is provided with
Flight control unit 10, for receiving the control instruction of control station or remote controller, to drive unmanned plane to complete flare maneuver；
Spray spray appliance 20, sprays controller 40 with spray and is connected, and it stores spray, and carries out spray sprinkling work；
Monitoring device 30, sprays controller 40 with flight control unit 10 and spray and is connected, the state of flight of its monitoring unmanned plane, when pre-conditioned triggering, sprays controller to spray and sends pass stop instruction；
Spray sprays controller 40, is connected with spray spray appliance 20 and monitoring device 30, and it receives the pass stop instruction of monitoring device 30, controls to close down the work of spray spray appliance 20.
The control device of the present invention, the measure of unmanned plane practical flight track and the corresponding relation of pre-set flight track is monitored by monitoring device, monitor the state of flight of unmanned plane timely, so, when there is deviation pre-set flight trajectory problem in unmanned plane, spray sprinkling work can be sprayed controller by spray and automatically and timely closed down, and reduces regional area spray consumption problem improperly；And, if when flight problem occurs in unmanned plane, flight controls and spray controls to be flown hand-guided words by two respectively and will increase manpower burden, and individually flies hands and carry out different control, will be unable to take into account；But the method using the present invention, owing to spray sprinkling work will be automatically turned off, this makes the single hands that flies also be able to resuming work of wholwe-hearted carrying out flight control, and this decreases the possibility that unmanned plane damages from another point of view.
Spray described in the utility model, it is possible to be pesticide, nutritional solution etc. can utilize unmanned plane to carry out the fluid spray sprayed.Such as, when spray is pesticide, the consumption of pesticide generally has certain restriction, too much or very few sprinkling, is likely to affect the growth of crop, even causes environmental pollution, control device of the present utility model, it is possible to largely reduce the generation of this problem.
Certainly, namely the flight of unmanned plane controls can be fly hands Artificial Control, can also be control station or the Based Intelligent Control of unmanned plane own, such as during unmanned plane Autonomous Control, this flight control unit can include SDRAM memory, the region amount synopsis that the local bureau of agriculture management platform that prestored in SDRAM memory is arranged, region amount synopsis includes multiple spray and sprays region and multiple spray sprinkling amount, one spray sprays the corresponding spray in region and sprays amount, each spray sprays region and includes region GPS location and region height, controller according to region amount synopsis control driving equipment fly to each spray spray region, and spray the overlying regions spray sprinkling according to corresponding spray sprinkling amount control spray spray appliance at each spray.
Fig. 2 is the schematic diagram that the embodiment of the present invention one preferably controls device, as it can be seen, in this control device,
Monitoring device 30 includes barometer 32, and this barometer 32 can be arranged on unmanned plane surface, for measuring the actual absolute flying height of unmanned plane.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flying height in the course of the work, the flying height of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flying height is beyond pre-set flight altitude range, it is obvious that the flight of unmanned plane there is a problem；In this programme; barometer is set; can pass through to monitor the absolute flying height of unmanned plane; when the absolute flying height of unmanned plane is beyond preset range; illustrate that unmanned plane deviate from pre-set flight track; now, what monitoring device can trigger spray sprinkling work accordingly closes down mechanism, it is to avoid spray sprays the generation of improper problem；And barometer is arranged on unmanned plane surface and may insure that barometer and air are fully contacted, improve certainty of measurement.
The present embodiment is preferred, and monitoring device 30 includes range finder 33, and this range finder 33 can be arranged on unmanned plane bottom, for measuring the actual relative flying height of unmanned plane.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flying height in the course of the work, the flying height of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flying height is beyond pre-set flight altitude range, it is obvious that the flight of unmanned plane there is a problem；In this programme; range finder is set; can pass through to monitor the relative flying height of unmanned plane; when the relative flying height of unmanned plane is beyond preset range; illustrate that unmanned plane deviate from pre-set flight track; now, what monitoring device can trigger spray sprinkling work accordingly closes down mechanism, it is to avoid spray sprays the generation of improper problem；And range finder is arranged on unmanned plane surface and may insure that barometer and air are fully contacted, improve certainty of measurement.
The present embodiment is preferred, and monitoring device 30 includes the tachymeter 34 for monitoring unmanned plane practical flight speed.This tachymeter, it is possible to be tachogenerator, it is also possible to MEMS inertia apparatus, or low speed pitot meter etc..Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flight speed in the course of the work, this programme is provided with tachymeter, it is possible to the flight speed of monitoring unmanned plane, the state of flight of reaction unmanned plane, when flight speed is beyond pre-set flight velocity interval, it is obvious that the flight of unmanned plane there is a problem, now, judge deviation pre-set flight track and close down spray sprinkling work in time, it is possible to reduce spray consumption problem improperly.
The present embodiment is preferred, and monitoring device 30 includes the satellite navigation localizer 35 for positioning unmanned plane actual geographic position.The state of flight of unmanned plane, and whether unmanned plane is according to the flight of pre-set flight track, it is possible to it is monitored by arranging satellite navigation localizer；When scheduled time node, unmanned plane is not up to preset geographical position coordinate, or unmanned plane is beyond the scope of predetermined sprinkling, all illustrates that the flight of unmanned plane there is a problem, meets pre-conditioned, it should close down spray sprinkling work.
The present embodiment is preferred, and monitoring device 30 also includes condition trigger 34, sends pass stop instruction according to pre-conditioned triggering and to spraying controller.The setting of condition trigger so that unmanned plane can independently process and analysis monitoring data, and when flight problem occurs in unmanned plane, trigger close down spray sprinkling work close down mechanism.
The present embodiment is preferred, and condition trigger 34 sprays progress and includes memorizer, and it is used for recording sprinkling information.This sprinkling information can record in the memorizer additionally increasing to monitoring device, it is also possible to recorded in the memorizer on existing unmanned plane.Record sprinkling information can facilitate follow-up work, such as can record sprinkling progress, management personnel can be facilitated to have continued spray sprinkling work after solution problem, can also recording the geographical coordinate stopping spraying and stop the reason spraying, this can facilitate management personnel to solve problem that may be present near this geographical coordinate, for instance, spray sprays very few, whether should supplementing sprinkling etc., this is all conducive to the expansion of follow-up work of management personnel, gives facility.When spraying information back, it is possible to add an alarm or by existing control station, carry out acousto-optic-electric warning, related personnel's spray is reminded to occur abnormal based on the spray sprinkling work of unmanned plane, it is necessary to pay attention to and solve in time.
The present embodiment is preferred, and monitoring device 30 also includes one and is wirelessly transferred chip 35, is wirelessly transferred chip 35 for spraying information back to the control station of far-end.It is wirelessly transferred the setting of chip so that sprinkling information can be returned to by unmanned plane in time the control station of far-end, it is possible to help to solve timely problem, improves work efficiency.
The present embodiment is preferred, and memorizer sprays information described in time order and function sequential storage.This memorizer can be additionally add, it is also possible to is utilize the memorizer on existing unmanned plane.Spray information according to time order and function sequential storage, after work completes, conveniently carry out leakage detection and fill a vacancy, and will remedy to go wrong without unmanned plane, to management personnel with facility；Additionally, when storage, can store in the mode such as list or image, if it is passable, can additional maps, and the message identification such as geographical coordinate that will stop spraying is on map, and word coordinates the form of icon, management personnel can be allowed vivider and get information about sprinkling situation, to management personnel with facility.
The present embodiment is preferred, and spray spray appliance 20 includes a motor-operated control valve able to programme, and spray sprays controller 40 and receives pass stop instruction, controls to close motor-operated control valve able to programme.Motor-operated control valve kind able to programme can determine according to the actual requirements, is suitable for.The setting of motor-operated control valve able to programme so that spray spray appliance is controlled, can be adjusted according to demand, especially, when flight problem occurs in unmanned plane, it is possible to close down spray sprinkling work by motor-operated control valve able to programme.
Certainly, the control device of the present invention, actually also need to other devices such as power supply, drive motor and supported, but these equipment are little with the inventive point relation of the present invention, no longer repeat one by one.
Embodiment two:
Fig. 3 is the embodiment of the present invention 21 kinds flow chart based on the spray sprinkling control method of unmanned plane, as it can be seen, this control method includes step:
S1: control unmanned plane and carry out spray sprinkling work according to pre-set flight track；
S2: the corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track；
S3: if it is determined that practical flight track deviation pre-set flight track, then automatically control stopping spray sprinkling work.The control method of the present invention, by monitoring the measure of unmanned plane practical flight track and the corresponding relation of pre-set flight track, monitor the state of flight of unmanned plane timely, so, when there is deviation pre-set flight trajectory problem in unmanned plane, spray sprinkling work can be closed down automatically and timely, reduces regional area spray consumption problem improperly；And, if when flight problem occurs in unmanned plane, flight controls and spray controls to be flown hand-guided words by two respectively and will increase manpower burden, and individually flies hands and carry out different control, will be unable to take into account；But the method using the present invention, owing to spray sprinkling work will be automatically turned off, this makes the single hands that flies also be able to resuming work of wholwe-hearted carrying out flight control, and this decreases the possibility that unmanned plane damages from another point of view.
Wherein, it is preferred that the control method of the present invention, what the expansion of monitoring work, the monitoring collection of data and process, the judgement of state of flight and spray sprayed is automatically turned off control, is automatically obtained mainly through arranging corresponding device on unmanned plane；Certainly, in communication support situation, it is also possible to give remote console part work and automatically process.
The embodiment of the present invention is preferred, and the step of the corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track includes:
The practical flight height of monitoring unmanned plane, if the practical flight height of unmanned plane is beyond the flying height scope preset, then judges practical flight track deviation pre-set flight track.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flying height in the course of the work, the flying height of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flying height is beyond pre-set flight altitude range, it is evident that, the flight of unmanned plane there is a problem, now, it is determined that deviation pre-set flight track also closes down spray sprinkling work in time, it is possible to reduce spray consumption problem improperly.
The embodiment of the present invention is preferred, and the practical flight height of unmanned plane carries out monitor in real time measurement by barometer and/or range finder.Barometer may be used for the absolute flying height of monitoring unmanned plane, i.e. height above sea level, and range finder may be used for monitoring unmanned plane and is equivalent to the flying height of crop, it is possible to selects with according to different demands；The data of barometer and range finder collection close down the judgement reference on opportunity by being used to realize spray sprinkling work so that unmanned plane can automatically control the opportunity of closing down, and reduce when there is flight problem, spray consumption problem improperly；Certainly, the data collected, it is also possible to be used for keep a record, or feed back to control station or fly hands carry out flight control reference.
Such as, when using barometer monitoring absolute flying height, ground level is close to the area on sea level, in general, absolute flying height is without departing from 100 meters, if the flying height monitoring unmanned plane exceeds 100 meters, that illustrates that unmanned plane occurs in that flight problem, at this point it is possible to judge deviation pre-set flight track, and close down spray sprinkling work in time；Again such as, when using range finder monitoring unmanned plane relative flying height, some crops, if Semen Maydis is when carrying out spray and spraying, the relative flying height of unmanned plane is preferred with 1 meter-2 meters, if monitoring the relative flying height of unmanned plane beyond this scope, can also thinking, unmanned plane occurs in that flight problem.
Wherein, range finder is range finder, and the present invention mainly uses infrared range finder and/or ultrasonic rangefinder.
The embodiment of the present invention is preferred, and the step of the corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track includes:
The actual geographic position that monitoring unmanned plane arrives, if when default flight time node, geographical position coordinates that unmanned plane fails to reach to preset and/or the actual geographic position of arrival beyond predetermined threshold value, then judge the flight path that the deviation of practical flight track is preset from the distance of default geographical position coordinates.The actual geographic position of monitoring unmanned plane, namely monitor the sprinkling job schedule of unmanned plane whether with design in advance consistent, if current flight position lags behind the flight position that in pre-set flight track, this time point should arrive at, then may determine that the flight speed for aircraft controls there is a problem, current flight device flew slowly, caused that in unit range, spray sprays too much, it should be adjusted, opportunity is closed down, it is possible to reduce spray sprays problem improperly and occurs in this, as what close down spray sprinkling work.
The embodiment of the present invention is preferred, and the step of the corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track includes:
Determine a border according to default flight path, when the flight range of unmanned plane is beyond border, then judge the flight path that the deviation of practical flight track is preset.In this programme, if monitoring the flight position of unmanned plane beyond the bounds estimating to spray spray, then clearly unmanned plane occurs in that flight problem, spray has been sprayed onto undesirable territorial scope, now, judge deviation pre-set flight track and timely automated close down spray sprinkling work, contributing to reducing spray consumption problem improperly and occur.
Concrete, the actual geographic position of unmanned plane can be monitored by satellite navigation localizer, and judges whether unmanned plane arrives default geographical position coordinates or whether beyond border according to the location information collected；And satellite navigation localizer, main GPS locator or the Big Dipper localizer of adopting, both localizer technologies are comparatively ripe, affordable, and its positioning precision is also sufficient for plant protection field and uses.
The embodiment of the present invention is preferred, and the step of the corresponding relation between monitoring unmanned plane practical flight track and pre-set flight track includes:
The flight speed of monitoring unmanned plane, if the flight speed of unmanned plane is beyond the scope of the flight speed preset, also judges the flight path that the deviation of practical flight track is preset.Plant protection unmanned plane carries out spray sprinkling work, closely bound up with unmanned plane flight speed in the course of the work, the flight speed of monitoring unmanned plane, can largely react the state of flight of unmanned plane, when flight speed is beyond pre-set flight velocity interval, it is evident that, the flight of unmanned plane there is a problem, now, it is determined that deviation pre-set flight track also closes down spray sprinkling work in time, it is possible to reduce spray consumption problem improperly.
Such as, spraying under traffic conditions at relatively-stationary spray, unmanned plane is in certain flight speed, for instance between 1.5 meter per second-2.5 meter per seconds, can the sprinkling of reasonable guarantee spray uniform, and when the flight speed of unmanned plane exceedes this scope, for instance when reaching 5 meter per second, it will cause the situation generation that the fountain height of spray is not enough, in this programme, when flight speed occurs abnormal, control to stop spray timely and spray, it is possible to reduce spray sprays problem improperly and occurs.
The embodiment of the present invention is preferred, if it is determined that practical flight track deviation pre-set flight track, then, while controlling stopping spray sprinkling work, records sprinkling information, and described sprinkling information includes sprinkling progress, stops the geographical coordinate spraying and the reason stopping sprinkling；
After record sprinkling information, sprinkling information remote is returned to the control station of far-end.Record sprinkling information can facilitate follow-up work, such as record sprinkling progress, management personnel can be facilitated to have continued spray sprinkling work after solution problem, and record the geographical coordinate stopping spraying and stop the reason spraying, then management personnel can be facilitated to solve problem that may be present near this geographical coordinate, for instance, spray sprays very few, whether should supplementing sprinkling etc., this is all conducive to the expansion of follow-up work of management personnel, gives facility；And sprinkling information is returned in time the control station of far-end, it is possible to help to solve timely problem, improve work efficiency.
It addition, by sprinkling information back control station at the same time it can also be carry out alarm, to remind related personnel, the spray sprinkling work based on unmanned plane occurs abnormal, it is necessary to payes attention to and solves in time.
Obviously, this utility model can be carried out various change and modification without deviating from spirit and scope of the present utility model by those skilled in the art.So, if these amendments of the present utility model and modification belong within the scope of this utility model claim and equivalent technologies thereof, then this utility model is also intended to comprise these change and modification.
Claims (10)
1. the spray sprinkling control device based on unmanned plane, it is characterised in that include unmanned plane, described unmanned plane is provided with
Flight control unit, for receiving the control instruction of control station or remote controller, to drive unmanned plane to complete flare maneuver；
Spray spray appliance, sprays controller with spray and is connected, and it stores spray, and carries out spray sprinkling work；
Monitoring device, sprays controller with flight control unit and spray and is connected, the state of flight of its monitoring unmanned plane, when pre-conditioned triggering, sprays controller to spray and sends pass stop instruction；
Spray sprays controller, is connected with spray spray appliance and monitoring device, and it receives the pass stop instruction of monitoring device, controls to close down the work of spray spray appliance.
2. the spray sprinkling control device based on unmanned plane as claimed in claim 1, it is characterised in that described monitoring device includes barometer.
3. the spray sprinkling control device based on unmanned plane as claimed in claim 1, it is characterised in that described monitoring device includes range finder.
4. the spray sprinkling control device based on unmanned plane as claimed in claim 1, it is characterised in that described monitoring device includes tachymeter.
5. the spray sprinkling control device based on unmanned plane as claimed in claim 1, it is characterised in that described monitoring device includes satellite navigation localizer.
6. the spray sprinkling control device based on unmanned plane as described in as arbitrary in claim 1-5, it is characterised in that described monitoring device also includes condition trigger, sends pass stop instruction according to pre-conditioned triggering and to described sprinkling controller.
7. the spray sprinkling control device based on unmanned plane as claimed in claim 6, it is characterised in that condition trigger described in sprinkling progress includes memorizer, is used for recording sprinkling information.
8. the spray sprinkling control device based on unmanned plane as claimed in claim 7, it is characterised in that described monitoring device also includes and is wirelessly transferred chip, described in be wirelessly transferred chip for by described sprinkling information back to the control station of far-end.
9. the spray sprinkling control device based on unmanned plane as claimed in claim 7, it is characterised in that described memorizer sprays information described in time order and function sequential storage.
10. the spray sprinkling control device based on unmanned plane as claimed in claim 1, it is characterised in that described spray spray appliance includes a motor-operated control valve able to programme, described spray sprays controller and receives pass stop instruction, controls to close described motor-operated control valve able to programme.
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