CN205750556U - A kind of plant protection unmanned plane using radar spacing - Google Patents
A kind of plant protection unmanned plane using radar spacing Download PDFInfo
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- CN205750556U CN205750556U CN201620703319.5U CN201620703319U CN205750556U CN 205750556 U CN205750556 U CN 205750556U CN 201620703319 U CN201620703319 U CN 201620703319U CN 205750556 U CN205750556 U CN 205750556U
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- unmanned plane
- radar
- spacing
- plant protection
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Abstract
A kind of plant protection unmanned plane using radar spacing, it includes Distance part, navigational portions, remote control part, herbal sprinkling part, Flight Control Section and main control computer, and Distance part includes dual-mode antenna, millimetre-wave radar, A/D converter, power supply circuits, FPGA signal processing circuit, turntable driving motor；Millimetre-wave radar is produced the chirped millimeter wave of Ka wave band and launches signal and launched by dual-mode antenna, dual-mode antenna receives the millimeter wave reflected signal of target reflection time delay and is supplied to millimetre-wave radar, millimetre-wave radar calculates millimeter wave and launches the frequency difference between signal and millimeter wave reflected signal and generate difference frequency signal, difference frequency signal is supplied to FPGA signal processing circuit through A/D converter, and FPGA signal processing circuit is according to difference frequency signal and generates spacing signal and is supplied to main control computer.
Description
Technical field
This utility model relates to a kind of unmanned plane, a kind of plant protection unmanned plane using radar spacing.
Background technology
Current Navigation of Pilotless Aircraft has mainly continued to use the designing technique of military unmanned air vehicle, unmanned plane quality and cost with control
Of a relatively high, unmanned plane requires have multipurpose, real-time Data Transmission, the navigation feature such as accurately and reliably for agricultural, and has
The features such as low cost, volume are little, light weight.Existing unmanned air vehicle technique is difficult to meet the demand of agricultural spray.And at present for
What agricultural spray was used mostly is the wind spraying aid type sprinkling of ground installation, and directivity is poor, rainfall distribution uniformity is bad, and drug waste is relatively
Greatly；And plant protection unmanned plane generally carries out low altitude flight so that spraying operation, the most often encounters crops, and then causes
The damage of unmanned plane, the most accurately judges that the height between unmanned plane and ground crops becomes current plant protection unmanned plane urgently
Problem to be solved.
Utility model content
In order to solve above-mentioned technical problem, this utility model provides a kind of plant protection unmanned plane using radar spacing, its
Achieve the accurate judgement of positioning height between unmanned plane and ground crops.And effective herbal sprinkling can be provided.
The technical solution of the utility model is: a kind of plant protection unmanned plane using radar spacing, it includes Distance part, leads
Boat part, remote control part, herbal sprinkling part, Flight Control Section and main control computer, Distance part, navigational portions, distant
Control part, herbal sprinkling part, Flight Control Section are all connected with main control computer, it is characterised in that:
Distance part include dual-mode antenna, millimetre-wave radar, A/D converter, power supply circuits, FPGA signal processing circuit,
Turntable driving motor；
Power supply circuits provide power supply to millimetre-wave radar, A/D converter, FPGA signal processing circuit, turntable driving motor,
Millimetre-wave radar is produced the chirped millimeter wave of Ka wave band and launches signal and launched by dual-mode antenna, dual-mode antenna
Receiving the millimeter wave reflected signal of target reflection time delay and be supplied to millimetre-wave radar, millimetre-wave radar calculates millimeter wave and launches letter
Number and millimeter wave reflected signal between frequency difference and generate difference frequency signal, difference frequency signal through A/D converter be supplied to FPGA letter
Number processing circuit, FPGA signal processing circuit is according to difference frequency signal and generates spacing signal and is supplied to main control computer, master control meter
Whether calculation machine promotes the flying height of unmanned plane according to spacing signal deciding；FPGA signal processing circuit is connected with driving motor,
Driving motor to be mechanically connected with dual-mode antenna, FPGA signal processing circuit controls to drive motor, thus controls sweeping of dual-mode antenna
Face angle and scan period；
Navigational portions includes Doppler radar, magnetic heading, three-axis gyroscope, three axis accelerometer, barometertic altimeter, number
According to Acquisition Circuit, GPS；
Remote control part includes remote-control receiver and CAN；
Herbal sprinkling part includes flusher, signal input circuit, dose detection module, sprinkler pressure sensor；
Flight Control Section includes rotor, motor, electron speed regulator, pwm driver.
The beneficial effects of the utility model: positioning precision is high, speed is fast, and efficiency is high, and quality is good, especially cannot on ground
Arrive or cannot be carried out the region of Ground Operation, more highlighted its advantage, prevent the nothing caused because of the too low flight of unmanned plane
Man-machine damage；Greatly reduce sprinkling cost, it is achieved that the most uniform sprinkling, spraying efficiency is increased dramatically.
Accompanying drawing explanation
Fig. 1 is system block diagram of the present utility model.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Embodiment of the present utility model is with reference to shown in Fig. 1, and a kind of plant protection unmanned plane using radar spacing, it includes spacing
Partly, navigational portions, remote control part, herbal sprinkling part, Flight Control Section and main control computer, Distance part, navigation
Partly, remote control part, herbal sprinkling part, Flight Control Section are all connected with main control computer, it is characterised in that:
Distance part include dual-mode antenna, millimetre-wave radar, A/D converter, power supply circuits, FPGA signal processing circuit,
Turntable driving motor；
Power supply circuits provide power supply to millimetre-wave radar, A/D converter, FPGA signal processing circuit, turntable driving motor,
Millimetre-wave radar is produced the chirped millimeter wave of Ka wave band and launches signal and launched by dual-mode antenna, dual-mode antenna
Receiving the millimeter wave reflected signal of target reflection time delay and be supplied to millimetre-wave radar, millimetre-wave radar calculates millimeter wave and launches letter
Number and millimeter wave reflected signal between frequency difference and generate difference frequency signal, difference frequency signal through A/D converter be supplied to FPGA letter
Number processing circuit, FPGA signal processing circuit is according to difference frequency signal and generates spacing signal and is supplied to main control computer, master control meter
Whether calculation machine promotes the flying height of unmanned plane according to spacing signal deciding；FPGA signal processing circuit is connected with driving motor,
Driving motor to be mechanically connected with dual-mode antenna, FPGA signal processing circuit controls to drive motor, thus controls sweeping of dual-mode antenna
Face angle and scan period；
Navigational portions includes Doppler radar, magnetic heading, three-axis gyroscope, three axis accelerometer, barometertic altimeter, number
According to Acquisition Circuit, GPS；
Remote control part includes remote-control receiver and CAN；
Herbal sprinkling part includes flusher, signal input circuit, dose detection module, sprinkler pressure sensor；
Flight Control Section includes rotor, motor, electron speed regulator, pwm driver.
Further, FPGA signal processing circuit includes data cache module, Fast Fourier Transform Block, non-coherent
Accumulation module, CFAR judging module and data transmission module.
Further, A/D converter has reseting port, data receiver and EBI, reseting port and confession
Electricity circuit connects, and data receiver is connected with millimetre-wave radar, and EBI is connected with FPGA signal processing circuit.
Further, power supply circuits use secondary voltage change-over circuit.
Further, magnetic heading is measured the absolute orientation of unmanned plane and generates bearing signal；Doppler radar measurement
The flight speed of unmanned plane formation speed signal；Three-axis gyroscope is measured three shaft angle acceleration of unmanned plane and generates angle acceleration
Degree signal；Three axis accelerometer is measured three axis accelerometers of unmanned plane and is generated linear acceleration signals；Nothing measured by barometertic altimeter
Man-machine absolute height above sea level also generates altitude signal；GPS obtains gps satellite framing signal；
Magnetic heading, Doppler radar, three-axis gyroscope, three axis accelerometer, barometertic altimeter, GPS are measured
The analogue signal obtained is converted to digital signal by data acquisition circuit and is supplied to main control computer, is calculated unmanned plane fixed
Position signal, unmanned plane position signalling, unmanned plane bearing signal and unmanned plane rate signal, main control computer receive and from
The control signal of remote-control receiver, after data process, provides modulated drive signal to pwm driver and controls electronic speed regulation
Device, electron speed regulator is connected with the electromechanics being provided with rotor, thus controls the rotating speed of rotor.
Further, flusher includes that shower nozzle, medicine-chest, pressure regulator valve, switch valve, pressure regulator valve, switch valve are arranged on spray
On pipeline between head and medicine-chest；Dose detection module is arranged on medicine-chest, and sprinkler pressure sensor is arranged on shower nozzle.
Further, the residue medicinal liquid signal in the spray tank of the flusher obtained is passed through letter by dose detection module
Number input circuit is sent to main control computer, sprinkler pressure sensor by the sprinkler pressure signal of flusher that obtains by letter
Number input circuit is sent to main control computer；Main control computer controls to spray according to residue medicinal liquid signal and sprinkler pressure signal
The sprinkling of device starts/sprays stopping, spray value and atomisation pressure.
Further, pressure regulator valve includes spool, pressure regulator valve valve body, pressure regulation motor, and spool is with pressure regulator valve valve body screw thread even
Connecing, pressure regulation motor is fixing with spool to be connected, pressure regulation driven by motor Spool rotating, and then is controlled the pressure of shower nozzle.
Further, switch valve includes plunger and switch valve valve body, and switching motor is arranged on plunger, works as sprinkler pressure
Less than closing switch valve during lower limit operating pressure, thus cut off spray medicine loop.
Further, rotor is four, six or eight.
The above embodiment only have expressed a kind of embodiment of the present utility model, but can not therefore be interpreted as
Restriction to this utility model scope.It should be pointed out that, for the person of ordinary skill of the art, new without departing from this practicality
On the premise of type design, it is also possible to making some deformation and improvement, these broadly fall into protection domain of the present utility model.
Claims (10)
1. using a plant protection unmanned plane for radar spacing, it includes Distance part, navigational portions, remote control part, herbal sprinkling
Partly, Flight Control Section and main control computer, Distance part, navigational portions, remote control part, herbal sprinkling part, flight
Control part to be all connected with main control computer, it is characterised in that:
Distance part includes dual-mode antenna, millimetre-wave radar, A/D converter, power supply circuits, FPGA signal processing circuit, scanning
Drive motor；
Power supply circuits provide power supply, millimeter to millimetre-wave radar, A/D converter, FPGA signal processing circuit, turntable driving motor
Ripple radar is produced the chirped millimeter wave of Ka wave band and launches signal and launched by dual-mode antenna, and dual-mode antenna receives
The millimeter wave reflected signal of target reflection time delay is also supplied to millimetre-wave radar, millimetre-wave radar calculate millimeter wave launch signal and
Frequency difference between millimeter wave reflected signal also generates difference frequency signal, and difference frequency signal is supplied at FPGA signal through A/D converter
Reason circuit, FPGA signal processing circuit is according to difference frequency signal and generates spacing signal and is supplied to main control computer, main control computer
The flying height of unmanned plane whether is promoted according to spacing signal deciding；FPGA signal processing circuit is connected with driving motor, drives
Motor is mechanically connected with dual-mode antenna, and FPGA signal processing circuit controls to drive motor, thus controls the surface sweeping angle of dual-mode antenna
Degree and scan period；
Navigational portions includes Doppler radar, magnetic heading, three-axis gyroscope, three axis accelerometer, barometertic altimeter, data acquisition
Collector, GPS；
Remote control part includes remote-control receiver and CAN；
Herbal sprinkling part includes flusher, signal input circuit, dose detection module, sprinkler pressure sensor；
Flight Control Section includes rotor, motor, electron speed regulator, pwm driver.
A kind of plant protection unmanned plane using radar spacing the most according to claim 1, it is characterised in that: FPGA signal processing
Circuit includes that data cache module, Fast Fourier Transform Block, non-inherent accumulation module, CFAR judging module and data pass
Defeated module.
A kind of plant protection unmanned plane using radar spacing the most according to claim 1, it is characterised in that: A/D converter has
Having reseting port, data receiver and EBI, reseting port is connected with power supply circuits, data receiver and millimeter wave thunder
Reaching connection, EBI is connected with FPGA signal processing circuit.
A kind of plant protection unmanned plane using radar spacing the most according to claim 1, it is characterised in that: power supply circuits use
Secondary voltage change-over circuit.
A kind of plant protection unmanned plane using radar spacing the most according to claim 1, it is characterised in that: magnetic heading is measured
The absolute orientation of unmanned plane also generates bearing signal；The flight speed of Doppler radar measurement unmanned plane formation speed signal；
Three-axis gyroscope is measured three shaft angle acceleration of unmanned plane and generates angular acceleration signal；Unmanned plane measured by three axis accelerometer
Three axis accelerometers generate linear acceleration signals；Barometertic altimeter is measured the absolute height above sea level of unmanned plane and generates height letter
Number；GPS obtains gps satellite framing signal；
Magnetic heading, Doppler radar, three-axis gyroscope, three axis accelerometer, barometertic altimeter, GPS measurement obtain
Analogue signal be converted to digital signal by data acquisition circuit and be supplied to main control computer, be calculated unmanned plane location letter
Number, unmanned plane position signalling, unmanned plane bearing signal and unmanned plane rate signal, main control computer receives and from remote control
The control signal of receiver, after data process, provides modulated drive signal to pwm driver and controls electron speed regulator,
Electron speed regulator is connected with the electromechanics being provided with rotor, thus controls the rotating speed of rotor.
A kind of plant protection unmanned plane using radar spacing the most according to claim 1, it is characterised in that: flusher includes
Shower nozzle, medicine-chest, pressure regulator valve, switch valve, pressure regulator valve, switch valve are arranged on the pipeline between shower nozzle and medicine-chest；Dose detection mould
Block is arranged on medicine-chest, and sprinkler pressure sensor is arranged on shower nozzle.
A kind of plant protection unmanned plane using radar spacing the most according to claim 6, it is characterised in that: dose detection module
Residue medicinal liquid signal in the spray tank of the flusher of acquisition is sent to main control computer, shower nozzle by signal input circuit
The sprinkler pressure signal of the flusher of acquisition is sent to main control computer by signal input circuit by pressure transducer；Master control
The sprinkling that computer controls flusher according to residue medicinal liquid signal and sprinkler pressure signal starts/sprays stopping, spray value
And atomisation pressure.
A kind of plant protection unmanned plane using radar spacing the most according to claim 7, it is characterised in that: pressure regulator valve includes valve
Core, pressure regulator valve valve body, pressure regulation motor, spool is connected with pressure regulator valve valve body screw thread, and pressure regulation motor is fixing with spool to be connected, pressure regulation electricity
Machine drives Spool rotating, and then is controlled the pressure of shower nozzle.
A kind of plant protection unmanned plane using radar spacing the most according to claim 8, it is characterised in that: switch valve includes post
Plug and switch valve valve body, switching motor is arranged on plunger, the closing switch valve when sprinkler pressure is less than lower limit operating pressure, from
And cut off spray medicine loop.
10. according to a kind of plant protection unmanned plane using radar spacing described in claim 1-9 any one, it is characterised in that:
Rotor is four, six or eight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620703319.5U CN205750556U (en) | 2016-07-06 | 2016-07-06 | A kind of plant protection unmanned plane using radar spacing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620703319.5U CN205750556U (en) | 2016-07-06 | 2016-07-06 | A kind of plant protection unmanned plane using radar spacing |
Publications (1)
| Publication Number | Publication Date |
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| CN205750556U true CN205750556U (en) | 2016-11-30 |
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Family Applications (1)
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| CN201620703319.5U Expired - Fee Related CN205750556U (en) | 2016-07-06 | 2016-07-06 | A kind of plant protection unmanned plane using radar spacing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107142888A (en) * | 2017-04-28 | 2017-09-08 | 苏州亮磊知识产权运营有限公司 | A kind of Intelligent road watering robot and its control method with unmanned plane |
| CN108344982A (en) * | 2018-02-07 | 2018-07-31 | 成都电科智达科技有限公司 | Small drone target radar detection method based on long-time phase-coherent accumulation |
| CN108664034A (en) * | 2018-05-10 | 2018-10-16 | 杭州瓦屋科技有限公司 | Imitative ground flying method and device of the plant protection drone in tea place |
| CN108681335A (en) * | 2018-05-10 | 2018-10-19 | 杭州瓦屋科技有限公司 | Imitative ground flying method and device of the plant protection drone in hillside fields |
-
2016
- 2016-07-06 CN CN201620703319.5U patent/CN205750556U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107142888A (en) * | 2017-04-28 | 2017-09-08 | 苏州亮磊知识产权运营有限公司 | A kind of Intelligent road watering robot and its control method with unmanned plane |
| CN107142888B (en) * | 2017-04-28 | 2018-10-26 | 浦江县恒川信息科技有限公司 | A kind of Intelligent road watering robot and its control method with unmanned plane |
| CN108344982A (en) * | 2018-02-07 | 2018-07-31 | 成都电科智达科技有限公司 | Small drone target radar detection method based on long-time phase-coherent accumulation |
| CN108344982B (en) * | 2018-02-07 | 2021-08-17 | 成都电科智达科技有限公司 | Small unmanned aerial vehicle target radar detection method based on long-time coherent accumulation |
| CN108664034A (en) * | 2018-05-10 | 2018-10-16 | 杭州瓦屋科技有限公司 | Imitative ground flying method and device of the plant protection drone in tea place |
| CN108681335A (en) * | 2018-05-10 | 2018-10-19 | 杭州瓦屋科技有限公司 | Imitative ground flying method and device of the plant protection drone in hillside fields |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20180706 |