CN206403000U - A kind of automatic path planning pesticide spraying UAS - Google Patents
A kind of automatic path planning pesticide spraying UAS Download PDFInfo
- Publication number
- CN206403000U CN206403000U CN201621473631.6U CN201621473631U CN206403000U CN 206403000 U CN206403000 U CN 206403000U CN 201621473631 U CN201621473631 U CN 201621473631U CN 206403000 U CN206403000 U CN 206403000U
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- Prior art keywords
- unmanned plane
- pesticide spraying
- virtual wall
- path planning
- infrared
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- 238000005507 spraying Methods 0.000 title claims abstract description 45
- 239000000575 pesticide Substances 0.000 title claims abstract description 44
- 238000013439 planning Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 239000007921 spray Substances 0.000 description 17
- 239000007788 liquid Substances 0.000 description 8
- 239000002917 insecticide Substances 0.000 description 6
- 239000003905 agrochemical Substances 0.000 description 4
- 238000012384 transportation and delivery Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
A kind of automatic path planning pesticide spraying UAS, including unmanned plane body and for being located at the infrared virtual wall generator on field border, the unmanned plane body is provided with height sensors and pesticide spraying device, described three end points of unmanned plane body front left and right are equipped with distance-sensor, and the unmanned plane body with control unit is connected provided with communication system and by communication system.Infrared virtual wall generator can surround the infrared virtual wall of field formation geometry, and unmanned plane can sense infrared virtual wall, be flown and pesticide spraying along the signal path that control unit is provided in geometry, realize automatic path planning pesticide spraying.
Description
Technical field
The utility model is related to pesticide spraying management domain, especially a kind of automatic path planning pesticide spraying unmanned plane system
System.
Background technology
Pesticide spraying mode of the prior art is to use sprayer machine, such as spraying machine, by way of manual operation, by
Spray person rule of thumb determines use time, place and the dosage of medicament.In whole pesticide spraying operation, the labor of operating personnel
Fatigue resistance is huge, and the direct exposed to pesticides of operating personnel, and the person is highly prone to the injury of agricultural chemicals, simultaneously because artificial operation,
The efficiency of whole pesticide spraying operation is not high.Accordingly, it would be desirable to which a kind of new pesticide spraying mode, changes the mould of artificial spray
Formula, the predetermined close sprinkling that the agricultural chemicals prepared in advance carries out presumptive area is carried by machine automatization, so as to avoid operator
Member directly and Pesticide Exposure, ensures the health of human body of operating personnel, while automatically pesticide spraying pattern, improves pesticide spraying
Efficiency so that the quick spray in large area farmland is possibly realized.Sprayed insecticide in the past in large-scale farmland, pilot steering can be used
Aircraft carries out the mode of high-altitude sprinkling, and it is too high that such mode has aircraft altitude so that agricultural chemicals degree of flying away is high, is influenceed by wind direction
It is larger, environment is polluted, so that being substituted by SUAV gradually.Chinese patent such as Publication No. CN104351157 is public
A kind of pesticide spraying device of unmanned plane, including body, delivery pump and spray tank are opened, the liquid outlet of delivery pump is connected with sprinkling
Pipe, spray tank has two, and two spray tanks are fixedly welded in the left foot support of body and in right crus of diaphragm support respectively, a left side for body
Crossbeam is provided between foot support and right crus of diaphragm support, delivery pump is arranged in the middle part of crossbeam, and the first spray tank is provided with the first drawing liquid
Straight tube, the first drawing liquid straight tube is connected with the first flexible pipe for leading to the first spray tank bottom, and the second spray tank is provided with the second drawing liquid
Straight tube, the second drawing liquid straight tube is connected with the second flexible pipe for leading to the second spray tank bottom, and the liquid suction pipe of delivery pump passes through three-way pipe
It is connected simultaneously with the first drawing liquid straight tube and the second drawing liquid straight tube.The utility model reduces the space structure volume of unmanned plane, subtracts
Nobody small flight loss；Frequently repetition loading decoction is not needed, the time has been saved.Unmanned plane described in the invention is realized
Mechanization pesticide spraying, but the perfect system of its neither one can realize control scheme optimization path, manually control unmanned plane
The problem of easily causing drain spray or repeat to spray.
The content of the invention
The purpose of this utility model is can not to plan pesticide spraying path automatically to solve existing unmanned plane, is easily weighed
Spray, drain spray problem, realize that one kind being capable of automatic path planning pesticide spraying UAS.
Above-mentioned technical problem of the present utility model is mainly what is be addressed by following technical proposals：A kind of automatic planning
Path pesticide spraying UAS, including unmanned plane body and the infrared virtual wall generator for being located at field border, institute
Unmanned plane body is stated provided with height sensors and pesticide spraying device, described three end points of unmanned plane body front left and right be equipped with away from
From inductor, the unmanned plane body with control unit is connected provided with communication system and by communication system.Infrared virtual wall
Generator can surround the infrared virtual wall of field formation geometry, and unmanned plane can sense infrared virtual wall, in geometry
Flown in shape along the signal path that control unit is provided and pesticide spraying, realize automatic path planning pesticide spraying.
As preferred：The infrared virtual wall generator is according to field border length provided with one or more.It is multiple infrared
After the infrared ray linking together of virtual wall generator, remote infrared virtual wall can be formed, can be determined as needed infrared
The number of virtual wall generator, applicability is wide.
As preferred：The height sensors and distance-sensor use infrared facility.Infrared facility utilization rate is high,
Device power consumption very little, it is cheap.
As preferred：The height sensors use laser aid.Laser is more sensitive, and reaction speed faster, is measured
Data are more accurate.
The utility model additionally provide a kind of control method of automatic path planning pesticide spraying UAS be divided into
Under several steps：
1）Infrared virtual wall generator is set along field border, the infrared virtual wall of geometry is formed；
2）Unmanned plane starts shooting to take off in infrared virtual wall rises to setting height, with a direction horizontal movement；
3）Unmanned plane is reached after infrared virtual wall, and setpoint distance is inwardly translated to initial sprinkling agriculture perpendicular to infrared virtual wall
Simultaneously open pesticide spraying device in medicine position；
4）Control unit sends walking perimeter signal to unmanned plane, and unmanned plane is transported parallel to corresponding infrared virtual wall
It is dynamic；
5）When unmanned plane covers setting girth, control unit sends signal and causes unmanned plane inside perpendicular to infrared virtual wall
Translate setpoint distance；
6）Control unit sends next circle walking perimeter signal to unmanned plane, and unmanned plane is parallel to corresponding infrared virtual
Wall is moved；
7）The the 5th and the 6th step is repeated, when walking girth is less than the setting minimum perimeter polygon of control unit（The 6 of setpoint distance
Times）When, control unit sends stopping and sprays insecticide signal to unmanned plane；
8）Unmanned plane, which receives signal, to be stopped spraying insecticide and outside a direction horizontal movement to infrared virtual wall to land.
Beneficial effect：The utility model realizes the path that unmanned plane plans pesticide spraying automatically, right without artificial control
The field of various geometries is all suitable for and can cook up unduplicated path, is not in that drain spray or repetition are sprayed insecticide
The problem of.
Brief description of the drawings
Accompanying drawing 1 is the system diagram of automatic path planning pesticide spraying UAS described in the utility model.
Accompanying drawing 2 is the path profile of automatic path planning pesticide spraying UAS described in the utility model.
1st, unmanned plane body；2nd, infrared virtual wall generator.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical solution of the utility model is described in further detail.
Embodiment one：As shown in Figure 1-2, the utility model is a kind of automatic path planning pesticide spraying UAS,
Including unmanned plane body 1 and for being located at the infrared virtual wall generator 2 on field border, the unmanned plane body 1 is provided with height
Inductor and pesticide spraying device, 1 front left and right of unmanned plane body, three end points are equipped with distance-sensor, the unmanned plane
Body 1 with control unit is connected provided with communication system and by communication system.Infrared virtual wall generator 2 can surround field
The infrared virtual wall of geometry is formed, unmanned plane can sense infrared virtual wall, be carried in geometry along control unit
The signal path of confession is flown and pesticide spraying, realizes automatic path planning pesticide spraying.
Embodiment two：As shown in Figure 1-2, the utility model is a kind of automatic path planning pesticide spraying UAS,
Including unmanned plane body 1 and for being located at the infrared virtual wall generator 2 on field border, the unmanned plane body 1 is provided with height
Inductor and pesticide spraying device, 1 front left and right of unmanned plane body, three end points are equipped with distance-sensor, the unmanned plane
Body 1 with control unit is connected provided with communication system and by communication system.Infrared virtual wall generator 2 can surround field
The infrared virtual wall of geometry is formed, unmanned plane can sense infrared virtual wall, be carried in geometry along control unit
The signal path of confession is flown and pesticide spraying, realizes automatic path planning pesticide spraying.
As preferred：The infrared virtual wall generator 2 is according to field border length provided with one or more.It is multiple infrared
After the infrared ray linking together of virtual wall generator 2, remote infrared virtual wall can be formed, can be determined as needed infrared
The number of virtual wall generator 2, applicability is wide.
As preferred：The height sensors and distance-sensor use infrared facility.Infrared facility utilization rate is high,
Device power consumption very little, it is cheap.
As preferred：The height sensors use laser aid.Laser is more sensitive, and reaction speed faster, is measured
Data are more accurate.
The utility model additionally provide a kind of control method of automatic path planning pesticide spraying UAS be divided into
Under several steps：
1）Infrared virtual wall generator 2 is set along field border, the infrared virtual wall of geometry is formed；
2）Unmanned plane starts shooting to take off in infrared virtual wall rises to setting height 10m, with a direction horizontal movement；
3）Unmanned plane is reached after infrared virtual wall, and setpoint distance 5m is inwardly translated to initial sprinkling perpendicular to infrared virtual wall
Simultaneously open pesticide spraying device in agricultural chemicals position；
4）Control unit sends walking perimeter signal to unmanned plane, and unmanned plane is transported parallel to corresponding infrared virtual wall
It is dynamic；
5）When unmanned plane covers setting girth, control unit sends signal and causes unmanned plane inside perpendicular to infrared virtual wall
Translate setpoint distance 5m；
6）Control unit sends next circle walking perimeter signal to unmanned plane, and unmanned plane is parallel to corresponding infrared virtual
Wall is moved；
7）The the 5th and the 6th step is repeated, when girth of walking is less than the setting minimum perimeter polygon 30m of control unit, control unit
Send stopping and spray insecticide signal to unmanned plane；
8）Unmanned plane, which receives signal, to be stopped spraying insecticide and outside a direction horizontal movement to infrared virtual wall to land.
Claims (4)
1. a kind of automatic path planning pesticide spraying UAS, it is characterised in that：Including unmanned plane body and for being located at
The infrared virtual wall generator on field border, the unmanned plane body is provided with height sensors and pesticide spraying device, the nothing
Man-machine three end points of body front left and right are equipped with distance-sensor, and the unmanned plane body is provided with communication system and passes through communication
System is connected with control unit.
2. a kind of automatic path planning pesticide spraying UAS according to claim 1, it is characterised in that：It is described red
Outer virtual wall generator is according to field border length provided with one or more.
3. a kind of automatic path planning pesticide spraying UAS according to claim 1, it is characterised in that：The height
Degree inductor and distance-sensor use infrared facility.
4. a kind of automatic path planning pesticide spraying UAS according to claim 1, it is characterised in that：The height
Degree inductor uses laser aid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621473631.6U CN206403000U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic path planning pesticide spraying UAS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621473631.6U CN206403000U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic path planning pesticide spraying UAS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206403000U true CN206403000U (en) | 2017-08-15 |
Family
ID=59552536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621473631.6U Expired - Fee Related CN206403000U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic path planning pesticide spraying UAS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206403000U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106719551A (en) * | 2016-12-30 | 2017-05-31 | 浙江科技学院 | A kind of automatic path planning pesticide spraying UAS and its control method |
-
2016
- 2016-12-30 CN CN201621473631.6U patent/CN206403000U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106719551A (en) * | 2016-12-30 | 2017-05-31 | 浙江科技学院 | A kind of automatic path planning pesticide spraying UAS and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170815 Termination date: 20191230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |