CN207748040U - Plant protection drone base station and plant protection drone base station system - Google Patents
Plant protection drone base station and plant protection drone base station system Download PDFInfo
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- CN207748040U CN207748040U CN201820108695.9U CN201820108695U CN207748040U CN 207748040 U CN207748040 U CN 207748040U CN 201820108695 U CN201820108695 U CN 201820108695U CN 207748040 U CN207748040 U CN 207748040U
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Abstract
The utility model provides a kind of plant protection drone base station and plant protection drone base station system, it is related to agriculture field, there is a problem of that labor intensity is big in a manner of existing plant protection drone manual work in the prior art to alleviate, manual work intensity can be reduced, it reduces human cost and reduces influence of the human factor to unmanned plane, improve the working efficiency and safety coefficient of unmanned plane.The plant protection drone base station includes base station master control system, power-supply system, communication system and automatic kinetic control system；Power-supply system, communication system, automatic kinetic control system are connected with base station master control system respectively；Power-supply system provides electric power support for the operation of plant protection drone base station；Communication system is communicated with the external world；Base station master control system controls automatic kinetic control system and carries out battery altering and install pesticide additional.
Description
Technical field
The utility model is related to vegetation protection technical field, more particularly, to a kind of plant protection drone base station and plant protection nobody
Machine base station system.
Background technology
It is all labor that agricultural, commodities market, which is intelligent Application short slab field in various fields, including sowing, plant protection, harvesting etc., at present
Dynamic intensive work, is badly in need of the introducing of "smart" products.
With the development of unmanned plane industry, application is advanced by leaps and bounds, and industry recognition degree is continuously improved, and unmanned plane automates energy
Power and reliability performance constantly improve, and had plant protection drone as the entrance of intelligent agriculture operation, start to apply
In plant protection field.Here plant protection is also known as vegetation protection, implements pesticide spraying mainly for vegetation, to solve disease, insect pest, battalion
Support bad etc., the production grain rate in increase vegetation/crops.
But current plant protection drone carries out replacing electricity that is, by the way of manpower operation also in plant protection team manual work
Pond installs the operations such as pesticide additional, and the human factor virtually introduced considerably increases aircraft fraction defective, not only influences unmanned plane
Service life, also increase operating personnel pesticide poisoning risk.
To sum up, existing plant protection drone manual work mode has that labor intensity is big.
Utility model content
In view of this, the purpose of this utility model is to provide plant protection drone base station and plant protection drone base station system,
There is a problem of that labor intensity is big in a manner of existing plant protection drone manual work in the prior art to alleviate.
In a first aspect, the utility model embodiment provides a kind of plant protection drone base station, including：Base station master control system,
Power-supply system, communication system and automatic kinetic control system；
The power-supply system, communication system, automatic kinetic control system are connected with the base station master control system respectively；
The power-supply system provides electric power support for the operation of the plant protection drone base station；
The base station master control system is communicated by the communication system with the external world；
The base station master control system control automatic kinetic control system carries out battery altering and installs pesticide additional.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the automatic kinetic control system includes automatic replacement cell apparatus and automatic medicine adding apparatus.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Two kinds of possible embodiments, wherein the automatic replacement cell apparatus includes：Frame body, battery transport establishment and battery are more
Converting mechanism；Battery transport establishment includes multiple charhing units for charging the battery；Battery changing mechanism is installed on frame body, and
The battery that charhing unit carries can be delivered to the battery compartment of unmanned plane to replace the battery on unmanned plane by battery changing mechanism.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Three kinds of possible embodiments, wherein the automatic medicine adding apparatus includes liquid inspection instrument and perfusion machine, the liquid inspection instrument
It is connected respectively with the base station master control system with perfusion machine, the liquid inspection instrument is used to detect the pesticide in unmanned plane medicine-chest
Residual drug information, and residual drug information is sent to base station master control system；The perfusion machine is used for the medicine to unmanned plane
Dosing in case.
With reference to first aspect, the utility model embodiment provides the 4th kind of possible embodiment of first aspect,
In, which further includes guard system, and the guard system is connected with the base station master control system；It is described anti-
Protecting system is for protecting the plant protection drone base station.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect,
In, further include display system, the display system is connected with the base station master control system, and the display system is aobvious for information
Show.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect,
In, which further includes unmanned plane mechanical navigation system, the unmanned plane mechanical navigation system and the base station
Master control system is connected, and the unmanned plane mechanical navigation system includes base station down level ground, mechanical positioner and airplane parking area rotation
Device.
Second aspect, the utility model embodiment also provide a kind of plant protection drone base station system, including：Plant protection drone
With the plant protection drone base station described in any one of first aspect and its possible embodiment, the plant protection drone with it is described
Plant protection drone base station is connected.
In conjunction with second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, which further includes：Mapping system, the mapping system are connected with the base station master control system；
The mapping system includes meteorological sensor group and soil sensor group.
In conjunction with second aspect, the utility model embodiment provides second of possible embodiment of second aspect,
In, which further includes server, and the server is connect with the plant protection drone base station communication.
The utility model embodiment brings following advantageous effect：
1, the autonomy-oriented operation of unmanned plane is completed, manpower, the cost that the personnel of reducing employ and train are liberated；
2, the failure rate brought by personnel's operation error in unmanned plane operation process is greatly reduced；
3, contact of the people with pesticide during perfusion is avoided, infringement of the pesticide to human body is reduced；
4, reduce temporal waste when manual operation, entire operation process more rapidly and efficiently, improves unmanned plane
Utilization rate.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structure diagram for plant protection drone base station that the utility model embodiment provides；
Fig. 2 is a kind of stereogram for plant protection drone base station that the utility model embodiment provides；
Fig. 3 is a kind of front view for plant protection drone base station that the utility model embodiment provides；
Fig. 4 is a kind of rearview for plant protection drone base station that the utility model embodiment provides；
Fig. 5 is the structural schematic diagram for the third pushing component that the utility model embodiment provides；
Fig. 6 is the structural schematic diagram for the battery transport establishment that the utility model embodiment provides；
Fig. 7 is the basic block diagram for another plant protection drone base station that the utility model embodiment provides；
Fig. 8 is the concrete structure block diagram for another plant protection drone base station that the utility model embodiment provides；
Fig. 9 is a kind of basic block diagram for plant protection drone base station system that the utility model embodiment provides；
Figure 10 is a kind of communication relations figure for plant protection drone base station system that the utility model embodiment provides.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, shall fall within the protection scope of the present invention.
Currently, existing plant protection drone plant protection field application scenarios also in it is artificial replace battery, install additional pesticide,
Manually in the complex operations environment such as flight, manual maintenance.Each plant protection team is by flying hand flight operation, ground crew's installation pesticide
It is responsible for battery charging management with replacement battery, night porter, there is no the solutions of systematization to plant to improve unmanned agricultural
Insurance system, this kind of plant protection team manual work have the following disadvantages：1. increasing human cost；2. increasing the person peace of operation maintenance personnel
Full blast danger；3. artificial intervention is unfavorable for operation effectiveness；4. increasing the failure rate of unmanned plane；Again, plant protection drone is winged
Row distance is limited by battery power, can only flight 15min/ sorties, do not fully meet plant protection operation scene.It is i.e. existing
Operating type there is a problem of manual work intensity it is big, there are security risk and unmanned plane operation effectiveness are bad, be based on this, this
A kind of plant protection drone base station and plant protection drone base station system that utility model embodiment provides, can alleviate existing plant protection
Unmanned plane is by the plant protection team manual work mode technical problem that there are labor intensity is big, safety coefficient is low, operation effectiveness is bad, energy
Enough automatic installation batteries, pesticide, improve the safety coefficient of unmanned plane industry, improve operation effectiveness.
For ease of understanding the present embodiment, first to a kind of plant protection drone disclosed in the utility model embodiment
Base station describes in detail.
Embodiment one：
The utility model embodiment provides a kind of plant protection drone base station, is applied to agriculture field, is particularly used in plant
By protection field.
As shown in Figures 1 to 6, which includes：Base station master control system 100, power-supply system 200, communication
System 300 and automatic kinetic control system 400.
Wherein, above-mentioned power-supply system, communication system, automatic kinetic control system are connected with above-mentioned base station master control system respectively
It connects.
Above-mentioned power-supply system is used to provide electric power support for the operation of above-mentioned plant protection drone base station.
Specifically, electric power core of the power-supply system as plant protection drone base station, can be entire plant protection drone base station
Operation motive power is provided, ensure that each system component can be performed its own function safely and efficiently in base station, while being also real
The basis of existing battery automatic charging.
Further, power-supply system includes that three-phase turns two phase transformers, AC-DC power module and DC-DC power module,
In, three-phase turns two phase transformers and is used to three-phase electricity being converted into two-phase electricity, i.e., three-phase, which turns two phase transformers, can realize three-phase electricity
Turn two phase electricity (3L/2L) function；AC-DC power module includes AC/DC converters, for converting alternating current to direct current, i.e.,
AC-DC power module can realize that alternating current turns the function of direct current (AC/DC)；DC-DC power module includes DC/DC transformation
Device, the direct current electricity output for direct current to be converted into needing, i.e. DC-DC power module can realize that direct current converts (DC/
DC function), therefore power-supply system can meet the power demands of distinct device, and provide guarantee for batter-charghing system.
Above-mentioned communication system with the external world for being communicated, to realize that base station master control system carries out data interaction with extraneous
It is transmitted with signal.In other words, base station master control system can carry out real-time data and letter by communication system with external device
Number transmission.
It should be noted that the external world here either external device include unmanned plane, server or client one kind
Or it is a variety of.
In one embodiment, extraneous either external device includes four kinds of unmanned plane, server or client, wherein visitor
Family end is specially the mobile terminal device that ground staff holds, and server is specially the cloud server arranged beyond the clouds.Therefore,
Communication system is mainly responsible for the real-time of the information of unmanned plane, plant protection drone base station, ground client and cloud server
Communication, information here include terrain graph information, unmanned plane location information, operating environment information (such as soil, wind speed, temperature
Degree, humidity etc.), drone status information (such as residual drug information etc. of the remaining capacity of battery, medicine-chest) and other biography
Feel the transmission of data.
Specifically, communication system includes short-range communication device and long range means.
Wherein, above-mentioned short-range communication device includes Wi-Fi module, CAN bus module and usb interface module, specifically
, uplink task data is transmitted in the plant protection drone base station on ground to unmanned plane, and unmanned plane is passed to plant protection drone base station feedback
Defeated downlink flying quality, between the two can with alternating transmission location data, to ensure transmission range and transmission channel stability,
The transmission plan of Wi-Fi module is thus used here.Base station is transmitted with each sensor data transmission dependent on CAN bus, with true
Protect the stability of data under I/O multiplexed situations.In addition, usb interface module circumscribed USB interface can be used for overhauling and upgrade-system
And the passback of unmanned plane related data.
Above-mentioned long range means include video monitoring apparatus and network module, and long haul communication relies primarily on image biography
Transferring technology, plant protection drone base station receive the picture of finding a view for the camera being arranged on unmanned plane, plant protection by video monitoring apparatus
Unmanned plane base station will be uploaded to after data processing again by network module (such as 4G wireless network modules or optical communications module)
Cloud server, to realize that long-distance video is supervised.The communication module of plant protection drone base station and cloud server, using multimode
(3G, 4G or multimode fibre) transmission mode does not cover position, to subtract to avoid Special section to certain pattern (frequency)
Influence caused by the small communication system base station.
Above-mentioned automatic kinetic control system is used to install battery and pesticide additional automatically for plant protection drone.
Specifically, kinetic control system is instead of traditional manual work automatically, the preparation being responsible for before and after unmanned machine operation
And maintenance work, including the replacement of battery, the installation work of pesticide, further include charged to the battery changed, maintenance work.
It should be pointed out that at least one embodiment, automatic kinetic control system can be provided with independent sub-control
Device processed and the telecontrol equipment (such as automatic replacement cell apparatus and automatic medicine adding apparatus) being connected with controller, automatic movement control
System processed completes battery altering and dosing by the sub-controller controlled motion device.Base station master control system is provided with master control
Device, master controller are connected with sub-controller, and base station master control system controls sub-controller by master controller, and then completes battery
Replacement and dosing.
By the way that sub-controller is arranged, reduce the live load of master controller, while avoiding master controller failure and bringing
The non-serviceable problem of equipment.
In other embodiments, base station master control system is provided with master controller, and master controller is directly moved with automatic
Control system is connected, and controls automatic kinetic control system by master controller to complete battery altering and dosing.I.e. automatic movement
Sub-controller is not arranged in control system, and controls automatic kinetic control system by the master controller of base station master control system and complete electricity
Pond is replaced and dosing.
By the way that a master controller is arranged, the cost of setting sub-server is saved, while simplifying the behaviour of staff
Make step, reduces the error of staff's passes.
In the present embodiment, above-mentioned base station master control system includes industrial control computer, can pass through communication system and the external world
Communication, such as receive the control signal of host computer (such as server).
Specifically, base station master control system is as control core, it is plant protection drone for controlling automatic kinetic control system
It carries out replacing battery and installs pesticide additional.
Further, above-mentioned automatic kinetic control system includes automatic replacement cell apparatus and automatic medicine adding apparatus.
A replaces cell apparatus automatically
The automatic replacement cell apparatus includes：Frame body 1, battery transport establishment 2 and battery changing mechanism 3；Battery transports
Mechanism 2 includes multiple charhing units 21 for charging the battery；Battery changing mechanism 3 is installed on frame body 1, and battery altering machine
The battery that charhing unit 21 carries can be delivered to the battery compartment 4 of unmanned plane to replace the battery on unmanned plane by structure 3.
When unmanned plane lands in airplane parking area 5 and after reach predeterminated position, battery transport establishment 2 is by battery-mounted charging list
Member 21 is moved at battery changing mechanism 3, and the battery that charhing unit 21 carries can be delivered to unmanned plane by battery changing mechanism 3
Battery compartment 4, displace electricity in battery compartment 4 and exhaust or the lower battery of electricity, and have in battery transport establishment 2 multiple
Charhing unit 21 can give polylith battery to charge simultaneously so that battery changing mechanism 3 continuously can give multiple unmanned planes to replace electricity
Pond.
The automatic replacement cell apparatus can realize battery in automatic replacement unmanned plane battery compartment 4 and be filled to battery
Electricity realizes the automatic replacement of unmanned machine battery, has ensured the continuity of battery altering, reduced labor intensity, is unmanned plane
The replacement of battery is provided convenience.
Specifically, battery changing mechanism 3 includes first mechanical arm 31, first mechanical arm 31 is rotatablely connected with frame body 1, and the
One mechanical arm 31 is equipped with the first pushing component 32 and the first appearance storehouse 33 for accommodating battery；When first mechanical arm 31 is in
When the first station, first holds the battery that storehouse 33 is opposite with charhing unit 21, is carried for accepting charhing unit 21；When the first machinery
When arm 31 is in second station, first holds storehouse 33 and battery compartment 4 relatively, and the first pushing component 32 can hold the electricity in storehouse 33 by first
Pond pushes to battery compartment 4 and simultaneously releases the battery in battery compartment 4, to replace the battery in battery compartment 4.
Further, battery changing mechanism 3 further includes second mechanical arm 34, and second mechanical arm 34 is rotatablely connected with frame body 1,
And second mechanical arm 34 is equipped with the second pushing component 35 and the second appearance storehouse 36 for accommodating battery；When second mechanical arm 34
When in the first station, second holds storehouse 36 and not battery-mounted charhing unit 21 relatively, and the second pushing component 35 can be by second
The battery held in storehouse 36 pushes to charhing unit 21；When second mechanical arm 34 is in second station, second holds storehouse 36 and battery
Storehouse 4 is opposite, for accepting the battery displaced on unmanned plane.
It can also be used not it should be noted that identical structure may be used in first mechanical arm 31 and second mechanical arm 34
Same structure.First mechanical arm 31 is identical with 34 structure of second mechanical arm in the present embodiment, first mechanical arm 31 and the second machinery
Arm 34 is oppositely arranged on 1 both sides of frame body, and first mechanical arm 31 is in the first station, and second mechanical arm 34 is in second station.
Specifically, first mechanical arm 31 include sequentially connected first connecting rod, second connecting rod and third connecting rod, wherein first connecting rod with
Second connecting rod is vertical and first connecting rod is parallel with third connecting rod, and third connecting rod is connect with the first appearance storehouse 33, the first pushing component 32
Hold storehouse 33 positioned at first and deviates from Hatch Opening side.
Specifically, the first pushing component 32 includes motor 221, leading screw 222 and push plate 223, motor 221 drives leading screw 222
The depth direction that storehouse 33 is held in push plate 223 along first is driven to move back and forth, so that the first appearance storehouse 33 is opposite with the battery compartment 4 of unmanned plane
When by first hold storehouse 33 in battery be pushed into battery compartment 4.First pushing component 32 can also use air cylinder structure.Second release group
Part can release component with first and use identical structure, or other can realize that the battery held second in storehouse 36 is released
Structure.
The first driving mechanism 11 is provided on frame body 1, the first driving mechanism 11 is rotatablely connected with first mechanical arm 31, is used for
Driving first mechanical arm 31 switches between the first station and second station；The second driving mechanism 12 is additionally provided on frame body 1, the
Two driving mechanisms 12 are rotatablely connected with second mechanical arm 34, for drive second mechanical arm 34 the first station and second station it
Between switch.
Specifically, the first driving mechanism 11 includes first motor, the first reduction box and the first rotating shaft being sequentially connected successively,
First rotating shaft is sequentially connected with first mechanical arm 31, and first motor can drive first mechanical arm 31 to turn around the axis of first rotating shaft
It is dynamic, to realize that first mechanical arm 31 switches between the first station and second station；Second driving mechanism 12 includes being driven successively
The second motor, the second reduction box and the second shaft of connection, the second shaft are sequentially connected with second mechanical arm 34, and the second motor can
Drive second mechanical arm 34 to be rotated around the axis of the second shaft, with realize second mechanical arm 34 the first station and second station it
Between switch.
First driving mechanism 11 is identical as 12 structure of the second driving mechanism, and first mechanical arm 31 and second mechanical arm 34
Structure is identical.
Battery transport establishment 2 includes third pushing component 22, and when the first appearance storehouse 33 is opposite with charhing unit 21, third pushes away
Dynamic component 22 pushes to the battery that charhing unit 21 carries in the first appearance storehouse 33.
Specifically, third pushing component 22 may be used with 32 identical structure of the first pushing component, including motor 221,
Leading screw 222 and push plate 223, motor 221 drive leading screw 222 that push plate 223 is driven to be moved back and forth along the extending direction of leading screw 222, with
Just battery push-in first in charhing unit 21 is held when third pushing component 22, the appearance of charhing unit 21 and first storehouse 33 are opposite
Storehouse 33.Third pushing component 22 can also use air cylinder structure etc., and other can realize the knot for releasing the battery in charhing unit 21
Structure.
Battery transport establishment 2 further includes drive component 23 and rotation track 24, multiple charhing units 21 and rotation track 24
It is slidably connected；Drive component 23 is sequentially connected with multiple charhing units 21, for driving multiple charhing units 21 along rotation track
24 slidings.
Charhing unit 21 includes pedestal 211 and charging slot 212, and pedestal 211 is equipped with the sliding slot coordinated with rotation track 24, fills
Electric slot 212 is mounted on pedestal 211, for carrying battery and charging for battery.As shown in figure 5, rotation track 24 is circular rails
Road, there are four column, four columns line up two rows two row, and sliding slot is formed among two columns for setting on pedestal 211.Drive component
23 driving pedestals 211 are slided along rotation track 24.
Further, drive component 23 includes driving motor and the transmission parts 231 with driving motor drive connection, transmission
Component 231 is sequentially connected with charhing unit 21.Drive belt configuration or transmission roll structure specifically may be used in transmission parts 231
Deng.
Further, transmission parts 231 are sequentially connected with charhing unit 21 by driving member 232, and driving member 232 is equipped with
Limiting slot, charhing unit 21 are equipped with the limited block coordinated with limiting slot.
Specifically, transmission parts 231 use drive belt configuration, driving member 232 to be moved with transmission belt under the action of transmission belt
Dynamic, the limited block on the pedestal 211 of charhing unit 21 is inserted into the limiting slot of driving member 232, and driving member 232 drives pedestal 211
It is slided along rotation track 24.
Further, battery transport establishment 2 includes four charhing units 21, and four charhing units 21 are distributed in rotation track
24；When first mechanical arm 31 and second mechanical arm 34 are in the first station, battery-mounted charhing unit 21 is located at third
Between pushing component 22 and first holds storehouse 33, so that the battery in charhing unit 21 is pushed to the first appearance by third pushing component 22
In storehouse 33；Not battery-mounted charhing unit 21 and second holds storehouse 36 relatively, so that the second pushing component 35 holds storehouse 36 by second
Interior battery pushes in charhing unit 21.Unmanned plane more changing device can be simultaneously to four pieces of batteries (from left side along difference clockwise
Labeled as 1,2,3,4) carry out charging and rotation.When system detectio is to after having aircraft landing, battery 1 is pushed away by third pushing component 22
First to first mechanical arm 31 holds in storehouse 33.When airplane parking area 5 carries that aircraft rotates to battery compartment 4 and second mechanical arm 34
(realize) that the first mechanical arm 31 and second mechanical arm 34 of 1 both sides of frame body are same when consistent by machinery positioning in two appearance 36 directions of storehouse
When be flipped up, docked with the battery on unmanned plane, the first mechanical arm 31 (in figure left side) equipped with battery internal carries it
Battery by the first pushing component 32 be pushed into unmanned plane battery compartment 4 in, in unmanned plane original battery be then pushed into right side
Second mechanical arm 34 in, the first mechanical arm 31 and second mechanical arm 34 of 1 both sides of frame body are landed simultaneously, battery altering complete,
Wait for that the charhing unit 21 (being at this time no battery status) of original battery-mounted 1 is transmitted to battery-mounted 3 charhing unit with conveyer belt
When 21 position, second releases the charging slot 212 that the battery in right side second mechanical arm 34 is pushed into charhing unit 21 by component
It charges.
The unmanned plane automatically replacing battery method for applying the device is briefly described below, including：By the first machinery
Arm 31 switches to the first station；Battery in first charhing unit 21 is pushed to first mechanical arm 31 by third pushing component 22
First hold storehouse 33 in；First mechanical arm 31 and second mechanical arm 34 are switched into second station；First pushing component 32 will
Battery in first appearance storehouse 33 pushes to the battery compartment 4 of unmanned plane, while the battery displaced in battery compartment 4 is pushed to second
The second of mechanical arm 34 is held in storehouse 36；Drive component 23 drives multiple charhing units 21 to be slided along rotation track 24；By the first machine
Tool arm 31 and second mechanical arm 34 switch to the first station；Third pushing component 22 is by the battery in second charhing unit 21
Push to first mechanical arm 31 first is held in storehouse 33, and the second pushing component 35 holds the battery in storehouse 36 by second and pushes to first
In a charhing unit 21.
Unmanned plane is required for resting in scheduled position progress mainteinance repair before and after each execution task, so that next time appoints
Business can be smoothed out.The adjustment needs in unmanned plane position and orientation carry out on base station down level ground 5.Unmanned plane tripod bottom is
Circle, due to slight error existing for positioning, after aircraft landing is to base station down level ground 5, aircraft can not be parked in base station down
The designated position (middle) on level ground 5, just needs base station down level ground 5 to be adjusted at this time.Four of center grab foot with identical
Speed is at the uniform velocity propped up around respectively, and unmanned plane is forced to be in 5 middle of airplane parking area (forming concentric circles with airplane parking area 5).The mistake
After journey, airplane parking area 5 proceeds by rotation, make the battery direction of unmanned plane with first mechanical arm 31 and second mechanical arm 34
Direction is consistent when in second station.
B automatic medicine adding apparatus
Automatic medicine adding apparatus includes liquid inspection instrument, perfusion machine and pesticide reserve tank, and pesticide reserve tank is connected with perfusion machine
It connects.
Further, above-mentioned perfusion machine includes peristaltic pump and conduit.Conduit includes the first conduit and the second conduit, and first leads
Pipe connects the medicine-chest of unmanned plane, and the second conduit connects pesticide reserve tank.
Above-mentioned liquid inspection instrument, perfusion machine are connected with above-mentioned base station master control system, and above-mentioned liquid inspection instrument is for detecting
The residual drug information of pesticide in unmanned plane medicine-chest, and residual drug information is sent to base station master control system.
Above-mentioned perfusion machine is used for the dosing into the medicine-chest of unmanned plane, specifically, base station master control system is believed according to residual drug
The peristaltic pump of breath control perfusion machine is turned on or off, and peristaltic pump pumps/stopping extracts the pesticide in pesticide reserve tank by leading
The medicine-chest of pipe entrance/stopping unmanned plane realizing dosing or stops dosing, to realize Automatic Dosing process.
Further, which further includes：The second liquid measure for detecting pesticide volume in pesticide reserve tank is examined
Instrument is surveyed, the second liquid inspection instrument is consistent with the quantity of pesticide reserve tank, and is one-to-one relationship.
Further, above-mentioned pesticide reserve tank is multiple, and multiple pesticide reserve tanks are for holding Multiple Pesticides, each pesticide
Equipped with a kind of pesticide for being pre-configured with completion inside reserve tank.
Specifically, 2 lower section of battery transport establishment is base station master control system 100, perfusion machine 6 and pesticide reserve tank 7, above-mentioned filling
Medicine machine is centrally located, and base station master control system and pesticide reserve tank, pesticide reserve tank is respectively set in the both sides of above-mentioned perfusion machine
Inside is equipped with the pesticide mixed.In the present embodiment, pesticide reserve tank is multiple.
When unmanned plane rests in base station, liquid capacity metering instrument can detect after unmanned machine operation remaining pesticide in medicine-chest automatically
Dose.Peristaltic pump, the first conduit and the second conduit are provided among perfusion machine, the first conduit can be along the hollow of entire base station center
Part is upward by mechanical arm and airplane parking area, and connection, the second conduit and each pesticide deposit are contacted with the medicine-chest of uav bottom
Case is connected.Base station master control system controls the dosing into unmanned plane medicine-chest of perfusion machine according to the dose of remaining pesticide in medicine-chest.
Further, which further includes automatic charge device.
C automatic charge devices
Unmanned plane all can carry out battery charging and maintenance before and after every subtask starts in base station.It is parked in unmanned plane predetermined
Position after, the automatic replacement cell apparatus of base station can automatically take out battery and charge.Automatic charge device includes charging electricity
Pond managing chip, power supply adaptor and charging interface, rechargeable battery managing chip include charging circuit and/or maintenance circuit.It fills
Circuit realizes the quick charge to battery, maintains circuit to be protected and be balanced to battery.To prevent over-charging of battery from dropping
Low service life even results in the serious consequences such as fever, explosion, and rechargeable battery managing chip is additionally provided with over-charging of battery protection electricity
Road, can when electricity is full of automatic shutdown circuit；Battery inevitably results from balance phenomenon in use, maintenance
Circuit can automatically be balanced it, extend battery.
Further, which further includes unmanned plane mechanical navigation system, above-mentioned unmanned plane machinery positioning
System is connected with above-mentioned base station master control system, and above-mentioned unmanned plane mechanical navigation system includes base station down level ground 5, machinery positioning
Device and airplane parking area rotating device.Above-mentioned mechanical positioner is arranged on base station down level ground, and mechanical positioner is for making nothing
The man-machine predeterminated position (center) for being located in base station down level ground；The lower end on base station down level ground is arranged in airplane parking area rotating device, uses
It is rotated in driving base station down level ground.
Specifically, airplane parking area rotating device uses device for revolving and driving；Device for revolving and driving include worm screw, pivoting support with
And motor.
Specifically, unmanned plane mechanical navigation system is used for the machinery positioning of unmanned plane, so that unmanned plane is located in default position
It sets.
Unmanned plane is required for resting in scheduled position progress mainteinance repair before and after each execution task, so that next time appoints
Business can be smoothed out.The adjustment needs in unmanned plane position and orientation carry out on airplane parking area.Unmanned plane tripod bottom is circle,
Therefore base station down level ground uses round, and, mechanical positioner, above-mentioned mechanical positioner packet are provided among base station down level ground
It includes four hit exactly positioned at base station down level ground and grabs foot, four running tracks for grabbing foot are " cross ", since Plane location exists
Slight error, after aircraft landing is to base station down level ground, aircraft may have not been able to be parked in the predeterminated position (center of airplane parking area
Between), just need mechanical positioner to be adjusted at this time.Four of center are grabbed foot and are distinguished at the uniform velocity around with identical speed
It props up, unmanned plane is forced to be in airplane parking area middle (forming concentric circles with airplane parking area).After the process, airplane parking area rotating dress
It sets and airplane parking area is driven to proceed by rotation, make the mechanical arm direction one in the battery direction and base station battery more changing device of unmanned plane
Direction one when causing, that is, the battery direction of unmanned plane being made to be in second station with first mechanical arm 31 and second mechanical arm 34
It causes.
The plant protection drone base station of the utility model embodiment offer and plant protection drone base station system by disguising automatically
The addition set：
1, the autonomy-oriented operation of unmanned plane is completed, manpower, the cost that the personnel of reducing employ and train are liberated.
2, failure rate caused by substantially reducing unmanned plane operation process human factor.
3, contact of the people with pesticide during perfusion is avoided, plant protection process is reduced and the pesticide of human body is encroached on.
4, since plant protection drone base station can be according to demand arranged in any place, unmanned machine operation can be covered
In any range, increase unmanned plane operating radius.
5, reduce temporal waste when manual operation, entire operation process more rapidly and efficiently, improves unmanned plane
Utilization rate.
Embodiment two：
As shown in Figure 7 and Figure 8, on the basis of embodiment one, the utility model embodiment provide another plant protection without
Man-machine base station, with embodiment one difference lies in, it is contemplated that plant protection drone base station and unmanned plane are in farm work, inevitably
Encounter the thunderstorm weather of burst.Rainwater and thunder and lightning can all cause circuit system short circuit so that plant protection drone base station and unmanned plane
Damage.The plant protection drone base station further includes：Guard system 500.
Above-mentioned guard system is connected with above-mentioned base station master control system.
Above-mentioned guard system is used to be protected for above-mentioned plant protection drone base station.
Further, above-mentioned guard system includes lightning proof.Above-mentioned lightning proof for protect above-mentioned plant protection without
Man-machine base station prevents thunder and lightning to each system component (such as base station master control system, power-supply system) of plant protection drone base station etc.
Damage caused by impact.
Specifically, above-mentioned lightning proof includes at least one of lightning rod and lightening surge preventing protector.
Further, above-mentioned guard system further includes water-tight device.Above-mentioned water-tight device for prevent rainwater to plant protection without
The erosion of man-machine base station.
Specifically, above-mentioned water-tight device includes the waterproof coating on the surface coated in above-mentioned plant protection drone base station.
Further, above-mentioned guard system further includes ESD static release devices.Above-mentioned ESD (Electro-Static
Discharge) static release device can eliminate the additional charge on unmanned plane body in dry weather, it is ensured that unmanned plane can
With smooth flight.
Further, above-mentioned guard system further includes EMC filters.Above-mentioned EMC (Electromagnetic
Compatibility) filter is used to inhibit and eliminate strong electromagnetic and the electric spark interference of base station master control system, to
Ensure the safe and reliable operation of entire base station automatic control system (i.e. base station master control system).
It should be pointed out that in order to further increase the barrier propterty of plant protection drone, it can also in the plant protection drone
Coated with one layer of waterproof coating, the corrosion of rainwater is prevented.
Further, which further includes：Display system 600.
Above-mentioned display system is connected with above-mentioned base station master control system, and above-mentioned display system is used for presentation of information.
Specifically, above-mentioned display system is responsible for showing transducing signal all in entire plant protection drone base station (including ground
Block message, handling situations, environmental aspect, unmanned plane attribute status etc.) for service personnel's operation maintenance.
Further, display system uses the LCD liquid crystal displays of planar ultra-thin.
Further, demand depending on the user's operation can also install (SuSE) Linux OS in display system, can be complete
The relevant work of figure is appointed in complete victory.
For convenience of service personnel's operation maintenance, further, which is touch screen.
Embodiment three：
As shown in Figure 9 and Figure 10, the utility model embodiment provides a kind of plant protection drone base station system, including：It plants
Protect unmanned plane 10 and above-mentioned plant protection drone base station 20.
Above-mentioned plant protection drone is connected with above-mentioned plant protection drone base station.
Specifically, above-mentioned plant protection drone is connect with above-mentioned plant protection drone base station communication.
Further, positioning system is provided in above-mentioned plant protection drone, above-mentioned positioning system includes that unmanned plane vision passes
At least one of sensor, RTK locating modules or GPS positioning module.
Specifically, positioning system can be realized by three kinds of positioning methods：
A, framing
After unmanned plane visual sensor obtains target image, by Digital Image Processing and feature point extraction, mesh is obtained
Target image coordinate, then quickly resolve the parameters such as position and attitude, control aircraft safety drop by flying control host (i.e. flight controller)
It falls.
B, GPS positioning
GPS positioning module is fairly common in the application of unmanned plane, and details are not described herein.
It is limited in view of GPS location precision, the positioning accuracy request of unmanned plane cannot be met, therefore, the application further includes
Three kinds of localization methods：RTK is positioned.
C, RTK positions (carrier phase difference technology)
The positioning accuracy of RTK locating modules can reach Centimeter Level.Specifically, RTK locating modules, which are based on RTK, positions skill
Art, RTK (Real-Time Kinematic) are current the most widely used high-precision location techniques, and the key of RTK technologies exists
In having used the carrier phase observed quantity of GPS, and the spatial coherence of observation error between reference station and movement station is utilized, leads to
The mode for crossing difference removes most of error that movement station is observed in data, to realize the positioning of high-precision (Centimeter Level).
Further, which further includes mapping system.
Above-mentioned mapping system is connected with above-mentioned base station master control system.
Above-mentioned mapping system includes meteorological sensor group and soil sensor group.
Above-mentioned meteorological sensor group is used to detect the weather environment around above-mentioned plant protection drone, above-mentioned soil sensor group
For detecting the soil conditions around above-mentioned plant protection drone.
Specifically, mapping system is responsible for detecting climate change and soil characteristic, convenient for the suitable flight of unmanned plane selection
Mode and pesticide spraying mode.Meanwhile the measurement of ground block message, the confirmation in course line are completed also by mapping system.
Unmanned plane can be realized by the meteorological sensor group and soil sensor group of its carrying to weather environment around and soil
The measurement of earth state, measurement result go back to plant protection drone base station via communication system real-time Transmission, and base station will be at measurement data
Activity duration and the operating type for managing and determining unmanned plane, to ensure plant protection effect.
Further, which further includes：Server 30, above-mentioned server connect with above-mentioned plant protection drone base station communication
It connects.
Specifically, above-mentioned plant protection drone base station is led to by the long range means in communication system with server
News interaction.On the one hand, plant protection drone base station passes through the uplink task data of the plant protection drone of acquisition, downlink flying quality
4G network transmissions are to server, and on the other hand, plant protection drone base station is by measurement result (the meteorological number of the plant protection drone of acquisition
According to, soil data) cloud server is uploaded, complete mapping.
Further, which further includes：Client 40.
Above-mentioned client is connected with the communication of above-mentioned server, and above-mentioned client is used to carry out data interaction with server.
Specifically, server can pass through the uplink task data obtained from base station, downlink flying quality, measurement result
WLAN is sent to client, and certain client can also obtain above-mentioned data by accessing server.
A brief description is made to the concrete application scene of the system below：
By taking unmanned plane executes primary spraying insecticide for task as an example.After being connected to spraying insecticide for task, automatic charging
Device ensures the cruising ability in execution task to waiting for that operation unmanned plane charges.Simultaneously according to specific task amount by certainly
Dynamic chemicals dosing plant fills a certain amount of pesticide to medicine-chest.After all preparations are ready, unmanned plane starts to take off.Aircraft is made
Each item data such as the flight information during industry uploads cloud server in real time by communication system, is conveniently operated people and operator
Understand handling situations.Battery primary fully charged cruise duration is 10-15 minute, electricity less than 20% after aircraft by auto-returned
Battery is replaced in base station by replacing cell apparatus automatically, and the original place point that flies back later (stop operation the position maked a return voyage) continues operation.By
It can simultaneously charge to 4 batteries in base station, a stylobate station also is available for multiple UAVs operation simultaneously.
The plant protection drone base station system can not only install battery, pesticide additional automatically, additionally it is possible to which autonomy-oriented navigates by water, and improves
The safety coefficient of unmanned plane industry can more plant protection drone can be flown to appointed by the plant protection drone base station of networking
What has the range that base station covers.
The plant protection drone base station system that the utility model embodiment provides, the plant protection drone provided with above-described embodiment
Base station technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
Flow chart and block diagram in attached drawing show system, method and the calculating of multiple embodiments according to the present utility model
The architecture, function and operation in the cards of machine program product.In this regard, each box in flowchart or block diagram can
To represent a part for a module, section or code, a part for the module, section or code includes one or more
A executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, in box
The function of being marked can also occur in a different order than that indicated in the drawings.For example, two continuous boxes actually may be used
To be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that
, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can use and execute
Defined function or the dedicated hardware based system of action realize, or can use specialized hardware and computer instruction
It combines to realize.
In addition, in the description of the utility model embodiment unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned term with concrete condition
Concrete meaning in the present invention.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
The utility model and simplifying describes for ease of description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply relative importance.
The computer program product for the progress intelligent control method that the utility model embodiment is provided, including store place
The computer readable storage medium of the executable non-volatile program code of device is managed, the instruction that said program code includes can be used for
The method described in previous methods embodiment is executed, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the utility model can be integrated in a processing unit,
Can be that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on this understanding, this practicality
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for novel technical solution
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that computer equipment (can be personal computer, server or the network equipment an etc.) execution the utility model is each
The all or part of step of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD
Etc. the various media that can store program code.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to the skill recorded in previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model is answered described is wanted with right
Subject to the protection domain asked.
Claims (10)
1. a kind of plant protection drone base station, which is characterized in that including：Base station master control system, power-supply system, communication system and automatic
Kinetic control system；
The power-supply system, communication system, automatic kinetic control system are connected with the base station master control system respectively；
The power-supply system provides electric power support for the operation of the plant protection drone base station；
The base station master control system is communicated by the communication system with the external world；
The base station master control system control automatic kinetic control system carries out battery altering and installs pesticide additional.
2. plant protection drone base station according to claim 1, which is characterized in that the automatic kinetic control system includes certainly
It is dynamic to replace cell apparatus and automatic medicine adding apparatus.
3. plant protection drone base station according to claim 2, which is characterized in that the automatic replacement cell apparatus includes：
Frame body, battery transport establishment and battery changing mechanism；Battery transport establishment includes multiple charging lists for charging the battery
Member；Battery changing mechanism is installed on frame body, and the battery that charhing unit carries can be delivered to unmanned plane by battery changing mechanism
Battery compartment to replace the battery on unmanned plane.
4. plant protection drone base station according to claim 2, which is characterized in that the automatic medicine adding apparatus includes liquid measure inspection
It surveys instrument and perfusion machine, the liquid inspection instrument and perfusion machine is connected with the base station master control system respectively, the liquid inspection
Instrument is used to detect the residual drug information of the pesticide in unmanned plane medicine-chest, and residual drug information is sent to base station master control system
System；The perfusion machine is used for the dosing into the medicine-chest of unmanned plane.
5. plant protection drone base station according to claim 1, which is characterized in that further include guard system, the protection system
System is connected with the base station master control system；The guard system is for protecting the plant protection drone base station.
6. plant protection drone base station according to claim 1, which is characterized in that further include display system, the display system
System is connected with the base station master control system, and the display system is used for presentation of information.
7. plant protection drone base station according to claim 1, which is characterized in that further include unmanned plane mechanical navigation system,
The unmanned plane mechanical navigation system is connected with the base station master control system, and the unmanned plane mechanical navigation system includes base station
Airplane parking area, mechanical positioner and airplane parking area rotating device.
8. a kind of plant protection drone base station system, which is characterized in that including：Any one of plant protection drone and claim 1-7 institute
The plant protection drone base station stated, the plant protection drone are connected with the plant protection drone base station.
9. plant protection drone base station system according to claim 8, which is characterized in that further include：Mapping system, the survey
System is painted with the base station master control system to be connected；The mapping system includes meteorological sensor group and soil sensor group.
10. plant protection drone base station system according to claim 8, which is characterized in that further include server, the service
Device is connect with the plant protection drone base station communication.
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| CN201820108695.9U CN207748040U (en) | 2018-01-22 | 2018-01-22 | Plant protection drone base station and plant protection drone base station system |
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| CN201820108695.9U CN207748040U (en) | 2018-01-22 | 2018-01-22 | Plant protection drone base station and plant protection drone base station system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058843A (en) * | 2018-01-22 | 2018-05-22 | 北京蜂巢农科科技有限责任公司 | Plant protection unmanned plane base station and plant protection unmanned plane base station system |
| CN109392552A (en) * | 2018-10-18 | 2019-03-01 | 广州极飞科技有限公司 | Drug stowage, apparatus and system |
| CN109445458A (en) * | 2018-10-18 | 2019-03-08 | 广州极飞科技有限公司 | Control the method, apparatus and system of operating equipment operation |
| CN109850155A (en) * | 2019-01-19 | 2019-06-07 | 佛山市开一机器人有限公司 | A kind of agricultural planting unmanned plane pesticide spraying system |
| CN113086231A (en) * | 2021-03-31 | 2021-07-09 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Control method of loading platform based on nano pesticide unmanned aerial vehicle spraying |
| US11279481B2 (en) | 2017-05-12 | 2022-03-22 | Phirst Technologies, Llc | Systems and methods for tracking, evaluating and determining a response to emergency situations using unmanned airborne vehicles |
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2018
- 2018-01-22 CN CN201820108695.9U patent/CN207748040U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11279481B2 (en) | 2017-05-12 | 2022-03-22 | Phirst Technologies, Llc | Systems and methods for tracking, evaluating and determining a response to emergency situations using unmanned airborne vehicles |
| CN108058843A (en) * | 2018-01-22 | 2018-05-22 | 北京蜂巢农科科技有限责任公司 | Plant protection unmanned plane base station and plant protection unmanned plane base station system |
| CN109392552A (en) * | 2018-10-18 | 2019-03-01 | 广州极飞科技有限公司 | Drug stowage, apparatus and system |
| CN109445458A (en) * | 2018-10-18 | 2019-03-08 | 广州极飞科技有限公司 | Control the method, apparatus and system of operating equipment operation |
| CN109850155A (en) * | 2019-01-19 | 2019-06-07 | 佛山市开一机器人有限公司 | A kind of agricultural planting unmanned plane pesticide spraying system |
| CN113086231A (en) * | 2021-03-31 | 2021-07-09 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Control method of loading platform based on nano pesticide unmanned aerial vehicle spraying |
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