CN210270623U

CN210270623U - Unmanned aerial vehicle accurate afforestation system based on GNSS RTK technique

Info

Publication number: CN210270623U
Application number: CN201920422799.1U
Authority: CN
Inventors: 李波
Original assignee: Sichuan Jiyun Zhifei Technology Co ltd
Current assignee: Sichuan Jiyun Zhifei Technology Co ltd
Priority date: 2019-03-31
Filing date: 2019-03-31
Publication date: 2020-04-07
Anticipated expiration: 2029-03-31

Abstract

The utility model discloses an unmanned aerial vehicle accurate afforestation system based on GNSS RTK technology, including with the geographical mapping unmanned aerial vehicle and the tree planting unmanned aerial vehicle that carry on GNSS RTK system, ground control station, seed body and seed transmitter, the seed body is installed in the seed transmitter, installs the seed transmitter on the tree planting unmanned aerial vehicle again; the tree planting unmanned aerial vehicle and the geography survey unmanned aerial vehicle are connected with the ground control station, the geography survey unmanned aerial vehicle carries out aerial survey on an area to be forested and acquires map data and marks planting points, the ground control station plans an operation route according to the map data and the planting points, and the tree planting unmanned aerial vehicle autonomously flies according to the planned operation route and controls the seed transmitter to throw in seeds to the planting points. The utility model discloses unmanned aerial vehicle carries on seed transmitter and realizes accurate planting, can form the neat even forest vegetation in forest looks, can also build the mixed forest according to the characteristics of nearly nature forestry to form biodiversity and stable ecological community.

Description

Unmanned aerial vehicle accurate afforestation system based on GNSS RTK technique

Technical Field

The utility model relates to a afforestation field, concretely relates to accurate afforestation method of unmanned aerial vehicle and system based on GNSS RTK positioning technology.

Background

The airplane seeding afforestation means that a manned transporter is used to sow seeds in a planned area along a certain flight path at a certain flight height, and the airplane seeding afforestation method has the characteristics of high speed, high work efficiency and low cost, and can be applied to remote mountainous areas and wildlands which are inconvenient to transport, have little smoke and are difficult to implement by other afforestation methods.

In recent years, with the rise of civil industrial-grade unmanned aerial vehicles, in order to solve the vegetation restoration of fragmented barren mountains and wastelands with complex terrain, the adoption of unmanned aerial vehicles instead of manned large airplanes for air seeding and afforestation is tried in China. The unmanned aerial vehicle vegetation restoration method has the advantages that the characteristics of high efficiency, flexibility, high altitude and accurate broadcast sowing of the unmanned aerial vehicle are utilized, and vegetation restoration is carried out on the land which is difficult to afforest and has poor clearance conditions, complex terrain, small land blocks and dispersion.

The existing air seeding afforestation has the defects of uneven seed falling, frequent dilution and uneven density of formed young forest, monotonous landscape, fragile state system, poor biological diversity, low ecological function, overlarge seed consumption and lower effect area and survival rate compared with the seeding area regardless of airplane seeding or unmanned aerial vehicle seeding.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an accurate afforestation system of unmanned aerial vehicle based on GNSS RTK positioning technology.

The utility model aims at realizing through the following technical scheme:

an unmanned aerial vehicle accurate afforestation system based on GNSS RTK positioning technology comprises a geographical mapping unmanned aerial vehicle carrying a GNSS RTK system, a tree planting unmanned aerial vehicle carrying the GNSS RTK system, a ground control station, a seed body and a seed transmitter, wherein the seed body comprises an inner layer of seeds, a middle layer of coating layer and an outer layer of bullet-shaped shell, the seed body is installed in the seed transmitter, and then the seed transmitter of the installed seed body is installed on the tree planting unmanned aerial vehicle carrying the GNSS RTK system; the tree planting unmanned aerial vehicle with carrying on GNSS RTK system and with the geographical survey unmanned aerial vehicle that carries on GNSS RTK system all be connected with ground control station, treat the afforestation area with the geographical survey unmanned aerial vehicle that carries on GNSS RTK system and carry out the aerial survey and obtain map data, and mark the planting point on the map data, all send map data and planting point for ground control station, ground control station plans the operation route according to map data and planting point, with the tree planting unmanned aerial vehicle that carries on RTK system acquisition map data, planting point and planning operation route, tree planting unmanned aerial vehicle is according to planning operation route independently control seed emitter after flying to the planting point and puts in seed to the planting point.

Further, the bullet-shaped shell is made of a material which can be naturally degraded in soil.

Further, the coating layer comprises an insecticide, a bactericide, a compound fertilizer, a trace element, a plant growth regulator and a water-retaining agent.

Further, seed transmitter includes the casing, be equipped with seed body installation cavity, transmission promotion chamber and compressed air chamber in proper order from the right side to a left side in the casing, the seed catch bar is installed in the exit of seed installation cavity, the seed catch bar is connected with actuating mechanism, and the directional transmission of its direction of promotion promotes the export in chamber, and the exit in transmission promotion chamber is connected with the seed launching tube, and the transmission promotes the intracavity and installs the promotion structure, and the transmission promotes the chamber and is connected with compressed air chamber, compressed air chamber is connected with the direct current air pump, still installs in it has the sealing plug, and the sealing plug is connected with the solenoid valve, and solenoid valve, direct current air pump and drive structure all are connected with the controller of planting unmanned aerial vehicle.

The utility model discloses following beneficial effect has:

(1) the unmanned aerial vehicle carries the seed transmitter to realize accurate planting, so that the seed consumption is greatly reduced, the problem of uneven density of the traditional aerial seeding is solved, and the trees can be formed to be regular and uniform with forest vegetation;

(2) selecting excellent seeds to carry out coating technical treatment, and directly injecting the seeds into soil by adopting a compressed air device in a planting mode so as to greatly improve the implantation rate, the germination rate and the seedling rate of the seeds; not only the afforestation success rate is several times than the traditional air seeding, because the direct germination growth of the seed does not pass the transplantation, the survival rate and the preservation rate are higher than the artificial planting afforestation.

Drawings

Fig. 1 is a schematic diagram of the system structure of the present invention.

Fig. 2 is a schematic structural diagram of the seed body of the present invention.

Fig. 3 is a schematic structural diagram of the seed transmitter of the present invention.

The labels in the figure are: A. a seed body; 1. a housing; 11. a seed body installation cavity; 12. a launch push chamber; 13. a compressed air chamber; 14. a seed launching tube; 2. a seed pushing rod; 21. a drive mechanism; 3. A pushing structure; 4. a sealing plug; 41. an electromagnetic valve; 5. a direct current air pump.

Detailed Description

As shown in fig. 1, the present embodiment further provides an unmanned aerial vehicle accurate afforestation system based on GNSS RTK positioning technology, including a geographical mapping unmanned aerial vehicle carrying the GNSS RTK system, a tree planting unmanned aerial vehicle carrying the GNSS RTK system, a ground control station, a seed a, and a seed transmitter. As shown in fig. 2, the seed body a comprises an inner seed layer, a middle coating layer and an outer bullet-shaped shell, in fig. 2, the center is the seed, the black area is the coating layer, and the black edge is the shell; the coating layer comprises an insecticide, a bactericide, a compound fertilizer, trace elements, a plant growth regulator and a water-retaining agent; the nutrient substances which are beneficial to the survival rate and the early growth of the seeds are provided; the bullet-shaped shell is made of a material capable of being naturally degraded in soil, so that seeds can be conveniently brought into the soil in the later period, and the material is made of a material capable of being naturally degraded in the soil and cannot pollute the environment. The seed body A is arranged in a seed transmitter, and the seed transmitter takes compressed air as a power source, so that the seed body A is conveniently transmitted to the soil of the marked planting point; the seed transmitter is similar to a pneumatic air gun used in the prior competitive sports competition, and a direct-current air pump is adopted to carry out constant-pressure inflation. The specific structure is as shown in fig. 3, the seed transmitter comprises a shell 1, a seed installation cavity 11, a transmitting pushing cavity 12 and a compressed air cavity 13 are sequentially arranged in the shell 1 from right to left, a seed push rod 2 is installed at an outlet of the seed installation cavity 11, the seed push rod 2 is connected with a driving mechanism 21, the pushing direction of the seed push rod points to the outlet of the transmitting pushing cavity 12, an outlet of the transmitting pushing cavity 12 is connected with a seed transmitting tube 14, a pushing structure 3 is installed in the transmitting pushing cavity 12, the transmitting pushing cavity 12 is connected with the compressed air cavity 13, the compressed air cavity 13 is connected with a direct current air pump 5, a sealing plug 4 is further installed in the compressed air cavity 4, the sealing plug 4 is connected with an electromagnetic valve 41, the direct current air pump 5 and the driving mechanism 21 are all connected with a controller for planting the unmanned aerial vehicle, the direct current air pump 5 is firstly filled into, when the electromagnetic valve 41 is controlled to move, the driving mechanism 21 is controlled to push the seeds into the seed launching tube 14, the sealing plug 4 moves compressed air to quickly fill the launching pushing cavity 12, the pushing structure 3 is pushed, and the pushing structure 3 pushes the seeds A out quickly, so that the seeds A are pushed to a planting point.

Then, a seed transmitter of the installed seed body A is installed on a tree planting unmanned aerial vehicle carrying a GNSS RTK system; the area of afforestation is treated with the geographical mapping unmanned aerial vehicle who carries on GNSS RTK system to the adoption carries out the aerial survey, according to the high accuracy map data that the aerial survey acquireed and according to afforestation design configuration mark for operation task data be planting point, geographical mapping unmanned aerial vehicle transmits the high accuracy geographical data of gathering and the planting point of mark for rather than the ground controller of being connected, ground controller is prior art's general unmanned aerial vehicle ground station, can connect by a plurality of unmanned aerial vehicles, realize data sharing, after the planting tree unmanned aerial vehicle with installed seed A and seed transmitter independently flies to the planting point of step (1) mark according to planning the airline, control seed transmitter transmission seed A to planting point.

The ground control station can also be connected with a geographical mapping unmanned aerial vehicle carrying a camera and a GNSS RTK system to carry out aerial survey on the planting points regularly, the growth condition of the seeds can be observed through aerial survey, the specific aerial survey time can be determined according to the growth cycle of the seeds, such as 3 months and 4 months, the time interval from the germination of the seeds to the growth of the seedlings which are healthy can be shorter, so that the seeds can be conveniently germinated or die due to other reasons, and the seeds can be reseeded.

The utility model discloses a work flow:

(1) the method comprises the steps that a geographical surveying and mapping unmanned aerial vehicle carrying a GNSS RTK system is adopted to carry out aerial survey on an area to be forested, high-precision map data obtained by aerial survey are configured and marked as operation task data, namely planting points according to forestation design, the geographical surveying and mapping unmanned aerial vehicle transmits the collected high-precision geographical data and the marked planting points to a ground controller connected with the geographical surveying and mapping unmanned aerial vehicle, the ground controller is a universal unmanned aerial vehicle ground station in the prior art, and a plurality of unmanned aerial vehicles can be connected to realize data sharing;

(2) coating the seeds with a layer of bullet-shaped shell which can be naturally degraded in soil to form a seed body A; the seed coating technical treatment means that the seeds are placed in a seed coating agent containing various components of insecticide, bactericide, compound fertilizer, trace elements, plant growth regulator and water-retaining agent, so that the survival rate and the early growth of the seeds are favorably provided; the shell is in the shape of a bullet head, so that seeds can be conveniently brought into soil at a later stage, and the shell is made of a material which is naturally degraded in the soil and cannot pollute the environment;

(3) installing the seed A obtained in the step (2) on a seed emitter, and then installing the seed emitter on a tree planting unmanned aerial vehicle carrying a GNSS RTK system; the seed transmitter takes compressed air as a power source, so that the seed A is conveniently transmitted to the soil of the marked planting point;

(4) automatically flying the tree planting unmanned aerial vehicle provided with the seed A and the seed transmitter in the step (3) to the planting point marked in the step (1) according to the planned route, and controlling the seed transmitter to transmit the seed A to the planting point;

(5) the method is characterized in that a geographical mapping unmanned aerial vehicle carrying a camera and a GNSS RTK system is adopted to carry out aerial survey on planting points regularly, the growth condition of seeds can be observed through aerial survey, the specific aerial survey time can be determined according to the growth period of the seeds, for example, 3 months and 4 months, the time interval from the germination of the seeds to the growth of the seedlings which are healthy can be shorter, so that the seeds can be conveniently germinated or die due to other reasons, and the seeds can be reseeded.

The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and the utility model should be covered in the protection scope of the present invention.

Claims

1. The utility model provides an accurate afforestation system of unmanned aerial vehicle based on GNSS RTK positioning technology which characterized in that: the method comprises a geographical mapping unmanned aerial vehicle carrying a GNSS RTK system, a tree planting unmanned aerial vehicle carrying the GNSS RTK system, a ground control station, a seed body and a seed transmitter, wherein the seed body comprises an inner layer of seeds, a middle layer of coating layer and an outer layer of bullet-shaped shell; the tree planting unmanned aerial vehicle with carrying on GNSS RTK system and with the geographical survey unmanned aerial vehicle that carries on GNSS RTK system all be connected with ground control station, treat the afforestation area with the geographical survey unmanned aerial vehicle that carries on GNSS RTK system and carry out the aerial survey and obtain map data, and mark the planting point on the map data, all send map data and planting point for ground control station, ground control station plans the operation route according to map data and planting point, with the tree planting unmanned aerial vehicle that carries on RTK system acquisition map data, planting point and planning operation route, tree planting unmanned aerial vehicle is according to planning operation route independently control seed emitter after flying to the planting point and puts in seed to the planting point.

2. The GNSS RTK positioning technology-based unmanned aerial vehicle precision afforestation system according to claim 1, wherein: the bullet-shaped shell is made of a material capable of being naturally degraded in soil.

3. The GNSS RTK positioning technology-based unmanned aerial vehicle precision afforestation system according to claim 1, wherein: the coating layer comprises an insecticide, a bactericide, a compound fertilizer, trace elements, a plant growth regulator and a water-retaining agent.

4. The GNSS RTK positioning technology-based unmanned aerial vehicle precision afforestation system according to claim 1, wherein: seed transmitter includes the casing, be equipped with seed body installation cavity, transmission promotion chamber and compressed air chamber in proper order from the right side to a left side in the casing, the seed catch bar is installed in the exit of seed installation cavity, the seed catch bar is connected with actuating mechanism, and the directional transmission of its direction of promotion promotes the export in chamber, and the exit that the transmission promoted the chamber is connected with the seed launching tube, and the transmission promotes the intracavity and installs the pushing structure, and the transmission promotes the chamber and is connected with compressed air chamber, compressed air chamber is connected with the direct current air pump, still installs in it has the sealing plug, and the sealing plug is connected with the solenoid valve, and solenoid valve, direct current air pump and actuating structure all are connected with the controller of planting unmanned aerial vehicle.