CN210503198U - Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box - Google Patents
Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box Download PDFInfo
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- CN210503198U CN210503198U CN201920132378.5U CN201920132378U CN210503198U CN 210503198 U CN210503198 U CN 210503198U CN 201920132378 U CN201920132378 U CN 201920132378U CN 210503198 U CN210503198 U CN 210503198U
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Abstract
A double-cavity medicine chest capable of being carried on an unmanned aerial vehicle and a spraying operation device based on the medicine chest comprise a multi-rotor dual-nozzle unmanned aerial vehicle, wherein a UAV information acquisition module is carried on the multi-rotor dual-nozzle unmanned aerial vehicle, the UAV information acquisition module comprises a UAV flight control main board, a tripod head, a camera and an airborne RTK mobile station, the UAV flight control main board is arranged on the multi-rotor dual-nozzle unmanned aerial vehicle, the airborne RTK mobile station, the tripod head and the camera are respectively connected with the UAV flight control main board, the airborne RTK mobile station is connected with a ground base station arranged in the field, the UAV information acquisition module, data statistics module, terminal display module and medicament select spraying control module to link to each other, are provided with the medicament on the many rotor dual spray unmanned aerial vehicle and select spraying control module, the utility model discloses can acquire the weeds distribution in large tracts of land field fast to realize quick accurate spouting the medicine operation.
Description
Technical Field
The utility model relates to a field unmanned aerial vehicle image recognition and spout medicine operation technical field, in particular to can carry unmanned aerial vehicle's two-chamber medical kit and based on spraying operation device of this medical kit.
Background
At present, the common weeding mode in China is to manually spray pesticides. Manual spraying requires a large amount of manpower on one hand, and residues and wastes are caused by uneven spraying on the other hand; along with the development of science and technology, the plant protection unmanned aerial vehicle is used for spraying pesticide, so that the efficiency is high, and the maneuverability is good; but the herbicide is sprayed in a large range in a field area, and the herbicide can not be selected according to specific weed species, so that the disadvantages of excessive application waste, residual pollution and poor herbicide effect still exist.
For weed identification, methods commonly used today are: manual identification, remote sensing identification and machine vision based identification. The manual identification has high labor intensity and low efficiency, and is difficult to implement in a large area. Remote sensing methods can distinguish large areas of weeds from crops, but it is difficult to classify the weed targets in the images. With the gradual maturity of deep learning algorithms applied to image recognition, the field weed recognition by machine vision becomes possible.
However, recognizing a target using a machine vision technique requires a certain image processing technique, and is difficult to popularize in practical applications. An unmanned aerial vehicle-mobile terminal system which can be simply applied to a mobile terminal and can automatically identify a target in an acquired image and generate a prescription result by combining unmanned aerial vehicle images and machine vision weed identification and target positioning technologies has not been developed and applied.
Traditional unmanned aerial vehicle positioning technology adopts single mode GPS, and its positioning accuracy is low, the signal is unstable, and the domestic farmland condition is more complicated, often has wire pole, tall and big plant etc. uses unmanned aerial vehicle to be difficult to according to predetermined orbit flight in the actual agricultural operation. The multimode RTK differential positioning technology has the characteristics of high precision, good stability and the like, and can solve related problems, so that the plant protection unmanned aerial vehicle carrying the RTK is necessary; however, an agricultural unmanned aerial vehicle system combining target identification and RTK differential positioning is not developed and applied.
The traditional pesticide spraying unmanned aerial vehicle carries a single pesticide box, continuously sprays pesticide during operation, does not identify and analyze field targets, is not beneficial to the pertinence of pesticide characteristics and the saving of quantity, and is easy to leave residual pesticide; however, closed-loop operators who perform corresponding prescription analyses in combination with target weed species and achieve precision agriculture have not been developed.
Disclosure of Invention
In order to overcome above-mentioned prior art not enough, the utility model aims to provide a can carry the two-chamber medical kit of unmanned aerial vehicle and based on spraying operation device of this medical kit, through RTK high accuracy location, transplant to UAV respectively and realize weeds classification detection on improving positioning accuracy and user terminal to combine together with installation multiple medicament medical kit and simple ration selection booster pump valve system, can utilize unmanned aerial vehicle to acquire the big tracts of land field weeds distribution condition fast, and realize quick accurate spouting medicine operation.
In order to realize the purpose, the utility model discloses a technical scheme is:
a double-cavity medicine box capable of being carried on an unmanned aerial vehicle comprises a power supply and control interface, a double-cavity liquid storage box 4, an electromagnetic one-way valve 9, a micro liquid spray booster pump 8, a liquid guide pipe 7 and a nozzle 6; the control interface is connected with the UAV flight control mainboard 3, and the electromagnetic one-way valve 9 and the booster pump 8 are connected with the UAV flight control mainboard 3 through the power supply and the control interface; the booster pump 8 is connected with the liquid storage tank 4, one end of a liquid guide pipe 7 is connected on the booster pump 8, and the other end of the liquid guide pipe 7 is connected with a nozzle 6.
The liquid storage tank 4 is of a double-cavity type and is filled with A, B different medicaments, an electromagnetic one-way valve 9 is respectively arranged in each of the A, B cavities and led out to the three-way pipe, the inlet of the liquid spraying booster pump 8 is connected with the outlet end of the three-way pipe, and the outlet of the liquid spraying booster pump 8 is connected with the liquid guide pipe 7.
The liquid guide pipe 7 is slender.
The nozzle 6 is a light plastic spray cone.
A spraying operation device based on the pesticide box comprises a multi-rotor dual-nozzle unmanned aerial vehicle 1, wherein a UAV information acquisition module is carried on the multi-rotor dual-nozzle unmanned aerial vehicle 1, the UAV information acquisition module comprises a UAV flight control main board 3, a tripod head and camera 5 and an airborne RTK mobile station 2, the UAV flight control main board 3, the tripod head and camera 5 and the airborne RTK mobile station 2 are arranged on the multi-rotor dual-nozzle unmanned aerial vehicle 1, the airborne RTK mobile station 2 and the UAV flight control main board 3 are respectively connected, the airborne RTK mobile station 2 is connected with a ground base station 10 arranged in the field,
the UAV information acquisition module is sequentially connected with the information transmission module, the image recognition module, the data statistics module, the terminal display module and the medicament selection and spraying control module;
many rotors dual spray unmanned aerial vehicle 1 on be provided with medicament and select spraying control module.
The medicament selective spraying control module is a detachable module and comprises a power supply and control interface, a double-cavity liquid storage tank 4, an electromagnetic one-way valve 9, a micro liquid spraying booster pump 8, a liquid guide pipe 7 and a nozzle 6; the control interface is connected with the UAV flight control mainboard 3, and the electromagnetic one-way valve 9 and the booster pump 8 are connected with the UAV flight control mainboard 3 through the power supply and the control interface; the booster pump 8 is connected with the liquid storage tank 4, one end of a liquid guide pipe 7 is connected on the booster pump 8, and the other end of the liquid guide pipe 7 is connected with a nozzle 6.
The liquid storage tank 4 is of a double-cavity type and is filled with A, B different medicaments, an electromagnetic one-way valve 9 is respectively arranged in each of the A, B cavities and led out to the three-way pipe, the inlet of the liquid spraying booster pump 8 is connected with the outlet end of the three-way pipe, and the outlet of the liquid spraying booster pump 8 is connected with the liquid guide pipe 7.
The liquid guide pipe 7 is slender.
The nozzle 6 is a light plastic spray cone.
The bottom of the ground reference station 10 is supported by a tripod, and a telescopic lifting branch pipe is arranged between the ground reference station 10 and the tripod.
The information transmission module comprises a wifi module arranged in the UAV main control 3, a remote controller relay terminal 12 and a mobile terminal 11; the built-in wifi module transmits the image and the position information received by the pan-tilt camera 5 to the relay end 12 of the remote controller, and the relay end integrates the image and the position information and transmits the image and the position information to the mobile terminal 11 through a data line;
the image identification module is a mobile terminal 11.
The utility model has the advantages that:
the utility model discloses combine together unmanned aerial vehicle RTK accurate positioning, degree of depth study accurate identification and spout the medicine selection decision-making system, according to weeds absolute position coordinate and classification, density earlier generation composition diagram, further establish operation prescription chart, combine two-chamber medical kit and corresponding control system, realized the accurate operation of punctiform to the different kinds of weeds spraying different pesticides. On one hand, the utility model realizes the distinguishing of various weeds more accurately and rapidly by using the deep learning network along with the sufficient data acquisition; on the other hand, the double-cavity medicine chest is adopted in the description, so that the selective spraying of two medicines can be realized; if the number of the cavities of the pesticide box and the corresponding control system are expanded, various pesticide spraying selections can be carried, and corresponding agents are selected according to specific weeds, so that accurate agriculture is further realized. In general, the system can promote agricultural information to be rapidly acquired and processed in the weed identification aspect, and the multi-pesticide selective spraying system can realize accurate operation in the direction.
Drawings
Fig. 1 is a flow chart of the present invention.
Fig. 2 is a schematic diagram of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
1. Many rotors dual spray unmanned aerial vehicle, 2, machine carries RTK orientation module, 3, UAV flight master control, 4, two-chamber liquid reserve tank, 5, controllable cloud platform and camera, 6, nozzle, 7, catheter, 8, miniature hydrojet booster pump, 9, electromagnetism check valve, 10, RTK-GNSS removes reference station, 11, mobile terminal, 12, unmanned aerial vehicle remote controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the system comprises a UAV information acquisition module, an information transmission module, an image recognition module, a data statistics module, a user terminal display module, and a medicament selective spraying control module;
the UAV information acquisition module comprises a UAV flight control mainboard 3, a tripod head and camera 5 and RTK differential positioning modules 2 and 10; the UAV flight control mainboard can receive position information of the RTK module and information of a horizontal height, a flight inclination angle and the like of other sensors, and the UAV can sail according to a preset track; in the spraying operation stage, the mainboard outputs 3 signals to realize the control of the spraying module. The carried cradle head and the camera 5 collect field images in real time and transmit the field images back to the user terminal through the information transmission module to realize real-time detection; in the RTK differential positioning module, an airborne RTK rover station 2 receives data of a ground reference station 10, simultaneously acquires observation data, calculates position information and transmits the position information to an information transmission module; the ground base station structure is portable and detachable and is provided with a tripod and a liftable branch pipe;
the information transmission module comprises a wifi module 3 which is arranged in the UAV master control, a remote controller relay terminal 12 and a mobile terminal 11; the UAV is internally provided with a wifi module 3, and transmits the image and the position information received by the pan-tilt camera 5 to a remote controller relay terminal 12, and the relay terminal integrates the image and the position information and transmits the image and the position information to a mobile terminal 11 through a data line;
the image recognition module is realized as a mobile terminal 11 in hardware and comprises an Android environment, a JNI (just noticeable information) interface, a TensorFlow C + + open source library and a training model file; the Android provides a basic running environment for the data processing module, the JNI is Java and a C + + interactive interface to call a C + + function in the Android, the open source library TensorFlow is a deep learning frame, and a platform is provided for identifying and detecting weeds in an image; the training model file is a Fast-R-CNN classification model used by TensorFlow in an Android environment and used for detection and classification, is derived from images of various weed targets collected in advance, and is packaged and guided into the Android environment along with a user App after being trained on a high-performance service.
The data statistics module is realized as a mobile terminal 11 in hardware and comprises a background data recording module and a prescription chart information generation module; the background data recording module counts the recorded positions of each waypoint and the distribution of weeds in the images, and the prescription map information generating module generates a pesticide spraying operation prescription map based on different waypoints by combining a weed distribution map and a pesticide using technology after navigation based on a decision algorithm.
The user terminal display module is realized as a mobile terminal 11 in hardware and comprises a real-time target marking module, a distribution diagram display module and a prescription diagram display module; the target marking module can mark and display detected weeds on a track route in real time, and the target information counting module counts and records the positions of each waypoint and the distribution of the weeds in the image; the distribution diagram display module can be used for a user to check the traveled route and the weed target macroscopic distribution image of each waypoint at any time; the prescription chart display module can display the spraying operation prescription charts of different waypoint field areas after the data statistics module processes the spraying operation prescription charts.
As shown in fig. 3: the agent selecting and spraying control module is a detachable module and can be installed, accessed or detached according to task requirements; the module comprises a power supply and control interface (connected to a UAV flight control mainboard 3), a double-cavity liquid storage tank 4, an electromagnetic one-way valve 9, a micro liquid spray booster pump 8, a liquid guide pipe 7 and a nozzle 6; wherein, the power supply and the control interface realize the normal work of the electromagnetic one-way valve 9 and the booster pump 8 under the signal 3 of the main control board; the liquid storage tank 4 is designed into a double-cavity type, A, B two different agents can be filled in two sides of the liquid storage tank, and the fine operation of spraying different agents on different weeds can be realized by combining other structures; A. an electromagnetic one-way valve 9 is respectively arranged in the two cavities B and led out to the three-way pipe, the one-way valve 9 is closed or opened for a certain time under the control of the UAV flight control main board 3, so that the mutual mixed pollution of the medicaments is prevented, and the selection of the type and the spraying amount of the medicaments is realized; 8, the inlet of the liquid spraying booster pump is connected with the outlet end of the three-way pipe, the outlet of the liquid spraying booster pump is connected with a liquid guide pipe 7, and the liquid spraying booster pump works when one electromagnetic valve is opened and the other electromagnetic valve is closed, boosts the target medicament and outputs the target medicament to the liquid guide pipe; the catheter 7 adopts a slender tube, so that the liquid storage amount in the tube can be reduced, and the degree of mixing of two medicaments is reduced; the nozzle 6 is in a light plastic spray cone shape to reduce the load, and high-pressure liquid is further pressurized, atomized and sprayed out through the nozzle, and finally quantitative spraying of a specific medicament is achieved.
The UAV flight control main board 3, the pan-tilt camera 5 and the RTK differential positioning modules 2 and 10 can refer to and use DJIPhantom 4RTK type UAVs and corresponding accessories.
The UAV flight control mainboard 3 is used for controlling the unmanned aerial vehicle to navigate according to a preset air route, and information transmission and data interaction among the airborne RTK module 2, the holder camera 5, the WiFi module and the plurality of sensor modules are achieved.
The image recognition module comprises a Fast-R-CNN classification model used for detection and classification in a TensorFlow under an Android environment, wherein a model data set is derived from images of various weed targets collected in advance, and is packaged and guided into the Android environment along with a user App after being trained on a high-performance server.
As shown in fig. 2: a field weed identification and positioning system based on unmanned aerial vehicle images sequentially comprises the following steps:
s100: the unmanned aerial vehicle collects images in a field area according to a pre-planned path, and the airborne RTK acquires the position of the unmanned aerial vehicle in real time;
acquiring a field image, accurately driving according to a route by a D-RTK positioning system with centimeter-level precision, navigating an experimental field area marked with a plurality of target test points along a preset track, and acquiring an image in real time; the position information of the field target is obtained in real time through an RTK positioning system.
S200: the unmanned aerial vehicle transmits the image and the position information to the terminal image processing module;
transmission of image information: the built-in wifi module 3 of UAV master control is connected with the remote controller relay end 12 and transmits data in real time, meanwhile, the ground relay station 12 fuses the image and the corresponding position information, and then the image is transmitted to the image processing module on the terminal 11 through the data line.
S300: processing the image by using a pre-trained CNN model, identifying and marking a target, displaying the waypoint weed distribution, UAV position and posture information on a user interface, and simultaneously recording the waypoint identification result by a background;
processing each frame of received image, and identifying and detecting weed targets in the visual field; the identification process is mainly divided into the following steps:
(1) firstly, carrying out bilateral filtering and noise reduction on a received image and simultaneously keeping a target edge clear;
(2) obtaining field vegetation from the filtered image by using an OSTU threshold segmentation method, and extracting color, character and texture information of a target to be selected;
(3) and sending the preprocessed image into a convolutional neural network, identifying and detecting the target in the image, deciding the type of the target according to threshold probability to realize classification, and calibrating the type unitized density value according to different target detection times after classification. The network structure is as follows: image input- > convolution layer- > pooling layer- > full connection layer;
s400: and according to the statistical waypoint information, displaying a macroscopic field weed distribution diagram, statistical information, an operation prescription diagram generated by an algorithm and a recommended filling drug type on a terminal after the identification task is finished.
The pesticide spraying unmanned aerial vehicle pesticide application prescription chart and the recommended spraying A, B type pesticide are the results obtained by analyzing based on the weed distribution chart, and are generated by a decision classifier according to different weed drug resistance and pesticide application technologies.
S500: the terminal transmits the operation prescription diagram to the unmanned aerial vehicle provided with the double-cavity medicine chest and the corresponding control module, and the unmanned aerial vehicle provided with the corresponding recommended medicine receives the prescription diagram and carries out operation according to the path and the spraying requirement.
Firstly, filling the double-cavity pesticide box 4 with corresponding recommended pesticides, accessing the double-cavity pesticide box and a corresponding control module into the UAV flight control mainboard 3, and uploading the generated path and prescription from the terminal 11; the unmanned aerial vehicle runs according to a set air route and hovers at a target navigation point, the check valve 9 in the A, B cavity is opened after receiving a signal sent by the UAV flight control mainboard 3, liquid in the cavity flows to the booster pump 8 through the check valve and the three-way pipe, the pump delays for 1.5s after receiving an opening signal of the check valve 9 until the liquid flows into the pump to start working until the UAV flight control mainboard 3 sends a closing signal to the check valve, at the moment, the booster pump 8 stops working firstly, and the check valve 9 is completely closed so as to prevent the pump from being damaged. Therefore, a certain amount of specific type of medicament is sprayed at a fixed position, and the closed-loop operation of the system is realized.
Claims (4)
1. A double-cavity medicine chest capable of being carried on an unmanned aerial vehicle is characterized by comprising a power supply and control interface, a double-cavity liquid storage box (4), an electromagnetic one-way valve (9), a micro liquid spraying booster pump (8), a liquid guide pipe (7) and a nozzle (6); the control interface is connected with the UAV flight control mainboard (3), and the electromagnetic one-way valve (9) and the booster pump (8) are connected with the UAV flight control mainboard (3) through the power supply and the control interface; the booster pump (8) is connected with the liquid storage tank (4), one end of a liquid guide pipe (7) is connected to the booster pump (8), and the other end of the liquid guide pipe (7) is connected with the nozzle (6).
2. The double-chamber medicine box capable of being carried on the unmanned aerial vehicle as claimed in claim 1, wherein the liquid storage box (4) is of a double-chamber type, A, B different medicines are filled in the double-chamber medicine box, an electromagnetic check valve (9) is respectively arranged in each of the A, B two chambers and led out to a three-way pipe, the inlet of the liquid spraying booster pump (8) is connected with the outlet end of the three-way pipe, and the outlet of the liquid spraying booster pump is connected with the liquid guide pipe (7).
3. The double-chamber medicine box capable of being carried on an unmanned aerial vehicle as claimed in claim 1, wherein the catheter (7) is elongated.
4. The double-chamber medicine box capable of being carried on an unmanned aerial vehicle as claimed in claim 1, wherein the nozzle (6) is a light plastic spray cone.
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| CN201920132378.5U CN210503198U (en) | 2019-01-25 | 2019-01-25 | Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box |
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| CN201920132378.5U CN210503198U (en) | 2019-01-25 | 2019-01-25 | Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
| CN113142170A (en) * | 2021-03-30 | 2021-07-23 | 宁波市农业科学研究院 | Unmanned aerial vehicle intelligent fixed-point weeding technology suitable for rice field |
| CN117775467A (en) * | 2024-02-27 | 2024-03-29 | 民航成都电子技术有限责任公司 | Unmanned aerial vehicle storage box, unmanned aerial vehicle system and unmanned aerial vehicle path planning method |
-
2019
- 2019-01-25 CN CN201920132378.5U patent/CN210503198U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
| CN113142170A (en) * | 2021-03-30 | 2021-07-23 | 宁波市农业科学研究院 | Unmanned aerial vehicle intelligent fixed-point weeding technology suitable for rice field |
| CN117775467A (en) * | 2024-02-27 | 2024-03-29 | 民航成都电子技术有限责任公司 | Unmanned aerial vehicle storage box, unmanned aerial vehicle system and unmanned aerial vehicle path planning method |
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