CN213122715U - Full-automatic unmanned aerial vehicle cluster operation device - Google Patents
Full-automatic unmanned aerial vehicle cluster operation device Download PDFInfo
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- CN213122715U CN213122715U CN201821472510.9U CN201821472510U CN213122715U CN 213122715 U CN213122715 U CN 213122715U CN 201821472510 U CN201821472510 U CN 201821472510U CN 213122715 U CN213122715 U CN 213122715U
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Abstract
The utility model discloses a full-automatic unmanned aerial vehicle cluster operation device acts on the parcel, including the control unit and the execution unit, the execution unit includes the sealed outer container, be provided with an at least reconnaissance machine and two at least operation machines in the outer container, be provided with in the outer container with battery module and medical kit module of the automatic butt joint of operation machine. The utility model discloses at least, have following advantage: the unmanned aerial vehicle automatic control system can divide the work of commands, work and supply of unmanned aerial vehicle work, and further realize automatic battery and liquid medicine replacement and multi-machine alternate continuous operation.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle operation technical field especially relates to a full-automatic unmanned aerial vehicle cluster operation device.
Background
The existing operation mode of the plant protection unmanned aerial vehicle needs to depend on a flying hand and workers to carry out site environment investigation, air route planning, take-off and landing control, replacement of batteries, liquid medicine/liquid fertilizer and the like. The working time of personnel can not be really reduced, and the operation efficiency is low (in the current plant protection operation process, the actual effective operation time of the unmanned aerial vehicle only accounts for about 30% of the daily operation time, and other time is wasted on items such as manual route planning, take-off and landing control, manual replacement of batteries and liquid medicines, operation area transfer and the like). And in certain hazardous work tasks (for example, when the liquid medicine is a toxic pesticide), the personnel have safety risks. Above reason leads to present plant protection unmanned aerial vehicle can't really realize high-efficient, safe unmanned operation. In addition, the existing fully autonomous flight system does not separate the investigation and operation (plant protection) work functions of the unmanned aerial vehicle, and lacks the collection of land parcel and land condition data (such as safety boundaries, obstacle information and the like), so that the operation is only suitable for the 'standard land parcel', and the land parcel operation with any shape and any land condition cannot be realized. Moreover, the existing plant protection unmanned aerial vehicle adopts an open platform for taking off and landing, has poor environmental adaptability and cannot realize all-weather operation.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a full-automatic unmanned aerial vehicle cluster operation device, its instruction, operation, the supply work that can realize the unmanned aerial vehicle operation divide the worker, and then realize changing battery and liquid medicine, multimachine in turn continuous incessant operation by oneself.
In order to solve the technical problem, the utility model provides a full-automatic unmanned aerial vehicle cluster operation device acts on the landmass, including the control unit and the execution unit, the execution unit includes sealed outer container, be provided with an at least reconnaissance machine and two at least operation machines in the outer container, be provided with in the outer container with battery module and medical kit module of the automatic butt joint of operation machine.
Furthermore, at least one first honeycomb used for bearing the detection machine and at least two second honeycombs used for bearing the operation machine are arranged in the outer box, and the first honeycombs are detachably connected with the second honeycombs.
Further, power interfaces are arranged in the first honeycomb and the second honeycomb, and medicament interfaces in butt joint with the medicine box modules are arranged in the second honeycomb.
Furthermore, a first descending platform for receiving the detection machine, a first skylight for sealing the top of the first honeycomb and a first lifting mechanism for pushing the first descending platform to move to the outside of the first skylight are arranged in the first honeycomb.
Furthermore, a first camera and a first switching mechanism for switching the battery of the scout machine are arranged in the first honeycomb.
Furthermore, a second lifting platform for receiving the working machine, a second skylight for sealing the top of the second honeycomb and a second lifting mechanism for pushing the second lifting platform to move to the outside of the second skylight are arranged in the second honeycomb.
Furthermore, a second camera, a second switching mechanism for switching the battery of the operating machine and a liquid injection nozzle for injecting liquid medicine into the operating machine are arranged in the second honeycomb.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of a first honeycomb structure of the present invention;
fig. 3 is a schematic view of a second honeycomb structure of the present invention;
FIG. 4 is a schematic view of the flight path of the scout;
FIG. 5 is a schematic view of a standard job boundary of the present invention;
fig. 6 is a schematic view of the position error of the working machine according to the present invention;
FIG. 7 is a schematic view of the practical working boundary of the present invention;
fig. 8 is a schematic diagram of obstacle recognition according to the present invention.
In the above drawings: 1. a control unit; 2. an outer box; 3. a scout; 4. a working machine; 5. a medicine box module; 6. a first honeycomb; 7. a second honeycomb; 8. a power interface; 9. a medicament interface; 10. a first landing platform; 11. a first louver; 12. a first lifting mechanism; 13. a first switching mechanism; 14. a second take-off and landing platform; 15. a second louver; 16. a second lifting mechanism; 17. a second switching mechanism; 18. and a liquid injection nozzle.
Detailed Description
The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
Combine fig. 1 to fig. 3 to show, the utility model discloses a full-automatic unmanned aerial vehicle cluster operation device acts on the landmass, including the control unit 1 and the execution unit, the execution unit includes sealed outer container 2, be provided with an at least reconnaissance aircraft 3 and two at least workovers 4 in the outer container 2, be provided with in the outer container 2 with battery module and medical kit module 5 of workover rig 4 automatic butt joint. The device can be carried on the existing transportation vehicles and can also be used as a fixed facility around a working place.
The utility model discloses in, be provided with at least one in the outer container 2 and be used for bearing first honeycomb 6, at least two of investigation machine 3 are used for bearing second honeycomb 7 of operation machine 4, first honeycomb 6 can dismantle the connection second honeycomb 7. The side walls of the periphery of the first honeycomb 6 and the second honeycomb 7 are provided with connecting plates and clamping grooves butted with the connecting plates, so that the detachable connection of the first honeycomb 6 and the second honeycomb 7 is realized. The first honeycomb 6 and the second honeycomb 7 are also provided with cushions on their side walls, by being provided with cushions, the first honeycomb 6 and the second honeycomb 7 can be avoided from directly contacting to reduce surface damage. The bottom of the first honeycomb 6 and the bottom of the second honeycomb 7 are both provided with adjustable support feet for finishing fine adjustment and leveling of the first honeycomb 6 and the second honeycomb 7.
The utility model discloses in, be provided with in the second honeycomb 7 and be used for accepting second take-off and landing platform 14, sealed of workover rig 4 second skylight 15, the promotion at 7 tops of second honeycomb second take-off and landing platform 14 moves extremely 15 outside second elevating system 16 in second skylight. A second camera, a second switching mechanism 17 for switching the battery of the working machine 4, and a liquid injection nozzle 18 for injecting a liquid medicine into the working machine 4 are provided in the second honeycomb 7.
The utility model discloses in, the material in first honeycomb 6, second honeycomb 7, first skylight 11 and second skylight 15 comprises metal, combined material, organic material and/or glass.
As shown in fig. 4 to 8, the working principle of the present invention includes the following steps:
step 1: the investigation of the ground conditions is carried out through the investigation machine 3, which specifically comprises the following steps: step 11: respectively carrying out plot area pickup, boundary confirmation and flight obstacle identification; step 12: planning a flight path and checking the obstacles one by one; step 13: evaluating flight plots and obstacle safety boundaries; step 14: and planning the operation flight path to form path data.
Wherein the land area pickup specifically comprises: step a 1: establishing a rectangular coordinate system of a top plan: establishing a rectangular coordinate system of a top-view plane by taking the geometric center point of the scout plane 3 during the first takeoff as the origin, taking the course direction of the scout plane 3 as the Y axis and taking the direction vertical to the Y axis as the X axis; step a 2: obtaining a plot boundary curve function: the track surrounded by the reconnaissance machine 3 after flying for one circle along the boundary of the land parcel is subjected to numerical fitting to obtain a curve function of the boundary of the land parcel
Step a 3: determining the area of the land mass: the area of the land is calculated by the following integral formula,
wherein: a. b is the maximum distance of the plot in the X-axis direction, y1、y2Respectively two block boundary curve functions
Any ordinate value above.
The boundary confirmation specifically includes: step b 1: determining the maximum spray width of work implement 4: the maximum spray amplitude of the working machine 4 is larger than the width of the machine body of the working machine 4; wherein: r represents the maximum throw of the work machine and if there is an obstacle in the middle of the plot, the flight path of the work machine 4 around the obstacle is similar, as shown in fig. 5. Step b 2: determining a safe distance through flight positioning errors and environmental factors, wherein r represents the safe distance: presetting the positioning error of the working machine 4 as S1The deviation distance of the spraying area caused by the ambient wind speed is S2When the flight direction is perpendicular to the wind direction, the maximum safe distance of the working machine 4 is: r ismax＝S1+S2(ii) a The minimum safe distance is: r ismin＝|S1-S2I, the safe distance of flight of work implement 4 above the plot is offset r inward/outward relative to the plot boundarymin-rmax(ii) a The safe distance of the flight of the working machine 4 around the obstacle deviates outwards from the obstacle boundary by rmin-rmaxMeanwhile, the minimum distance between the flight path of the working machine 4 and the boundary of the obstacle is greater than half of the width of the working machine 4;
the flight obstacle identification specifically comprises: presetting that the flight path of the working machine 4 is vertical or parallel to the land surface without inclined flight, and the height of the working machine 4 is h1The height of the object in the region of the ground is h2The flying height of the working machine 4 for normal operation is H1(vertical distance from the bottom of the working machine 4 on the ground), and the take-off/return height of the working machine 4 is H2Then, the following conditions are satisfied: h1≤h2≤H2+h1Is considered an obstacle (i.e., P in fig. 8)1P2P3P4A region). The scout 3 uses the flight height data set by the working machine 4, and the height is within H in the boundary of the land1-H2+h1And (3) flying within the range, identifying the obstacle by utilizing sensors such as radar, optical flow and infrared, recording the specific position coordinates and size of the obstacle, and realizing the identification of the obstacle.
After the investigation flight is finished, the investigation machine 3 returns to the first honeycomb 6 and lands, and the first skylight 11 is closed; if the scout 3 can not complete all the scout at one time, the scout returns to the first honeycomb 6 to replace the battery and then takes off again to perform the scout.
Step 2: the reconnaissance aircraft 3 uploads the ground condition information to a control unit through a wireless network, judges whether the operation flight path is effective, and uploads the operation flight path to the operation aircraft 4 through the wireless network if the operation flight path is effective; if not, repeating the step 1;
and step 3: the working machine 4 performs continuous plant protection operation; the method specifically comprises the following steps: step 31: the first operating machine 4 takes off, performs plant protection operation according to the operation flight path, returns to the air until the liquid medicine and/or the battery are exhausted, and stops falling into the corresponding second honeycomb 7 to replenish the liquid medicine and/or replace the battery; step 32: the second working machine 4 reaches the working position before the first working machine 4 returns to the home according to the progress of the working, continues to work until the second working machine returns to the home before the liquid medicine and/or the battery are exhausted, and stops to the corresponding second honeycomb 7 to replenish the liquid medicine and/or replace the battery; step 33: the first working machine 4 repeats the action of the second working machine 4 until the plant protection operation is completed by changing the wheel flow of the working machines.
Borrow by above-mentioned technical scheme, the utility model discloses an at least, have following advantage: the utility model realizes the full automation of the unmanned aerial vehicle plant protection operation by changing the prior operation modes of carrying out the operation environment investigation, the operation planning and the manual battery and liquid medicine replacement by personnel; the functions of the scout machine 3 and the operation machine 4 are divided by reasonable distribution, compared with the traditional mode of sensing and operating at the same time, the operation risk of the operation machine 4 is greatly reduced, and the method is suitable for ground conditions of any form; simultaneously the utility model discloses an adopt the operation mode in turn of cluster multimachine, eliminated the switching time of changing liquid medicine, battery under the traditional operation, realized that the operation process serialization is incessant, promote the operating efficiency greatly.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.
Claims (7)
1. The utility model provides a full-automatic unmanned aerial vehicle cluster operation device acts on the landmass, its characterized in that, including the control unit and the execution unit, the execution unit includes sealed outer container, be provided with at least one reconnaissance machine and two at least workover rigs in the outer container, be provided with in the outer container with automatic battery module and the medical kit module of butt joint of workover rig.
2. The fully automatic unmanned aerial vehicle cluster operation device of claim 1, wherein at least one first honeycomb for carrying the scout plane and at least two second honeycombs for carrying the operation machine are arranged in the outer box, and the first honeycomb is detachably connected with the second honeycombs.
3. The fully automatic unmanned aerial vehicle cluster work device of claim 2, wherein a power interface is disposed in each of the first and second cells, and a medicament interface is disposed in the second cell and interfaces with the medicament box modules.
4. The fully automatic unmanned aerial vehicle cluster operation device of claim 2, wherein a first landing platform for receiving a scout aircraft, a first skylight sealing the top of the first honeycomb, and a first lifting mechanism for pushing the first landing platform to move to the outside of the first skylight are arranged in the first honeycomb.
5. The fully automatic unmanned aerial vehicle cluster operation device of claim 2, wherein a first camera and a first switching mechanism for switching the scout battery are arranged in the first honeycomb.
6. The fully automatic unmanned aerial vehicle cluster work device of claim 2, wherein a second lifting mechanism is disposed in the second honeycomb for receiving a second lifting platform of a work machine, sealing a second skylight at the top of the second honeycomb, and pushing the second lifting platform to move to the outside of the second skylight.
7. The full-automatic unmanned aerial vehicle cluster operation device of claim 2, wherein a second camera, a second switching mechanism for switching the operation machine battery, and a liquid injection nozzle for injecting liquid medicine into the operation machine are arranged in the second honeycomb.
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| CN201821472510.9U CN213122715U (en) | 2018-09-10 | 2018-09-10 | Full-automatic unmanned aerial vehicle cluster operation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108803665A (en) * | 2018-09-10 | 2018-11-13 | 朱彬 | Full-automatic unmanned machine group operation device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803665A (en) * | 2018-09-10 | 2018-11-13 | 朱彬 | Full-automatic unmanned machine group operation device and method |
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