TW201816535A - Liquid spraying control system by using unmanned aerial vehicle and method thereof capable of automatically adding water, liquid fertilizer, liquid pharmaceuticals and pesticides - Google Patents

Abstract

A liquid spraying control system by using an unmanned aerial vehicle comprises a loading control unit having a first container for loading a diluted liquid; a full water level sensor capable of sensing whether the diluted liquid in the first container has reached a full water level; a first low water level sensor capable of sensing whether the diluted liquid in the first container has reached a low water level; a water adding control unit that determines whether to add clear water to the first container according to the water level in the first container; a dilution control unit that determines whether to add a high concentration liquid to the first container according to the water level in the first container; and a spray control unit that controls the spraying speed according to the flying speed of the unmanned aerial vehicle. In addition, the present invention also discloses a control method for an unmanned aerial vehicle to perform liquid spraying.

Description

Control system and method for performing liquid spraying by unmanned aerial vehicle

The present invention relates to a control system and method for performing liquid spraying with an unmanned aerial vehicle, and more particularly, to a spraying speed that can be controlled according to the speed of the unmanned aerial vehicle to achieve the purpose of uniformly spraying liquid and an unmanned aerial vehicle in flight. The control system and method capable of automatically adding water, liquid fertilizer, liquid medicine or liquid pesticide to liquid spraying by unmanned aerial vehicle.

According to the general method for performing pesticide spraying with an unmanned aerial vehicle, please refer to FIG. 1, which shows a flowchart of the method for performing pesticide spraying with an unmanned aerial vehicle. The method of vehicle carrying out pesticide spraying usually includes the following steps: erecting a GPS ground base (step 1); surveying the spraying site (step 2); setting flight paths, obstacle avoidance and safe height setting (step 3); setting flight speed and Take-off and landing location setting (step 4); move the unmanned aerial vehicle to the take-off point, refuel or install batteries and install medicaments (step 5); start operation (manual flight) and start automatic flight (step 6); take-off is completed, and rise to Safe height, fly to the spraying operation site, and descend to the absolute height of the spraying operation (step 7); the aircraft starts operation and starts the spraying operation (step 8); when the out of medicine is detected, the spraying operation is suspended, and the hovering is in place (step 9); Ascend to a safe altitude, return home automatically or manually (step 10); Land and flame out automatically or manually (step 11); refuel or more Battery or supplement to the high concentration of the agent and then spraying operation site, for spraying operations (step 12).

However, the method of spraying pesticides with unmanned aerial vehicles is known, and the aircraft cannot perform pumping or replenishing operations in flight, but needs to fly back to the ground base for replenishment and then follow-up procedures. This will increase the round-trip replenishment time and seriously shorten The aircraft's dead time and increase operating costs; In addition, the aircraft is susceptible to wind speed and direction during flight, but its spraying flow rate is fixed, that is, some areas may not be sprayed, and some areas are repeatedly sprayed. Therefore, it is easy to make the spraying uneven, which is a disadvantage of the United States.

In order to solve the aforementioned problems, we urgently need a novel control system and method for performing pesticide spraying by unmanned aerial vehicles.

An object of the present invention is to provide a control system and method for performing liquid spraying by using an unmanned aerial vehicle. The unmanned aerial vehicle can draw water in flight and automatically adjust the liquid concentration to fully utilize the delay of the unmanned aerial vehicle. Air time to reduce the take-off and landing time of unmanned aerial vehicles, where the liquid is a medicament, pesticide or liquid fertilizer.

An object of the present invention is to provide a control system and method for performing liquid spraying with an unmanned aerial vehicle, which determines the spraying flow rate according to the flying speed of the unmanned aerial vehicle and the dilution ratio of the liquid and the use conditions to achieve uniform spraying of the liquid. Purpose.

According to an object of the present invention, the present invention provides a control system for performing liquid spraying with an unmanned aerial vehicle, which is used in an unmanned aerial vehicle. The unmanned aerial vehicle has at least one flight control unit and a wireless communication unit , A radar unit, a positioning unit, a fuel gauge and a man-machine control interface, the control system includes: a loading control unit coupled to the flight control unit, which has a first container, the first container is used for Loading a diluted liquid, the liquid being a medicament or a liquid fertilizer; a full water level sensor, coupled to the loading control unit, which can sense whether the diluted liquid in the first container has reached the full water level; a first A low water level sensor is coupled to the loading control unit and can sense whether the diluted liquid in the first container has reached the low water level; a water control unit is coupled to the loading control unit and can be based on The water level of the diluted liquid in the first container determines whether or not fresh water is added to the first container; a dilution control unit, which is coupled to the loading control unit, may be based on the first The water level of the diluted liquid in the container determines whether a high-concentration liquid is added to the first container and is diluted with the clear water to supplement the water level of the diluted liquid; and a spray control unit, which is coupled to the loading control The unit can control the spraying speed according to the speed of the unmanned aerial vehicle to achieve the purpose of uniform liquid spraying.

According to an object of the present invention, the present invention provides a method for performing liquid spraying by using an unmanned aerial vehicle, which is used in an unmanned aerial vehicle, which has at least a control system and a human-machine control interface. Including the following steps: using the man-machine control interface to perform pre-takeoff operation settings before take-off; start the unmanned aerial vehicle and the supplementary vehicle starts to move; the unmanned aerial vehicle flies to the spraying operation site and descends to the relative height of the spraying operation ; The unmanned aerial vehicle starts to move, and a spray pressure control valve is opened to start spraying the diluted liquid; the control system determines the spray flow rate according to the flying speed of the unmanned aerial vehicle and the dilution ratio of the liquid and the use conditions; Detected that the diluted liquid has been used up, the unmanned aerial vehicle will stop spraying and hover in place to wait for replenishment; the unmanned aerial vehicle will rise to a safe height, the supplementary vehicle will stop moving; the unmanned aerial vehicle will fly To the replenishment vehicle directly above, and descend to the replenishment operation height; lower the replenishable refill tube, start a pump, and immediately Calculate the flow rate and total volume of the replenishment liquid. When the liquid level is full, stop replenishing and retract the retractable replenishment tube and rise to a safe height. The unmanned aerial vehicle will fly to the continued spraying operation site and descend to the spraying operation. Relative altitude; if the fuel or battery or high-concentration liquid is insufficient, stop the spraying operation and rise to a safe height, otherwise continue the spraying operation; and automatically return to the top of the preset take-off and landing location, and automatically land and flame out, refuel or refill Concentration of liquid.

According to an object of the present invention, the present invention provides a control system for performing liquid spraying with an unmanned aerial vehicle, which is used in an unmanned aerial vehicle. The unmanned aerial vehicle has at least one flight control unit and a wireless communication unit. , A radar unit, a positioning unit, a fuel gauge and a man-machine control interface, the control system includes: a loading control unit coupled to the flight control unit, which has a first container, the first container is used for Loading a liquid; a full water level sensor is coupled to the loading control unit, and can sense whether the liquid in the first container has reached the full water level; a first low water level sensor is coupled to the The loading control unit can sense whether the liquid in the first container has reached a low water level; a water adding control unit is coupled to the loading control unit, and can decide whether to replenish the liquid according to the water level of the liquid in the first container The liquid in the first container; and a spray control unit coupled to the loading control unit, which can control the spray speed according to the speed of the unmanned aerial vehicle to achieve uniform liquid Sprinkle purposes.

In order to enable the expensive review committee to further understand the structure, characteristics and purpose of the present invention, the detailed description of the drawings and preferred embodiments are attached as follows.

Please refer to FIG. 2 to FIG. 3 together, wherein FIG. 2 shows a block diagram of a control system for performing liquid spraying using an unmanned aerial vehicle according to a preferred embodiment of the present invention; FIG. 3 shows a preferred embodiment of the present invention. The block diagram of the liquid spraying control system operation by unmanned aerial vehicle.

As shown in the figure, the control system for performing liquid spraying by an unmanned aerial vehicle according to the present invention is used in an unmanned aerial vehicle 1 which has at least a flight control unit 10 and a wireless communication unit 20 A radar unit 30, a positioning unit 40, a fuel gauge 50 and a man-machine control interface 60. The control system includes: a loading control unit 70; a full water level sensor 80; a first low water level sensor 90 A water control unit 100; a dilution control unit 110; and a spray control unit 120.

The unmanned aerial vehicle 1 is, for example, but not limited to, a remote-control helicopter and a remote-control drone. In this embodiment, the remote-control helicopter is used as an example for description, but is not limited thereto. The flight control unit 10, the wireless communication unit 20, the radar unit 30, the positioning unit 40, the fuel meter 50, and the man-machine control interface 60. Among them, the fuel meter 50 is a fuel gauge or a power meter, and the above are all remote control helicopters or remote controls. The existing components and known technologies of drones are not the focus of this case, so we will not repeat them here.

The loading control unit 70 is coupled to the flight control unit 10 and has a first container 71 for loading a diluted liquid. The liquid is, for example, but not limited to, a pesticide, a medicament, or a liquid fertilizer.

The full water level sensor 80 is coupled to the loading control unit 70 and can sense whether the diluted liquid in the first container 71 has reached the full water level.

The first low water level sensor 90 is coupled to the loading control unit 70 and can detect whether the diluted liquid in the first container 71 has reached a low water level.

The water adding control unit 100 is coupled to the loading control unit 70 and can determine whether to add fresh water to the first container 71 according to the water level of the diluted liquid in the first container 71.

The dilution control unit 110 is coupled to the loading control unit 70, and can determine whether to add a high-concentration liquid to the first container 71 according to the water level of the diluted liquid in the first container 71, and mix it with the water for dilution. To replenish the water level of the diluted liquid. In addition, the high-concentration liquid can be metered in, and it can also be a whole row of metered pill boxes, which can be directly injected in a unit when needed.

The spraying control unit 120 is coupled to the loading control unit 70 and can control the spraying speed according to the speed of the unmanned aerial vehicle 1 to achieve the purpose of uniform spraying of liquid.

As shown in FIG. 2, in addition, the water adding control unit further includes: a first pump 101; a water flow meter 102; and a retractable supplementary pipe 103. The first pump 101 is lowered from the unmanned aerial vehicle to a reserve tank 150 on the ground, and the reserve tank 150 is filled with fresh water. One end of the water flow meter 102 is coupled to a water inlet (not shown) of the first container 71 and can sense the flow of the clear water. One end of the retractable replenishing tube 103 is coupled to the water inlet of the first container 71, and the other end can be extended into the spare tank 150 through the control of a winding and unwinding mechanism 104, through the first pump 101 Water can be poured into the first container 71.

In addition, the dilution control unit 110 further includes: a second container 111; a second low-water level sensor 112; and a second pump 113. The second container 111 contains a high-concentration liquid. The second low water level sensor 112 can detect whether the high-concentration liquid in the second container 111 has reached a low water level. One end of the second pump 113 is coupled to the first container 71, and the other end is coupled to the second container 111. The high-concentration liquid in the second container 111 can be driven into the first container 71. Dilute with water.

In addition, the spray control unit 120 further includes: a pressure sensor 121; a third pump 122; a spray pressure control valve 123; and at least one nozzle 124. The pressure sensor 121 is coupled to the first container 71 and can sense the pressure of the diluted liquid in the first container 71. One end of the third pump 122 is coupled to a water outlet (not shown) of the first container 71 to drive the diluted liquid out of the first container 71. One end of the spray pressure control valve 123 is coupled to the third pump 122 to control whether the diluted liquid is sprayed. The at least one nozzle 124 is coupled to the spray pressure control valve 123 for spraying the diluted liquid.

When the control system of the present invention for performing liquid spraying with an unmanned aerial vehicle is in operation, the spraying flow rate of the nozzle 124 is, for example, but not limited to, RPVWx10 ^-6 (ml / s), wherein the dilution ratio of the high-concentration liquid is 1 / R, P are the dosage per unit area (ml / km ² ), V is the flying speed (m / s) of the unmanned aerial vehicle, and W is the spray width (the unit is m). The RPVWx10 ^-6 spray flow velocity formula can control the spray speed of its nozzle 124 according to the speed of the unmanned aerial vehicle to achieve the purpose of uniform liquid spraying. In addition, the unmanned aerial vehicle of the present invention can draw water during flight and automatically adjust the liquid concentration to make full use of the dead time of the unmanned aerial vehicle and reduce the take-off and landing time of the unmanned aerial vehicle. The control system for liquid spraying with unmanned aerial vehicles is progressive.

Please refer to FIG. 4a and FIG. 4b together, which respectively illustrate a schematic flow chart of a method for performing liquid spraying using an unmanned aerial vehicle according to another preferred embodiment of the present invention.

As shown in the figure, the method for performing liquid spraying with an unmanned aerial vehicle according to the present invention is used in an unmanned aerial vehicle 1, which has at least a control system and a human-machine control interface 60, which includes The following steps: Use the man-machine control interface 60 to perform pre-takeoff operation setting before taking off (step 1); start the unmanned aerial vehicle 1 and the supplementary vehicle starts to move (step 2); the unmanned aerial vehicle 1 flies to spray The operation site and descend to the relative height of the spraying operation (step 3); the unmanned aerial vehicle 1 starts to move and opens a spray pressure control valve 123 to start spraying the diluted liquid (step 4); the control system is based on the unmanned The flying speed of flying vehicle 1 and the dilution ratio of the liquid and the use conditions determine the spraying flow rate (step 5); if it is detected that the diluted liquid has been used up, the unmanned flying vehicle 1 stops the spraying operation and suspends in place Stop waiting for replenishment liquid (step 6); the unmanned aerial vehicle 1 rises to a safe height, the replenishment vehicle stops moving (step 7); the unmanned aerial vehicle 1 flies directly above the replenishment vehicle, Lower to the replenishment operation level (step 8); put down the rewindable replenishment tube 103, start a pump 101, and calculate the flow rate and total amount of replenishment liquid immediately. When the water level is full, stop replenishing the liquid and recover the reelable Take up the supplementary tube 103 and rise to a safe height (step 9); the unmanned aerial vehicle 1 flies to the continued spraying operation site and descends to the relative height of the spraying operation (step 10); if the fuel, battery or high-concentration liquid is insufficient, Stop the spraying operation and rise to a safe height, otherwise continue the spraying operation (step 11); and automatically return to the top of the preset take-off and landing point, and automatically land and flame out, replenish fuel or high-concentration liquid (step 12).

In step 1, the man-machine control interface 60 is used to perform the pre-set operation setting before take-off; the pre-operation setting further includes the following steps: setting up a GPS ground base (step 1-1); spraying site survey (step 1- 2); Flight path setting, obstacle avoidance and safe height setting (step 1-3); liquid dilution ratio and unit area drug dosage setting (step 1-4); takeoff and landing location setting (step 1-5); remote control supplement The vehicle reaches the starting point and fills the spare tank with liquid (steps 1-6); and moves the unmanned aerial vehicle to the takeoff point, refuels, adds water, and initiates premixing of high-concentration liquids and water (steps 1-7).

In step 2, the unmanned aerial vehicle 1 is started, and the supplementary vehicle starts to move; wherein, the supplementary vehicle has a spare tank 150, which has a supplementary liquid therein, such as but not limited to clear water, Liquid fertilizer, medicament, or pesticide is used to supplement water, liquid fertilizer, medicament, or pesticide. In this embodiment, the supplement liquid system is described using water as an example, but it is not limited thereto.

In step 3, the unmanned aerial vehicle 1 flies to the spraying operation site and descends to the relative height of the spraying operation.

In step 4, the unmanned aerial vehicle 1 starts to move, and a spray pressure control valve 123 is opened to start spraying the diluted liquid.

In step 5, the control system determines the spraying flow rate based on the flying speed of the unmanned aerial vehicle 1 and the dilution ratio and usage conditions of the liquid. The formula for controlling the spraying flow rate of the nozzle 124 is, for example, but not limited to, RPVWx10 ^-6 (ml / s), wherein the dilution ratio of the high-concentration liquid is 1 / R, and P is the dosage per unit area (ml / km). ² ), V is the flying speed (m / s) of the unmanned aerial vehicle, and W is the spray width (m). The RPVWx10 ^-6 spray flow velocity formula can control the spray speed of its nozzle 124 according to the speed of the unmanned aerial vehicle to achieve the purpose of uniform liquid spraying.

In step 6, if it is detected that the diluted liquid has been used up, the unmanned aerial vehicle 1 stops spraying operation and hoveres in place to wait for the liquid to be replenished. If the diluted liquid is not used up, the spraying operation is continued; if it is detected that the diluted liquid has been used up, the unmanned aerial vehicle 1 stops the spraying operation and hoveres in place to wait for the liquid to be replenished.

In step 7, the unmanned aerial vehicle 1 rises to a safe height, and the supplementary vehicle stops moving.

In step 8, the unmanned aerial vehicle 1 flies directly above the supplementary vehicle, and descends to the supplementary operation height to prepare for the operation of pumping water.

In step 9, put down the retractable replenishing tube 103, start a pump 101, and calculate the flow rate and total amount of replenishing liquid in real time. When the water level is full, stop replenishing and retract the retractable replenishing tube 103, and Raise to a safe height.

In step 10, the unmanned aerial vehicle 1 is flown to the continued spraying operation site, and descends to the relative height of the spraying operation.

In step 11, if the fuel or battery or high-concentration liquid is insufficient, the spraying operation is stopped and raised to a safe height, otherwise the spraying operation is continued.

In step 12, it automatically returns to the top of the preset take-off and landing point, and automatically lands and extinguishes, replenishing fuel or high-concentration liquid.

Therefore, the method of liquid spraying by unmanned aerial vehicle in this case has the following advantages: 1. Its unmanned aerial vehicle can draw water in flight and automatically adjust the liquid concentration to make full use of the drone of the unmanned aerial vehicle. Time, reducing the take-off and landing time of the unmanned aerial vehicle, and its operating cycle can be extended to 1 hour, which is much higher than the conventional 20 minutes; and 2. it is based on the flying speed of the unmanned aerial vehicle and the dilution ratio and use of the liquid The conditions determine the spraying flow rate so that the spraying flow rate is similar to the spraying pressure to achieve the purpose of uniform spraying of the liquid. Therefore, the method of performing liquid spraying by the unmanned aerial vehicle of the present invention is indeed more advanced than the method of performing liquid spraying by the conventional unmanned aerial vehicle.

Please refer to FIG. 5 to FIG. 6 together, wherein FIG. 5 shows a block diagram of a control system for performing liquid spraying using an unmanned aerial vehicle according to another preferred embodiment of the present invention; FIG. 6 shows another preferred embodiment of the present invention. The block diagram of the embodiment when the unmanned aerial vehicle is used to perform the liquid spraying control system operation.

As shown in the figure, the control system for performing liquid spraying by an unmanned aerial vehicle according to the present invention is used in an unmanned aerial vehicle 1 which has at least a flight control unit 10 and a wireless communication unit 20 A radar unit 30, a positioning unit 40, a fuel gauge 50 and a man-machine control interface 60. The control system includes: a loading control unit 70; a full water level sensor 80; a first low water level sensor 90 ; A water control unit 100; and a spray control unit 120.

The unmanned aerial vehicle 1 is, for example, but not limited to, a remote-control helicopter and a remote-control drone. In this embodiment, the remote-control helicopter is used as an example for description, but is not limited thereto. The flight control unit 10, the wireless communication unit 20, the radar unit 30, the positioning unit 40, the fuel meter 50, and the man-machine control interface 60. Among them, the fuel meter 50 is a fuel gauge or a power meter, and the above are all remote control helicopters or remote controls. The existing components and known technologies of drones are not the focus of this case, so we will not repeat them here.

The loading control unit 70 is coupled to the flight control unit 10 and has a first container 71 for loading a diluted liquid. The liquid is, for example, but not limited to, a pesticide, a medicament, a liquid fertilizer, or a solid granular fertilizer.

The full water level sensor 80 is coupled to the loading control unit 70 and can sense whether the diluted liquid in the first container 71 has reached the full water level.

The first low water level sensor 90 is coupled to the loading control unit 70 and can detect whether the diluted liquid in the first container 71 has reached a low water level.

The water adding control unit 100 is coupled to the loading control unit 70 and can determine whether to replenish the liquid in the first container 71 according to the water level of the diluted liquid in the first container 71.

The spraying control unit 120 is coupled to the loading control unit 70 and can control the spraying speed according to the speed of the unmanned aerial vehicle 1 to achieve the purpose of uniform spraying of liquid.

As shown in FIG. 6, in addition, the water adding control unit further includes: a first pump 101; a water flow meter 102; and a retractable supplementary pipe 103. Wherein, the first pump 101 is lowered from the unmanned aerial vehicle to a reserve tank 150 on the ground, and the reserve tank 150 contains a reserve liquid, which is clear water, diluted medicine, pesticide or liquid fertilizer. . One end of the water flow meter 102 is coupled to a water inlet (not shown) of the first container 71 and can sense the flow rate of the liquid. One end of the retractable replenishing tube 103 is coupled to the water inlet of the first container 71, and the other end can be extended into the spare tank 150 through the control of a winding and unwinding mechanism 104, through the first pump 101 Liquid can be driven into the first container 71.

In addition, the spray control unit 120 further includes: a pressure sensor 121; a third pump 122; a spray pressure control valve 123; and at least one nozzle 124. The pressure sensor 121 is coupled to the first container 71 and can sense the pressure of the diluted liquid in the first container 71. One end of the third pump 122 is coupled to a water outlet (not shown) of the first container 71 to drive the diluted liquid out of the first container 71. One end of the spray pressure control valve 123 is coupled to the third pump 122 to control whether the diluted liquid is sprayed. The at least one nozzle 124 is coupled to the spray pressure control valve 123 for spraying the diluted liquid.

When the control system of the present invention for performing liquid spraying with an unmanned aerial vehicle is in operation, the spraying flow rate of the nozzle 124 is, for example, but not limited to, RPVWx10 ^-6 (ml / s), wherein the dilution ratio of the high-concentration liquid is 1 / R, P are the dosage per unit area (ml / km ² ), V is the flying speed (m / s) of the unmanned aerial vehicle, and W is the spray width (the unit is m). The RPVWx10 ^-6 spray flow velocity formula can control the spray speed of its nozzle 124 according to the speed of the unmanned aerial vehicle to achieve the purpose of uniform liquid spraying. In addition, the unmanned aerial vehicle of the present invention can draw clean water, diluted medicine, pesticides or liquid fertilizers in flight to make full use of the dead time of the unmanned aerial vehicle and reduce the take-off and landing time of the unmanned aerial vehicle. Therefore, It is more advanced than the conventional control system for liquid spraying by unmanned aerial vehicle.

In summary, with the implementation of the control system and method for performing liquid spraying with an unmanned aerial vehicle of the present invention, it has the following advantages: 1. The unmanned aerial vehicle can draw water in flight and automatically allocate liquid Concentration in order to make full use of the dead time of the unmanned aerial vehicle and reduce the take-off and landing time of the unmanned aerial vehicle, and its operation period can be extended to 1 hour, which is much higher than the conventional 20 minutes; and 2. The flying speed, the dilution ratio of the liquid and the use conditions determine the spraying flow rate, so that the spraying flow rate is close to the spraying pressure to achieve the purpose of uniform spraying of the liquid. Therefore, the method for performing liquid spraying by the unmanned aerial vehicle of the present invention is indeed more advanced than the conventional method of performing pesticide spraying by the unmanned aerial vehicle.

What is disclosed in this case is a preferred embodiment. For example, those who have partial changes or modifications that are derived from the technical ideas of this case and are easily inferred by those skilled in the art, do not depart from the scope of patent rights in this case.

To sum up, regardless of the purpose, method and effect, this case is showing its technical characteristics that are quite different from the conventional ones, and its first invention is practical, and it is also in line with the patent requirements of the invention. Granting patents at an early date will benefit society and feel good.

1‧‧‧unmanned aerial vehicle

10‧‧‧ Flight Control Unit

20‧‧‧Wireless communication unit

30‧‧‧ radar unit

40‧‧‧ positioning unit

50‧‧‧ Fuel Meter

60‧‧‧ human-machine interface

70‧‧‧ Loading control unit

71‧‧‧ the first container

80‧‧‧ full water level sensor

90‧‧‧The first low water level sensor

100‧‧‧ Water control unit

101‧‧‧The first pump

102‧‧‧Water Flow Meter

103‧‧‧ Retractable supplementary tube

104‧‧‧Reeling mechanism

110‧‧‧ dilution control unit

111‧‧‧Second Container

112‧‧‧Second Low Water Level Sensor

113‧‧‧Second Pump

120‧‧‧Spray control unit

121‧‧‧ Pressure Sensor

122‧‧‧ Third Pump

123‧‧‧Spraying pressure control valve

124‧‧‧Nozzle

150‧‧‧spare slot

FIG. 1 is a flowchart illustrating a conventional method for performing pesticide spraying by using an unmanned aerial vehicle. FIG. 2 is a schematic diagram illustrating a block diagram of a control system for performing liquid spraying using an unmanned aerial vehicle according to a preferred embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a block diagram of a preferred embodiment of the present invention when an unmanned aerial vehicle performs a liquid spraying control system operation. 4a and 4b are schematic diagrams illustrating a flow chart of a method for performing liquid spraying using an unmanned aerial vehicle according to another preferred embodiment of the present invention. FIG. 5 is a schematic diagram illustrating a block diagram of a control system for performing liquid spraying using an unmanned aerial vehicle according to another preferred embodiment of the present invention. FIG. 6 is a schematic diagram illustrating a block diagram of a liquid spraying control system using an unmanned aerial vehicle according to another preferred embodiment of the present invention.

Claims (12)

A control system for performing liquid spraying by an unmanned aerial vehicle is used in an unmanned aerial vehicle. The unmanned aerial vehicle has at least a flight control unit, a wireless communication unit, a radar unit, a positioning unit, and a fuel. A watch and a man-machine control interface, the control system includes: a loading control unit, coupled to the flight control unit, which has a first container for loading a diluted liquid; 满 a full water level sensing Device is coupled to the loading control unit and can sense whether the diluted liquid in the first container has reached the full water level; a first low water level sensor is coupled to the loading control unit and can sense Whether the diluted liquid in the first container has reached a low water level; a water addition control unit, which is coupled to the loading control unit, can determine whether to add fresh water to the first container according to the water level of the diluted liquid in the first container; In the container; (1) a dilution control unit, which is coupled to the loading control unit, and can be determined according to the water level of the diluted liquid in the first container; Adding a high-concentration liquid to the first container, and mixing and diluting with the clear water to supplement the water level of the diluted liquid; and a spray control unit, which is coupled to the loading control unit and can be based on the unmanned aerial vehicle. Speed control spraying speed to achieve the purpose of uniform liquid spraying. The control system for performing liquid spraying with an unmanned aerial vehicle as described in item 1 of the scope of patent application, wherein the water control unit further has: a first pump, which is lowered from the unmanned aerial vehicle to the ground for backup In the tank, clean water is installed in the spare tank; a water flow meter, one end of which is coupled to a water inlet of the first container, and can sense the flow of the clean water; and a rewindable supplementary pipe, which is coupled at one end To the water inlet of the first container, the other end can be extended into the spare tank through the control of a winding and unwinding mechanism, and clean water can be driven into the first container by the first pump. The control system for performing liquid spraying with an unmanned aerial vehicle as described in item 1 of the scope of patent application, wherein the dilution control unit further has: a second container containing a high-concentration liquid, and the high-concentration liquid is a high-concentration medicament Pesticides or liquid fertilizers; a second low-water level sensor that senses whether the high-concentration liquid in the second container has reached a low water level; and a second pump, one end of which is coupled to the first container, and another One end is coupled to the second container, and the high-concentration liquid in the second container can be driven into the first container and mixed with water for dilution. The control system for performing liquid spraying by an unmanned aerial vehicle as described in item 1 of the scope of the patent application, wherein the spraying control unit further has: a pressure sensor coupled to the first container and capable of sensing the first The pressure of the diluted liquid in a container; a third pump whose one end is coupled to a water outlet of the first container to drive the diluted liquid out of the first container; a spray pressure control valve which One end is coupled to the second pump to control whether the diluted liquid is sprayed; and at least one nozzle is coupled to the spray pressure control valve to spray the diluted liquid. The control system for performing liquid spraying with an unmanned aerial vehicle as described in item 1 of the scope of patent application, wherein the spraying flow rate = RPVWx10 ^-6 (ml / s), wherein the dilution ratio of the high-concentration liquid is 1 / R, P is the dosage per unit area (ml / km ² ), V is the flying speed (m / s), and W is the spray width (m). A method for performing liquid spraying using an unmanned aerial vehicle is used in an unmanned aerial vehicle. The unmanned aerial vehicle has at least a control system and a human-machine control interface, which includes the following steps: Pre-operation settings before take-off; start the unmanned aerial vehicle, and the supplementary vehicle begins to move; the unmanned aerial vehicle flies to the spraying operation site, and descends to the relative height of the spraying operation; the unmanned aerial vehicle starts to move, and is turned on A spray pressure control valve starts spraying the diluted liquid; the control system determines the spray flow rate according to the flying speed of the unmanned aerial vehicle, the dilution ratio of the liquid and the use conditions; if it detects that the diluted liquid has been used up, The unmanned aerial vehicle will stop spraying and hover in place to replenish water; the unmanned aerial vehicle will rise to a safe height and the supplementary vehicle will stop moving; the unmanned aerial vehicle will fly directly above the supplementary vehicle and descend to the supplementary vehicle Working height; put down the replenishable supplementary tube, start a pump, and calculate the flow rate and total amount of supplementary liquid in real time When the liquid level is full, stop replenishing and retract the retractable replenishing tube, and rise to a safe height; the unmanned aerial vehicle flies to the continued spraying operation site and descends to the relative height of the spraying operation; if the fuel, battery or If the high-concentration liquid is insufficient, stop the spraying operation and rise to a safe height, otherwise continue the spraying operation; and automatically return to the top of the preset take-off and landing point, and automatically land and extinguish, replenish fuel or high-concentration liquid. The method for performing liquid spraying with an unmanned aerial vehicle as described in item 6 of the scope of the patent application, wherein the pre-operation setting further includes the following steps: setting up a GPS ground base; surveying the spraying location; setting flight paths, avoiding obstacles, and safety Altitude setting; liquid dilution ratio and dosage per unit area; takeoff and landing location setting; remote control replenishment vehicle to the starting point and fill the spare tank with replenishment liquid; and move the unmanned aerial vehicle to the takeoff point, refuel, refill and start Pre-mixing of high concentration liquids and water. As described in item 6 of the scope of the patent application, the method of performing liquid spraying with an unmanned aerial vehicle is used, wherein the spraying flow rate = RPVWx10 ^-6 (ml / s), where 1 / R is the dilution ratio and P is the dosage per unit area. (Ml / km ² ), V is the flying speed (m / s), W is the spray width (m), and the liquid is a medicine, pesticide or liquid fertilizer. A control system for performing liquid spraying by an unmanned aerial vehicle is used in an unmanned aerial vehicle. The unmanned aerial vehicle has at least a flight control unit, a wireless communication unit, a radar unit, a positioning unit, and a fuel. A watch and a man-machine control interface, the control system includes: 装载 a loading control unit, coupled to the flight control unit, having a first container for loading a liquid; 满 a full water level sensor, Is coupled to the loading control unit and can sense whether the liquid in the first container has reached the full water level; ； a first low water level sensor is coupled to the loading control unit and can sense the first container Whether the liquid in the medium has reached a low water level; A water adding control unit, which is coupled to the loading control unit, can determine whether to replenish the liquid in the first container according to the water level of the liquid in the first container; and a spray control The unit is coupled to the loading control unit, and can control the spraying speed according to the speed of the unmanned aerial vehicle to achieve the purpose of uniform liquid spraying. . The control system for performing liquid spraying with an unmanned aerial vehicle as described in item 9 of the scope of the patent application, wherein the water control unit further has: a first pump, which is lowered from the unmanned aerial vehicle to the ground for backup In the tank, a standby liquid is installed in the standby tank, the standby liquid is clear water, diluted liquid, pesticide or liquid fertilizer; a water flow meter, one end of which is coupled to a water inlet of the first container, and can sense the Liquid flow rate; and a rewindable replenishing tube, one end of which is coupled to the water inlet of the first container, and the other end can be extended into the spare tank through the control of a reeling mechanism, by the first pump Puke can drive a spare liquid into the first container. The control system for performing liquid spraying by an unmanned aerial vehicle as described in item 9 of the scope of the patent application, wherein the spraying control unit further has: a pressure sensor coupled to the first container and capable of sensing the first container The pressure of the liquid in a container; a third pump, one end of which is coupled to a water outlet of the first container, which can drive the liquid out of the first container; a spray pressure control valve, whose one end is coupled to The third pump can control whether the liquid is to be sprayed; and at least one nozzle is coupled to the spray pressure control valve for spraying the liquid. The control system for performing liquid spraying with an unmanned aerial vehicle as described in item 9 of the scope of patent application, wherein the spraying flow rate = RPVWx10 ^-6 (ml / s), wherein the dilution ratio of the liquid is 1 / R, and P is Dosage per unit area (ml / km ² ), V is the flying speed (m / s), and W is the spray width (m).