CN108415458A - Unmanned plane pesticide spraying system and method - Google Patents
Unmanned plane pesticide spraying system and method Download PDFInfo
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- CN108415458A CN108415458A CN201810488731.3A CN201810488731A CN108415458A CN 108415458 A CN108415458 A CN 108415458A CN 201810488731 A CN201810488731 A CN 201810488731A CN 108415458 A CN108415458 A CN 108415458A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 139
- 238000005507 spraying Methods 0.000 title claims abstract description 122
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000007921 spray Substances 0.000 claims abstract description 29
- 239000003814 drug Substances 0.000 claims description 131
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
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- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
A kind of unmanned plane pesticide spraying system and method, are related to air vehicle technique field.Unmanned plane pesticide spraying system therein includes：Unmanned unit, radio station network, master station, multiple sub- control platforms and multiple medicine-chests, multiple sub- control platforms and multiple medicine-chests are separately positioned on the unmanned plane in unmanned unit, master station is connect with multiple sub- control platforms respectively by radio station network, and multiple sub- control platforms are connect with multiple medicine-chests respectively.Above-mentioned unmanned plane pesticide spraying system and method can be used for improving the efficiency of spray.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle pesticide spraying system and method.
Background
With the gradual development and progress of the agricultural unmanned aerial vehicle technology, more and more agricultural unmanned aerial vehicle companies develop agricultural unmanned aerial vehicles around the country, and some agricultural farmers introduce the agricultural unmanned aerial vehicles in many times, so that the agricultural unmanned aerial vehicles are applied to actual farmland operation, and the agricultural unmanned aerial vehicles become popular products in the agricultural field.
At present, agricultural unmanned aerial vehicles mainly realize low-altitude pesticide spraying and other agricultural and forestry plant protection operations through ground remote control or GPS (global Positioning system) flight control. Because current control platform can only control single unmanned aerial vehicle and spout the medicine, efficiency is lower.
Disclosure of Invention
In view of this, embodiments of the present invention provide an unmanned aerial vehicle pesticide spraying system and method, which can control multiple unmanned aerial vehicles to spray pesticide simultaneously, so as to improve pesticide spraying efficiency.
The embodiment of the invention provides an unmanned aerial vehicle pesticide spraying system, which comprises:
the system comprises an unmanned aerial vehicle set, a radio station network, a main control console, a plurality of sub-control consoles and a plurality of medicine boxes;
the plurality of sub-control consoles and the plurality of medicine boxes are respectively arranged on the unmanned aerial vehicle in the unmanned aerial vehicle unit;
the main control console is connected with the plurality of sub control consoles through the radio station network respectively, and the plurality of sub control consoles are connected with the plurality of medicine boxes respectively.
The embodiment of the invention provides an unmanned aerial vehicle pesticide spraying method, which is applied to the unmanned aerial vehicle pesticide spraying system and comprises the following steps:
the main control station is connected with each sub-control station on the unmanned aerial vehicle in the unmanned aerial vehicle set through a radio station network;
acquiring the working capacity information of each unmanned aerial vehicle and the medicine information of the airborne medicine box of each unmanned aerial vehicle through each sub-console;
and controlling the pesticide boxes connected with the sub-consoles to spray pesticide according to the target pesticide spraying amount, the working capacity information and the pesticide information.
In each embodiment of the invention, the main control console controls a plurality of unmanned aerial vehicles to spray the pesticide simultaneously through the radio station network, so that the pesticide spraying efficiency is improved, a large amount of labor and time cost are saved, the spraying states of the unmanned aerial vehicles are basically consistent, the calculation control is convenient, and the pesticide spraying efficiency is further improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle pesticide spraying system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle pesticide spraying system according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a display interface of a console according to an embodiment of the invention;
fig. 4 is a schematic flow chart of an unmanned aerial vehicle pesticide spraying method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of an unmanned aerial vehicle pesticide spraying method according to another embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle pesticide spraying system according to an embodiment of the present invention. This unmanned aerial vehicle spouts medicine system includes:
the robot group 10, the station network 20, the main console 30, the plurality of sub-consoles 40, and the plurality of medicine boxes 50.
The unmanned aerial vehicle group 10 includes a plurality of unmanned aerial vehicles.
The plurality of console consoles 40 and the plurality of medicine boxes 50 are respectively provided on the unmanned aerial vehicle in the unmanned aerial vehicle group 10, and the console consoles 40 can collect the work data of the unmanned aerial vehicle and the medicine boxes 50.
Fig. 1 illustrates an example in which a plurality of consoles 40 and a plurality of medicine boxes 50 are provided for each drone of the drone group 10. However, in practical applications, the unmanned aerial vehicles may not be limited to this according to the specific formation situation of the unmanned aerial vehicles.
The main console 30 is disposed on the ground and is connected to the plurality of sub consoles 40 through the radio station network 20, the plurality of sub consoles 40 are connected to the plurality of medicine boxes 50, and medicines to be sprayed are put into the medicine boxes 50. The main control station 30 can send a control instruction to the sub-control station 40 on the unmanned aerial vehicle through the radio station network 20, the sub-control station 40 controls the unmanned aerial vehicle to spray the pesticide according to the control instruction, the collected working data of the unmanned aerial vehicle and the pesticide box 50 can be further fed back to the main control station 30, and the main control station 30 monitors the working state of pesticide spraying of all the unmanned aerial vehicles.
In the embodiment of the invention, the main control console controls a plurality of unmanned aerial vehicles to spray the pesticide simultaneously through the radio station network, so that the pesticide spraying efficiency is improved, a large amount of labor and time cost are saved, the spraying states of the unmanned aerial vehicles are basically consistent, the calculation control is convenient, and the pesticide spraying efficiency is further improved.
Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle pesticide spraying system according to another embodiment of the present invention. This unmanned aerial vehicle spouts medicine system includes:
an unmanned aerial vehicle group 10, a radio station network 20, a main console 30, a plurality of sub-consoles 40, and a plurality of medicine boxes 50;
wherein, unmanned aerial vehicle group 10 includes many unmanned aerial vehicles.
A plurality of console 40 and a plurality of medicine boxes 50 are respectively provided on each unmanned aerial vehicle of the unmanned aerial vehicle group 10, and the console 40 can collect the work data of the unmanned aerial vehicle and the medicine boxes 50.
The station network 20 includes: a main station 21 and a plurality of sub-stations 22;
the plurality of sub-radio stations 22 are respectively arranged on each unmanned aerial vehicle of the unmanned aerial vehicle group, the number of the sub-radio stations 22 is the same as that of the sub-control consoles 40, and generally, one sub-radio station 22 and one sub-control console 40 are arranged on each unmanned aerial vehicle.
The main console 30 is connected to the main console 21, and the main console 21 is connected to the plurality of sub-stations 22, that is, the main console 21 is connected to each sub-station 22 of the drone. Each sub-radio station 22 is connected with a sub-console 40 respectively, and each sub-console 40 is connected with the medical kit 50 of preset quantity, and every unmanned aerial vehicle can carry one or more medical kits 50, and sub-console 40 on the unmanned aerial vehicle connects all medical kits 50 on this unmanned aerial vehicle. The medicine chest 50 can set up different models, can be according to unmanned aerial vehicle's load and the nimble selection of configuration.
Specifically, the main station 21 and the plurality of sub-stations 22 share a network frequency band, and communicate through a network ip (internet protocol) port. The port number needs to be the same local area network, for example, the port number of the main station 21 is 192.168.1.10, the port numbers of the sub-stations 22 are 192.168.1.11, 192.168.1.12, 192.168.1.13, etc., no communication is performed between the sub-stations 22, and each sub-station 22 only communicates with the main station 21.
The main console 30 is disposed on the ground and is connected to the plurality of sub consoles 40 through the radio station network 20, the plurality of sub consoles 40 are connected to the plurality of medicine boxes 50, and medicines to be sprayed are put into the medicine boxes 50. The main control station 30 can send a control instruction to the sub-control station 40 on the unmanned aerial vehicle through the radio station network 20, the sub-control station 40 controls the unmanned aerial vehicle to spray the pesticide according to the control instruction, the collected working data of the unmanned aerial vehicle and the pesticide box 50 can be further fed back to the main control station 30, and the main control station 30 monitors the working state of pesticide spraying of all the unmanned aerial vehicles.
Specifically, the main console 30 is a pc (personal computer) terminal, and after being connected to the main console 21, the main console 21 and the sub-console 22 may be configured in a network via serial ports, and the main console 30 may select cluster control or individually control the unmanned aerial vehicle to spray the chemical through an internal upper computer software. After the sub-consoles 40 are successfully connected, the connection state of each sub-console 40, the medicine residual amount of the medicine box corresponding to the sub-console 40 and the working time of the unmanned aerial vehicle can be seen on a display interface, and a group or an individual unmanned aerial vehicle can be selectively controlled to spray medicine according to the current medicine spraying state and the field requirement, and the medicine spraying speed can be controlled. Please refer to fig. 3 for the display interface of the host computer software on the console 30.
Further, the sub console 40 includes a control module, a spraying device, and a sensor;
the control module is connected to the spraying device and the sensor, respectively, which is connected to the medicine boxes 50, and which can monitor the amount of medicine in the medicine boxes 50. The sub-console 40 is used for controlling the medicine boxes 50 to complete the medicine spraying work according to the instruction of the main console 30. The sub-console 40 is composed of a single chip microcomputer system board as a core, peripheral spraying equipment and sensors, wherein the spraying equipment is connected with a medicine chest. After the single chip microcomputer system board identifies the instruction sent by the main console 30, the peripheral spraying equipment is controlled to work, and the working state, such as on-off, speed and the like, can be regulated and controlled according to the instruction. The sensor mainly sends prompt information of insufficient medicine amount to the main control console 30 when monitoring that the medicine amount is insufficient, and an operator can check the prompt information on a display interface of the main control console 30, timely control the unmanned aerial vehicle to return ground supplementary medicine amount, or replace the unmanned aerial vehicle to take over the unmanned aerial vehicle of insufficient medicine amount for medicine spraying work. The control module may be, for example, as: AT89S52, Italian semiconductor STM32 series (such as STM32F469/479, STM32F429/439 and the like) or high-pass cellcell Flight platform. The sensor may detect a change in the amount of medicine by detecting a change in the weight of the medicine box, or the sensor may be a liquid level sensor.
Optionally, this control module can with unmanned aerial vehicle's control chip electric connection, the control chip of the control signal that sends the master console for unmanned aerial vehicle to this control chip carries out corresponding action according to the control signal control unmanned aerial vehicle who forwards, if: return, or fly according to a specified trajectory. The control chip may be, for example but not limited to: the control chip of the STM32 series (such as STM32F469/479, STM32F429/439 and the like) of the semantic semiconductor, the high-pass CellFlight platform control chip and the like.
Optionally, in another embodiment, the unmanned aerial vehicle group 10 includes a plurality of unmanned aerial vehicle queues, and each unmanned aerial vehicle queue includes a master unmanned aerial vehicle and at least one auxiliary unmanned aerial vehicle. The main control unmanned aerial vehicle and at least one auxiliary unmanned aerial vehicle are provided with radio frequency signal transceiver modules, and communication between the main control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle can be realized through the radio frequency signal transceiver modules. Radio frequency signal transceiver module electric connection is in unmanned aerial vehicle's control chip.
Optionally, when there is only one auxiliary drone, the radio frequency transceiver module is a bluetooth module, and may be a bluetooth signal transceiver, for example. The master control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle need to be paired by bluetooth before taking off so as to establish data transmission connection between each other. The control chip of the main control unmanned aerial vehicle sends a control signal to the control chip of the auxiliary unmanned aerial vehicle through the Bluetooth module to control the auxiliary unmanned aerial vehicle to fly in coordination. When the number of the auxiliary unmanned aerial vehicles is larger than 1, the radio frequency transceiver module is a WiFi (wireless fidelity) module. Before taking off, the main control unmanned aerial vehicle takes the main control unmanned aerial vehicle as a wireless hotspot, and each auxiliary unmanned aerial vehicle is accessed into a network of the main control unmanned aerial vehicle so as to establish a local area network between the main control unmanned aerial vehicle and each auxiliary unmanned aerial vehicle. The main control unmanned aerial vehicle controls each auxiliary unmanned aerial vehicle in the local area network to fly cooperatively through the WiFi network.
Optionally, the sub-console 40 is disposed on the main control drone. A plurality of sub radio stations 22 set up respectively on every master control unmanned aerial vehicle, and sub radio station 22 is the same with sub accuse platform 40's quantity. The main console 30 is connected to the main console 21, the main console 21 is connected to a plurality of sub-stations 22, each sub-station 22 is connected to one sub-console 40, and each sub-console 40 is connected to one medicine box 50.
Optionally, the bottom of master control unmanned aerial vehicle is provided with first mount device, and supplementary unmanned aerial vehicle's bottom is provided with the second mount device, through this first mount device and this second mount device, with the medicine chest 50 mount in the lower part of this master control unmanned aerial vehicle and this supplementary unmanned aerial vehicle's fuselage. Alternatively, the mounting means may include, but is not limited to, a hook or a safety catch. The top of the medicine chest 50 is provided with one or more ring structures matching with the hooks or safety buckles, such as: a buckle, or, a handle. The medicine boxes 50 can be mounted on the mounting device by the ring structure. Alternatively, the mounting devices may be a net structure, and the first mounting device and the second mounting device are spliced together to form a complete net for receiving the medicine boxes 50.
Optionally, because the last sub-accuse platform that has still carried on the main control unmanned aerial vehicle, in order to alleviate main control unmanned aerial vehicle's load pressure, medical kit 50 includes that first medicine portion and the second of storing up stores up medicine portion, and first medicine portion of storing up is close to main control unmanned aerial vehicle, and the second stores up medicine portion and is close to supplementary unmanned aerial vehicle, and the first volume that stores up medicine portion is less than the second and stores up medicine portion to keep the fuselage balance. Alternatively, the vertical cross-section of the medicine box 50 is trapezoidal.
Optionally, an air speed sensor is further arranged on the unmanned aerial vehicle, and the air speed sensor is electrically connected with the sub-console, particularly electrically connected with a control module in the sub-console. This wind speed sensor transmits the wind speed of sensing for this master control platform through this sub-control platform, and this master control platform is according to the change of this wind speed, controls this unmanned aerial vehicle and returns to a journey.
Optionally, this air velocity transducer still can with unmanned aerial vehicle's control chip electric connection, and this control chip controls unmanned aerial vehicle to return voyage according to the wind speed change of this air velocity transducer sensing. When the unmanned aerial vehicle group includes a plurality of unmanned aerial vehicle queues, the air velocity transducer can only set up on master control unmanned aerial vehicle. The control chip controls the main control unmanned aerial vehicle to return to the air speed according to the wind speed change sensed by the wind speed sensor, and meanwhile, the control chip sends a return control instruction to the auxiliary unmanned aerial vehicle through the Bluetooth module so as to control the auxiliary unmanned aerial vehicle to return to the air in a coordinated manner.
Further, unmanned aerial vehicle's battery is for replacing the battery, conveniently replaces at any time, prolongs operating time.
The details of the embodiment of the invention are not described in detail, and reference may be made to the description of the embodiment of the unmanned aerial vehicle pesticide spraying system, which is not described herein again.
In the embodiment of the invention, the main control console controls a plurality of unmanned aerial vehicles to spray the pesticide simultaneously through the radio station network, so that the pesticide spraying efficiency is improved, a large amount of labor and time cost are saved, the spraying states of the unmanned aerial vehicles are basically consistent, the calculation control is convenient, and the pesticide spraying efficiency is further improved.
Fig. 4 is a schematic flow chart of an unmanned aerial vehicle pesticide spraying method according to an embodiment of the present invention. The unmanned aerial vehicle pesticide spraying method can be applied to the unmanned aerial vehicle pesticide spraying system in the embodiment shown in fig. 1 and fig. 2, the specific structure of the system please refer to the related description, which is not repeated herein, and the unmanned aerial vehicle pesticide spraying method includes:
s101, connecting a main control console with each sub-control console on an unmanned aerial vehicle in an unmanned aerial vehicle set through a radio station network;
before the pesticide spraying task is executed, the main control console is connected with the sub-control console on the unmanned aerial vehicle through the radio station network, and the unmanned aerial vehicles form an unmanned aerial vehicle set to execute the pesticide spraying task.
S102, acquiring the working capacity information of each unmanned aerial vehicle and the medicine information of the airborne medicine box of each unmanned aerial vehicle through each sub-console;
the main control console sends a control instruction to each sub-control console through a radio station network, each sub-control console obtains the working capacity information of each unmanned aerial vehicle and the medicine information of the medicine box on the unmanned aerial vehicle according to the control instruction, the working capacity information comprises information representing the working performance of the unmanned aerial vehicle such as duration, flight height and flight speed, the medicine information refers to information such as the variety, form and quantity of medicines, and the obtained working capacity information and the obtained medicine information are sent to the main control console.
S103, controlling the medicine boxes connected with the sub-consoles to spray medicine according to the target medicine spraying amount, the working capacity information and the medicine information.
And acquiring the target spraying amount required by the spraying task, wherein the target spraying amount can be self-defined in a system of a main control console.
And controlling the pesticide box connected with each sub-console to spray pesticide according to the working capacity of the unmanned aerial vehicle and the pesticide condition in the pesticide box, so that the sprayed pesticide reaches the target pesticide spraying amount.
The details of the embodiment of the invention are not described in detail, and reference may be made to the description of the embodiment of the unmanned aerial vehicle pesticide spraying system, which is not described herein again.
In the embodiment of the invention, the main control console controls a plurality of unmanned aerial vehicles to spray the pesticide simultaneously through the radio station network, so that the pesticide spraying efficiency is improved, a large amount of labor and time cost are saved, the spraying states of the unmanned aerial vehicles are basically consistent, the calculation control is convenient, and the pesticide spraying efficiency is further improved.
Fig. 5 is a schematic flow chart of an unmanned aerial vehicle pesticide spraying method according to an embodiment of the present invention. The unmanned aerial vehicle pesticide spraying method can be applied to the unmanned aerial vehicle pesticide spraying system in the embodiment shown in fig. 1 and fig. 2, the specific structure of the system please refer to the related description, which is not repeated herein, and the unmanned aerial vehicle pesticide spraying method includes:
s201, connecting a main control console with each sub-control console on an unmanned aerial vehicle in an unmanned aerial vehicle set through a radio station network;
before the pesticide spraying task is executed, the main control console is connected with the sub-control console on the unmanned aerial vehicle through the radio station network, and the unmanned aerial vehicles form an unmanned aerial vehicle set to execute the pesticide spraying task.
S202, acquiring the working capacity information of each unmanned aerial vehicle and the medicine information of the airborne medicine box of each unmanned aerial vehicle through each sub-console;
the main control console sends a control instruction to each sub-control console through a radio station network, each sub-control console obtains the working capacity information of each unmanned aerial vehicle and the medicine information of the medicine box on the unmanned aerial vehicle according to the control instruction, the working capacity information comprises information representing the working performance of the unmanned aerial vehicle such as duration, flight height and flight speed, the medicine information refers to information such as the variety, form and quantity of medicines, and the obtained working capacity information and the obtained medicine information are sent to the main control console.
S203, confirming the unmanned aerial vehicle for spraying the pesticide;
and acquiring the target spraying amount required by the spraying task, wherein the target spraying amount can be self-defined in a system of a main control console.
The number of medicine boxes required for spraying is confirmed based on the target spraying amount and the medicine information of the medicine boxes, wherein the medicine information comprises the amount of the medicine. The total dosage of each medicine chest is more than or equal to the target spraying dosage. Further acquire the medical kit quantity on each unmanned aerial vehicle, unmanned aerial vehicle can carry the medical kit of different quantity, according to the medical kit quantity on each unmanned aerial vehicle with spout required medical kit quantity when spouting the medicine, confirms the unmanned aerial vehicle who spouts the medicine. For example, 10 medicine boxes are needed, some unmanned aerial vehicles are provided with 1 medicine box, some unmanned aerial vehicles are provided with 2 medicine boxes, so that the unmanned aerial vehicle for spraying medicine can be confirmed to be 10 unmanned aerial vehicles provided with 1 medicine box, the unmanned aerial vehicle for spraying medicine can also be confirmed to be 5 unmanned aerial vehicles provided with 2 medicine boxes, and the unmanned aerial vehicles for spraying medicine can also be confirmed to be 4 unmanned aerial vehicles provided with 2 medicine boxes and 2 unmanned aerial vehicles provided with 1 medicine box. These unmanned aerial vehicles have constituted the unmanned aerial vehicle group who accomplishes this medicine task of spouting.
And S204, controlling the medicine boxes connected with the sub-consoles to spray medicine according to the target medicine spraying amount, the working capacity information and the medicine information.
And controlling the pesticide box connected with each sub-console to spray pesticide according to the working capacity of the unmanned aerial vehicle and the pesticide condition in the pesticide box, so that the sprayed pesticide reaches the target pesticide spraying amount. Specifically, the spraying speed is calculated according to the target spraying amount, the endurance time of the unmanned aerial vehicle and the medicine information (such as the amount of the medicine), and the sub-console is controlled to control the medicine box to spray the medicine according to the spraying speed.
Further, the spraying speed of the pesticide box of each unmanned aerial vehicle spraying pesticide is obtained, and when the spraying speed of the pesticide box is abnormal, the unmanned aerial vehicle carrying the pesticide box with the abnormal spraying speed is controlled to return to the ground. The unmanned aerial vehicle that the medical kit had the trouble in time of monitoring, for example, when spraying equipment broke down, it may be too fast or slow to spout the medicine speed, in time discovers this kind of trouble, can further improve and spout medicine efficiency.
Further, after the unmanned aerial vehicle carrying the pesticide box with the abnormal pesticide spraying speed is controlled to return to the ground, the total pesticide amount in the pesticide boxes of the remaining unmanned aerial vehicles spraying pesticide is obtained, whether the total pesticide amount is larger than or equal to the target pesticide spraying amount is judged, if the total pesticide amount is smaller than the target pesticide spraying amount, all the unmanned aerial vehicles currently executing pesticide spraying tasks cannot complete the current pesticide spraying tasks, calculating the difference value between the target pesticide spraying amount and the total pesticide amount, acquiring the pesticide amount of pesticide boxes on all unmanned aerial vehicles which do not spray pesticide, the unmanned aerial vehicle which is not spraying the pesticide can be not taken off on the ground, or can fly in the air but not participate in the pesticide spraying task, according to the difference and the dosage of the pesticide box on each unmanned aerial vehicle which does not spray the pesticide, the unmanned aerial vehicle which takes over the abnormal pesticide spraying speed is confirmed to take over to spray the pesticide, and the pesticide box which is connected with the take-over unmanned aerial vehicle and the sub-console on the unmanned aerial vehicle is connected to spray the pesticide.
Optionally, acquire the wind speed change, when the wind speed is greater than preset speed, control unmanned aerial vehicle back a journey, the too big wind speed can cause to spout the medicine and can't accomplish according to the plan and spout the medicine, also can cause unmanned aerial vehicle's safety problem. Controlling the unmanned aerial vehicle to resist at this moment can avoid the pesticide spraying task failure or the safety problem of the unmanned aerial vehicle caused by overlarge wind speed.
Optionally, the unmanned aerial vehicle group includes a plurality of unmanned aerial vehicle queues, and each unmanned aerial vehicle queue all includes master control unmanned aerial vehicle and at least one supplementary unmanned aerial vehicle, and the medical kit is mounted on master control unmanned aerial vehicle and the supplementary unmanned aerial vehicle of same queue simultaneously. The information interaction is carried out between the main control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle through Bluetooth or WiFi. The main control station is connected with the sub-control stations on the main control unmanned aerial vehicles in the unmanned aerial vehicle queues through the radio station network. Because the carrying capacity of a single unmanned aerial vehicle is limited, the dosage carried at one time can be improved through the cooperative work of a plurality of unmanned aerial vehicles.
Optionally, when the auxiliary unmanned aerial vehicle is only one, the information interaction is carried out between the main control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle through the Bluetooth. The master control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle need to be paired by bluetooth before taking off so as to establish data transmission connection between each other. The main control unmanned aerial vehicle carries out corresponding action according to the control signal that the master control platform sent, simultaneously through the supplementary unmanned aerial vehicle of bluetooth control in coordination flight.
When the number of the auxiliary unmanned aerial vehicles is larger than 1, information interaction is carried out between the main control unmanned aerial vehicle and each auxiliary unmanned aerial vehicle through WiFi. Before taking off, the main control unmanned aerial vehicle takes the main control unmanned aerial vehicle as a wireless hotspot, and each auxiliary unmanned aerial vehicle is accessed into a network of the main control unmanned aerial vehicle so as to establish a local area network between the main control unmanned aerial vehicle and each auxiliary unmanned aerial vehicle. The main control unmanned aerial vehicle controls each auxiliary unmanned aerial vehicle in the local area network to fly cooperatively through the WiFi network.
As can be understood, the master control unmanned aerial vehicle can also acquire the working capacity information of the auxiliary unmanned aerial vehicle through bluetooth or WiFi, and transmit the acquired working capacity information of the auxiliary unmanned aerial vehicle to the master control station through the sub-station.
For parts which are not detailed in the embodiment of the present invention, reference may be made to the description of the embodiment of the unmanned aerial vehicle pesticide spraying system and method, and details are not described here.
In the embodiment of the invention, the main control console controls a plurality of unmanned aerial vehicles to spray the pesticide simultaneously through the radio station network, so that the pesticide spraying efficiency is improved, a large amount of labor and time cost are saved, the spraying states of the unmanned aerial vehicles are basically consistent, the calculation control is convenient, and the pesticide spraying efficiency is further improved.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The utility model provides an unmanned aerial vehicle spouts medicine system which characterized in that includes:
the system comprises an unmanned aerial vehicle set, a radio station network, a main control console, a plurality of sub-control consoles and a plurality of medicine boxes;
the plurality of sub-control consoles and the plurality of medicine boxes are respectively arranged on the unmanned aerial vehicle in the unmanned aerial vehicle unit;
the main control console is connected with the plurality of sub control consoles through the radio station network respectively, and the plurality of sub control consoles are connected with the plurality of medicine boxes respectively.
2. The pesticide spraying system of claim 1, wherein the plurality of sub-consoles and the plurality of pesticide boxes are respectively provided on each of the unmanned aerial vehicles in the unmanned aerial vehicle group;
the station network includes: a main station and a plurality of sub-stations;
the plurality of sub radio stations are respectively arranged on each unmanned aerial vehicle of the unmanned aerial vehicle set, and the number of the sub radio stations is the same as that of the sub control stations;
the main control console is connected with the main control console, the main control console is connected with the plurality of sub radio stations respectively, each sub radio station is connected with one sub control console respectively, and each sub control console is connected with a preset number of the medicine boxes.
3. The pesticide spraying system of claim 1, wherein the sub-console comprises a control module, a spraying device and a sensor;
the control module is respectively connected with the spraying equipment and the sensor;
the spraying equipment is connected with the medicine box;
the sensor is connected with the medicine box.
4. A pesticide spraying system as claimed in claim 1 or 3, wherein the drone bank comprises a plurality of drone queues, each drone queue comprising a master drone and at least one auxiliary drone;
the main control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle are provided with radio frequency signal transceiving modules, and communication between the main control unmanned aerial vehicle and the auxiliary unmanned aerial vehicle is realized through the radio frequency signal transceiving modules;
the sub-console is arranged on the main control unmanned aerial vehicle;
the station network includes: a main station and a plurality of sub-stations;
the plurality of sub radio stations are respectively arranged on each main control unmanned aerial vehicle, and the number of the sub radio stations is the same as that of the sub control stations;
the main control console is connected with the main console, the main console is respectively connected with the plurality of sub radio stations, each sub radio station is respectively connected with one sub control console, and each sub control console is connected with one medicine chest;
the first mounting device is arranged at the bottom of the main control unmanned aerial vehicle, the second mounting device is arranged at the bottom of the auxiliary unmanned aerial vehicle, and the medicine chest is mounted at the lower parts of the main control unmanned aerial vehicle body and the auxiliary unmanned aerial vehicle body through the first mounting device and the second mounting device;
the medical kit includes that first storage medicine portion and second store up medicine portion, first storage medicine portion is close to master control unmanned aerial vehicle, the second stores up medicine portion and is close to supplementary unmanned aerial vehicle, first volume that stores up medicine portion is less than the second stores up medicine portion.
5. The pesticide spraying system of claim 1, wherein the unmanned aerial vehicle is further provided with a wind speed sensor;
the wind speed sensor is electrically connected with the sub-console, the wind speed sensor transmits the sensed wind speed to the main console through the sub-console, and the main console controls the unmanned aerial vehicle to return according to the change of the wind speed; or,
the wind speed sensor with unmanned aerial vehicle's control chip electric connection, control chip is according to the wind speed change of wind speed sensor sensing controls unmanned aerial vehicle returns to a journey.
6. An unmanned aerial vehicle pesticide spraying method applied to the unmanned aerial vehicle pesticide spraying system of any one of the preceding claims 1 to 5, characterized by comprising the following steps:
the main control station is connected with each sub-control station on the unmanned aerial vehicle in the unmanned aerial vehicle set through a radio station network;
acquiring the working capacity information of each unmanned aerial vehicle and the medicine information of the airborne medicine box of each unmanned aerial vehicle through each sub-console;
and controlling the pesticide boxes connected with the sub-consoles to spray pesticide according to the target pesticide spraying amount, the working capacity information and the pesticide information.
7. The method according to claim 6, wherein before controlling the medicine boxes connected to the respective sub-consoles to spray medicine according to the target spraying amount, the operation capability information, and the medicine information, the method comprises:
confirming the number of medicine boxes required for spraying medicine according to the target medicine spraying amount and the medicine information;
acquiring the number of medicine boxes on each unmanned aerial vehicle;
and confirming the unmanned aerial vehicle spraying the pesticide according to the number of the pesticide boxes on each unmanned aerial vehicle and the required number of the pesticide boxes.
8. The method according to claim 6, wherein the operational capability information includes a duration of a journey, and the controlling the medicine boxes connected to the sub-consoles to spray medicine according to the target medicine spraying amount, the operational capability information, and the medicine information includes:
calculating the pesticide spraying speed according to the target pesticide spraying amount, the endurance time of the unmanned aerial vehicle and the pesticide information;
and controlling the pesticide box to spray pesticide according to the pesticide spraying speed through the sub-console.
9. The method of claim 8, further comprising:
acquiring the spraying speed of a pesticide box of each unmanned aerial vehicle spraying pesticide;
when the spraying speed of the pesticide box is abnormal, controlling the unmanned aerial vehicle carrying the pesticide box with the abnormal spraying speed to return to the ground;
acquiring the total amount of the pesticide in the pesticide box of the remaining unmanned aerial vehicle spraying pesticide;
judging whether the total dosage is more than or equal to the target spraying dosage;
if not, calculating a difference value between the target pesticide spraying amount and the total pesticide amount, and acquiring the pesticide amount of pesticide boxes on all unmanned aerial vehicles which do not spray pesticide;
according to the difference and the dosage of the pesticide box on each unmanned aerial vehicle which does not spray pesticide, a take-over unmanned aerial vehicle which takes over the unmanned aerial vehicle with abnormal pesticide spraying speed to spray pesticide is confirmed, and the take-over unmanned aerial vehicle is connected and the pesticide box connected with a sub control console on the take-over unmanned aerial vehicle is controlled to spray pesticide;
alternatively, the method further comprises:
and acquiring the change of the wind speed, and controlling the unmanned aerial vehicle to return when the wind speed is greater than the preset speed.
10. The method of any of claims 6 to 9, wherein the drone bank comprises a plurality of drone queues, each said drone queue comprising a primary drone and a secondary drone, the medicine box being mounted on the primary drone and the secondary drone simultaneously;
the main control station is connected with the sub-control stations on the main control unmanned aerial vehicle in the unmanned aerial vehicle queue through a radio station network, and the main control unmanned aerial vehicle is controlled through Bluetooth or WiFi to assist the unmanned aerial vehicle to fly in coordination.
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