CN106708105A - Unmanned aerial vehicle pesticide spraying control system, pesticide spraying device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle pesticide spraying control system, pesticide spraying device and unmanned aerial vehicle Download PDFInfo
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- CN106708105A CN106708105A CN201611052274.0A CN201611052274A CN106708105A CN 106708105 A CN106708105 A CN 106708105A CN 201611052274 A CN201611052274 A CN 201611052274A CN 106708105 A CN106708105 A CN 106708105A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
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Abstract
The invention relates to the technical field of agricultural and animal husbandry intelligent equipment, and particularly relates to an unmanned aerial vehicle pesticide spraying control system, a pesticide spraying device and an unmanned aerial vehicle. The system comprises an information acquisition device, an information processing device and a water pump driver. The information acquisition device is used for acquiring flight speed information of the unmanned aerial vehicle and current flow velocity information of the pesticide spraying device in real time and transmitting the information to the information processing device. The information processing device is used for calculating pesticide spraying preliminary flow velocity according to the flight speed information of the unmanned aerial vehicle based on the preset rules and generating a water pump flow control correction signal according to the pesticide spraying preliminary flow velocity and the current flow velocity information and also used for controlling the correction signal to correct an original water pump flow control signal according to the water pump flow so as to generate a water pump flow control signal. The water pump driver is used for adjusting the flow velocity of the pesticide spraying device according to the water pump flow control signal. Therefore, the pesticide spraying process can be accurately controlled without cooperation of an unmanned aerial vehicle controller and agricultural personnel so as to realize intelligent pesticide spraying control.
Description
Technical field
The present invention relates to farming and animal husbandry intellectuality equipment technology field, in particular to a kind of unmanned plane spraying control system
System, chemical spraying device and unmanned plane.
Background technology
Recently as the development of civilian unmanned plane, plant protection unmanned plane also begins to " winged " and enters common people house.Plant protection nobody
Machine, is typically flown control, the part of spraying mechanism three and is constituted by flying platform (fixed-wing, single rotor, many rotors), GPS, right for realizing
The spraying operation of agriculture and forestry plant, can spray medicament, seed, pulvis etc..Plant protection unmanned plane during flying speed is fast, without complicated landform limit
System, scale operation can reach 120-150 mus per hour, and its efficiency is at least higher by 100 times than conventional spray；Plant protection unmanned plane passes through
Flight remote controller or earth station operate, spraying operation personnel's remote-controlled operation, it is to avoid it is exposed to the danger under agricultural chemicals, improves
The security of spraying operation.
Inventor had found in the course of the study, current plant protection unmanned plane, and its spraying mechanism is typically common many
Carry spraying equipment and drugs on axle remotely pilotless machine, are controlled, it is necessary to unmanned plane driver and agriculture personnel by individually switch
It is common to coordinate, complex operation and it is difficult to accurately control spray process.
The content of the invention
In view of this, the purpose of the embodiment of the present invention be provide a kind of unmanned plane spraying control system, chemical spraying device with
And unmanned plane, intelligent spraying control can be realized, make spraying control more accurate and operate simpler.
In a first aspect, the embodiment of the invention provides a kind of unmanned plane spraying control system, the system includes：Information gathering
Device, information processor and water pump driver；
Information collecting device, the current flow letter of airspeed information and chemical spraying device for Real-time Collection unmanned plane
Breath, and send to information processor；
Information processor, for the airspeed information according to unmanned plane, the pre- stream of spray is calculated according to default rule
Speed, and according to pre- flow velocity and the current flow information of spraying, generation pump capacity control revise signal；
Information processor, is additionally operable to carry out original pump capacity control signal according to pump capacity control revise signal
Amendment, generates pump capacity control signal；
Water pump driver, the flow velocity for adjusting chemical spraying device according to pump capacity control signal.
With reference in a first aspect, the embodiment of the invention provides the first possible implementation method of first aspect, wherein, letter
Breath harvester includes：Flying speed harvester and flow rate information harvester；
Wherein, flying speed harvester includes：Position sensor or velocity sensor；
Flow rate information harvester includes：Flow sensor；
Position sensor, the control-rod positional information for gathering unmanned plane, and according to control-rod positional information calculation without
Man-machine airspeed information；
Velocity sensor, is installed on unmanned plane, for the airspeed information of direct access unmanned plane；
Flow sensor, for gathering current flow information.
With reference in a first aspect, the embodiment of the invention provides second possible implementation method of first aspect, wherein, should
System also includes：Signal receiver and flight controller；
Signal receiver, for receiving original pump capacity control signal from remote control or host computer, and by initial condition
Pump discharge control signal is sent to flight controller；
Flight controller, for original pump capacity control signal to be forwarded into information processor.
With reference to second possible implementation method of first aspect, the third of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, flight controller is also associated with optical coupling isolation circuit；
Flight controller, is additionally operable to export original pump capacity control signal by PWM passages, and by light-coupled isolation
After circuit, data signal, output to information processor are converted into.
With reference to any one in the possible implementation method of first three of first aspect, first is the embodiment of the invention provides
4th kind of possible implementation method of aspect, wherein, according to pre- flow velocity and the current flow information of spraying, generate pump capacity control
Revise signal processed, specifically includes：
The pre- flow velocity of spray and current flow information are carried out into difference operation, pump capacity control revise signal is obtained.
With reference to any one in the possible implementation method of first three of first aspect, first is the embodiment of the invention provides
5th kind of possible implementation method of aspect, wherein, water pump driver is used for according to pump capacity control signal regulation spray dress
The flow velocity put is specifically included：
Pump capacity control signal is converted to power drive signal by water pump driver, and control is driven to water pump.
With reference to any one in the possible implementation method of first three of first aspect, first is the embodiment of the invention provides
6th kind of possible implementation method of aspect, wherein, information collecting device also includes：Height sensor；
Height sensor, the liquid level information for gathering agricultural chemicals water tank, and by the liquid level information of agricultural chemicals water tank
Send to information processor；
Information processor, is additionally operable to, according to liquid level information and default liquid level threshold value of warning, judge agriculture
Whether the liquid level in liquid medicine case reaches the threshold value of early warning；
If it is, generation alarm signal outwardly sends.
With reference to the 6th kind of possible implementation method of first aspect, the 7th kind of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, also include：Liquid Altitude Alerting Unit；
Liquid Altitude Alerting Unit, for receiving alarm signal, and after alarm signal is received, automatic sound-light alarm is concurrent
Send corresponding actuating signal；Actuating signal includes：Unmanned plane make a return voyage automatically signal or unmanned plane hovering signal.
Second aspect, the embodiment of the present invention additionally provides a kind of chemical spraying device, and the device includes：Water tank framework, pesticide water
Case, spray water pump, loading pipeline and Dey-Dose；
Agricultural chemicals water tank is arranged on water tank framework；
Agricultural chemicals water tank is connected with the inlet of spray water pump；
The entrance of loading pipeline is connected with the liquid outlet of spray water pump；
The outlet of loading pipeline is connected with Dey-Dose；
Spray water pump is also associated with the unmanned plane spraying control system as described in first aspect any one.
The third aspect, the embodiment of the present invention additionally provides a kind of unmanned plane, and the unmanned plane includes：Unmanned plane body and
Chemical spraying device described in two aspects；
Chemical spraying device carry is below the central plate of unmanned plane body.
A kind of unmanned plane spraying control system is the embodiment of the invention provides, the system includes：Information collecting device, information
Processing unit and water pump driver；Wherein, information collecting device, airspeed information for Real-time Collection unmanned plane and
The current flow information of chemical spraying device, and send to information processor；Information processor, for the flight according to unmanned plane
Velocity information, the pre- flow velocity of spray is calculated according to default rule, and according to pre- flow velocity and the current flow information of spraying, generates water
Pump discharge controls revise signal；Information processor is additionally operable to control revise signal to original pump capacity control according to pump capacity
Signal processed is modified, and generates pump capacity control signal；Water pump driver is used to adjust spray according to pump capacity control signal
The flow velocity of medicine device.
Unmanned plane spraying control system, chemical spraying device and unmanned plane that the embodiment of the present invention is provided, with prior art
Middle plant protection unmanned plane needs unmanned plane driver and agriculture personnel to coordinate jointly, can just carry out spray operating process and compare, and only needs
An original pump capacity control signal is obtained from extraneous (such as host computer, remote control etc.) first, drive water pump to start fortune
Turn.After pump operation, the current flow information and unmanned plane that information collecting device is capable of Real-time Collection to chemical spraying device are winged
Row velocity information.Then information processor can be calculated and spray according to the airspeed information of unmanned plane according to default rule
Pre- flow velocity, further according to pre- flow velocity and the current flow information of spraying, generation pump capacity controls revise signal, so that, to original
Pump capacity control signal is modified, and generates pump capacity control signal, output feedwater pump controller, water pump driver root again
The flow velocity of chemical spraying device is adjusted according to pump capacity control signal.So, by unmanned plane during flying speed and chemical spraying device flow velocity
Real-time monitoring, controlled with reference to certain algorithm, obtained it is based on original pump capacity control signal and with flying speed phase
The revised water pump control signal closed, under the common cooperation for not needing unmanned plane driver and agriculture personnel, it becomes possible to essence
True control spray process, realizes that spraying control is intelligent.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of structural representation of unmanned plane spraying control system that the embodiment of the present invention is provided；
Fig. 2 shows that the concrete structure of another unmanned plane spraying control system that the embodiment of the present invention is provided is illustrated
Figure；
Fig. 3 shows a kind of structural representation of chemical spraying device that the embodiment of the present invention is provided；
Fig. 4 shows a kind of structural representation of unmanned plane that the embodiment of the present invention is provided.
Illustrate：
1- unmanned plane spraying controls system, 2- chemical spraying devices, 3- unmanned planes；
11- information collecting devices, 12- information processors, 13- water pump drivers, 14- signal receivers, 15- flight controls
Device processed, 16- optical coupling isolation circuits, 17- liquid Altitude Alerting Units；
21- water tanks framework, 22- agricultural chemicals water tank, 23- sprays water pump, 24- loadings pipeline, 25- Dey-Doses, 26- sprays
Battery；
31- unmanned plane bodies；
111- flying speeds harvester, 112- flow rate informations harvester, 113- height sensors；
1111- position sensors, 1112- velocity sensors, 1121- flow sensors.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.The present invention generally described and illustrated in accompanying drawing herein is real
The component for applying example can be arranged and designed with a variety of configurations.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
Spraying mechanism in view of current plant protection unmanned plane is typically the carry spray on common multiaxis remotely pilotless machine
Equipment, is controlled by individually switch, it is necessary to unmanned plane driver and agriculture personnel coordinate jointly, complex operation and difficulty
To accurately control spray process.Based on this, this application provides a kind of unmanned plane spraying control system, chemical spraying device and nothing
It is man-machine, intelligent spraying control can be realized, make spraying control more accurate and operate simpler.
For ease of understanding the present embodiment, first to a kind of unmanned plane spraying control disclosed in the embodiment of the present invention
System 1 describes in detail.
It is shown in Figure 1, a kind of unmanned plane spraying control system 1 is the embodiment of the invention provides, the system includes：Information
Harvester 11, information processor 12 and water pump driver 13；
Wherein, information collecting device 11, airspeed information and chemical spraying device 2 for Real-time Collection unmanned plane 3
Current flow information, and send to information processor 12；Information processor 12, for the flying speed according to unmanned plane 3
Information, the pre- flow velocity of spray is calculated according to default rule, and according to pre- flow velocity and the current flow information of spraying, generates water pump stream
Amount control revise signal；Information processor 12 is additionally operable to control revise signal to control original pump capacity according to pump capacity
Signal is modified, and generates pump capacity control signal；Water pump driver 13 is used to adjust spray according to pump capacity control signal
The flow velocity of medicine device 2.
In the unmanned plane spraying control system 1 that the embodiment of the present invention is provided, information processor 12 first can be from outer
Boundary's (such as host computer, remote control etc.) obtains an original pump capacity control signal, and the original pump capacity control signal is
The original drive signal of water pump driver 13, water pump driver 13 drives after the original pump capacity control signal is received
Dynamic water pump starts running.After water pump starts running, information collecting device 11 just can collect the current flow of chemical spraying device 2
Information (before water pump starts running, current flow information for 0), meanwhile, information collecting device 11 can also collect nobody
The airspeed information of machine 3.For uniform, the flying speed difference of unmanned plane 3, the current flow of chemical spraying device 2 of spray
Should be different, usually, the flying speed of unmanned plane 3 is faster, and the current flow of chemical spraying device 2 should also be as faster.Therefore, also need
Want information processor 12 according to the airspeed information of unmanned plane 3, calculate the pre- flow velocity of spray according to default rule and (spray
Device 2 under this flying speed, the flow velocity that should be reached), then according to pre- flow velocity and the current flow information of spraying, generate water
Pump discharge controls revise signal.Information processor 12 is additionally operable to control revise signal to original pump capacity according to pump capacity
Control signal is modified, and generates pump capacity control signal, is then output to water pump driver 13, the root again of water pump driver 13
The flow velocity of chemical spraying device 2 is adjusted according to pump capacity control signal.So, by the flying speed to unmanned plane 3 and chemical spraying device 2
Flow velocity real-time monitoring, controlled with reference to certain algorithm, obtained it is based on original pump capacity control signal and with flight
The revised water pump control signal of velocity correlation, realizes the Based Intelligent Control to the state that sprays, and can be by unmanned plane 3
Multichannel remote controller be manually set and controlled, relative to existing plug-in freestanding pesticide spraying system, spraying control is more
Plus it is accurate, operate easier.
In addition, when implementing, unmanned plane spraying control system 1 in embodiments of the present invention, can be most
Basic direct current generator pesticide spraying system, chemical spraying device 2 can be common diaphragm examination agricultural chemicals water pump, can be by changing voltage electricity
The flow of flow control water pump.Operating personnel can be flown to the region for needing dispenser by remote control control unmanned plane 3, by distant
A digital PWM passage for controlling device is opened and adjusts spray flow velocity.Information collecting device 11 can be sensor, or its
The equipment that it has information collection function；Information processor 12 can be embeded processor, or other have letter
Cease the device of processing function.
It should be noted that default rule can specifically be determined according to actual situation, for example, for difference
Crops, the different phase of crops, crops surrounding enviroment etc. determine spray value, speed of spray etc. is then determined again.
Shown in Figure 2, the original pump capacity control signal can be by the signal in unmanned plane spraying control system 1
Receiver 14 and flight controller 15 are received, wherein, signal receiver 14 is used to receive original from remote control or host computer
Pump capacity control signal, and original pump capacity control signal is sent to flight controller 15；Flight controller 15 is used for
Original pump capacity control signal is forwarded to information processor 12.
When implementing, flight controller 15 can be common currently on the market increases income or non-increasing income flies control
Device, possesses the function that can connect wireless digital signal receiver.Remote control can be Multichannel remote controller, with linear
Digital PWM (Pulse Width Modulation, pulse width modulation) passage, and at least one idle linear digital PWM
Passage is used to control to spray.One linear passageway of remote control is configured by upper computer software, is allowed to be mapped to signal
One PWM output end of receiver 14 (or flight controller 15).Adjusting passage ratio simultaneously makes the pulse that the passage is exported wide
Spend the pulse width range of scope corresponding informance processing unit.Should be by the passage to chemical spraying device 2 after being provided with
Flow velocity carry out direct remote control.
Signal receiver 14 receives an original pump capacity control signal from remote control or host computer first, then will
The signal is sent to the flight controller 15 of unmanned plane 3, and be sent to for original pump capacity control signal again by flight controller 15
Information processor 12.
In addition, flight controller 15 is also associated with optical coupling isolation circuit 16；Flight controller 15 is by original pump capacity control
Signal processed is exported by PWM passages, and by after optical coupling isolation circuit 16, being converted into data signal, output to information processing apparatus
Put 12.
In each implementation method of the invention, shown in Figure 2, information collecting device 11 includes：Flying speed collection dress
Put 111 and flow rate information harvester 112；Wherein, flying speed harvester 111 includes：Position sensor 1111 or
Velocity sensor 1112；Flow rate information harvester 112 includes：Flow sensor 1121；Position sensor 1111 is used to gather
The control-rod positional information of unmanned plane 3, and according to the airspeed information of control-rod positional information calculation unmanned plane 3；Speed is passed
Sensor 1112 is installed on unmanned plane 3, for the airspeed information of direct access unmanned plane 3；Flow sensor 1121, is used for
Collection current flow information.
When specific implementation, flying speed harvester 111 and flow rate information harvester 112 can be various
Sensor, or other there is the device of speed acquisition function.In an embodiment of the present invention, flying speed is adopted
Acquisition means 111 include position sensor 1111 or velocity sensor 1112；Position sensor 1111 can gather unmanned plane 3
Flight control-rod positional information, then the real-time flight speed by it by being calculated unmanned plane 3；Or can also be by peace
Loaded on the velocity sensor 1112 on unmanned plane 3, the airspeed information of unmanned plane 3 is directly gathered.Flow rate information harvester
112, it is in the present embodiment flow sensor 1121, the water side of chemical spraying device 2 is installed on, to real-time monitoring chemical spraying device
2 flow velocity.
In the above-described embodiments, according to pre- flow velocity and the current flow information of spraying, generation pump capacity control amendment letter
Number, specifically include：The pre- flow velocity of spray and current flow information are carried out into difference operation, pump capacity control amendment letter is obtained
Number.
When information processor 12 is according to the airspeed information of unmanned plane 3, spray is calculated according to default rule pre-
After flow velocity (i.e. chemical spraying device 2 under this flying speed, the flow velocity that should be reached), information processor 12 can the pre- stream of spray
Speed and current flow information carry out a difference operation, and then generate pump capacity control revise signal.The signal can be right
Original pump capacity control signal is modified, and is uniformly sprayed so as to realize that unmanned plane 3 completes unit area in flight course.
Additionally, in each implementation method of the invention, water pump driver 13 is used to be adjusted according to pump capacity control signal
The flow velocity of chemical spraying device 2 is specifically included：Pump capacity control signal is converted to power drive signal by water pump driver 13, to water
Pump is driven control.
In embodiments of the present invention, information collecting device 11 including flying speed harvester 111 and flow velocity except believing
Outside breath harvester 112, also include：Height sensor 113；
Height sensor 113, the liquid level information for gathering agricultural chemicals water tank 22, and by the liquid level of agricultural chemicals water tank 22
Information is sent to information processor 12；Information processor 12 is additionally operable to high according to liquid level information and default liquid level
Degree threshold value of warning, judges whether the liquid level in agricultural chemicals water tank 22 reaches the threshold value of early warning；If it is, generation alarm signal
Outwardly send.
When implementing, height sensor 113 is installed on the inside of the Pesticides water tank 22 of chemical spraying device 2, is used for
Liquid level information in spray water tank 22 is obtained, and sends this information to information processor 12, the meeting of information processor 12
According to default liquid level value, the liquid level information that height sensor 113 sends is judged, work as height sensor
When the 113 liquid level information for sending are less than default liquid level value, alarm signal can be outwardly sent, so as to unmanned plane 3
Perform corresponding action.
In each implementation method of the invention, unmanned plane spraying control system 1 also includes：Liquid Altitude Alerting Unit 17；
Liquid Altitude Alerting Unit 17, for receiving alarm signal, and after alarm signal is received, automatic sound-light alarm is simultaneously
Send corresponding actuating signal；Actuating signal includes：Automatic signal or the hovering signal of unmanned plane 3 of making a return voyage of unmanned plane 3.
When implementing, when liquid Altitude Alerting Unit 17 receives the alarm signal of the transmission of information processor 12
When, automatically by sound and light alarm, and the actuating signal for controlling the state of unmanned plane 3 can be sent to information processor 12, such as：
The automatic signal for making a return voyage of control unmanned plane 3 makes the signal of the hovering of unmanned plane 3.
In addition, it should be noted that in the unmanned plane spraying control system 1 that the embodiment of the present invention is provided, information is adopted
Acquisition means 11 can also gather other information to aid in calculating spray and flow velocity, for example, it is also possible to gather unmanned plane 3 and farming
The distance between thing information, when unmanned plane 3 is bigger with the distance between crops, the flow velocity of spray should also be as it is bigger, and nobody
Machine 3 is smaller with the distance between crops, and the flow velocity of spray should also be as smaller.
The embodiment of the present invention additionally provides a kind of chemical spraying device 2, shown in Figure 3, and the device includes：Water tank framework 21,
Agricultural chemicals water tank 22, spray water pump 23, loading pipeline 24 and Dey-Dose 25；
Wherein, agricultural chemicals water tank 22 is arranged on water tank framework 21；Agricultural chemicals water tank 22 is connected with the inlet of spray water pump 23；
The entrance of loading pipeline 24 is connected with the liquid outlet of spray water pump 23；The outlet of loading pipeline 24 is connected with Dey-Dose 25；
Spray water pump 23 is also associated with the unmanned plane spraying control system 1 that the embodiment of the present invention is provided.
When implementing, spray battery 26 (3S poly-lithium batteries), battery peace are also included in chemical spraying device 2
On water tank framework 21, agricultural chemicals water tank 22 is arranged on the center position of water tank framework 21, and spray water pump 23 is arranged on agricultural chemicals
On the water tank framework 21 of the lower section of water tank 22, it is connected with agricultural chemicals water tank 22 and Dey-Dose 25 by anti-corrosive rubber pipe.Atomization
Sprayer 25 has multiple, and framework both sides are arranged on by extension rod.
It is the simple structure of chemical spraying device provided in an embodiment of the present invention 2, lightweight, do not interfere with the load-carrying price of unmanned plane 3 just
Preferably, stability is high, and installation settings is convenient.
The embodiment of the present invention additionally provides a kind of unmanned plane 3, shown in Figure 4, and the unmanned plane 3 includes unmanned plane body 31
And the chemical spraying device 2 that the embodiment of the present invention is provided；The carry of chemical spraying device 2 is below the central plate of unmanned plane body 31.
The embodiment of the present invention, control degree of intelligence is high, and required manual intervention is few, installs and set easy, after being provided with,
Practical operation difficulty is low.Possess two kinds of control modes (operator's remote control or intelligent automatic control), system hardware structure letter
Single, reliability is high；It is lightweight, do not interfere with the load-carrying of unmanned plane 3；Cheap, the upgrading for being more suitable for existing plant protection unmanned plane changes
Make；Adapt to different spray environment.
The computer program product of the unmanned plane spraying control system 1 that the embodiment of the present invention is provided, including store journey
The computer-readable recording medium of sequence code, the instruction that described program code includes can be used to perform described in preceding embodiment
Method, implements and can be found in above-described embodiment, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in aforementioned system embodiment, will not be repeated here.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, background server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention
Suddenly.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), deposit at random
Access to memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of unmanned plane spraying control system, it is characterised in that the system includes：Information collecting device, information processing apparatus
Put and water pump driver；
Described information harvester, the current flow letter of airspeed information and chemical spraying device for Real-time Collection unmanned plane
Breath, and send to described information processing unit；
Described information processing unit, for the airspeed information according to the unmanned plane, calculates according to default rule and sprays
Pre- flow velocity, and according to spray pre- flow velocity and the current flow information, generation pump capacity control revise signal；
Described information processing unit, is additionally operable to control revise signal to original pump capacity control signal according to the pump capacity
It is modified, generates pump capacity control signal；
The water pump driver is used to be adjusted according to the pump capacity control signal flow velocity of chemical spraying device.
2. system according to claim 1, it is characterised in that described information harvester includes：Flying speed collection dress
Put and flow rate information harvester；
Wherein, the flying speed harvester includes：Position sensor or velocity sensor；
The flow rate information harvester includes：Flow sensor；
The position sensor, the control-rod positional information for gathering unmanned plane, and according to the control-rod positional information meter
Calculate the airspeed information of unmanned plane；
The velocity sensor, is installed on unmanned plane, for the airspeed information of direct access unmanned plane；
The flow sensor, for gathering the current flow information.
3. system according to claim 1, it is characterised in that also include：Signal receiver and flight controller；
The signal receiver, for receiving original pump capacity control signal from remote control or host computer, and by the original
Beginning pump capacity control signal is sent to the flight controller；
The flight controller is used to for the original pump capacity control signal to be forwarded to described information processing unit.
4. system according to claim 3, it is characterised in that the flight controller is also associated with optical coupling isolation circuit；
The flight controller is additionally operable to export the original pump capacity control signal by PWM passages, and by described
After optical coupling isolation circuit, data signal, output to described information processing unit are converted into.
5. the system according to claim 1-4 any one, it is characterised in that described according to the pre- flow velocity of spray and institute
Current flow information is stated, generation pump capacity control revise signal is specifically included：By the pre- flow velocity of the spray and described current
Flow rate information carries out difference operation, obtains pump capacity control revise signal.
6. the system according to claim 1-4 any one, it is characterised in that the water pump driver is used for according to described
The flow velocity of pump capacity control signal regulation chemical spraying device is specifically included：
The pump capacity control signal is converted to power drive signal by the water pump driver, and control is driven to water pump
System.
7. the system according to claim 1-4 any one, it is characterised in that described information harvester also includes：It is high
Degree sensor；
The height sensor, the liquid level information for gathering agricultural chemicals water tank, and by the liquid level of the agricultural chemicals water tank
Information is sent to described information processing unit；
Described information processing unit, is additionally operable to, according to the liquid level information and default liquid level threshold value of warning, sentence
Whether the liquid level in the agricultural chemicals water tank that breaks reaches the threshold value of early warning；
If it is, generation alarm signal outwardly sends.
8. system according to claim 7, it is characterised in that also include：Liquid Altitude Alerting Unit；
The liquid Altitude Alerting Unit, for receiving the alarm signal, and after the alarm signal is received, automatic acousto-optic
Alarm and send corresponding actuating signal；The actuating signal includes：Unmanned plane make a return voyage automatically signal or unmanned plane hovering letter
Number.
9. a kind of chemical spraying device, it is characterised in that including：Water tank framework, agricultural chemicals water tank, spray water pump, loading pipeline and mist
Change sprayer；
The agricultural chemicals water tank is arranged on the water tank framework；
The agricultural chemicals water tank is connected with the inlet of the spray water pump；
The entrance of the loading pipeline is connected with the liquid outlet of the spray water pump；
The outlet of the loading pipeline is connected with the Dey-Dose；
The spray water pump is also associated with the unmanned plane spraying control system as described in claim 1-8 any one.
10. a kind of unmanned plane, it is characterised in that including the chemical spraying device described in unmanned plane body and claim 9；
The chemical spraying device carry is below the central plate of the unmanned plane body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113460308A (en) * | 2021-07-30 | 2021-10-01 | 中国农业大学 | Unmanned aerial vehicle variable pesticide application control system and method |
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