CN108190023B - Aircraft circuit working method for remotely acquiring data in real time - Google Patents
Aircraft circuit working method for remotely acquiring data in real time Download PDFInfo
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- CN108190023B CN108190023B CN201711256058.2A CN201711256058A CN108190023B CN 108190023 B CN108190023 B CN 108190023B CN 201711256058 A CN201711256058 A CN 201711256058A CN 108190023 B CN108190023 B CN 108190023B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000002159 abnormal effect Effects 0.000 claims abstract description 6
- 239000003814 drug Substances 0.000 claims description 32
- 239000000575 pesticide Substances 0.000 claims description 29
- 238000006243 chemical reaction Methods 0.000 claims description 28
- 239000007788 liquid Substances 0.000 claims description 26
- 238000005507 spraying Methods 0.000 claims description 19
- 238000012937 correction Methods 0.000 claims description 17
- 239000000725 suspension Substances 0.000 claims description 12
- 238000005192 partition Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 9
- 230000033228 biological regulation Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 239000002131 composite material Substances 0.000 claims description 4
- 239000000447 pesticide residue Substances 0.000 claims description 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000001746 injection moulding Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an aircraft circuit working method for remotely acquiring data in real time, which comprises the following steps: s1, sending working signals to the wireless network module by remote; s2, respectively acquiring air pressure data, temperature data, air speed data and humidity data through an air pressure sensor, a temperature sensor, an air speed sensor and a humidity sensor; s3, the height measuring circuit measures the flight height of the aircraft in real time, and the gyroscope speed information is obtained through a gyroscope correcting circuit in the power cabin rudder machine; s4, the GPS circuit measures the working position of the aircraft in real time, transmits the positioning information to the cloud server and a real-time operating user through the wireless network module, and sends the space flight track to the cloud server and the real-time operating user; the invention ensures that the unmanned aerial vehicle can work efficiently, and in addition, the flight safety of the aircraft is improved by calibrating the equipment circuit and acquiring the abnormal signal.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery automation control, and particularly relates to an aircraft circuit working method for a pesticide spraying machine to remotely acquire data in real time.
Background
With the progress of science and technology and the progress of agricultural modernization, the agricultural field is sprayed with pesticide in a large range by an unmanned spraying machine step by step. The existing pesticide spraying machine is often required to be provided with a GPS antenna to capture a satellite and receive satellite positioning information, so that the spraying machine can accurately operate under the unmanned operation condition. However, the existing GPS antenna mounting structure is unreasonable, the stability is poor, the GPS antenna support is easy to shake in the operation process, the danger of looseness and even falling can occur, and the reliability of the GPS antenna mounting structure is poor. In addition, when the spraying machine sprays pesticide, a pesticide box for containing liquid medicine is generally arranged below the machine body, and the pesticide box needs to be manufactured independently, so that the processing and assembly are difficult, the production cost is high, and the height of the whole spraying machine can be increased; when the liquid medicine in the medicine box is less, the liquid medicine can be agitated and shaken under the influence of the working vibration of the spraying machine, so that the balance of the spraying machine is influenced; in addition because current circuit design work is unstable, has caused unmanned aerial vehicle can't accomplish the work order, and aircraft working parameter can't gather in real time moreover to influence the pesticide and spray the watering effect, cause crops to apology.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide an aircraft circuit operating method for real-time remote data acquisition of a pesticide spraying machine.
The technical scheme of the invention is as follows: an aircraft circuit working method for real-time remote data acquisition of a four-axis aircraft comprises the following steps: s1, remotely sending a working signal to a wireless network module, sending a starting instruction to an MCU (micro control unit) through a remote control circuit after the wireless network module receives the working signal, starting the aircraft by the MCU through a start-stop switch, sending the working signal to a motor driving circuit of a power bin steering engine after the MCU obtains the starting signal, starting a flight motor by a plurality of motor driving circuits to drive a propeller to rotate, displaying a corresponding abnormal motor driving circuit through a fault display circuit if one of the motor driving circuits works abnormally, and executing S2 if all the motor driving circuits work normally;
s2, respectively collecting air pressure data, temperature data, wind speed data and humidity data through an air pressure sensor, a temperature sensor, a wind speed sensor and a humidity sensor, comparing the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time with historical data of a ratio value of pesticide spraying according to the air pressure data, the temperature data, the wind speed data and the humidity data which are prestored by an MCU, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time are in a prestored historical data range, prompting a user to select corresponding pesticide to spray, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time cannot be matched with the prestored historical data, prompting the user to carry out input operation, when the wind speed data exceed a safe wind speed flight value stored by the MCU, sending alarm information through a fault display circuit, when the temperature data are analyzed, sending alarm information through a fault display circuit; in the pesticide spraying process, the liquid level sensor collects the pesticide residue in real time, if the residue is insufficient, the fault display circuit sends alarm information, the flow sensor collects the concentration of the sprayed pesticide according to the humidity data collected by the humidity sensor, and the magnitude of the sprayed pesticide is adjusted by combining the humidity data;
s3, the height measuring circuit measures the flight height of the aircraft in real time, a gyro correction circuit in the power bin steering engine is used for obtaining gyro speed information, the real-time gyro speed information and the propeller gain coefficient are subjected to product operation to obtain a flight speed comprehensive value of each propeller, the flight speed comprehensive value is compared with the flight speed comprehensive value according to a prestored range threshold value, if any propeller does not reach the prestored range threshold value, the MCU is used for adjusting the power of a motor driving circuit of the power bin steering engine, meanwhile, the gyro correction circuit is used for continuously collecting the gyro speed information, and correction operation is repeatedly executed to enable each propeller to be corrected to a preset parameter range;
s4, the operating position of GPS circuit real-time measurement aircraft, transmit locating information to the user of high in the clouds server and real-time operation through wireless network module, gather the locating data of presetting interval time point according to the GPS circuit, carry out the orbit drawing according to the period locating data with a plurality of interval time points of presetting, thereby obtain the pesticide of aircraft and spray the orbit, this a plurality of interval time points of presetting combine together with the height measurement circuit measuring altitude information, thereby draw the space flight orbit of aircraft through the 3D effect, send this space flight orbit to the user of high in the clouds server and real-time operation.
Has the advantages that: according to the invention, the working method is implemented through the cooperative cooperation of the structure and the circuit, so that the accuracy and stability of pesticide spraying can be realized, the high-efficiency work of the unmanned aerial vehicle can be ensured by acquiring data in real time and analyzing the data of the spraying place, and the flight safety of the aircraft is improved by calibrating the equipment circuit and acquiring abnormal signals.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a schematic structural view of the support frame.
Fig. 4 is a top view of the base.
FIG. 5 is a circuit diagram of the present invention.
FIG. 6 is a flow chart of the method of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 and 2, the fuselage 7 is composed of a main engine compartment 9, wings 10 and a power compartment 11, wherein the main engine compartment 9 is located at a middle position, four wings 10 are uniformly distributed on the periphery of the main engine compartment 9 according to the circumference, the wings 10 are hollow structures, the inner ends of the wings 10 are connected with the circumferential wall of the main engine compartment 9 into a whole, and the outer end of each wing 10 is provided with the power compartment 11. The inside of the main engine room 9 is divided into an upper equipment cavity and a lower liquid medicine cavity by a transverse plate 13, a partition plate 15 distributed in a shape like a Chinese character 'jing' is fixedly arranged in the liquid medicine cavity, the partition plate 15 is preferably made of honeycomb composite materials, the thickness of the partition plate is preferably 3-5mm, the partition plate 15 divides the liquid medicine cavity into nine chambers, and two adjacent chambers in the transverse direction and the longitudinal direction are communicated through a through hole formed in the bottom of the partition plate 15. An S-shaped medicine inlet pipe 14 is arranged on the main cabin 9, the medicine inlet pipe 14 is preferably made of carbon fiber composite materials, the upper end of the medicine inlet pipe 14 is exposed out of the main cabin 9, a sealing cover is arranged at the upper port of the medicine inlet pipe 14, and the lower end of the medicine inlet pipe 14 penetrates through the wall of the main cabin and the transverse plate 13 and extends into one cavity of the medicine liquid cavity.
As shown in fig. 1, 2, 3, and 4, a flight controller box 6 is installed in a main cabin 9, a suspension 12 is disposed on one side of the top of the flight controller box 6, the suspension 12 is preferably a flat plate structure, and the suspension 12 is connected with the top of the flight controller box 6 integrally or fixed by welding, bolting, or the like. A support frame is arranged on the suspension 12 and consists of a vertical rod 1, a support 3 and a base. Support 3 is the disc structure to be located the top in host computer storehouse 9, through pasting fixed connection GPS antenna 8 at the top of this support 3, be provided with big-end-up's first frustum 2 in the central authorities of support 3 bottom, first frustum 2 and support 3 structure as an organic whole to through injection moulding, this first frustum 2 embolias the upper end of pole setting 1, and fixes through the tight fit between first frustum 2 and the pole setting 1.
As shown in fig. 1, 3 and 4, the vertical rod 1 is a steel straight pipe structure, the vertical rod 1 is perpendicular to the support 3, the lower end of the vertical rod 1 extends into the main engine compartment 9, and a base is arranged at the lower end of the vertical rod 1. The base comprises second frustum 4 and peripheral supporting legs 5 in the middle of, second frustum 4 and supporting legs 5 structure as an organic whole to through injection moulding. The second cone 4 is small in upper part and large in lower part, the lower end of the upright rod 1 is sleeved in the second cone 4, and the second cone 4 and the upright rod 1 are fixed through tight fit. Four supporting feet 5 are uniformly distributed according to the circumference on the periphery of the second cone 4, the four supporting feet 5 are in the same horizontal plane, the width of the supporting feet 5 is gradually increased from the wing end to the root, and the root of the supporting feet 5 is connected with the second cone 4 into a whole. The bottom surfaces of the supporting feet 5 and the second cone 4 are attached to the top surface of the suspension 12, and the supporting feet 5 are fixedly connected with the suspension 12 through bolts.
Because the flight controller box in the main engine cabin is used for accommodating the flight controller, and one side of the top of the flight controller box is provided with the suspension for supporting the GPS antenna support frame, on one hand, the stability and the firmness of the connection between the GPS antenna support frame and the engine body can be ensured, and on the other hand, the spatial arrangement of the GPS antenna support frame is facilitated. The support of GPS antenna support frame is used for supporting fixed GPS antenna, and the support is disc structure, and area of contact with the GPS antenna is big, can ensure that the GPS antenna installation is firm. The invention has simple structure, easy processing and manufacture, convenient assembly and effective saving of production cost; the GPS antenna support frame is connected with the suspension through the four support legs, so that the stability is good, and the GPS support frame cannot shake or loosen in the operation process of the aircraft; meanwhile, the invention has good reliability and can fully ensure the stability and the firmness of the GPS antenna. Moreover, the transverse plate is adopted to separate the lower part of the main cabin from the cavity for containing the liquid medicine, so that a medicine box does not need to be manufactured and assembled separately, the production cost is reduced, and the height size of the machine body is effectively reduced. The medicine inlet pipe is arranged on the main cabin, and the liquid medicine can be added into the liquid medicine cavity without detaching the top cover of the main cabin, so that the liquid adding is convenient and quick, and the interference to equipment in the equipment cavity can be avoided during the liquid adding; circuit design is reasonable, job stabilization, and received signal is accurate, makes unmanned aerial vehicle can carry out the pesticide according to correct acquisition signal and sprays work.
In order to simplify the structure, facilitate the assembly and ensure that the upright rod is firmly connected with the frustum, the upper end of the upright rod is fixed with the first frustum and the lower end of the upright rod is fixed with the second frustum through over-tight matching.
In order to facilitate processing and manufacturing and reduce production cost, the first frustum and the support are of an integral structure and are formed through injection molding.
The invention has simple structure and easy assembly, and the main cabin is provided with the medicine inlet pipe which can be convenient for filling the liquid medicine; the medicine chest for containing the liquid medicine is integrated in the aircraft body, so that the cost can be reduced, the height size of the aircraft body can be reduced, the liquid medicine can be prevented from shaking, and the balance of the aircraft can be ensured; meanwhile, the invention has good stability, the GPS support frame can not generate the danger of shaking, loosening and even falling off in the spraying operation process, and the reliability is excellent.
As shown in fig. 5, the flight controller box (6) is internally provided with an aircraft real-time control circuit, which includes:
a GPS antenna signal end is connected with a GPS circuit signal receiving end, a GPS circuit is connected with an MCU positioning signal receiving end through a serial interface, a height measuring circuit signal transmitting end is connected with an MCU height signal receiving end through a serial interface, a remote control circuit is connected with an MCU remote control signal end through a serial interface, an air pressure sensor signal transmitting end is connected with an analog-to-digital conversion circuit air pressure signal receiving end, an analog-to-digital conversion circuit air pressure signal transmitting end is connected with an MCU air pressure signal receiving end, a temperature sensor signal transmitting end is connected with an analog-to-digital conversion circuit temperature signal receiving end, an analog-to-digital conversion circuit temperature signal transmitting end is connected with an MCU temperature signal receiving end, a flow sensor signal transmitting end is connected with an analog-to-digital conversion circuit flow signal, an analog-digital conversion circuit liquid level signal sending end is connected with an MCU liquid level signal receiving end, a humidity sensor signal sending end is connected with an analog-digital conversion circuit humidity signal receiving end, the analog-digital conversion circuit humidity signal sending end is connected with an MCU humidity signal receiving end, a power bin steering engine control circuit signal receiving end is connected with a digital-analog conversion circuit power signal sending end, the digital-analog conversion circuit power signal receiving end is connected with an MCU power signal sending end, a fault display circuit signal receiving end is connected with a digital-analog conversion circuit fault signal sending end, the digital-analog conversion circuit fault signal receiving end is connected with an MCU fault signal sending end, a gyro correction circuit signal receiving end is connected with a digital-analog conversion circuit correction signal sending end, the digital-analog conversion circuit correction signal receiving end is connected with an MCU correction signal sending end, a, the speed regulation switch signal receiving end is connected with the speed regulation signal transmitting end of the switching value control circuit, and the speed regulation signal receiving end of the switching value control circuit is connected with the speed regulation signal transmitting end of the MCU. The unmanned aerial vehicle control system comprises an AT series MCU, a wireless network module and a wireless network module, wherein external parameter data are obtained through a multithreading I/O interface of the AT series MCU, so that stable work of the unmanned aerial vehicle can be realized, an MCU control signal receiving end is connected with a wireless network module signal sending end, the wireless network module is connected with a remote control circuit, a flight instruction is executed through the remote control circuit, and the wireless network module is interconnected through a ZigBee module, a WIFI module or an.
As shown in fig. 6, the operating method of the circuit system includes:
s1, remotely sending a working signal to a wireless network module, sending a starting instruction to an MCU (micro control unit) through a remote control circuit after the wireless network module receives the working signal, starting the aircraft by the MCU through a start-stop switch, sending the working signal to a motor driving circuit of a power bin steering engine after the MCU obtains the starting signal, starting a flight motor by a plurality of motor driving circuits to drive a propeller to rotate, displaying a corresponding abnormal motor driving circuit through a fault display circuit if one of the motor driving circuits works abnormally, and executing S2 if all the motor driving circuits work normally;
s2, respectively collecting air pressure data, temperature data, wind speed data and humidity data through an air pressure sensor, a temperature sensor, a wind speed sensor and a humidity sensor, comparing the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time with historical data of a ratio value of pesticide spraying according to the air pressure data, the temperature data, the wind speed data and the humidity data which are prestored by an MCU, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time are in a prestored historical data range, prompting a user to select corresponding pesticide to spray, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time cannot be matched with the prestored historical data, prompting the user to carry out input operation, when the wind speed data exceed a safe wind speed flight value stored by the MCU, sending alarm information through a fault display circuit, when the temperature data are analyzed, sending alarm information through a fault display circuit; in the pesticide spraying process, the liquid level sensor collects pesticide residues in real time, if the residues are insufficient, the fault display circuit sends alarm information, the flow sensor collects the concentration of sprayed pesticides according to humidity data collected by the humidity sensor, the magnitude of the sprayed pesticides is adjusted by combining the humidity data, and the phenomenon that the growth of crops is influenced by overhigh humidity is avoided;
s3, the height measuring circuit measures the flight height of the aircraft in real time, a gyro correction circuit in the power bin steering engine is used for obtaining gyro speed information, the real-time gyro speed information and the propeller gain coefficient are subjected to product operation to obtain a flight speed comprehensive value of each propeller, the flight speed comprehensive value is compared with the flight speed comprehensive value according to a prestored range threshold value, if any propeller does not reach the prestored range threshold value, the MCU is used for adjusting the power of a motor driving circuit of the power bin steering engine, meanwhile, the gyro correction circuit is used for continuously collecting the gyro speed information, and correction operation is repeatedly executed to enable each propeller to be corrected to a preset parameter range;
s4, the operating position of GPS circuit real-time measurement aircraft, transmit locating information to the user of high in the clouds server and real-time operation through wireless network module, gather the locating data of presetting interval time point according to the GPS circuit, carry out the orbit drawing according to the period locating data with a plurality of interval time points of presetting, thereby obtain the pesticide of aircraft and spray the orbit, this a plurality of interval time points of presetting combine together with the height measurement circuit measuring altitude information, thereby draw the space flight orbit of aircraft through the 3D effect, send this space flight orbit to the user of high in the clouds server and real-time operation.
This working method is implemented through the cooperation of above-mentioned structure and circuit to can realize accuracy and the stability that the pesticide sprayed, carry out data analysis to spraying the place through real-time data collection, ensure that unmanned aerial vehicle can high-efficient work, in addition through calibration and the abnormal signal collection to equipment circuit, make aircraft self improve flight safety nature.
Claims (3)
1. An aircraft circuit working method for remotely acquiring data in real time comprises the following steps:
the aircraft body (7) is composed of a main engine bin (9), wings (10) and a power bin (11), wherein the main engine bin (9) is located in the middle, four wings (10) which are uniformly distributed according to the circumference are arranged on the periphery of the main engine bin (9), the wings (10) are of a hollow structure, the inner ends of the wings (10) are connected with the circumferential wall of the main engine bin (9) into a whole, and the power bin (11) is arranged at the outer end of each wing (10); the interior of the main machine bin (9) is divided into an upper equipment cavity and a lower liquid medicine cavity by a transverse plate (13), partition plates (15) distributed in a shape like a Chinese character 'jing' are fixedly arranged in the liquid medicine cavities, the partition plates (15) are made of honeycomb composite materials, the partition plates (15) divide the liquid medicine cavities into nine chambers, and two adjacent chambers in the transverse direction and the longitudinal direction are communicated through holes formed in the bottoms of the partition plates (15); an S-shaped medicine inlet pipe (14) is arranged on the main machine bin (9), the medicine inlet pipe (14) is preferably made of carbon fiber composite materials, the upper end of the medicine inlet pipe (14) is exposed out of the main machine bin (9), a sealing cover is arranged at the upper end opening of the medicine inlet pipe (14), and the lower end of the medicine inlet pipe (14) penetrates through the wall of the main machine bin and the transverse plate (13) and extends into one cavity of the medicine liquid cavities;
the aircraft is characterized in that a flight controller box (6) is installed in a host cabin (9), a suspension (12) is arranged on one side of the top of the flight controller box (6), the suspension (12) is of a flat plate structure, the suspension (12) and the top of the flight controller box (6) are connected into a whole or fixed in a welding or bolt connection mode, a support frame is arranged on the suspension (12) and consists of a vertical rod (1), a support seat (3) and a base, the support seat (3) is of a disc structure and is positioned above the host cabin (9), a GPS antenna (8) is fixedly connected to the top of the support seat (3) in a sticking mode, a first frustum (2) with a large upper end and a small lower end is arranged in the center of the bottom of the support seat (3), the first frustum (2) and the support seat (3) are of an integral structure and are formed in an injection mode, the upper end of the vertical rod (1) is sleeved into the first frustum (2), and the first frustum (2) and the vertical rod (1),
a GPS antenna signal end is connected with a GPS circuit signal receiving end, a GPS circuit is connected with an MCU positioning signal receiving end through a serial interface, a height measuring circuit signal transmitting end is connected with an MCU height signal receiving end through a serial interface, a remote control circuit is connected with an MCU remote control signal end through a serial interface, an air pressure sensor signal transmitting end is connected with an analog-to-digital conversion circuit air pressure signal receiving end, an analog-to-digital conversion circuit air pressure signal transmitting end is connected with an MCU air pressure signal receiving end, a temperature sensor signal transmitting end is connected with an analog-to-digital conversion circuit temperature signal receiving end, an analog-to-digital conversion circuit temperature signal transmitting end is connected with an MCU temperature signal receiving end, a flow sensor signal transmitting end is connected with an analog-to-digital conversion circuit flow signal, an analog-digital conversion circuit liquid level signal sending end is connected with an MCU liquid level signal receiving end, a humidity sensor signal sending end is connected with an analog-digital conversion circuit humidity signal receiving end, the analog-digital conversion circuit humidity signal sending end is connected with an MCU humidity signal receiving end, a power bin steering engine control circuit signal receiving end is connected with a digital-analog conversion circuit power signal sending end, the digital-analog conversion circuit power signal receiving end is connected with an MCU power signal sending end, a fault display circuit signal receiving end is connected with a digital-analog conversion circuit fault signal sending end, the digital-analog conversion circuit fault signal receiving end is connected with an MCU fault signal sending end, a gyro correction circuit signal receiving end is connected with a digital-analog conversion circuit correction signal sending end, the digital-analog conversion circuit correction signal receiving end is connected with an MCU correction signal sending end, a, the speed regulation switch signal receiving end is connected with the speed regulation signal transmitting end of the switching quantity control circuit, and the speed regulation signal receiving end of the switching quantity control circuit is connected with the speed regulation signal transmitting end of the MCU;
s1, remotely sending a working signal to a wireless network module, sending a starting instruction to an MCU (micro control unit) through a remote control circuit after the wireless network module receives the working signal, starting the aircraft by the MCU through a start-stop switch, sending the working signal to a motor driving circuit of a power bin steering engine after the MCU obtains the starting signal, starting a flight motor by a plurality of motor driving circuits to drive a propeller to rotate, displaying a corresponding abnormal motor driving circuit through a fault display circuit if one of the motor driving circuits works abnormally, and executing S2 if all the motor driving circuits work normally;
s2, respectively collecting air pressure data, temperature data, wind speed data and humidity data through an air pressure sensor, a temperature sensor, a wind speed sensor and a humidity sensor, comparing the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time with historical data of a ratio value of pesticide spraying according to the air pressure data, the temperature data, the wind speed data and the humidity data which are prestored by an MCU, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time are in a prestored historical data range, prompting a user to select corresponding pesticide to spray, if the air pressure data, the temperature data, the wind speed data and the humidity data which are collected in real time cannot be matched with the prestored historical data, prompting the user to carry out input operation, when the wind speed data exceed a safe wind speed flight value stored by the MCU, sending alarm information through a fault display circuit, when the temperature data are analyzed, sending alarm information through a fault display circuit; in the pesticide spraying process, the liquid level sensor collects the pesticide residue in real time, if the residue is insufficient, the fault display circuit sends alarm information, the flow sensor collects the concentration of the sprayed pesticide according to the humidity data collected by the humidity sensor, and the magnitude of the sprayed pesticide is adjusted by combining the humidity data;
s3, the height measuring circuit measures the flight height of the aircraft in real time, a gyro correction circuit in the power bin steering engine is used for obtaining gyro speed information, the real-time gyro speed information and the propeller gain coefficient are subjected to product operation to obtain a flight speed comprehensive value of each propeller, the flight speed comprehensive value is compared with the flight speed comprehensive value according to a prestored range threshold value, if any propeller does not reach the prestored range threshold value, the MCU is used for adjusting the power of a motor driving circuit of the power bin steering engine, meanwhile, the gyro correction circuit is used for continuously collecting the gyro speed information, and correction operation is repeatedly executed to enable each propeller to be corrected to a preset parameter range;
s4, the operating position of GPS circuit real-time measurement aircraft, transmit locating information to the user of high in the clouds server and real-time operation through wireless network module, gather the locating data of presetting interval time point according to the GPS circuit, carry out the orbit drawing according to the period locating data with a plurality of interval time points of presetting, thereby obtain the pesticide of aircraft and spray the orbit, this a plurality of interval time points of presetting combine together with the height measurement circuit measuring altitude information, thereby draw the space flight orbit of aircraft through the 3D effect, send this space flight orbit to the user of high in the clouds server and real-time operation.
2. The method of claim 1 for operating an aircraft circuit for remotely acquiring data in real time, wherein: the preset interval time points are 5 minutes, 10 minutes or 30 minutes apart.
3. The method of claim 2 for operating an aircraft circuit for remotely acquiring data in real time, wherein: and the 3D effect drawing is displayed to a user through an intelligent terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711256058.2A CN108190023B (en) | 2017-12-03 | 2017-12-03 | Aircraft circuit working method for remotely acquiring data in real time |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711256058.2A CN108190023B (en) | 2017-12-03 | 2017-12-03 | Aircraft circuit working method for remotely acquiring data in real time |
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| CN108190023A CN108190023A (en) | 2018-06-22 |
| CN108190023B true CN108190023B (en) | 2021-03-23 |
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|---|---|---|---|---|
| CN111099031B (en) * | 2018-10-26 | 2021-07-27 | 北京小米松果电子有限公司 | Method and device for displaying flight data, storage medium and electronic equipment |
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