CN108780327A - 用于在农业和林业中局部精确地播撒固体和液体以及其混合物的***和方法 - Google Patents
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Abstract
本发明提供了一种用于局部精确地播撒物质到农业和林业可耕面积上的***和一种相应的方法。该***包括至少一个多旋翼飞行器,其包含至少一个用于控制飞行运动的电子控制装置,其在预先给定的飞行线路上自主驾驭多旋翼飞行器。电子控制装置包含至少一个处理单元、至少一个用于位置确定的全球卫星导航***的信号的接收器和用于获取多旋翼飞行器的运动数据的惯性测量单元。处理单元结算根据实时动态技术的方法的接收器的数据与基站的数据以及用于改善位置测量数据的精度的惯性测量单元的测量数据,从而使得电子控制装置可足够精确地驾驭用于将物质播撒到农业面积上的多旋翼飞行器。
Description
技术领域
本发明涉及物质、例如液态或固态的植物保护剂(Pflanzenschutzmittel)、液态或固态的肥料(Düngemittel)或种子到农业的可耕面积(Nutzfläche)上借助于带有多个单独驱动的转子的无人驾驶航空器(多旋翼飞行器)的播撒,这些转子如此地布置,以至于其通过所产生的推力产生足够的上升力,以便于将航空器保持在空中且使其移动。航空器的控制经由每个转子的转速且进而推力的变化借助确定的控制过程进行,其由位于航空器上的电子控制单元来执行。
此外,本发明涉及全球卫星导航***(GKSS)和惯性传感器通过装入在航空器上的电子控制装置用于位置确定的利用。
背景技术
在现代农业中,通常陆基行驶的喷射器借助于喷嘴将植物保护剂和害虫驱除剂(Schädlingsbekämpfungsmittel)喷洒到地面或作物(Pflanzenbestand)上。
用于播撒植物保护剂的多旋翼飞行器同样已被应用。其借助于在航空器处的喷嘴将液态的植物保护剂播撒到地面或作物上。其或者自主地借助于电子控制装置和GNSS自动空中巡视(abfliegen)预先给定的路径,或者由驾驶员通过无线遥控装置(Funkfernsteuerung)来驾驭。
发明内容
在经济植物(Nutzpflanze)处的真菌侵染(Pilzbefall)可经常紧邻在有原因的雨期之后被最高效消除。在强降雨之后的及时处理由于软化地面的可行驶性缺乏利用行驶的田地喷射(Feldspritzen)是有问题的。非最佳的应用时刻导致在经济植物中的真菌毒素(Pilzgift)增加。极限值的超过排除了作为食品或饲料的利用。与之相反,多旋翼飞行器可在地面或作物的任意特性的情形中在农业的可耕面积上被使用。
农业的可耕面积以植物保护剂以通过行驶的田地喷射的喷洒方法的处理一般通过带有在结构上受限制的工作宽度的平行的耕作带(Bearbeitungsstreife)的无缝隙的依次排列(Aneinanderreihe)实现。越过整个工作宽度寻求植物保护剂的尽可能均匀的播撒密度(Ausbringdichte)。每个喷嘴喷洒部分宽度,然而相对相邻的部分宽度不被清晰地隔开,因为这在技术上是不可能的。在整个耕作带的边缘处的相应最外部的喷嘴的播撒量的下降的梯度与在重叠区域中的紧接着的耕作带的最外部的喷嘴的播撒量叠加,从而在该处取决于耕作带彼此的轨迹精度,出现在播撒量上的波动。
关于在行驶的田地喷射的情形中典型地10m至40m的总工作宽度,波动是可承受的,因为重叠区域仅共计为总面积的非常小的部分。与之相反,在用于喷洒植物保护剂的无人驾驶的多旋翼飞行器的例如仅1.5m的工作宽度的情形中,耕作带彼此的轨迹精度必须处于若干厘米的范围中,以便于将在耕作带之间的重叠区域中的不精确配定的植物保护剂关于总面积的份额保持成与在行驶的田地喷射的情形中一样小。对此必要的定位精度以还更高的位置测量精度为先决条件。用于在耕作带之间的重叠区域的可对照的条件同样适用于固体、例如肥料借助于散播装置(Streuvorrichtung)的播撒。
带有实时动态技术(RTK)的全球卫星导航***相对当前的现有技术提供了若干厘米的位置测量精度,然而带有较少的可用性,因为卫星无线信号的相位不可明确地关联于波长的具体多倍(整周模糊度(Integer Ambiguity)),且由此在移动天线的情形中不可可靠地执行持久的动态位置确定。
通过惯性导航、例如通过用于移动的航空器的加速度的双重积分的位置确定可连续地实现,然而与实际位置的偏差通过测量误差的积分在若干秒之后对于在航空器上的给定的实际应用而言过大。
通过结合RTK测量值与惯性传感装置的测量值,加速度测量值的积分误差被定期修正且可用性和可靠性改善了厘米精度的RTK-GNSS位置。
本发明,带有通过结合RTK测量值与惯性传感装置的测量值通过位于航空器上的评估单元的位置确定的用于播撒植物保护剂的多旋翼飞行器,使得精确的位置数据的更高的可用性且尤其在连续过程中以若干厘米的精度的植物保护剂的播撒成为可能。
具体实施方式
在根据图1和图2的一种实施方式中,多旋翼飞行器1具有八个单独电气驱动的转子2,其被固定在导杆(Gestänge)3处。在导杆的中间,在装配面4上安装有:
•用于待播撒的物质的储备容器5,
•电子控制装置6,
•用于待播撒的物质的输送单元7,例如泵,
•用于转子驱动器9、电子控制装置6和泵7的能量供给的蓄电池8,
•用于待播撒的物质的分配管路10和喷嘴11,和
•起落架12。
在根据图3的一种实施方式中,电子控制装置6包含
•用于产生用于多旋翼飞行器的控制指令的控制单元13,
•用于全球卫星导航***的信号的带有天线15的接收器14,
•用于获取多旋翼飞行器的运动数据的惯性测量单元16,
•用于计算卫星信号和运动数据的处理单元17,其中,基站18的这些对于计算实时运动必要的数据经由无线通讯(Funk)19获得。
在本发明的一种优选的实施方案中,卡尔曼滤波器结算惯性传感器的测量值和GNSS接收器和基站相对精确且可靠的位置的原始数据
•伪距(Pseudolänge),
•载波相位(Trägerphase),
•多普勒频移(Dopplerverschiebung)。由此,惯性传感器的漂移(Drift)被补偿且同样地整周模糊度的可能的解决方案的空间在位置确定中根据实时动态技术的方法被强烈限制。
Claims (11)
1.一种用于在农业和林业中局部精确地播撒固体和液体以及其混合物的***和方法,其使得用于联轨线的耕作和/或用于坐标支持的单株处理的足够精确的定位成为可能,其特征在于,所述播撒借助于至少一个多旋翼飞行器实现,其定位借助于通过结算惯性传感器的测量值和至少一个用于全球卫星导航***的信号的接收器(GNSS接收器)的测量值的位置确定在使用实时动态技术的情形下精确地实现到若干厘米上。
2.根据权利要求1所述的***和方法,其特征在于,所使用的GNSS接收器是单频接收器。
3.根据权利要求1和2所述的***和方法,其特征在于,所使用的惯性传感器是以其确定在三个线性独立空间方向上的线性加速度和围绕三个线性独立转动轴线的转动速度的传感器。
4.根据权利要求1至3所述的***和方法,其特征在于,至少一个用于磁场和/或超声波和/或气压的传感器的测量数据被额外地结算且被用于位置确定的进一步改善。
5.根据权利要求1至4所述的***和方法,其特征在于,不仅全球卫星导航***的数据被用于修正惯性传感器的测量误差,其中,这些数据不仅可以是纯粹的位置信息而且可以是测量值例如伪距、载波相位和多普勒频移,而且惯性导航被用于改善实时动态技术的解决方案找寻。
6.根据权利要求1至5所述的***和方法,其特征在于,至少一个卡尔曼滤波器被用于结算所述卫星导航的数据和所述惯性导航的数据。
7.根据权利要求1至6所述的***和方法,其特征在于,所述***包括电子处理单元,其实施数据处理步骤中的至少一部分。
8.根据权利要求1至7所述的***和方法,其特征在于,所述多旋翼飞行器可以以预先给定的速度自主飞行在空间中的预先给定的线路。
9.根据权利要求1至8所述的***和方法,其特征在于,所述飞行线路基于相对地面或相对作物的距离测量被修改。
10.根据权利要求1至9所述的***和方法,其特征在于,所述待播撒的物质是植物保护剂或害虫驱除剂或肥料或种子或由它们构成的混合物。
11.根据权利要求1至10所述的***,其特征在于,能量、生产原料和待播撒的物质被自动化地供应给多旋翼飞行器且/或被更换。
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DE102016001353.2 | 2016-02-05 | ||
DE102016001353.2A DE102016001353B4 (de) | 2016-02-05 | 2016-02-05 | System und Verfahren zur örtlich genauen Ausbringung von Feststoffen und Flüssigkeiten sowie deren Gemischen in der Land- und Forstwirtschaft |
PCT/DE2017/000008 WO2017133719A1 (de) | 2016-02-05 | 2017-01-20 | System und verfahren zur örtlich genauen ausbringung von feststoffen und flüssigkeiten sowie deren gemischen in der land- und forstwirtschaft |
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FR3071482B1 (fr) * | 2017-09-27 | 2020-06-19 | Drone Air Fly | Aeronef d'epandage |
CN107808550B (zh) * | 2017-10-30 | 2021-08-20 | 北京博鹰通航科技有限公司 | 一种植保无人机管理*** |
BR102019003863A2 (pt) * | 2019-02-25 | 2019-07-09 | Ncb Sistemas Embarcados Eireli - Epp | Sistema embarcado multiuso para liberação autônoma de agentes biológicos no controle biológio de pragas de precisão |
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US20190047703A1 (en) | 2019-02-14 |
EP3411768A1 (de) | 2018-12-12 |
DE102016001353B4 (de) | 2017-09-21 |
DE102016001353A1 (de) | 2017-08-10 |
AU2017214169A1 (en) | 2018-08-16 |
DE112017000651A5 (de) | 2018-10-25 |
WO2017133719A1 (de) | 2017-08-10 |
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