CN109131859B - Novel unmanned aerial vehicle for agricultural irrigation based on Internet of things - Google Patents
Novel unmanned aerial vehicle for agricultural irrigation based on Internet of things Download PDFInfo
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- 230000002262 irrigation Effects 0.000 title claims abstract description 30
- 238000003973 irrigation Methods 0.000 title claims abstract description 30
- 239000000575 pesticide Substances 0.000 claims abstract description 83
- 238000000034 method Methods 0.000 claims abstract description 24
- 238000003466 welding Methods 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims abstract description 10
- 230000006855 networking Effects 0.000 claims abstract description 9
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- 238000005507 spraying Methods 0.000 claims description 11
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- 238000009826 distribution Methods 0.000 description 10
- 150000001875 compounds Chemical class 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
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Abstract
The invention belongs to the technical field of agricultural irrigation, and discloses a novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things; the pesticide box connecting device is provided with a machine body, bottom supports are installed on two sides of the bottom of the machine body through screws, electromagnetic chucks are installed beside the bottom supports on two sides through welding, and a pesticide box connecting port is installed in the middle of the bottom of the machine body through welding. The pesticide box connecting port can be connected with a pesticide box and is positioned and fixed through the electromagnetic chuck. The four corners of fuselage passes through the screw fixation and has the horizontal stand, installs the motor through the welding on every horizontal stand, installs the screw on every motor through the screw. The front of the machine body is fixed with a camera through a screw. Drive the pesticide case through unmanned aerial vehicle and carry out the irrigation in field and spray to through wireless thing networking receiver real-time transmission information, strengthened the communication exchange between people and the machine, and the automatic pesticide case of changing of accessible procedure, greatly increased work efficiency, simplified unmanned aerial vehicle and sprayed the process of irrigating the pesticide.
Description
Technical Field
The invention belongs to the technical field of agricultural irrigation, and particularly relates to a novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things.
Background
Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous". Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is applied in the unmanned aerial vehicle industry and is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology. At present, unmanned aerial vehicle is comparatively limited in the aspect of the agricultural application, when watering vegetable plot with unmanned aerial vehicle, because the pesticide case volume is comparatively limited, can't carry out the operation for a long time, and owing to lack good information transfer and mutual to make unmanned aerial vehicle at the work efficiency greatly reduced who waters the vegetable plot.
In summary, the problems of the prior art are as follows:
(1) unmanned aerial vehicle is when watering vegetable plot, and the pesticide case volume is comparatively effective, has the problem in the aspect of the information interaction, and work efficiency is low.
(2) The motor of the existing unmanned aerial vehicle cannot compensate the dynamic and static friction torque together, so that the loss of the electric energy of the unmanned aerial vehicle is large, and the range is shortened.
(3) The images shot by the camera are fuzzy, are not beneficial to watching, and can not be used for adjusting and arranging irrigation in time according to external conditions; the collection of the abnormal vibration signal of the unmanned aerial vehicle flight can not be realized, so that the accuracy of the collected signal is reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things.
The invention is realized in such a way that the use method of the novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things comprises the following steps:
(1) filling a pesticide box with pesticides, placing the pesticide box in a specified place, starting the unmanned aerial vehicle by adopting a wireless Internet of things receiver of a multi-characteristic attribute integration model, sending a starting command to the unmanned aerial vehicle by an upper computer through the wireless Internet of things receiver, and then realizing the take-off of the unmanned aerial vehicle under the friction control of common compensation of dynamic and static friction torques, wherein the unmanned aerial vehicle flies above the specified place and slowly lands right above the pesticide box;
the friction control method for jointly compensating the dynamic friction torque and the static friction torque of the motor comprises the following steps:
wherein the content of the first and second substances,
a saturation function for the steering column speed; the output of the sat () function is limited to ± 1; lambda is the rotation speed coefficient of the saturation function; t isfcCompensating the torque for friction; gamma is an adjustment coefficient; t isfrictionIs a steering system friction torque; when angular velocity of motor
Large, motor angular velocity saturation function
When saturated, the output value is +/-1, and the friction compensation torque is +/-TfrictionI.e. by
TfrictionWherein
As a function of the sign of the angular velocity of the motor,
an output limit of ± 1 for compensating for a rotational friction of a steering system; when angular velocity of motor
When the time is zero,
the output value is 0, and the friction compensation torque is sat (gamma) TfrictionFor compensating for static friction of the steering system; when the motor angular velocity saturation function is not saturated, the transition process of dynamic and static friction compensation of the steering system is carried out;
(2) the pesticide box is electromagnetically aligned and positioned through an electromagnetic chuck at the bottom of the machine body, and the electromagnetic chuck is electrified to suck the pesticide box;
(3) the pesticide box connecting port is aligned with the pesticide box interface; the upper computer sends a spraying instruction, the unmanned aerial vehicle flies to the field, the path of the field is traced according to the preset program, and pesticides are sprayed through the spraying pipe; the camera shoots a scene of a field part by adopting an improved gray image cross line region definition theoretical model algorithm; a camera in front of the machine body shoots scenes between fields in real time and transmits the scenes back to the upper computer in real time; after the pesticide in the pesticide box is sprayed, the pesticide box is automatically changed to a specified place through an instruction;
the image of the improved gray image cross line region definition theoretical model algorithm is composed of mxn pixels, and a pixel gray value matrix B (I, J), wherein I is more than or equal to 0 and less than or equal to m-1, and J is more than or equal to 0 and less than or equal to n-1;
maximum gray value B of cross line gray imagemaxMinimum gray value B min1/2 for gray scale difference value BdifRepresents:
calculating a theoretical model according to the definition of the reticle gray image, and setting the definition of the gray image as C to obtain an improved model of the definition of the reticle gray image:
further, wireless thing networking receiver adopts the integrated model of multiple feature attributes, carries out classification to the signal that is used for the novel unmanned aerial vehicle of agricultural watering to receive, effectively distinguishes normal signal and abnormal signal, specifically as follows:
b＝i(a)＝zTη(a)+e；
wherein eta represents the characteristic mapping relation of the abnormal signal received by the novel agricultural irrigation unmanned aerial vehicle, and z represents the weight of the abnormal signal;
receive unusual signal to novel unmanned aerial vehicle that is used for watering of agricultural and carry out classification:
the constraint conditions for the abnormal signal classification processing are as follows:
bl[zWη(al)+e]+hl＝1；
the novel unmanned aerial vehicle for agricultural irrigation can collect abnormal signals by establishing a multi-characteristic attribute integrated model.
Further, the intermediate link signal attenuation model in the upper computer is expressed as:
Lf＝(4πd/λ)2LsLm；
in the formula, Ls、LmShadow and multipath random fading on the basis of path loss respectively; the shadow fading follows a lognormal distribution, and the expression is as follows:
in the formula, L0Is the mean of path loss, σxFor shadow fading degree, sigma is actually measuredx1.5-7 dB; the Gamma distribution and the measured data accord with the subsequent mathematical analysis; the Gamma distribution is expressed as:
in the formula (I), the compound is shown in the specification,
gamma (m) is a Gamma function;
the corresponding signal power fading follows a Gamma distribution, which is expressed as:
in the formula (I), the compound is shown in the specification,
the method comprises the steps that multipath random fading average power is represented, m is larger than or equal to 0, a fading factor is represented and used for describing the severity of signal fading, the smaller the value is, the worse the signal is, and the actually measured m is 1.2-10;
the composite fading distribution of the propagation attenuation of the intermediate link of the upper computer is as follows:
in the formula (I), the compound is shown in the specification,
represents class 2 ms-a modified bessel function of order m.
Further, unmanned aerial vehicle's control is given first place to PID feedback controller, through the angular speed control that changes four rotors, and every rotor produces a thrust F1、F2、F3、F4And a moment, the resultant force generated by the combined action forms the main thrust, the yaw moment, the pitch moment and the roll moment of the unmanned aerial vehicle, the dynamic model of the unmanned aerial vehicle is described as a three-dimensional rigid body taking a control object as a force and three moments, and the dynamic model of the unmanned aerial vehicle under the condition of small-angle change is expressed as follows:
in the formula, x, y and z represent horizontal axis coordinates and vertical axis coordinates; phi, theta,
The roll angle around the x axis, the pitch angle around the y axis and the yaw angle around the z axis are respectively; u represents the thrust of the unmanned aerial vehicle from bottom to top; tau isΦExpressed as roll torque; tau isθA pitching moment;
denoted as yaw moment.
Another object of the present invention is to provide a novel internet-of-things-based unmanned aerial vehicle for agricultural irrigation, which applies the usage method of the novel internet-of-things-based unmanned aerial vehicle for agricultural irrigation, and the novel internet-of-things-based unmanned aerial vehicle for agricultural irrigation is provided with:
the machine body is provided with a plurality of machine bodies,
two sides of the bottom of the machine body are provided with bottom brackets through screws, electromagnetic chucks are arranged beside the bottom brackets on the two sides through welding, and a pesticide box connecting port is arranged in the middle of the bottom of the machine body through welding;
the pesticide box connecting port can be connected with a pesticide box and is used for positioning and fixing the pesticide box through an electromagnetic chuck; horizontal brackets are fixed at four corners of the machine body through screws, each horizontal bracket is provided with a motor through welding, and each motor is provided with a propeller through a screw;
the place ahead of fuselage has the camera through the screw fixation, and two spray lines are installed through the welding in the rear of fuselage, and the top of fuselage is fixed with wireless thing networking receiver through the screw fixation.
Further, a wireless internet of things receiver is installed above the machine body and used for carrying out networking information communication with an upper computer end.
Further, an electromagnetic chuck is installed at the bottom of the machine body and used for positioning and fixing the pesticide box.
Further, two spraying pipes are installed at the rear of the case and used for spraying out the pesticide in the pesticide box.
The invention has the advantages and positive effects that: according to the invention, the top of the machine body is additionally provided with the wireless Internet of things receiver and the bottom of the machine body is provided with the pesticide box, so that the unmanned aerial vehicle can spray and irrigate pesticides to fields according to a path planned by instructions in the flying process. Drive the pesticide case through unmanned aerial vehicle and carry out the irrigation in field and spray to through wireless thing networking receiver real-time transmission information, strengthened the communication exchange between people and the machine, and the automatic pesticide case of changing of accessible procedure, greatly increased work efficiency, simplified unmanned aerial vehicle and sprayed the process of irrigating the pesticide.
The motor carried by the unmanned aerial vehicle adopts a friction control method for jointly compensating dynamic and static friction torques, so that the joint compensation of the dynamic and static friction torques is realized, the loss of friction pairs and the machine is reduced, the consumption of electric energy of the unmanned aerial vehicle is reduced, and the increase of the range of the unmanned aerial vehicle is facilitated; meanwhile, the images shot by the camera are clearer, so that the device is beneficial to viewing and convenient for adjusting and arranging irrigation according to external conditions; in addition, the established multi-characteristic attribute integrated model realizes the acquisition of abnormal vibration signals of the flight of the unmanned aerial vehicle, and can greatly improve the acquisition accuracy. The method obtains a theoretical expression of the coverage radius, mainly analyzes the influence of a multipath shadow fading channel on the coverage of the relay signal, and can be used for assisting an unmanned aerial vehicle and a ground mobile network cooperative relay communication system; the influence of channel fading on the coverage radius is very large, and when the interruption probability is less than 10%, the coverage radius is only half of that of a non-fading channel; the method has important reference value for optimal arrangement of unmanned aerial vehicles of the relay network in the mobile ad hoc network, flight strategies, network performance evaluation and the like.
According to the unmanned aerial vehicle, the flight attitude data is acquired by the multiple sensors, then the acquired data is processed by the controller, a stable and accurate attitude angle is obtained by data fusion by a quaternion complementary filtering method, motor adjustment quantity calculation is carried out by a cascade PID control algorithm, and the control of the rotating speed of the motor is realized by PWM output by the microprocessor, so that the aim of adjusting the flight attitude of the unmanned aerial vehicle is fulfilled. The step response simulation curves of the hovering experiment, the roll angle and the pitch angle show that the flight attitude of the system is stable, and the requirement and the effect on the flight attitude control of the unmanned aerial vehicle are achieved.
Drawings
Fig. 1 is a schematic structural diagram of a novel unmanned aerial vehicle for agricultural irrigation based on the internet of things, provided by an embodiment of the invention;
fig. 2 is a schematic bottom structure diagram of a novel unmanned aerial vehicle for agricultural irrigation based on the internet of things, provided by the embodiment of the invention;
fig. 3 is a schematic working structure diagram of a novel unmanned aerial vehicle for agricultural irrigation based on the internet of things, provided by the embodiment of the invention;
in the figure: 1. a bottom bracket; 2. a camera; 3. a wireless Internet of things receiver; 4. a body; 5. a horizontal support; 6. a propeller; 7. a motor; 8. a spray tube; 9. a pesticide box connecting port; 10; an electromagnetic chuck; 11. a pesticide box.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a novel unmanned aerial vehicle device for agricultural irrigation based on the internet of things provided by the embodiment of the invention comprises: the system comprises a bottom support 1, a camera 2, a wireless Internet of things receiver 3, a machine body 4, a horizontal support 5, a propeller 6, a motor 7, a spraying pipe 8 and a pesticide box connecting port 9; electromagnetic chuck 10, pesticide case 11.
The bottom support 1 is installed through the screw in the bottom both sides of fuselage 4, and electromagnetic chuck 10 is installed through the welding by the bottom support 1 next door of both sides, and pesticide case connector 9 is installed through the welding in the centre of fuselage 4 bottom. The pesticide box connection port 9 is connectable to a pesticide box 11, and positions and fixes the pesticide box 11 by an electromagnetic chuck 10. The four corners of fuselage 4 are passed through the screw fixation and are had horizontal stand 5, have motor 7 through welded mounting on every horizontal stand 5, have screw 6 through the screw mounting on every motor 7. The place ahead of fuselage 4 is passed through the screw fixation and is had camera 2, and two spray lines 8 are installed through the welding in the rear of fuselage 4, and the top of fuselage 4 is passed through the screw fixation and is had wireless thing networking receiver 3.
When the unmanned aerial vehicle is in work, the pesticide box 11 is filled with pesticides and placed in a specified place, after the host computer sends a starting command to the unmanned aerial vehicle through the wireless Internet of things receiver 3, the unmanned aerial vehicle flies to the upper part of the specified place and slowly descends to the position right above the pesticide box 11, the pesticide box 11 is electromagnetically aligned and positioned through the electromagnetic suction disc 10 at the bottom of the machine body 4, and then the electromagnetic suction disc 10 is powered on to suck the pesticide box 11. The pesticide box connection port 9 is aligned with the interface of the pesticide box 11. The host computer sends and sprays the instruction, and unmanned aerial vehicle flies to the field, seeks the mark and spray the pesticide through spray line 8 to the field route according to the procedure that has set for before. The camera 2 in 4 the place ahead of fuselage can shoot the scene between the field in real time, and the real-time transmission is given the host computer back. After the pesticide in the pesticide box 11 is sprayed, the pesticide box 11 is automatically replaced at a specified place through an instruction.
The use method of the novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things comprises the following steps:
(1) filling a pesticide box with pesticides, placing the pesticide box in a specified place, starting the unmanned aerial vehicle by adopting a wireless Internet of things receiver of a multi-characteristic attribute integration model, sending a starting command to the unmanned aerial vehicle by an upper computer through the wireless Internet of things receiver, and then realizing the take-off of the unmanned aerial vehicle under the friction control of common compensation of dynamic and static friction torques, wherein the unmanned aerial vehicle flies above the specified place and slowly lands right above the pesticide box;
the friction control method for jointly compensating the dynamic friction torque and the static friction torque of the motor comprises the following steps:
wherein the content of the first and second substances,
a saturation function for the steering column speed; the output of the sat () function is limited to ± 1; lambda is the rotation speed coefficient of the saturation function; t isfcCompensating the torque for friction; gamma is an adjustment coefficient; t isfrictionIs a steering system friction torque; when angular velocity of motor
Large, motor angular velocity saturation function
When saturated, the output value is +/-1, and the friction compensation torque is +/-TfrictionI.e. by
TfrictionWherein
As a function of the sign of the angular velocity of the motor,
an output limit of ± 1 for compensating for a rotational friction of a steering system; when angular velocity of motor
When the time is zero,
the output value is 0 and the friction compensation torque is
For compensating for static friction of the steering system; when the motor angular velocity saturation function is not saturated, the transition process of dynamic and static friction compensation of the steering system is carried out;
(2) the pesticide box is electromagnetically aligned and positioned through an electromagnetic chuck at the bottom of the machine body, and the electromagnetic chuck is electrified to suck the pesticide box;
(3) the pesticide box connecting port is aligned with the pesticide box interface; the upper computer sends a spraying instruction, the unmanned aerial vehicle flies to the field, the path of the field is traced according to the preset program, and pesticides are sprayed through the spraying pipe; the camera shoots a scene of a field part by adopting an improved gray image cross line region definition theoretical model algorithm; a camera in front of the machine body shoots scenes between fields in real time and transmits the scenes back to the upper computer in real time; after the pesticide in the pesticide box is sprayed, the pesticide box is automatically changed to a specified place through an instruction;
the image of the improved gray image cross line region definition theoretical model algorithm is composed of mxn pixels, and a pixel gray value matrix B (I, J), wherein I is more than or equal to 0 and less than or equal to m-1, and J is more than or equal to 0 and less than or equal to n-1;
maximum gray value B of cross line gray imagemaxMinimum gray value B min1/2 for gray scale difference value BdifRepresents:
calculating a theoretical model according to the definition of the reticle gray image, and setting the definition of the gray image as C to obtain an improved model of the definition of the reticle gray image:
further, wireless thing networking receiver adopts the integrated model of multiple feature attributes, carries out classification to the signal that is used for the novel unmanned aerial vehicle of agricultural watering to receive, effectively distinguishes normal signal and abnormal signal, specifically as follows:
b＝i(a)＝zTη(a)+e；
wherein eta represents the characteristic mapping relation of the abnormal signal received by the novel agricultural irrigation unmanned aerial vehicle, and z represents the weight of the abnormal signal;
receive unusual signal to novel unmanned aerial vehicle that is used for watering of agricultural and carry out classification:
the constraint conditions for the abnormal signal classification processing are as follows:
bl[zWη(al)+e]+hl＝1；
the novel unmanned aerial vehicle for agricultural irrigation can collect abnormal signals by establishing a multi-characteristic attribute integrated model.
Further, the intermediate link signal attenuation model in the upper computer is expressed as:
Lf＝(4πd/λ)2LsLm；
in the formula, Ls、LmShadow and multipath random fading on the basis of path loss respectively; the shadow fading follows a lognormal distribution, and the expression is as follows:
in the formula, L0Is the mean of path loss, σxFor shadow fading degree, sigma is actually measuredx1.5-7 dB; the Gamma distribution and the measured data accord with the subsequent mathematical analysis; the Gamma distribution is expressed as:
in the formula (I), the compound is shown in the specification,
gamma (m) is a Gamma function;
the corresponding signal power fading follows a Gamma distribution, which is expressed as:
in the formula (I), the compound is shown in the specification,
the method comprises the steps that multipath random fading average power is represented, m is larger than or equal to 0, a fading factor is represented and used for describing the severity of signal fading, the smaller the value is, the worse the signal is, and the actually measured m is 1.2-10;
the composite fading distribution of the propagation attenuation of the intermediate link of the upper computer is as follows:
in the formula (I), the compound is shown in the specification,
represents class 2 ms-a modified bessel function of order m.
Further, unmanned aerial vehicle's control is given first place to PID feedback controller, through the angular speed control that changes four rotors, and every rotor produces a thrust F1、F2、F3、F4And a moment, the resultant force generated by the combined action forms the main thrust, the yaw moment, the pitch moment and the roll moment of the unmanned aerial vehicle, the dynamic model of the unmanned aerial vehicle is described as a three-dimensional rigid body taking a control object as a force and three moments, and the dynamic model of the unmanned aerial vehicle under the condition of small-angle change is expressed as follows:
in the formula, x, y and z represent horizontal axis coordinates and vertical axis coordinates; phi, theta,
The roll angle around the x axis, the pitch angle around the y axis and the yaw angle around the z axis are respectively; u represents the thrust of the unmanned aerial vehicle from bottom to top; tau isΦExpressed as roll torque; tau isθA pitching moment;
denoted as yaw moment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (6)
1. The use method of the novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things is characterized by comprising the following steps of:
(1) filling a pesticide box with pesticides, placing the pesticide box in a specified place, starting the unmanned aerial vehicle by adopting a wireless Internet of things receiver of a multi-characteristic attribute integration model, sending a starting command to the unmanned aerial vehicle by an upper computer through the wireless Internet of things receiver, and then realizing the take-off of the unmanned aerial vehicle under the friction control of common compensation of dynamic and static friction torques, wherein the unmanned aerial vehicle flies above the specified place and slowly lands right above the pesticide box;
the friction control method for jointly compensating the dynamic friction torque and the static friction torque of the motor comprises the following steps:
wherein the content of the first and second substances,
a saturation function for the steering column speed; the output of the sat () function is limited to ± 1; lambda is the rotation speed coefficient of the saturation function; t isfcCompensating the torque for friction; gamma is regulationA coefficient; t isfrictionIs a steering system friction torque; when angular velocity of motor
Large, motor angular velocity saturation function
When saturated, the output value is +/-1, and the friction compensation torque is +/-TfrictionI.e. by
Wherein
As a function of the sign of the angular velocity of the motor,
an output limit of ± 1 for compensating for a rotational friction of a steering system; when angular velocity of motor
When the time is zero,
the output value is 0, and the friction compensation torque is sat (gamma) TfrictionFor compensating for static friction of the steering system; when the motor angular velocity saturation function is not saturated, the transition process of dynamic and static friction compensation of the steering system is carried out;
(2) the pesticide box is electromagnetically aligned and positioned through an electromagnetic chuck at the bottom of the machine body, and the electromagnetic chuck is electrified to suck the pesticide box;
(3) the pesticide box connecting port is aligned with the pesticide box interface; the upper computer sends a spraying instruction, the unmanned aerial vehicle flies to the field, the path of the field is traced according to the preset program, and pesticides are sprayed through the spraying pipe; the camera shoots a scene of a field part by adopting an improved gray image cross line region definition theoretical model algorithm; a camera in front of the machine body shoots scenes between fields in real time and transmits the scenes back to the upper computer in real time; after the pesticide in the pesticide box is sprayed, the pesticide box is automatically changed to a specified place through an instruction;
the image of the improved gray image cross line region definition theoretical model algorithm is composed of m multiplied by n pixels, and a pixel gray value matrix B (I, J), wherein I is more than or equal to 0 and less than or equal to m-1, and J is more than or equal to 0 and less than or equal to n-1;
maximum gray value B of cross line gray imagemaxMinimum gray value Bmin1/2 for gray scale difference value BdifRepresents:
calculating a theoretical model according to the definition of the reticle gray image, and setting the definition of the gray image as C to obtain an improved model of the definition of the reticle gray image:
2. the method of claim 1, wherein the drone is controlled based on a PID feedback controller, by varying the angular speed control of four rotors, each rotor producing a thrust F1、F2、F3、F4And a moment, the resultant force generated by the combined action forms the main thrust, the yaw moment, the pitch moment and the roll moment of the unmanned aerial vehicle, the dynamic model of the unmanned aerial vehicle is described as a three-dimensional rigid body taking a control object as a force and three moments, and the dynamic model of the unmanned aerial vehicle under the condition of small-angle change is expressed as follows:
in the formula, x, y and z represent horizontal axis coordinates and vertical axis coordinates; phi, theta,
The roll angle around the x axis, the pitch angle around the y axis and the yaw angle around the z axis are respectively; u represents the thrust of the unmanned aerial vehicle from bottom to top; tau isΦExpressed as roll torque; tau isθA pitching moment;
denoted as yaw moment.
3. The novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things, which is applied to the using method of the novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things of claim 1, is characterized in that:
the machine body is provided with a plurality of machine bodies,
two sides of the bottom of the machine body are provided with bottom brackets through screws, electromagnetic chucks are arranged beside the bottom brackets on the two sides through welding, and a pesticide box connecting port is arranged in the middle of the bottom of the machine body through welding;
the pesticide box connecting port can be connected with a pesticide box and is used for positioning and fixing the pesticide box through an electromagnetic chuck; horizontal brackets are fixed at four corners of the machine body through screws, each horizontal bracket is provided with a motor through welding, and each motor is provided with a propeller through a screw;
the place ahead of fuselage has the camera through the screw fixation, and two spray lines are installed through the welding in the rear of fuselage, and the top of fuselage is fixed with wireless thing networking receiver through the screw fixation.
4. The novel unmanned aerial vehicle for agricultural irrigation based on the internet of things as claimed in claim 3, wherein a wireless internet of things receiver is installed above the fuselage and used for networking information communication with an upper computer end.
5. The novel unmanned aerial vehicle for agricultural irrigation based on the internet of things as claimed in claim 3, wherein an electromagnetic chuck is installed at the bottom of the machine body and used for positioning and fixing the pesticide box.
6. The novel unmanned aerial vehicle for agricultural irrigation based on the Internet of things as claimed in claim 3, wherein two spraying pipes are installed at the rear of the machine body and used for spraying out the pesticide in the pesticide box.
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| CN109801484A (en) * | 2019-01-19 | 2019-05-24 | 国网吉林省电力有限公司信息通信公司 | A kind of emergency communication UAV system and emergency communication system |
| US20220062926A1 (en) * | 2019-11-12 | 2022-03-03 | Shandong University Of Technology | Variable-rate spraying nozzle device and spraying drone |
| CN114590415A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司莱芜供电公司 | A connection structure, unmanned aerial vehicle and laser radar system for unmanned aerial vehicle |
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