CN112352759B - Multi-rotor spray rod structure and control method thereof - Google Patents
Multi-rotor spray rod structure and control method thereof Download PDFInfo
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- CN112352759B CN112352759B CN202011159966.1A CN202011159966A CN112352759B CN 112352759 B CN112352759 B CN 112352759B CN 202011159966 A CN202011159966 A CN 202011159966A CN 112352759 B CN112352759 B CN 112352759B
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- 239000007921 spray Substances 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000007788 liquid Substances 0.000 claims abstract description 45
- 239000003814 drug Substances 0.000 claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000004438 eyesight Effects 0.000 claims abstract description 19
- 238000005507 spraying Methods 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 239000002002 slurry Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 239000012530 fluid Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000008155 medical solution Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a multi-rotor spray rod structure and a control method thereof, wherein the multi-rotor spray rod structure comprises a support rod 10, and a plurality of rotors, motors, connecting flanges, liquid medicine pipelines, spray heads, a GPS module, a vision module 8, a liquid medicine and battery box assembly 11 and a millimeter wave radar 13 are arranged on the support rod 10. The support rods 10 are symmetrically provided with a plurality of pairs of rotary wings, each rotary wing comprises an auxiliary rotary wing, an adjusting rotary wing and a main force rotary wing, and the GPS module is used for providing accurate GPS data for a controller in a path planning and flight stage; the visual modules and the millimeter wave radar are symmetrically fixed on two sides of the multi-rotor spray boom respectively, and the visual modules and the millimeter wave radar are fixed through the connecting flange and then extend downwards to measure the movement speed and the height of the spray boom; according to the invention, the rotary wings are controlled to be in different postures, so that when the rotary wings work in corner areas of farmlands, the rotary wings can be controlled to make yaw movement, and meanwhile, the spray heads of the rotary wings are controlled according to the crop density degree, so that accurate variable spraying is realized.
Description
Technical Field
The invention relates to a multi-rotor spray rod structure capable of controlling rotors to enable the rotors to yaw when a farmland corner area works, and belongs to the technical field of agricultural machinery automation and flight control.
Background
In the process of pesticide spraying on crops, the traditional ground agricultural machinery faces the difficulties of heavy machinery, special roads and the like, so that the plant protection unmanned aerial vehicle is increasingly popular with growers in recent years. However, plant protection unmanned aerial vehicles also encounter some difficulties in the operation process, such as short duration, waste of liquid medicine in irregular operation areas, repeated spraying, and the like.
Disclosure of Invention
Based on the defects in the prior art, the invention discloses a multi-rotor spray rod structure which is convenient, flexible and capable of controlling a rotor to make the rotor yaw movement.
The technical scheme of the invention comprises the following steps: the utility model provides a many rotor spray lance structure, includes bracing piece (10), be equipped with rotor, motor (2), flange (3), liquid medicine pipeline (4), shower nozzle (5), GPS module, vision module (8), liquid medicine and battery box subassembly (11), millimeter wave radar (13) on bracing piece (10); the supporting rods (10) are symmetrically provided with a plurality of pairs of rotary wings, each rotary wing comprises an auxiliary rotary wing, an adjusting rotary wing and a main force rotary wing, wherein the main force rotary wings provide most of lifting force required by the flight of the spray boom, the angles of the auxiliary rotary wings and the adjusting rotary wings are adjustable, the lifting force is provided for the whole spray boom, the posture of the spray boom is controlled, and meanwhile, the downward air flow generated by the auxiliary rotary wings can accelerate the attachment of liquid medicine on the surface of crops; the center of the supporting rod (10) is fixedly provided with a liquid medicine and a battery box assembly (11), two ends of the supporting rod (10) are provided with auxiliary rotary wings, an adjusting rotary wing is arranged between the auxiliary rotary wings and a foot rest of the supporting rod (10), and main rotary wings are symmetrically arranged at two adjacent ends of the liquid medicine and the battery box assembly (11); when any one of the main force rotor wing, the auxiliary rotor wing and the adjusting rotor wing adopts the arrangement of upper and lower slurry pairs, the corresponding spray heads at the lower end of the rotor wing are replaced by rotor wings with the same model and opposite directions, so that larger lifting force is provided for the spray rod; when the main rotor, the auxiliary rotor and the adjusting rotor do not adopt the arrangement of upper and lower slurry, the lower ends of the main rotor, the auxiliary rotor and the adjusting rotor are connected with a motor (2) to provide power for the rotors, the motor (2) is connected with a connecting flange (3), the lower end of the connecting flange (3) is provided with a liquid medicine pipeline (4), the connecting flange (3) tightly fixes the motor (2) and the liquid medicine pipeline (4), and the liquid medicine pipeline (4) connects the spray heads (5) and provides liquid medicine for the spray boom; the GPS module is tightly and symmetrically fixed on the multi-rotor spray boom through the connecting flange (3) and is used for providing accurate GPS data for the controller in the path planning and flight phases; the vision module (8) and the millimeter wave radar (13) are symmetrically fixed on two sides of the multi-rotor spray boom respectively, and are fixed through the connecting flange and then extend downwards; the vision module (8) estimates motion information through images and obtains more accurate motion speed after being fused with data of the accelerometer, and meanwhile, crop information is identified in the running process of the system; the millimeter wave radar (13) is then used with a barometer to obtain the real-time altitude of the multi-rotor boom.
Further, the supporting rod (10) is formed by connecting a hollow pipe with two foot frames, the supporting and bearing functions are provided for the whole spray rod structure, and the hollow structure of the supporting rod (10) is also used as a passing pipeline for liquid medicine and electric wires.
Further, the supporting rod (10) is a carbon fiber tube.
Further, the liquid medicine and battery box assembly (11) comprises a battery and liquid medicine and control system hardware, and the battery provides power for the motor (2), the GPS module, the vision module (8) and the millimeter wave radar (13); the control system hardware is used for realizing navigation and path planning and carrying out accurate estimation of the position and the gesture.
Further, the control system hardware comprises a flight controller and an embedded processor, wherein the flight controller is respectively connected with the GPS module, the millimeter wave radar (13), the multi-sensor redundancy module and a plurality of electric tones for controlling the rotor wing; the flight controller is further connected with an embedded processor, the embedded processor is simultaneously connected with a vision module (8) and an electromagnetic valve driver, the electromagnetic valve driver is connected with an electromagnetic valve for controlling the spray head (5), and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer, two gyroscopes and an accelerometer.
Furthermore, when lifting and yaw movement of the spray boom are required to be realized, the installation angles of the auxiliary rotor, the main rotor and the adjusting rotor are adjusted to be axially and vertically arranged, and all the rotors provide upward lift force, so that the multi-rotor spray boom can have maximum lift force;
When needs realize the boom and promote lift, increase the load and consider, the main power rotor adopts the overall arrangement to thick liquid from top to bottom, and auxiliary rotor adopts the axial level to set up, adjusts the rotor and adopts axial angle to set up in 0-90 degree accommodation.
The invention relates to a control method of a multi-rotor spray rod structure, which comprises the following steps:
After the system is electrified, initializing operation is firstly carried out, GPS information of a region to be worked is firstly collected through a GPS module, a track to be flown is planned by a path planning algorithm, and the GPS module provides accurate positioning information for the multi-rotor spray boom in the flight process; after the path planning is finished and a take-off instruction is received, a take-off program is executed, and after taking off to before landing, the posture, the speed, the height and the like of the multi-rotor spray boom are controlled by a cascade PID controller so as to enable the multi-rotor spray boom to fly along the planned path;
After successful take-off, the embedded processor processes the image data returned by the visual module (8), and the image processing is divided into two threads: firstly, obtaining motion information through an optical flow method, fusing the motion information with IMU data to obtain the motion speed of a more accurate multi-rotor spray boom, and transmitting the motion speed back to a flight controller; secondly, recognizing whether crops exist or not and dense information after image processing, and preparing for the follow-up accurate variable spraying;
The atomized liquid medicine is easy to run off in the air, so that the multi-rotor spray boom should keep a proper height to fly stably during operation, and the flight controller estimates an accurate height value through data of sensors such as a millimeter wave radar (13) and a barometer, and controls the self-height to be kept at a proper operation height;
After judging whether the working area is standard or not, carrying out different operations according to the result, and in a normal spraying link, driving electromagnetic valves by the embedded processor through the electromagnetic valve driver to control all spray heads to operate; at the corner area, the embedded processor only controls part of electromagnetic valves to work according to the calculation result, and variable spraying is realized.
Further, the concrete process of controlling the gesture, speed, height and the like of the multi-rotor spray boom by the cascade PID controller is as follows:
The cascade PID is used for controlling the pose of the unmanned spray boom, the angular velocity is used as a first inner ring, and the angular velocity is measured through a gyroscope; then the angle control is used as a second inner ring, and the angle estimation is obtained through gyroscope and magnetic compass sensor estimation; the third inner ring is a speed control ring, and the speed estimation is obtained by fusing image data and IMU data; the last outer ring is highly controlled, and here we have fused data of sensors such as millimeter wave radar, barometer, gyroscope, etc. the pose and the motion of the rotor boom are controlled, so that the spraying operation based on path planning is realized.
The invention has the following technical effects:
The design has the characteristics of flexibility, rapidness, low cost and the like of the unmanned aerial vehicle, and also has the characteristics that the conventional plant protection unmanned aerial vehicle does not have:
1. The spray heads are arranged linearly, and can spray a larger area in unit time, so that the working efficiency is effectively improved.
2. The rotary wings can be controlled to make the rotary wings in different postures, when the rotary wings work in corner areas of farmlands, the rotary wings can be controlled to make the rotary wings move in a yawing mode, and meanwhile, the variable control of the spray heads can realize accurate spraying and reduce the loss and waste of liquid medicine.
3. The carbon fiber material is adopted, so that the structure is simple and the dead weight is small. More lift force can be used to dispense more medical fluid or a larger capacity battery at the same weight.
4. The design can adjust the carrying capacity by adopting methods of slurry alignment, auxiliary rotor wing installation angle adjustment and the like on the basis of a basic type, and the flexibility of the design is improved.
5. The design can be used as a basic unit, and a plurality of basic units can be connected through quick connectors when needed, so that operation with a larger area is realized.
6. The connection part of the main lift rotor wing and the spray rod can adopt a connector with damping, so that when the multi-rotor wing spray rod works, even if the multi-rotor wing spray rod is affected by gusts occasionally, the gesture change can be weakened by the connector with damping, and the stability of equipment is improved.
Drawings
FIG. 1 is a block diagram of a multi-rotor boom;
FIG. 2 is a hardware block diagram of a control system;
FIG. 3 is a cascade PID control diagram;
FIG. 4 is a block diagram of a PID controller;
FIG. 5 is a system control logic diagram;
FIG. 6 is a schematic diagram of an optical flow algorithm;
fig. 7 multi-rotor boom variation 1;
fig. 8 multi-rotor boom variation 2;
In the figure, 1-auxiliary rotor a; 2-an electric motor; 3-connecting flanges; 4-a liquid medicine pipeline; 5-spray head; 6-adjusting rotor a;7-GPS module a; 8-a vision module; 9-main rotor a; 10-supporting rods; 11-a medical solution and battery box assembly; 12-main rotor b; 13-millimeter wave radar; 14-a GPS module b; 15-adjusting rotor b; 16-auxiliary rotor b;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As a specific embodiment of the invention, the whole structure diagram of the spray boom shown in fig. 1 mainly comprises the following parts: 1-auxiliary rotor a; 2-an electric motor; 3-connecting flanges; 4-a liquid medicine pipeline; 5-spray head; 6-adjusting rotor a;7-GPS module a; 8-a vision module; 9-main rotor a; 10-supporting rods; 11-a medical solution and battery box assembly; 12-main rotor b; 13-millimeter wave radar; 14-a GPS module b; 15-adjusting rotor b; 16-auxiliary rotor b; in the whole structure, a plurality of rotary wings (1, 6, 9, 12, 15 and 16) are uniformly distributed on the spray boom, the installation angles of the rotary wings can be properly changed according to application scenes, for example, the axial direction of the rotary wings 1 and 16 in figure 1 is horizontally arranged, the axial direction of the rotary wings 6 and 15 is arranged at 0-90 degrees, the axial direction of the rotary wings 9 and 12 is vertically arranged, and the installation angles are different from each other.
The supporting rods 10 are symmetrically provided with a plurality of pairs of rotors, each rotor comprises an auxiliary rotor (an auxiliary rotor a1 and an auxiliary rotor b 16), an adjusting rotor (an adjusting rotor a6 and an adjusting rotor b 15) and a main rotor (a main rotor a9 and a main rotor b 12), wherein the main rotor provides most of the lift force required by the boom flight and can be a plurality of rotors according to the requirement; the auxiliary rotor wings and the adjustable rotor wing angle can be respectively a plurality of according to respective needs, lift force is provided for the whole spray boom, the gesture of the spray boom is controlled, and meanwhile, the downward airflow generated by the auxiliary rotor wings can accelerate the attachment of liquid medicine on the surfaces of crops.
The liquid medicine and the battery box assembly 11 are tightly fixed through bolts and spray bars; the structural shape of the liquid medicine and the battery box assembly is an upper triangle and a lower rectangle, and the shape of the liquid medicine and the battery box is beneficial to reducing the gravity center of the whole multi-rotor spray boom and improving the stability of the multi-rotor spray boom.
The GPS modules (GPS module a7, GPS module b 14) and the vision module detailed diagram shown in fig. 1 are composed of GPS-RTK signal receiving modules, and are firmly fixed through the connecting flange 3, the supporting rods and the foot rest, because the RTK technology is adopted here, and the two GPS modules are symmetrically distributed. The vision module 8 is fixed with a bracket which is connected with the connecting flange and extends vertically downwards, and the space position of the vision module is symmetrically distributed with the millimeter wave radar 13.
The medical fluid and the battery box are mainly divided into three parts in the medical fluid and the battery box assembly 11, and the functions of the medical fluid and the battery box are mainly to accommodate batteries, control system hardware and store the medical fluid.
As shown in fig. 2, the hardware structure diagram of the control system comprises a flight controller and an embedded processor, wherein the flight controller is respectively connected with a GPS module, a millimeter wave radar 13, a multi-sensor redundancy module and a plurality of electric tones for controlling a rotor wing; the flight controller is also connected with an embedded processor, the embedded processor is simultaneously connected with a vision module 8 and an electromagnetic valve driver, the electromagnetic valve driver is connected with an electromagnetic valve for controlling the spray head 5, and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer, two sets of gyroscopes and an accelerometer, so that when one set of sensors breaks down, the sensor is immediately switched to a standby sensor, and the stability and the reliability of the system are improved. The bottom layer driver is provided with an electric control and electromagnetic valve driver; the actuating mechanism is provided with a plurality of rotor motors and electromagnetic valves with the number opposite to that of the spray heads.
As shown in fig. 3, the cascade PID control diagram is still the most widely used PID control in the engineering field, and the four-rotor flight control system commonly used in the market at present also uses the PID control algorithm, and the present patent uses the cascade PID to control the pose of the unmanned boom.
PID control is a generic term for proportional control, integral control, and derivative control. In the practical application process, the P, I, D control methods are required to be selected to be combined differently for different controlled objects so as to achieve the optimal control purpose, and the freely combined controllers are generally called PID controllers. The PID controller is basically a second-order linear low-pass filter, which can effectively reduce the influence of interference and error on the output result. The following diagram is the structure of a conventional PID controller:
as shown in fig. 4, r (t) in the upper graph is the input quantity of the system at the time t, and y (t) is the output quantity of the system at the time t; e (t) is the input of the regulator, which is the difference between the input and output of the system at time t, and is:
e(t)＝y(t)-r(t) (1)
u (t) is the output of the regulator at time t, and is obtained by linearly summing the proportional, integral and derivative calculations of the deviation e (t). The expression given here for a conventional PID controller is:
T i and T d in the formula represent an integral time constant and a differential time constant at time T respectively, and K p/Ti＝Ki,Kp*Td＝Kd is given. The expression of the PID controller can be written as:
Where K p represents a scaling factor, K i represents an integration factor, and K d represents a differentiation factor. The discretization formula can be expressed as:
in the actual use process, in order to optimize the performance of the PID control system, three parameter values of the proportion, the integral and the derivative are required to be continuously adjusted. And the cascade PID controller is adopted to control the system, so that the error influence caused by external interference can be effectively reduced, and the robustness of the system is improved. The principle of cascade PID control is that a plurality of single-loop feedback control are sleeved.
As shown in fig. 3, we have angular velocities as the first inner ring, respectively, the angular velocities being measured by gyroscopes; then the angle control is used as a second inner ring, and the angle estimation is obtained through the estimation of sensors such as a gyroscope, a magnetic compass and the like; the third inner ring is a speed control ring, and the speed estimation is obtained by fusing image data and IMU data; the final outer ring is height control, and here we have fused data of millimeter wave radar, barometer, gyroscope and other sensors to obtain more accurate height value. Through the cascade PID controller, the pose and the motion of the multi-rotor spray boom can be well controlled, and the spraying operation based on path planning is realized.
As shown in fig. 5, which is a system control flow chart, after the system is powered on, an initialization operation is performed first, then a path planning is performed according to the GPS data of the operation area collected in advance, a take-off program is executed after the path planning is finished and a take-off instruction is received, and after taking off to before landing, the posture, the speed, the height and the like of the multi-rotor spray boom are controlled by a cascade PID controller so as to enable the multi-rotor spray boom to fly along the planned path. After successful take-off, the embedded processor processes the image data returned by the visual module, and the image processing is divided into two threads: firstly, obtaining motion information through an optical flow method, fusing the motion information with IMU data to obtain the motion speed of a more accurate multi-rotor spray boom, and transmitting the motion speed back to a flight controller; secondly, whether crops exist or not and dense information are identified after image processing, and preparation is made for the follow-up accurate variable spraying. Because the atomized liquid medicine is easy to run off in the air, the multi-rotor spray boom should keep a proper height and stably fly during the operation, and the flight controller estimates an accurate height value through the data of sensors such as millimeter wave radar, barometer and the like, and controls the self-height to be kept at a proper operation height. After judging whether the working area is standard or not, different operations are performed according to the result. In the normal spraying link, the processor controls all spray heads to operate through the electromagnetic valve driver; in the corner area, the processor only controls part of electromagnetic valves to work according to the calculation result, and variable spraying is realized.
The vision module 8 detects the movement of an object in the vision field by using an optical flow method, and for the optical flow method, the principle is as follows:
Optical flow is a method of describing the movement of a pixel between images over time, as shown in fig. 6, in which the same pixel moves in an image over time, but we wish to track its course of motion. Wherein the motion of the computing part of the pixels is called sparse optical flow and the motion of the computing all pixels is called dense optical flow. We use a representation in sparse optical flow: LK (Lucas-Kanade) optical flow. LK optical flow method is schematically illustrated in LK optical flow, where we consider the image from the camera to be time-varying. The image can be seen as a function of time: i (t); then at a time t At a pixel whose gray scale can be written as:
I(x，y，t). (5)
We consider an image as a function of position and time, whose value range is the gray scale of the pixels in the image. Now consider a fixed spatial point whose pixel coordinates at time t are x, y. Due to the movement of the camera, its image coordinates will change. Gray scale invariant assumption: the pixel gray values of the same spatial point are fixed in each image. For the pixel at (x, y) at time t, we set t+dt that it moves to (x+dx, y+dy), since the gray scale is unchanged we have:
I(x+dx，y+dy，t+dt)＝I(x，y，t) (6)
Taylor expansion is carried out on the left side of the upper part, and a first-order term is reserved, so that the method is obtained:
Thus, there are:
Dividing the two sides by dt to obtain:
Wherein the method comprises the steps of For the velocity of movement of the pixel in the x-axis, and/>They are noted as u, v for the velocity on the y-axis. At the same time/>The gradient of the image in the x-direction at this point, the other being the gradient in the y-direction, is denoted as I x,Iy. The change of the gray scale of the image with respect to time is recorded as I t, written as a matrix, and comprises:
We want to get u, v, but since this equation is a one-time equation with two variables, we cannot calculate u, v with it alone. Therefore we assume that pixels within a certain window have the same motion.
Consider an ωContains omega 2 pixels. Since the pixels within the window have the same motion, we have a total of ω 2 equations:
And (3) recording:
The whole equation then:
this overdetermined linear equation for u, v can be solved by the least squares method:
Thus, the motion speed u, v of the pixel between images can be obtained.
The main functions of the rotor wing are to provide lifting force and control the posture of the spray boom, and meanwhile, the downward airflow generated by the rotor wing can accelerate the attachment of liquid medicine on the surfaces of crops, so that the loss of the liquid medicine in the air is reduced; the connection relation between the rotor wing and the spray rod and the spray head is as follows:
As a specific embodiment of the present invention, as shown in fig. 7, which is a structural variation of the multi-rotor boom, when lifting and yaw movement of the boom are required, the multi-rotor boom can be provided with maximum lift by adjusting the mounting angles of the auxiliary rotor, the main rotor and the adjusting rotor to be axially vertical, and all the rotors provide upward lift. At this time, the lower extreme of main power rotor, supplementary rotor and regulation rotor all is connected with motor 2, provides power for the rotor, and motor 2 is connected with flange 3, and flange 3 lower extreme is liquid medicine pipeline 4, and flange 3 closely fixes motor 2, liquid medicine pipeline 4, and liquid medicine pipeline 4 links up shower nozzle 5 and provides the liquid medicine for the spray lance.
As another specific embodiment of the invention, when the lifting force of the spray boom is required to be realized (as shown in fig. 8), and the load capacity is increased, the main rotor adopts a top-bottom slurry arrangement, the auxiliary rotor adopts an axial horizontal arrangement, and the adjusting rotor adopts an axial angle arrangement within an adjusting range of 0-90 degrees. When any one of the main force rotor, the auxiliary rotor and the adjusting rotor adopts the arrangement of the upper and lower opposite paddles (as shown in figure 8), the corresponding spray heads at the lower end of the rotor are replaced by the rotor with the same model and opposite directions, and larger lifting force is provided for the spray boom (at the moment, the spray heads are not connected below the paddles, and the upper and lower opposite paddles are respectively connected with a motor).
At this time, the auxiliary rotor a1 and the auxiliary rotor b16 are axially and horizontally arranged, the adjusting rotor a6 and the adjusting rotor b 15 are axially arranged at 0 to 90 degrees, and the main rotor a 9 and the main rotor b 12 are axially and vertically arranged.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. The multi-rotor spray boom structure is characterized by comprising a support rod (10), wherein the support rod (10) is provided with a rotor, a motor (2), a connecting flange (3), a liquid medicine pipeline (4), a spray head (5), a GPS module, a vision module (8), a liquid medicine and battery box assembly (11) and a millimeter wave radar (13);
A plurality of pairs of rotary wings are symmetrically distributed on the supporting rod (10), each rotary wing comprises an auxiliary rotary wing, an adjusting rotary wing and a main force rotary wing, wherein the main force rotary wings provide most of lifting force required by the flight of the spray boom, the angles of the auxiliary rotary wings and the adjusting rotary wings are adjustable, the lifting force is provided for the whole spray boom, the posture of the spray boom is controlled, and meanwhile, the downward airflow generated by the auxiliary rotary wings accelerates the liquid medicine to be attached to the surface of crops; the center of the supporting rod (10) is fixedly provided with a liquid medicine and a battery box assembly (11), two ends of the supporting rod (10) are provided with auxiliary rotary wings, an adjusting rotary wing is arranged between the auxiliary rotary wings and a foot rest of the supporting rod (10), and main rotary wings are symmetrically arranged at two adjacent ends of the liquid medicine and the battery box assembly (11);
When any one of the main force rotor wing, the auxiliary rotor wing and the adjusting rotor wing adopts the arrangement of upper and lower slurry pairs, the corresponding spray heads at the lower end of the rotor wing are replaced by rotor wings with the same model and opposite directions, so that larger lifting force is provided for the spray rod;
when the main rotor, the auxiliary rotor and the adjusting rotor do not adopt the arrangement of upper and lower slurry, the lower ends of the main rotor, the auxiliary rotor and the adjusting rotor are connected with a motor (2) to provide power for the rotors, the motor (2) is connected with a connecting flange (3), the lower end of the connecting flange (3) is provided with a liquid medicine pipeline (4), the connecting flange (3) tightly fixes the motor (2) and the liquid medicine pipeline (4), and the liquid medicine pipeline (4) connects the spray heads (5) and provides liquid medicine for the spray boom;
The GPS module is tightly and symmetrically fixed on the multi-rotor spray boom through the connecting flange (3) and is used for providing accurate GPS data for the controller in the path planning and flight phases; the vision module (8) and the millimeter wave radar (13) are symmetrically fixed on two sides of the multi-rotor spray boom respectively, and are fixed through the connecting flange and then extend downwards; the vision module (8) estimates movement information through images and obtains movement speed after being combined with the accelerometer, and meanwhile, crop information is identified in the running process of the system; the millimeter wave radar (13) is used together with a barometer for obtaining the real-time height of the multi-rotor boom;
The supporting rod (10) is formed by connecting a hollow pipe with two foot frames, the supporting and bearing functions are provided for the whole spray rod structure, and the hollow structure of the supporting rod (10) is also used as a passing pipeline for liquid medicine and electric wires;
The liquid medicine and battery box assembly (11) comprises a battery and liquid medicine and control system hardware, and the battery provides power for the motor (2), the GPS module, the vision module (8) and the millimeter wave radar (13); the control system hardware is used for realizing navigation and path planning and carrying out accurate estimation of the position and the gesture.
2. A multi-rotor boom structure according to claim 1, characterized in that the support bar (10) is a carbon fiber tube.
3. A multi-rotor boom structure according to claim 1, characterized in that said control system hardware comprises a flight controller and an embedded processor, the flight controller being connected to a GPS module, a millimeter wave radar (13), a multi-sensor redundancy module, and a plurality of electrical tones for controlling the rotor, respectively; the flight controller is further connected with an embedded processor, the embedded processor is simultaneously connected with a vision module (8) and an electromagnetic valve driver, the electromagnetic valve driver is connected with an electromagnetic valve for controlling the spray head (5), and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer, two gyroscopes and an accelerometer.
4. A multi-rotor boom structure as claimed in claim 1, wherein,
When lifting and yaw movement of the spray boom are needed, the installation angles of the auxiliary rotor wings, the main rotor wings and the adjusting rotor wings are adjusted to be axially and vertically arranged, and all the rotor wings provide upward lifting force, so that the multi-rotor boom has the maximum lifting force;
When needs realize the boom and promote lift, increase the load and consider, the main power rotor adopts the overall arrangement to thick liquid from top to bottom, and auxiliary rotor adopts the axial level to set up, adjusts the rotor and adopts axial angle to set up in 0-90 degree accommodation.
5. The method for controlling a multi-rotor boom structure according to claim 1, comprising the steps of:
after the system is electrified, firstly, initializing operation is carried out, GPS information of a region to be worked is collected through a GPS module, a track to be flown is planned by a path planning algorithm, and the GPS module provides accurate positioning information for the multi-rotor spray boom in the flight process; after the path planning is finished and a take-off instruction is received, a take-off program is executed, and after taking off to before landing, the posture, the speed and the height of the multi-rotor spray boom are controlled by a cascade PID controller so as to enable the multi-rotor spray boom to fly along the planned path;
After successful take-off, the embedded processor processes the image data returned by the visual module (8), and the image processing is divided into two threads: firstly, obtaining motion information through an optical flow method, fusing the motion information with IMU data to obtain the motion speed of a more accurate multi-rotor spray boom, and transmitting the motion speed back to a flight controller; secondly, recognizing whether crops exist or not and dense information after image processing, and preparing for the follow-up accurate variable spraying;
The atomized liquid medicine is easy to run off in the air, so that the multi-rotor spray boom should keep a proper height to fly stably during operation, and the flight controller estimates an accurate height value through data of the millimeter wave radar (13) and the barometer to control the self-height to be kept at a proper operation height;
After judging whether the working area is standard or not, carrying out different operations according to the result, and in a normal spraying link, driving electromagnetic valves by the embedded processor through the electromagnetic valve driver to control all spray heads to operate; at the corner area, the embedded processor only controls part of electromagnetic valves to work according to the calculation result, and variable spraying is realized.
6. The control method of the multi-rotor boom structure according to claim 5, wherein the specific process of controlling the posture, the speed and the height of the multi-rotor boom by the cascade PID controller is as follows:
The cascade PID is used for controlling the pose of the unmanned spray boom, the angular velocity is used as a first inner ring, and the angular velocity is measured through a gyroscope; then the angle control is used as a second inner ring, and the angle estimation is obtained through gyroscope and magnetic compass sensor estimation; the third inner ring is a speed control ring, and the speed estimation is obtained by fusing image data and IMU data; and the last outer ring is in height control, data of millimeter wave radar, barometer and gyroscope are fused, and the pose and the motion of the rotor boom are controlled, so that the spraying operation based on path planning is realized.
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| CN202011159966.1A CN112352759B (en) | 2020-10-26 | 2020-10-26 | Multi-rotor spray rod structure and control method thereof |
| PCT/CN2021/077616 WO2022088562A1 (en) | 2020-10-26 | 2021-02-24 | Multi-rotor spray rod structure and control method therefor |
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| CN112352759B (en) * | 2020-10-26 | 2024-06-11 | 江苏大学 | Multi-rotor spray rod structure and control method thereof |
| CN113303309B (en) * | 2021-05-31 | 2022-05-31 | 沈阳农业大学 | Precise spraying control system and control method for unmanned aerial vehicle |
| CN115258164A (en) * | 2022-07-15 | 2022-11-01 | 江苏大学 | Linear multi-rotor-wing plant protection unmanned aerial vehicle structure based on tilt rotor and control method |
| GB2623883A (en) * | 2022-07-15 | 2024-05-01 | Univ Jiangsu | Linear multi-rotor plant protection unmanned aerial vehicle structure based on tilt rotors and control method therefor |
| CN116339372B (en) * | 2023-02-03 | 2024-01-30 | 中国地质大学（武汉） | Composite cross mapping type unmanned aerial vehicle optimization method based on ArduPilot firmware |
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| WO2022088562A1 (en) | 2022-05-05 |
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