CN106200674A - A kind of method of unmanned plane self adaptation accuracy pesticide applying - Google Patents

Abstract

A method for self-adaptive and precise spraying of drones, which belongs to the field of agricultural plant protection machinery automation technology. It is realized through the following steps. The GPS positioning system is turned on, and the system divides the area to be sprayed into more than one rectangular area. According to the four points of the rectangular area Position planning UAV track line; input the parameter value of flight defense operation in the system, the parameter value includes the operation area, average speed of flight, spraying standard range [F1, F2]; arrange wireless spraying in the spraying operation area Sensor nodes; install a central control node communicating with wireless sensor nodes on the UAV; start the UAV, and spray medicine when the UAV flies to the starting point within the four points in the rectangular area according to the planned flight path. The invention improves the autonomous flight capability of the plant protection UAV in precision spraying operations, solves the problem of uneven spraying of the plant protection UAV caused by objective factors, and ensures the operation effect and operation output of the plant protection UAV.

Description

A method for self-adaptive precision pesticide application by UAV

technical field

The invention belongs to the technical field of agricultural plant protection machinery automation, and in particular relates to a method for using wireless sensor network technology to precisely apply pesticides to farmland crops by drones.

Background technique

In recent years, the application of drones in the field of agricultural plant protection in my country has become more and more extensive. With the maturity of technology, drones are gradually gaining more room for development in crop spraying, and are being used by more and more agricultural producers. The recognition has also further improved the level of mechanization of agricultural plant protection in my country. Although UAVs have great advantages in plant protection mechanized operations, they still need continuous improvement in the development process.

The uniformity of pesticide application to crops is an important indicator for testing UAV flight defense operations. On the one hand, precise pesticide application saves a lot of pesticides and reduces the damage to crops caused by excessive pesticides. On the other hand, it can greatly reduce the damage caused by pesticides to the environment. Precise application of pesticides to crops is one of the important links in precision agricultural production.

At present, although some areas in our country have begun to use drones to spray crops, the accuracy of the spraying process has not been effectively controlled, and it is greatly disturbed by some external factors. The automatic adjustment ability of drones is poor, and the spraying The accuracy still needs to be improved. Therefore, there is an urgent need for a novel technical solution in the prior art to solve this problem.

Contents of the invention

The technical problem to be solved by this invention is:

Provides a method for self-adaptive precision spraying of drones, which improves the autonomous flight capability of plant protection drones in precision spraying operations, solves the problem of uneven spraying caused by objective factors of plant protection drones, and ensures plant protection. The operation effect and operation output of UAV.

A method for self-adaptive and precise pesticide application by unmanned aerial vehicles, characterized in that it comprises the following steps,

Step 1. Turn on the GPS positioning system. The system divides the area to be sprayed into more than one rectangular area, and plans the UAV track line according to the four points of the rectangular area;

Step 2, input the parameter value of the flight defense operation in the system, the parameter value includes the operation area, the average speed of the flight, and the spraying standard range [F1, F2];

Step 3, arrange the wireless sensor nodes in the spraying operation area, the wireless sensor nodes are arranged according to the drone track planned in the step 1, wherein the column spacing is 50 meters, and the row spacing is the spraying width of the drone;

Step 4, installing a central control node communicating with the wireless sensor node on the UAV;

Step 5. Start the UAV, and spray the medicine when the UAV flies to the starting point within the four points in the rectangular area according to the planned flight path;

Step 6. The wireless sensor node in the spraying operation area triggers wake-up after receiving the liquid medicine sprayed by the drone, measures the value of the sprayed liquid medicine, and uploads the data to the central control node of the drone;

Step 7, the node signal received by the central control node takes the strongest signal value and records it as Pmax;

Step 8, feed back the Pmax node to confirm the received information, and the Pmax node enters the dormant state and stops sending signals;

Step 9: Compare the measured value M of the Pmax node with the standard concentration range [F1, F2], and adjust the spraying amount of the medicine box;

Step 10. Determine whether the drone's navigation position has reached the end point. If the drone reaches the end point, the spraying ends. If the drone does not reach the end point, return to the step six and continue.

The adjustment method of the spraying amount of the medicine box in the step 9 is,

If the measured value M of the Pmax node is within the spraying standard range [F1, F2], the voltage of the liquid pump of the medicine tank remains unchanged; if the measured value M of the Pmax node is not within the spraying standard range [F1, F2], start The pressure changing valve in the medicine box adjusts the voltage value of the liquid pump in the medicine box;

The voltage value of the medicine box liquid pump is calculated by the liquid pump voltage U=U+(F-M)/A×1.39, wherein, F=(F12+F22)0.5/2, M is the measured value of the current medicine liquid, and A is the medicine box system Parameters that control the coefficients.

Through the above-mentioned design scheme, the present invention can bring the following beneficial effects: a method for self-adaptive and precise spraying of drones, which improves the autonomous flight capability of plant protection drones in precision spraying operations, and solves the problem of plant protection drones due to The problem of uneven spraying caused by objective factors ensures the operation effect and output of plant protection drones.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

Fig. 1 is a schematic flow chart of a method for self-adaptive and precise pesticide application by a UAV according to the present invention.

Fig. 2 is a schematic diagram of wireless sensor node layout in the working area of a method of self-adaptive and precise pesticide application by UAV according to the present invention.

Fig. 3 is a schematic flowchart of a method for self-adaptive and precise pesticide application by a UAV according to the present invention. The wireless sensor node feeds back the measured value M of the medicinal liquid to adjust the pressure of the medicine box.

In the figure 1-UAV flight track, 2-crop growth area.

detailed description

A method for self-adaptive precise pesticide application by unmanned aerial vehicles, as shown in Figure 1, comprising the following steps,

Step 1: Use the GPS positioning system to plan at least one rectangular area for UAV operation and UAV navigation trajectory 1 .

The operation area is the area to be sprayed, which is the crop growth area 2. The system divides the area to be sprayed into several rectangular areas, and determines the positions of four points in the rectangular area.

Plan the track line according to the position of four points. Plan flight altitude, flight speed and flight time according to crops and obstacles.

Step 2. Enter the parameter values of this flight defense operation in the software system, including:

Determine the four-point GPS positioning (automatically calculate the operating area) position in the rectangular area, the average flight speed V (m/s), and the flight height. Calculate the application standard range [F1, F2] according to the type of crop to be sprayed, the type of liquid medicine, the dilution ratio of the liquid medicine, and the growth stage of the crop. Calculate the parameter A (ml/volt) of the UAV spraying system, that is, the parameter A of the spraying system is the proportional coefficient between the flow rate of the drone’s medicine tank and the control voltage U of the liquid pump.

Step 3. Arrange wireless sensor nodes P in the spraying operation area. The arrangement of wireless sensor nodes is shown in Figure 2. According to the spraying operation area and the flight trajectory of the UAV, N rows×D columns of nodes are planned, and all wireless sensors The nodes are arranged near the crops. The column spacing of node P is preferably 50 meters, and the row spacing of node P is the spraying width of the drone. The initial state of all wireless sensor nodes P is dormant, that is, no signal is sent.

Step 4, the UAV assembles a wireless sensor node called the central control node. The function of the central control node is to monitor the channel, adjust the pressure of the medicine tank according to the medicine liquid value M sent by a certain node P, and feed back to the node P to confirm the received information.

Step 5. The UAV starts to fly. Its flight route is planned according to the operating area, as shown in Figure 2. The UAV judges whether it has reached the starting point of the operation through the four corner points calculated by the GPS positioning system. If the drone arrives at the starting point of the operation area, it will start spraying immediately.

Step 6, the wireless sensor node P in the work area is equipped with a sensor for measuring spraying amount. The initial state of P is dormant. After spraying, a certain node P may be triggered by spraying, and P measures the liquid value M and sends M to the central control node.

Step 7: The central control node monitors the channel in real time, calculates the signal strength when there is a signal access, and judges the legitimacy of the signal. If the node sending the legal signal is recorded as Pmax, the central control node receives and stores the M sent by the Pmax node. If not valid the signal is discarded.

The legality described in this step means that two conditions are met at the same time. Condition 1: The signal strength must be greater than the set strength threshold; Condition 2: The signal strength must be greater than or equal to other nodes.

Step 8: After receiving the liquid medicine value M of Pmax, the central control node feeds back Pmax to confirm the received information, and the Pmax node enters a dormant state.

Step 9: The central control node adjusts the pressure of the spray box according to the received liquid medicine value M.

As shown in Figure 3, the specific operation steps are:

If the liquid medicine value M is within the spraying standard range [F1, F2], the liquid pump voltage of the medicine box remains unchanged. If the liquid medicine value M is not within the spraying standard range [F1, F2], start the pressure change valve in the medicine box and adjust the voltage value U of the liquid pump in the medicine box until the medicine liquid value M obtained by feedback returns to the range [F1, F2] within.

In order to adjust the medicine tank pressure U, the steps also include: liquid pump voltage U=U+(F-M)/A×1.39, in this formula, F=(F12+F22)0.5/2, M current liquid medicine measurement value , A parameter of the control coefficient of the medicine box system.

Step ten, using the GPS positioning system to determine the current flight position. Compare the current position with the four-point GPS positioning. If the end point is not reached, return to step 6, otherwise end the spraying.

Claims (3)

1. a method for unmanned plane self adaptation accuracy pesticide applying, is characterized in that: comprise the following steps,

Step one, unlatching GPS alignment system, system will treat that applying area regional partition is more than one rectangular area, according to rectangle region 4 position planning unmanned aerial vehicle flight path lines in territory；

Step 2, in systems input fly the parameter value of anti-operation, and described parameter value includes the average speed of working area, flight Degree, dispenser critical field [F1, F2]；

Step 3, in spraying operation region arrange wireless sensor node, wireless sensor node is advised according to described step one The unmanned aerial vehicle flight path drawn is arranged, wherein column pitch is 50 meters, and line space is the sprinkling fabric width of unmanned plane；

Step 4, the middle control node that installation communicates with wireless sensor node on unmanned plane；

Step 5, startup unmanned plane, unmanned plane flies to 4 interior initial point position of rectangular area according to the track line of planning Shi Jinhang dispenser；

Wireless sensing node in step 6, spraying operation region triggers after receiving the medicinal liquid that unmanned plane sprays and wakes up up, measures Data are uploaded to the middle control node of unmanned plane by the medicinal liquid value sprayed；

The node signal that step 7, described middle control node receive takes peak signal value and is designated as Pmax；

Step 8, feedback Pmax node confirm reception information, and Pmax node enters resting state to be stopped sending signal；

Step 9, measured value M and the normal concentration scope [F1, F2] of Pmax node compare, and adjust medicine-chest fountain height；

Step 10, judging whether unmanned plane underway position reaches home, if unmanned plane is reached home, spray and terminate, unmanned plane is not Reach home, return the operation of described step 6 and continue executing with.

The method of a kind of unmanned plane self adaptation accuracy pesticide applying the most according to claim 1, is characterized in that: described step 9 The method of adjustment of medicine-chest fountain height is,

The measured value M of Pmax node is in dispenser critical field [F1, F2], and medicine-chest liquid pump voltage keeps constant；Pmax node Measured value M, not in dispenser critical field [F1, F2], starts variable pressure valve in medicine-chest, adjusts medicine-chest liquid pump magnitude of voltage.

The method of a kind of unmanned plane self adaptation accuracy pesticide applying the most according to claim 2, is characterized in that: described medicine-chest liquid pump Magnitude of voltage is calculated by liquid pump voltage U=U+ (F-M)/A × 1.39, and wherein, F=(F12+F22) 0.5/2, M are that current medicinal liquid is surveyed Value, A is the parameter of medicine-chest system control coefrficient.