CN110018693A - The accurate forest planting method of unmanned plane and its system based on RTK technology - Google Patents
The accurate forest planting method of unmanned plane and its system based on RTK technology Download PDFInfo
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- CN110018693A CN110018693A CN201910254721.8A CN201910254721A CN110018693A CN 110018693 A CN110018693 A CN 110018693A CN 201910254721 A CN201910254721 A CN 201910254721A CN 110018693 A CN110018693 A CN 110018693A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000013507 mapping Methods 0.000 claims abstract description 19
- 239000002689 soil Substances 0.000 claims abstract description 14
- 230000015556 catabolic process Effects 0.000 claims abstract description 9
- 238000006731 degradation reaction Methods 0.000 claims abstract description 9
- 238000012946 outsourcing Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 15
- 239000003795 chemical substances by application Substances 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 238000000576 coating method Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 6
- 239000003337 fertilizer Substances 0.000 claims description 6
- 239000002917 insecticide Substances 0.000 claims description 6
- 239000005648 plant growth regulator Substances 0.000 claims description 6
- 230000000855 fungicidal effect Effects 0.000 claims description 5
- 239000000417 fungicide Substances 0.000 claims description 5
- -1 microelement Substances 0.000 claims description 5
- 238000009331 sowing Methods 0.000 abstract description 7
- 241000196324 Embryophyta Species 0.000 description 10
- 239000010410 layer Substances 0.000 description 8
- 230000012010 growth Effects 0.000 description 6
- 230000035784 germination Effects 0.000 description 3
- 230000004083 survival effect Effects 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010899 nucleation Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000011247 coating layer Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
- A01C1/06—Coating or dressing seed
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Pretreatment Of Seeds And Plants (AREA)
Abstract
The invention discloses a kind of accurate forest planting methods of unmanned plane and system based on GNSS RTK technology, this method comprises the following steps (1) uses the map setting plantation point obtained to carry the region progress aerial survey that the geographical mapping unmanned plane of GNSS RTK system treats afforestation according to aerial survey simultaneously to mark；(2) to seed be coated after technical treatment one layer of outsourcing can the warhead shape shell of natural degradation in the soil form seed body；(3) seed body is mounted on seed emissions machine, then seed emissions machine is mounted on tree planting unmanned plane；(4) after according to the plantation point for mark step (3) to install the unmanned plane of seed body and seed emissions machine by planning operation course line autonomous flight to step (1), control seed emissions machine launches seed body to planting point.UAV flight's seed emissions machine of the present invention realizes precision planting, considerably reduces sowing quantity, solves the problems, such as that traditional plant seeds by airplane is dilute close uneven, can form forest form is neat and forest cover.
Description
Technical field
The present invention relates to afforestation technical fields, and in particular to a kind of unmanned plane essence based on GNSS RTK location technology
Quasi- forest planting method and its system.
Background technique
Aerial seeding, which refers to sow seed by certain flying height along a tramp-liner using manned transporter, is advising
In partition domain, its main feature is that speed is fast, work efficiency is high, at low cost, it can apply to have inconvenient traffic, meagrely-populated, other method of forestation
Inexecutable outlying mountain area, wilderness.
In recent years, with the rise of civilian industry grade unmanned plane, for the plant for solving fragmentation famine mountain waste with a varied topography
It is resumed, the country begins trying to replace manned big aircraft to carry out scattered seeds by airplane for afforestation using unmanned plane.Its advantage is that nothing is utilized
It is man-machine efficiently, flexibly, flying height is low, broadcasts sowing accurate feature, difficulty poor for obstruction clearance criteria, with a varied topography, plot is small and scattered
Reproducing area carries out revegetation.
Existing scattered seeds by airplane for afforestation has that planting is uneven regardless of aerial seeding aerial sowing or unmanned aerial vehicles sowing, the young growth of formation
Normal dilute close unevenness, single landscape, state system is fragile, and bio-diversity is poor, and ecological functions are low, and sowing quantity is excessive, with sowing face
Product is compared, and effect area and survival rate are all relatively low.
Summary of the invention
The purpose of the present invention is to provide a kind of accurate sides of afforestation of unmanned plane based on GNSS RTK location technology
Method and its system.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of accurate forest planting method of unmanned plane based on GNSS RTK location technology, includes the following steps:
(1) it uses and treats the region of afforestation to carry the geographical mapping unmanned plane of GNSS RTK system and aerial survey and obtain
Map datum, data markers plant point according to the map, then plantation point is transferred to the ground connecting with geographical mapping unmanned plane and is controlled
System station；
(2) to seed be coated after technical treatment again outsourcing wrap up one layer can natural degradation in the soil warhead shape
Shell forms seed body；
(3) seed body that step (2) obtain is mounted on seed emissions machine, then seed emissions machine is mounted on to carry
It is described to have been connected in ground control station with the tree planting unmanned plane for carrying GNSS RTK system on the tree planting unmanned plane of GNSS RTK system
Connect and obtained map datum and plantation point；
(4) according to by step (3) to install the tree planting unmanned plane of seed body and seed emissions machine according to ground control station
Control seed emissions machine dispensing seed body is to planting a little after the plantation point that mark of planning operation course line autonomous flight to step (1).
Further, the unmanned plane accurate forest planting method of the present invention based on GNSS RTK location technology also wraps
It includes (5) and aerial survey is carried out to plantation point using the geographical mapping unmanned plane for carrying camera and GNSS RTK system.
Further, it is described to seed be coated technical treatment refer to by seed be placed on containing insecticide, sterilization
Agent, compound fertilizer, microelement, plant growth regulator and water-retaining agent Multiple components seed coat agent in.
Further, the seed emissions machine includes shell, is successively arranged seed body installation in the shell from right to left
Chamber, transmitting push chamber and compressed air cell, the exit of the seed installation cavity are equipped with seed catch bar, and the seed pushes
Bar is connected with driving mechanism, and its pushing direction is directed toward the outlet of transmitting push chamber, and the exit for emitting push chamber is connected with kind
Sub- transmitting tube emits and is equipped with pushing structure in push chamber, and emits push chamber and connect with compressed air cell, the compressed air
Chamber is connected with direct current air pump, has inside also been mounted on sealing-plug, and sealing-plug is connected with solenoid valve, solenoid valve, direct current air pump and drive
Dynamic structure is connect with the controller of plantation unmanned plane.
The purpose of the present invention additionally provides a kind of unmanned plane based on GNSS RTK location technology and precisely plants trees system,
Including to carry the geographical mapping unmanned plane of GNSS RTK system, the tree planting unmanned plane for carrying GNSS RTK system, ground control
It stands, seed body and seed emissions machine, seed body include the warhead shape shell of the seed of internal layer, the coatings in middle layer and outer layer, institute
It states seed body to be mounted in seed emissions machine, then the seed emissions machine of mounted seed body is mounted on to carry GNSS RTK
On the tree planting unmanned plane of system；It is surveyed to carry the tree planting unmanned plane of GNSS RTK system and to carry the geographical of GNSS RTK system
It draws unmanned plane to connect with ground control station, treats the progress of afforestation region to carry the geographical mapping unmanned plane of GNSS RTK system
Aerial survey simultaneously obtains map datum, and the label plantation point on map datum, and map datum and plantation point are sent to ground control
System station, ground control station according to the map data and plantation point planning an operation course line, with carry GNSS RTK system tree planting nobody
Machine obtains map datum, plants point and planning operation course line, and tree planting unmanned plane is according to planning operation course line autonomous flight to plantation
Control seed emissions machine launches seed body to planting a little after point.
Further, the warhead shape shell by can the material of natural degradation in the soil be made.
Further, the coatings include insecticide, fungicide, compound fertilizer, microelement, plant growth regulator
And water-retaining agent.
Further, the seed emissions machine includes shell, is successively arranged seed body installation in the shell from right to left
Chamber, transmitting push chamber and compressed air cell, the exit of the seed installation cavity are equipped with seed catch bar, and the seed pushes
Bar is connected with driving mechanism, and its pushing direction is directed toward the outlet of transmitting push chamber, and the exit for emitting push chamber is connected with kind
Sub- transmitting tube emits and is equipped with pushing structure in push chamber, and emits push chamber and connect with compressed air cell, the compressed air
Chamber is connected with direct current air pump, has inside also been mounted on sealing-plug, and sealing-plug is connected with solenoid valve, solenoid valve, direct current air pump and drive
Dynamic structure is connect with the controller of plantation unmanned plane.
The invention has the following advantages:
(1) UAV flight's seed emissions machine realizes precision planting, considerably reduces sowing quantity, solves traditional plant seeds by airplane
The problem of dilute close unevenness can form forest form is neat and forest cover；
(2) elite seed is selected to be coated technical treatment, planting patterns is emitted directly toward soil using blowing plant,
Increase substantially the implantation rate, germination percentage and planting percent of seed；Not only Afforestation Effects are several times as much as traditional plant seeds by airplane, since seed is straight
Germinating growth is connect without transplanting, it is higher than the survival rate and storage rate of artificial planting by stock.
Detailed description of the invention
Fig. 1 is method flow schematic diagram of the invention.
Fig. 2 is system structure diagram of the invention.
Fig. 3 is the structural schematic diagram of seed body of the present invention.
Fig. 4 is the structural schematic diagram of seed emissions machine of the present invention.
Marked in the figure: A, seed body；1, shell；11, seed body installation cavity；12, push chamber；13, compressed air cell；14,
Seed emissions pipe；2, seed catch bar；21, driving mechanism；3, pusher structure；4, sealing-plug；41, electromagnet；5, direct current air pump.
Specific embodiment
Embodiment 1
As shown in Figure 1, the unmanned plane accurate forest planting method provided in this embodiment based on GNSS RTK location technology
Include the following steps:
(1) use with carry the geographical mapping unmanned plane of GNSS RTK system treat afforestation region carry out aerial survey, according to
The accurately diagram data of aerial survey acquisition simultaneously plants point, geographical mapping according to Forestation Design configuration flag for job task data
The plantation point of the high-precision geodata of acquisition and label is transferred to ground controller connected to it, ground control by unmanned plane
Device is the general unmanned aerial vehicle station of the prior art, can be connected with multiple unmanned planes, realizes data sharing；
(2) being coated after technical treatment to seed can hull shape outside the warhead shape of natural degradation in the soil in one layer of outsourcing
At seed body A；It is described technical treatment be coated to seed refer to seed is contained into insecticide, fungicide, compound with being placed on
Fertilizer, microelement, plant growth regulator and water-retaining agent Multiple components seed coat agent in, conducive to the survival rate of seed is provided
And the nutriment of primary growth；The shell is the shape of sub warhead, is entered seed belt in soil convenient for the later period, and material is
The material of natural degradation is made in soil, does not pollute the environment；
(3) the seed body A that step (2) obtain is mounted on seed emissions machine, then seed emissions machine is mounted on to take
On the tree planting unmanned plane for carrying GNSS RTK system；The seed emissions machine emits using compressed air as power source convenient for seed body A
Into the soil of the plantation point marked；Seed emissions machine is adopted similar to vapour-pressure type air gun used in current athletics sports match
Constant pressure type inflation is carried out with direct current air pump；Its specific structure is as shown in figure 4, the seed emissions machine includes shell 1, the shell
Seed body installation cavity 11, transmitting push chamber 12 and compressed air cell 13, the seed installation cavity are successively arranged in body 1 from right to left
Exit seed catch bar 2 is installed, the seed catch bar 2 is connected with driving mechanism 21, and its pushing direction is directed toward hair
The outlet of push chamber 12 is penetrated, the exit of transmitting push chamber 12 is connected with seed emissions pipe 14, emits and be equipped in push chamber 12
Pushing structure, and emit push chamber 12 and connect with compressed air cell 13, the compressed air cell 13 is connected with direct current air pump 5,
Inside also be mounted on sealing-plug 4, sealing-plug 4 is connected with solenoid valve, solenoid valve, direct current air pump 5 and driving structure with plantation nothing
Man-machine controller connection, by the way that direct current air pump 5 first to being filled with compressed air in compressed air cell 13, then is controlled solenoid valve shifting
It is dynamic, then control driving mechanism 21 and seed word is pushed in seed emissions pipe 14, the mobile compressed air of sealing-plug 4 is rapidly filled with hair
It penetrates in push chamber 12, pushes pushing structure, pushing structure quickly pushes out seed body A, pushes seed body A to realize
To plantation point；
(4) according to by step (3) with install the tree planting unmanned plane of seed body A and seed emissions machine according to planning course line from
After the main plantation point marked to step (1) that flies, control seed emissions machine emits seed body A to plantation point；
(5) aerial survey is periodically carried out to plantation point using the geographical mapping unmanned plane for carrying camera and GNSS RTK system, led to
The growing state of aerial survey observable seed is crossed, the specific aerial survey time can determine according to the growth cycle of seed, and such as 3 months, 4
Month, germination arrive grow into the Time Intervals of healthy sapling time can be shorter, do not germinate in order to seed or
Other reasons are dead, can be reseeded.
Embodiment 2
It precisely plants trees and makes as shown in Fig. 2, the present embodiment additionally provides a kind of unmanned plane based on GNSS RTK location technology
Woods system, including with carry GNSS RTK system geographical mapping unmanned plane, carry GNSS RTK system tree planting unmanned plane,
Face control station, seed body A and seed emissions machine.As shown in figure 3, the seed body A includes the coatings of the seed of internal layer, middle layer
With the warhead shape shell of outer layer, in Fig. 3, center is seed, and black region is coatings, and black border is shell；The coating
Layer includes insecticide, fungicide, compound fertilizer, microelement, plant growth regulator and water-retaining agent；Conducive to depositing for offer seed
The nutriment of motility rate and primary growth；The warhead shape shell by can the material of natural degradation in the soil be made, after being convenient for
Phase enters seed belt in soil, and material is made of the material of natural degradation in soil, does not pollute the environment.By the seed body
A is mounted in seed emissions machine, and the seed emissions machine emits convenient for seed body A to label using compressed air as power source
In the soil for planting point；Seed emissions machine is similar to vapour-pressure type air gun used in current athletics sports match, using direct current air pump
Carry out constant pressure type inflation.Specific structure is as shown in figure 4, the seed emissions machine includes shell 1, in the shell 1 from right to left
It is successively arranged seed body installation cavity 11, transmitting push chamber 12 and compressed air cell 13, the exit installation of the seed installation cavity
There is seed catch bar 2, the seed catch bar 2 is connected with driving mechanism 21, and its pushing direction is directed toward transmitting push chamber 12
The exit of outlet, transmitting push chamber 12 is connected with seed emissions pipe 14, emits and is equipped with pushing structure in push chamber 12, and sends out
It penetrates push chamber 12 to connect with compressed air cell 13, the compressed air cell 13 is connected with direct current air pump 5, has inside also been mounted on close
Blocking 4, sealing-plug 4 are connected with solenoid valve, and the controller of solenoid valve, direct current air pump 5 and driving structure with plantation unmanned plane connects
It connects, by the way that direct current air pump 5 first to control is filled in compressed air cell 13, in control solenoid valve movement, then is controlled driving mechanism
21 are pushed to seed word in seed emissions pipe 14, and the mobile compressed air of sealing-plug 4 is rapidly filled in transmitting push chamber 12, push
Pushing structure, pushing structure quickly push out seed body A, push to seed body A on plantation point to realize.
The seed emissions machine of mounted seed body A is mounted on again to carry the tree planting unmanned plane of GNSS RTK system
On；It uses to carry the region progress aerial survey that the geographical mapping unmanned plane of GNSS RTK system treats afforestation, is obtained according to aerial survey
Accurately diagram data and according to Forestation Design configuration flag be job task data i.e. plant point, geographical mapping unmanned plane will
The high-precision geodata of acquisition and the plantation point of label are transferred to ground controller connected to it, and ground controller is existing
The general unmanned aerial vehicle station of technology can be connected with multiple unmanned planes, data sharing be realized, to install seed body A and kind
After the tree planting unmanned plane of sub- transmitter is according to the plantation point that mark of planning course line autonomous flight to step (1), control seed emissions
Machine emits seed body A to plantation point.
The ground control station can also connect carrying camera and the geographical mapping unmanned plane of GNSS RTK system is periodically right
Plantation point carries out aerial survey, and by the growing state of aerial survey observable seed, the specific aerial survey time can be according to the growth week of seed
Phase determines, such as 3 months, 4 months, germination arrive grow into the Time Intervals of healthy sapling time can be shorter, with
It does not germinate convenient for seed or other reasons is dead, can be reseeded.
The above is only the preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, any
The transformation and replacement carried out based on technical solution provided by the present invention and inventive concept should all be covered in protection model of the invention
In enclosing.
Claims (8)
1. a kind of accurate forest planting method of unmanned plane based on GNSS RTK location technology, it is characterised in that including walking as follows
It is rapid:
(1) it uses and treats the region of afforestation to carry the geographical mapping unmanned plane of GNSS RTK system and carry out aerial survey and obtaining map
Data, data markers plant point according to the map, then plantation point is transferred to the ground control station connecting with geographical mapping unmanned plane；
(2) to seed be coated after technical treatment again outsourcing wrap up one layer can natural degradation in the soil warhead shape shell
Form seed body；
(3) seed body that step (2) obtain is mounted on seed emissions machine, then seed emissions machine is mounted on to carry GNSS
It is described to have been connected simultaneously in ground control station with the tree planting unmanned plane for carrying GNSS RTK system on the tree planting unmanned plane of RTK system
Map datum and plantation point are obtained；
(4) it is planned with the tree planting unmanned plane for installing seed body and seed emissions machine according to ground control station according to by step (3)
Seed emissions machine is controlled after the plantation point that operation course line autonomous flight to step (1) marks launches seed body to planting a little.
2. the unmanned plane accurate forest planting method according to claim 1 based on GNSS RTK location technology, feature
It is: further includes that (5) use the geographical mapping unmanned plane for carrying camera and GNSS RTK system to carry out an aerial survey to plantation point.
3. the unmanned plane accurate forest planting method according to claim 1 based on GNSS RTK location technology, feature
Be: it is described to seed be coated technical treatment refer to by seed be placed on containing insecticide, fungicide, compound fertilizer,
In the seed coat agent of the Multiple components of microelement, plant growth regulator and water-retaining agent.
4. the unmanned plane accurate forest planting method according to claim 1 based on GNSS RTK location technology, feature
Be: the seed emissions machine includes shell, is successively arranged seed body installation cavity, transmitting push chamber in the shell from right to left
And compressed air cell, the exit of the seed installation cavity are equipped with seed catch bar, the seed catch bar is connected with driving
Mechanism, and its pushing direction is directed toward the outlet of transmitting push chamber, the exit for emitting push chamber is connected with seed emissions pipe, emits
Pushing structure is installed in push chamber, and emits push chamber and is connect with compressed air cell, the compressed air cell is connected with direct current
Air pump, has inside also been mounted on sealing-plug, and sealing-plug is connected with solenoid valve, solenoid valve, direct current air pump and driving structure with kind
Plant the controller connection of unmanned plane.
The system 5. a kind of unmanned plane based on GNSS RTK location technology is precisely planted trees, it is characterised in that: including to carry
The geographical mapping unmanned plane of GNSS RTK system, the tree planting unmanned plane for carrying GNSS RTK system, ground control station, seed body and
Seed emissions machine, seed body include the warhead shape shell of the seed of internal layer, the coatings in middle layer and outer layer, the seed body installation
It is mounted in seed emissions machine, then by the seed emissions machine of mounted seed body to carry the tree planting nothing of GNSS RTK system
On man-machine；With carry GNSS RTK system tree planting unmanned plane and with carry the geographical mapping unmanned plane of GNSS RTK system with
Ground control station connection treats afforestation region to carry the geographical mapping unmanned plane of GNSS RTK system and carries out aerial survey and obtaining ground
Map datum and plantation point are sent to ground control station, ground control by diagram data, and the label plantation point on map datum
Data according to the map of standing and plantation point planning operation course line, obtain map number to carry the tree planting unmanned plane of GNSS RTK system
According to, plantation point and planning operation course line, tree planting unmanned plane according to planning operation course line autonomous flight to plantation point after control seed
Transmitter launches seed body to planting a little.
The system 6. unmanned plane according to claim 5 based on GNSS RTK location technology is precisely planted trees, feature
Be: the warhead shape shell by can the material of natural degradation in the soil be made.
The system 7. unmanned plane according to claim 5 based on GNSS RTK location technology is precisely planted trees, feature
Be: the coatings include insecticide, fungicide, compound fertilizer, microelement, plant growth regulator and water-retaining agent.
The system 8. unmanned plane according to claim 5 based on GNSS RTK location technology is precisely planted trees, feature
Be: the seed emissions machine includes shell, is successively arranged seed body installation cavity, transmitting push chamber in the shell from right to left
And compressed air cell, the exit of the seed installation cavity are equipped with seed catch bar, the seed catch bar is connected with driving
Mechanism, and its pushing direction is directed toward the outlet of transmitting push chamber, the exit for emitting push chamber is connected with seed emissions pipe, emits
Pushing structure is installed in push chamber, and emits push chamber and is connect with compressed air cell, the compressed air cell is connected with direct current
Air pump, has inside also been mounted on sealing-plug, and sealing-plug is connected with solenoid valve, solenoid valve, direct current air pump and driving structure with kind
Plant the controller connection of unmanned plane.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119032687A (en) * | 2024-08-28 | 2024-11-29 | 北京林业大学 | Unmanned aerial vehicle puts in formula fly bomb formula planting device |
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