CN204279954U - A kind of unmanned plane of variable spray agricultural chemicals - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle for variable-variable spraying of pesticides, comprising a fuselage, a spraying system installed on the fuselage, and a control system for controlling the spraying amount of the spraying system according to the flight speed of the fuselage, and is characterized in that: The spraying system is provided with multiple groups of nozzles arranged laterally along the fuselage, and the spraying amount of each group of nozzles is independently controlled by the control system. The utility model’s variable-variable pesticide spraying drone and method can effectively improve the uniformity of pesticide spraying, avoid damage to plants caused by excessive pesticide spraying or under-spraying, and the spraying effect is not up to standard, ensuring the normal growth of plants and reducing pesticide spraying. The amount of use, saving costs; and realize fully automatic control, improve the level of automation and reduce the difficulty of operation.

Description

A drone that sprays pesticides variable

technical field

The utility model relates to the application technology of an unmanned aerial vehicle, in particular to an unmanned aerial vehicle for variable-variable spraying of pesticides.

Background technique

Under the current high labor cost and increasing land area, farmers have higher and higher demand for mechanization of farmland operations, and plant protection drones have become a kind of operation machinery with good quality, high efficiency and low harm to human body. . Since Japan in the 1980s, drones have been used in crop dusting and other tasks, and now they have become a model for the application of plant protection drones.

At present, the flying speed of the plant protection drone in the field is not uniform, while the spraying speed remains unchanged. During the take-off and turning process, a period of slow and long-lasting acceleration is required, so that during this period of time, the drone will be under the aircraft. An area of overspray is formed, while areas of underspray are formed in some places where the velocity is higher.

In order to solve the above problems, some researchers have proposed a drone that can control the amount of spraying. The patent document with publication number CN 104041477 A discloses a spraying system for a remote-controlled flying plant protection drone, including an electronic regulator, an electronic The power supply end of the regulator is connected to an external battery, the input end of the electronic regulator is electrically connected to the signal receiver, the output end of the electronic regulator is electrically connected to the power supply end of the spraying pump, the input end of the spraying pump is connected with a suction tube, and the suction tube The end is arranged in the liquid medicine bucket, the output end of the spraying pump is connected with the spraying device through the liquid medicine delivery pipe, and the signal receiver is wirelessly connected with the remote controller. The utility model has a simple and compact structure. The electric quantity supplied to the spraying pump is adjusted through an electronic regulator. When the flight speed of the aircraft changes, the amount of liquid medicine absorbed by the spraying pump changes, thereby realizing the supply change of the liquid medicine amount of the spraying device. .

The above-mentioned UAV adjusts the spraying amount through external remote control signals. Although the spraying amount can be adjusted to a certain extent, it is difficult to control the accuracy of the external remote control signal. Therefore, in order to improve the accuracy of adjustment , and a researcher has proposed a kind of drone spraying method again, and the patent document of publication number CN 102591302 A discloses a kind of operating method of drone spraying pesticide, and described method comprises the following steps: calculate spraying system parameter W, K and the spraying dose P per unit area are transmitted to the flight control system of the UAV through the ground station; the GPS module obtains the flight speed v of the UAV; The spraying dose P and the flight speed V calculate the liquid pump control voltage U; the liquid pump control voltage U drives the liquid pump to work, and sprays the pesticide through the nozzle. This operation method can accurately calculate the control voltage U of the liquid pump according to the characteristics of different crops, pesticide types, pesticide dilution ratios, spraying doses per unit area P, and combined with the flight speed V of the drone, to achieve precise control of the spraying flow , so that the amount of pesticide spraying per unit area is uniform, which improves the adaptability of drone spraying pesticides, and effectively reduces the waste of pesticides and environmental pollution.

However, the flight speed detected by GPS has large errors, and the effect is not ideal in practical applications. Therefore, it is necessary to do further research on the measurement of the flight speed of UAVs.

Utility model content

The utility model proposes an unmanned aerial vehicle for variable-variable spraying of pesticides, which improves the uniformity of pesticide spraying and avoids damage to plants caused by excessive spraying of pesticides and substandard effects caused by under-spraying.

An unmanned aerial vehicle for variable spraying of pesticides, including a fuselage and a spraying system installed on the fuselage, and a control system for controlling the spraying amount of the spraying system according to the flight speed of the fuselage. There are multiple groups of nozzles arranged horizontally on the fuselage, and the spraying amount of each group of nozzles is independently controlled by the control system.

The linear velocity and rotational angular velocity of the fuselage can be tested at the same time through the optical flow sensor. During the turning process, the flight linear velocity of each part of the fuselage is different. If you still spray at the same spraying flow rate at this time, it will still cause a certain degree of spraying. uneven. Therefore, in order to further improve the spraying uniformity of the utility model, the spraying amount of each group of nozzles is independently controlled by the control system, and the spraying amount is adjusted according to the speed of the fuselage where each group of nozzles is located, thereby improving The uniformity of spraying by the drone during the turn. There are many ways to determine that the UAV is turning. The simplest method is to manually judge that the UAV is turning, and then transmit the signal of spraying amount to the control system by transmitting wireless signals. Groups of nozzles spray unequal amounts.

In order to facilitate the control and adjustment of the spraying amount, preferably, the spraying system includes at least two sets of spraying units, and each set of spraying units includes a medicine tank, a spray rod, and an infusion pump that delivers the liquid medicine from the medicine tank to the spray rod , one set of nozzles is provided on the spray rod.

There are many ways to control the spraying amount, for example, the size of the nozzle can be adjusted directly, but the accuracy of this adjustment method is not high, therefore, in order to control the spraying amount more accurately, preferably, the infusion pump is connected through a circuit Into and controlled by the control system to adjust the spraying amount of a corresponding group of nozzles. The spraying amount is controlled by controlling the infusion pump, which has high precision, mature technology, and is easy to control through electrical signals.

In order to realize automatic control, preferably, the fuselage is equipped with sensors for detecting the flight linear velocity at different positions in the lateral direction of the fuselage, so as to send a spray amount control signal to a group of nozzles corresponding to the position.

In order to simplify the structure, preferably, the sensor is an optical flow sensor installed below the fuselage. The optical flow sensor can test the flight linear velocity and angular velocity of the fuselage at the same time, so that the current linear velocity of each part of the fuselage can be obtained by calculation.

In order to reduce line-of-sight interference from the lens, preferably, the lens of the optical flow sensor faces directly below the fuselage.

In order to facilitate calculation and reduce calculation errors, preferably, the lens of the optical flow sensor is installed on the central axis of the fuselage. During the shooting process of the lens, the center position of the picture is always corresponding to the central axis of the fuselage. Therefore, the process of calculating the flight linear velocity and angular velocity of the fuselage through a specific point can be simplified.

The beneficial effects of the utility model:

The utility model’s variable-variable pesticide spraying drone and method can effectively improve the uniformity of pesticide spraying, avoid damage to plants caused by excessive pesticide spraying or under-spraying, and the spraying effect is not up to standard, ensuring normal growth of plants, and reducing pesticide spraying. The amount of use, saving costs; and realize fully automatic control, improve the level of automation and reduce the difficulty of operation.

Description of drawings

Fig. 1 is a structural schematic diagram of the unmanned aerial vehicle of the present invention.

Fig. 2 is a structural schematic diagram of the bottom of the drone of the present invention.

FIG. 3 is a data pattern diagram of a high refresh rate captured by the lens of the present invention.

Fig. 4 is a structural schematic diagram of the wiring arrangement of the control system.

Detailed ways

As shown in Figures 1 to 4, the drone of this embodiment includes a fuselage 1 and an optical flow sensor 2 with a lens 21 installed on the fuselage 1 facing down for detecting the flight speed of the drone, and a spraying system 3 , the control system 4 for controlling the spraying amount of the spraying system 3 according to the flight speed of the fuselage and the display system 5 for displaying the current flow rate.

In this embodiment, the fuselage 1 of the drone is a single-rotor drone, and a multi-rotor drone may also be used.

The optical flow sensor 2 is located under the fuselage 1, and is designed by ADNS3080 with a lens 21, installed on the central axis 11 of the fuselage 1, and the lens 21 is arranged facing downward. The optical flow sensor 2 is connected to the body 1 through the self-stabilizing pan-tilt 22 , and the self-stabilizing pan-tilt 22 is connected to the body 1 through a soft elastic silicone ball 23 to reduce the interference of the low-frequency vibration of the body to the optical flow sensor 2 .

The spraying system 3 includes two sets of spraying units, each spraying unit includes a medicine box 31, a spray bar 32, and an infusion pump 33 for transporting the liquid medicine from the medicine box 31 to the spray bar 32, and the spray bar 32 is provided with a group of nozzles 34. The two spray bars 32 have the same structure and are symmetrically arranged on both sides of the central axis 11 of the fuselage 1. The infusion pump 33 is a DC gear pump. Among them, the medicine boxes can be shared, so that the balance of the fuselage will not be affected due to the change of the amount of liquid medicine in each medicine box, and the balance of the fuselage can be better maintained. It is also possible to combine the two medicine boxes through pipelines before supplying liquid, which can also achieve the effect of maintaining the balance of the fuselage. The control system 4 separately controls the rotational speed of the infusion pump 33 to control the spraying amount of each spraying unit.

The control system 4 is an MCU, using Arduino Uno, and the optical flow sensor 2 communicates with the Arduino Uno through the SPI serial bus; the display system 5 includes a mounting board 51, a display screen 52, and two buttons 53 for adjusting the spraying amount per unit area, and a mode switch button 54, return key 55, the four keys are respectively connected to the GPIO port of Arduino Uno, Arduino Uno collects the number of high edges generated by the key switch and accumulates them, the display screen 52 uses LCD1602, and Arduino Uno communicates with LCD1602 through the data bus.

The circuit connection between Arduino Uno and the high-frequency DC motor drive board 35 of each infusion pump 33 and ADNS3080 is shown in FIG. 4 .

A flow sensor composed of a Hall element 6 is also provided to measure the total flow of the spraying system 3, and it is directly displayed on the LCD1062. The relationship between the Hall element and the flow is:

F＝0.222*SpinCount+320.7

The refresh cycle is 25ms, where F is the flow rate per unit time, and SpinCount is the number of high edges generated by the Hall sensor per unit time. The relationship between the above flow rate and the number of high edges is obtained from the following data fitting curve:

serial number f Spincount serial number f Spincount serial number f Spincount 1 210 618 11 540 2108 twenty one 758 3047 2 240 765 12 565 2196 twenty two 768 3101 3 271 965 13 587 2300 twenty three 790 3205 4 301 1086 14 600 2363 twenty four 808 3272 5 338 1246 15 638 2467 25 818 3312 6 372 1387 16 645 2562 26 830 3388 7 403 1534 17 663 2629 27 841 3446 8 433 1650 18 687 2726 28 855 3494 9 488 1879 19 707 2814 29 863 3548 10 515 1992 20 720 2878 30 872 3583

serial number f Spincount serial number f Spincount serial number f Spincount 31 887 3639 41 995 4161 51 1098 4617 32 888 3647 42 1014 4182 52 1103 4643 33 918 3752 43 1012 4202 53 1111 4683 34 922 3810 44 1032 4317 54 1119 4708 35 944 3909 45 1048 4348 55 1130 4776 36 952 3948 46 1058 4419 56 1138 4852 37 963 3992 47 1070 4487 57 1157 4904 38 978 4053 48 1021 4502 58 1172 5003 39 990 4109 49 1081 4532 59 1191 5097 40 1000 4155 50 1095 4591

The unmanned aerial vehicle of the present embodiment uses the process as follows:

1. Start the optical flow sensor. The lens of the optical flow sensor provides real-time speed calculation with a high refresh rate within 30pixel×30pixel. The resulting data format is shown in Figure 3, and the walking speed and axial rotation of each feature point in the image will be obtained. Velocity, obtained by calculating the fuselage is the combination of angular velocity α and linear velocity V, and the linear velocity of the left and right fuselages,

The flight linear velocity of the right fuselage is:

The flight linear speed of the left fuselage is:

L is the total spraying width of the fuselage, V ₁ is the linear velocity of the current fuselage, α is the rotational angular velocity of the current fuselage, and the angular velocity is positive when it rotates counterclockwise;

2. The control system 4 receives the above-mentioned data on the linear velocity of the left and right fuselages, calculates the required spraying speeds of the left and right fuselages respectively according to the following formula, and controls the speed of the corresponding infusion pump to adjust the flow rate. The relationship between flight speed is as follows:

F＝ _QV2A

F is the drug supply flow rate of the infusion pump, Q is the spraying amount per unit area of the planting ground, A is the spraying width, and V ₂ is the linear velocity of the corresponding fuselage.

The width of spraying on the left and right sides is the same, both are 0.5L, which is brought into the above formula to calculate the spraying flow required by the spraying units on the left and right sides, which are respectively:

3. The MCU outputs a corresponding PWM control signal to the high-frequency DC motor drive board 35 of the gear pump, and the gear pump motor is driven to rotate according to the required flow rate to obtain the required flow rate. The matching function of spraying drug flow rate and PWM is:

F＝8.396e ^-5 *PWM ³ -0.04924*PWM ² +11.93*PWM-49.03

The relationship is obtained by fitting the curve with the following data:

In summary, the drone and method of variable spraying pesticides in this embodiment can effectively improve the uniformity of pesticide spraying, avoid damage to plants caused by excessive spraying of pesticides or substandard spraying effects caused by underspraying, and ensure normal growth of plants , It also reduces the use of pesticides and saves costs; and realizes fully automatic control, which improves the level of automation and reduces the difficulty of operation.

Claims (7)

1. An unmanned aerial vehicle for variable spraying of pesticides, comprising a fuselage and a spraying system installed on the fuselage, and a control system for controlling the spraying amount of the spraying system according to the flight speed of the fuselage, wherein the spraying The spraying system is provided with multiple groups of nozzles arranged laterally along the fuselage, and the spraying amount of each group of nozzles is independently controlled by the control system. 2. the unmanned aerial vehicle of variable spraying pesticide as claimed in claim 1, is characterized in that, described spraying system comprises at least two sets of spraying units, and every cover of spraying unit comprises medicine box, spray bar and sprays liquid medicine automatically The medicine tank is delivered to the infusion pump of the boom on which one of the sets of nozzles is located. 3. The unmanned aerial vehicle for variable spraying of pesticides according to claim 2, wherein the infusion pump is connected to and controlled by the control system through a circuit to adjust the spraying amount of a corresponding group of nozzles. 4. The unmanned aerial vehicle for variable spraying of pesticides as claimed in claim 1, characterized in that, the fuselage is provided with sensors for detecting the flight linear velocity at different positions in the lateral direction of the fuselage, in order to provide a set of nozzles corresponding to the position Send spray volume control signal. 5. The drone for variable pesticide spraying according to claim 4, wherein the sensor is an optical flow sensor installed below the fuselage. 6. The drone for variable-variable spraying of pesticides according to claim 5, wherein the lens of the optical flow sensor faces directly below the fuselage. 7. The drone for variable pesticide spraying according to claim 6, wherein the lens of the optical flow sensor is installed on the central axis of the fuselage.