CN205366078U - Unmanned aerial vehicle intelligence sprinkling system - Google Patents

Abstract

The utility model provides an intelligent spraying system for drones, including: a drone self-driving system, a drone flight height measurement sensor, a drone flight speed measurement sensor, and a pesticide spraying system mounted on the drone; the pesticide spraying system Including water storage tank, variable speed water pump, connecting rod and n nozzles; the input end of the UAV self-driving system is respectively connected with the UAV flight height measurement sensor and the UAV flight speed measurement sensor; the output end of the UAV self-driving system is passed through The digital-to-analog converter is connected with the control terminal of the variable-speed water pump. The advantages are: the pesticide spraying system mounted on the drone is controlled by the drone self-driving system, specifically: the spraying amount of the pesticide spraying system is adjusted and controlled according to the flying height and speed of the drone, so as to ensure uniform spraying of pesticides On crops, improve the utilization rate of pesticides and realize the precise operation of pesticide spraying.

Description

UAV intelligent spraying system

technical field

The utility model relates to a spraying system, in particular to an intelligent spraying system for an unmanned aerial vehicle.

Background technique

With the continuous development and maturity of UAV technology, it is currently widely used to carry out pesticide spraying devices on UAVs to carry out pesticide spraying operations to achieve the purpose of efficiently preventing and controlling pests and diseases, and at the same time liberate ground manual operations from heavy physical labor. A research subject of concern.

Although the related technology can achieve a certain degree of practical purpose, in the process of realizing the utility model, the inventor found that when the drone equipped with the spraying device is performing the spraying operation, since the spraying amount of the spraying device is fixed, However, the flight speed and altitude of the UAV will continue to change during the flight, which will lead to uneven spraying of pesticides and the problem of low utilization of pesticides.

Utility model content

Aiming at the defects in the prior art, the utility model provides an intelligent spraying system for drones, which can effectively solve the above problems.

The technical scheme that the utility model adopts is as follows:

The utility model provides an intelligent spraying system for drones, including: a drone self-driving system, a drone flight height measurement sensor, a drone flight speed measurement sensor, and a pesticide spraying system mounted on the drone;

Wherein, the pesticide spraying system includes a water storage tank, a variable speed water pump, a connecting rod and n nozzles; n is a natural number; the n nozzles are uniformly fixed on the connecting rod, and the connecting rod is arranged below the drone; The water inlet of the variable-speed water pump communicates with the water storage tank, and the outlet of the variable-speed water pump is connected with each of the nozzles respectively; It is connected with the UAV flight speed measurement sensor; the output end of the UAV self-driving system is connected with the control end of the variable speed water pump through a digital-to-analog converter.

Preferably, the UAV flight height measurement sensor and the UAV flight speed measurement sensor are built-in or external devices of the UAV self-driving system.

Preferably, a liquid level gauge is installed inside the water storage tank; the output end of the liquid level gauge is connected to the UAV self-driving system.

Preferably, it also includes a UAV telemetry transmission link and a UAV ground station system; the UAV self-driving system is bidirectionally connected to the UAV ground station system through the UAV telemetry transmission link.

The UAV intelligent spraying system provided by the utility model has the following advantages:

(1) Control the pesticide spraying system mounted on the drone through the drone self-driving system, specifically: adjust and control the spraying amount of the pesticide spraying system according to the flying height and speed of the drone, so as to ensure uniform spraying of pesticides On crops, improve the utilization rate of pesticides and realize the precise operation of pesticide spraying.

(2) The modification to the existing unmanned aerial vehicle is small, has the advantage of low modification cost, and is easy to popularize and use.

Description of drawings

Fig. 1 is a structural schematic diagram of the UAV intelligent spraying system provided by the utility model.

detailed description

In order to make the technical problems, technical solutions and beneficial effects solved by the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

The utility model provides a UAV intelligent spraying system, which controls the pesticide spraying system mounted on the UAV through the UAV self-driving system, specifically: spraying the pesticide spraying system according to the flying height and flight speed of the UAV Adjust and control the amount of pesticides, so as to ensure that the pesticides are evenly sprayed on the crops, improve the utilization rate of pesticides, and realize the precise operation of pesticide spraying.

Specifically, in conjunction with Figure 1, the UAV intelligent spraying system provided by the utility model includes: UAV self-driving system, UAV flight height measurement sensor, UAV flight speed measurement sensor and pesticides mounted on UAV sprinkler system;

Among them, the pesticide spraying system includes a water storage tank, a variable-speed water pump, a connecting rod, and n nozzles; n is a natural number, for example, n can be 4; n nozzles are uniformly fixed on the connecting rod, and the connecting rod is arranged below the drone; The water inlet of the water pump is connected to the water storage tank, and the outlet of the variable-speed water pump is connected to each nozzle; the input end of the UAV self-driving system is respectively connected to the UAV flight height measurement sensor and the UAV flight speed measurement sensor; The output end of the self-driving system is connected with the control end of the variable-speed water pump through a digital-to-analog converter. A liquid level gauge is installed inside the water storage tank; the output end of the liquid level gauge is connected to the UAV self-driving system. By installing the liquid level gauge, the UAV self-driving system can realize the purpose of real-time monitoring of the water stored in the water storage tank. When the water stored in the water storage tank is insufficient, an alarm is given.

In the utility model, the UAV self-driving system can obtain the UAV flight height and UAV flight speed in real time through the UAV flight height measurement sensor and the UAV flight speed measurement sensor, and then use any control algorithm to calculate The control amount of the variable-speed water pump is obtained, and finally the effect of controlling the variable-speed water pump to adjust the spraying amount of n nozzles synchronously is realized.

In practical applications, the UAV self-driving system itself has a built-in UAV flight height measurement sensor and a UAV flight speed measurement sensor. Therefore, the UAV self-driving system can obtain the UAV flight height and UAV flight speed in real time. In this way, there is no need to add additional hardware equipment to the drone. On the one hand, it saves the cost of refitting the drone; on the other hand, it does not increase the weight of the drone, ensuring that no one aircraft flight performance.

Of course, due to the limited data acquisition accuracy of the UAV flight height measurement sensor and UAV flight speed measurement sensor built into the UAV self-driving system, according to actual needs, when it is necessary to further improve the spraying accuracy, an external The lightweight and high-precision UAV flight height measurement sensor and UAV flight speed measurement sensor enable the UAV flight height measurement sensor and UAV flight speed measurement sensor to be connected with the UAV self-driving system. Figure 1 is a schematic diagram of the external layout.

In addition, it also includes the UAV telemetry transmission link and the UAV ground station system; the UAV self-driving system is connected to the UAV ground station system in two-way communication through the UAV telemetry transmission link. At this time, the UAV self-driving system can use two modes to obtain the control amount of the variable speed water pump, which can be flexibly set according to actual needs, and the utility model does not limit this:

The first mode: the UAV self-driving system can directly calculate the control amount of the variable speed water pump on the plane according to the flight altitude and flight speed.

The second mode: the UAV self-driving system can send the flight altitude and flight speed to the UAV ground station system. The UAV ground station system calculates the control amount for the variable speed water pump according to the flight altitude and flight speed. The human-machine ground station system then sends the control amount back to the UAV self-driving system.

It should be emphasized that, no matter the control quantity is calculated by the UAV self-driving system itself or the control quantity is calculated by the UAV ground station system, the utility model calculates the control quantity of the variable speed water pump according to the flight height and flight speed. It is not limited, any known algorithm in the prior art can be used, and the utility model can solve the related problems in the prior art without improving the algorithm part. But, in order to fully explain the utility model, introduce a kind of concrete realization algorithm below:

Assuming that the flying height of the drone is H, the flying speed is v, the width of the spraying width of the drone, that is, the width of the connecting rod is W, and the spraying amount per second of the spraying device is M, then the amount of medicine per unit area n can be calculated by the following formula:

n=M/(v×w)

The relationship between flight height and spray width can be determined by experiment, if it is W=λH, and λ is a constant, then:

n=M/(v×λH)

Then, when the amount of medicine per unit area is required to be constant, the relationship between the spraying amount M of the spraying device per second and the flight height and flight speed is:

M=n×v×λH

This formula shows that the spraying amount of the spraying device is directly proportional to the flying speed of the drone, and also proportional to the flying height. The control of the spray flow can be realized by adjusting the voltage of the variable speed water pump. That is to say, the flow calculated by the above formula is converted into the corresponding control voltage and output to the variable speed water pump.

In summary, the UAV intelligent spraying system provided by the utility model has the following advantages:

(1) Control the pesticide spraying system mounted on the drone through the drone self-driving system, specifically: adjust and control the spraying amount of the pesticide spraying system according to the flying height and speed of the drone, so as to ensure uniform spraying of pesticides On crops, improve the utilization rate of pesticides and realize the precise operation of pesticide spraying.

(2) The modification to the existing unmanned aerial vehicle is small, has the advantage of low modification cost, and is easy to popularize and use.

The above is only a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made, these improvements and Retouching should also be considered within the protection scope of the present utility model.

Claims (4)

1. An unmanned aerial vehicle intelligent spraying system, is characterized in that, comprises: unmanned aerial vehicle self-driving system, unmanned aerial vehicle flight height measuring sensor, unmanned aerial vehicle flight speed measuring sensor and the pesticide spraying system carried on unmanned aerial vehicle; Wherein, the pesticide spraying system includes a water storage tank, a variable speed water pump, a connecting rod and n nozzles; n is a natural number; the n nozzles are uniformly fixed on the connecting rod, and the connecting rod is arranged below the drone; The water inlet of the variable-speed water pump communicates with the water storage tank, and the outlet of the variable-speed water pump is connected with each of the nozzles respectively; It is connected with the UAV flight speed measurement sensor; the output end of the UAV self-driving system is connected with the control end of the variable speed water pump through a digital-to-analog converter. 2. The drone intelligent spraying system according to claim 1, wherein the drone flight height measurement sensor and the drone flight speed measurement sensor belong to the built-in equipment of the drone self-driving system or external device. 3. The drone intelligent spraying system according to claim 1, wherein a liquid level gauge is installed inside the water storage tank; the output end of the liquid level gauge is connected with the self-driving system of the drone. 4. The drone intelligent spraying system according to claim 1, further comprising a drone telemetry transmission link and a drone ground station system; the drone self-driving system passes through the drone The telemetry transmission link is bidirectionally connected with the UAV ground station system.