WO2019031993A1 - Unmanned aerial vehicle for treating plants - Google Patents

Abstract

An unmanned aerial vehicle for treating plants comprises a housing, a propeller assembly arranged on shafts connected to the housing, a plant treatment system mounted on the multi-rotor system, a tank containing chemicals for treating plants, a module for controlling the plant treatment system, a module for narrowband multi-spectral photo recording, a battery, a sensor for monitoring the battery charge, a computing unit, a memory unit, a navigation system, and means for wirelessly receiving and transmitting information. The invention allows automatic monitoring and treatment of plants.

Description

 UNCLEANED TREATMENT APPARATUS FOR PLANT TREATMENT

TECHNICAL FIELD

 The technical solution relates to the field of robotics and agricultural technology, in particular, the design of unmanned aerial vehicle (UAV) used in agriculture for fertilizer application, spraying plants and monitoring crop yields.

 BACKGROUND

 Known design of the UAV, designed for automated spraying of plants (US 20130068892 A1, Desa et al., 03/21/2013). This solution is a UAV, on board of which a plant spray system is installed, connected to a tank with a liquid chemical and controlled by the flow of liquid through a pump. The UAV is controlled by the computing module (processor), receiving commands from the user who is controlling the UAV using the wireless control panel.

 The disadvantages of this design is its limited functionality, due to the fact that the UAV cannot perform the necessary work on its own without user intervention, and the inability to analyze plant yields using the multispectral camera surveys to calculate the vegetative index NDVI (Normalized Difference Vegetation Index).

 DISCLOSURE OF USEFUL MODEL

 To solve an existing technical problem, the claimed solution offers a new UAV design, equipped with means for monitoring and spraying plants in an automated manner.

 The technical result is the provision of an automated process of spraying plants on the basis of monitoring plant vegetativeness and ensuring the dosed introduction of chemicals through the use of a multi-rotor spraying system.

 Additionally, the arsenal of agricultural UAVs for monitoring and spraying vegetation is also expanding.

Declared a UAV for processing plants contains a case inside which are installed: a battery, a computing unit, a memory unit containing information about the coordinates of the flight path of the UAV, a navigation system, means for wireless reception and transmission of information; propeller group consisting of brushless motors, stroke regulators and screws located on the beams connected to the housing, installed on the housing a plant treatment system installed on a multi-rotor system, a container with plant processing chemicals, connected to a plant processing system, a processing system control module plants, a narrow-band multispectral photo fixing module, configured to obtain spectral images of plants, a battery charge control sensor - the computing unit is configured to process data from the plant processing area received from the narrow-band multispectral photo fixing module and external sources of information, build a flight route map based on the information received, and transfer data to the processing system control module, which is capable of activating and controlling spraying power plants and the computing unit is connected to a sensor for checking the level of chemicals that is capable of generating a signal for the computing unit about the need to return the UAV for refueling when it reaches a predetermined level of chemicals, and a sensor for monitoring the battery charge that is configured to generate a signal for the computing unit about the need to return the UAV for battery replacement.

 In the private embodiment, the installation rays of the propeller motor group are removable.

 In another particular embodiment, the rays are attached to the housing by means of a detachable connection.

 In another particular embodiment, the plant treatment system is at least one generator of hot or cold mist, or a nozzle sprayer.

 In another particular embodiment, the chemical container is connected via a hose to a plant treatment system.

 In another private implementation, the tank is installed on the ground and contains a pump adapted to provide access of the chemical to the UAV.

 In another private implementation, the capacity is attached to the body of the UAV.

 In another private implementation option additionally contains a sensor for checking the level of chemicals installed in the tank and connected to the computing unit, and configured to generate a signal for the computing unit to return the UAV for refueling when the specified level of chemicals is reached.

 In another particular embodiment, the housing includes dust / moisture protection.

 In another private implementation, the housing is made in the form of a monocoque.

 In another private embodiment, the implementation of the computing unit is made in the form of a processor or microcontroller.

 In another private embodiment, the implementation of the memory block is made in the form of a flash memory module.

 In another private implementation, the means of wireless data receiving and receiving are a Wi-Fi module, a GSM module or a Bluetooth module.

 In another private implementation, the navigation system is designed as a satellite coordinates receiver in the GPS / rjIOHACC / BeiDou / Galileo system, or combinations thereof.

 In another particular embodiment, the narrow-band photo-fixing module is designed as a narrow-band multispectral camera for monitoring plant health.

 In another particular embodiment, the housing and the equipment installed on it contains a hydrophobic coating.

 BRIEF DESCRIPTION OF THE DRAWINGS

 FIG. 1 illustrates the general scheme of the elements of the UAV.

 FIG. 2 illustrates a general view of a UAV.

 FIG. 3 illustrates the monitoring and spraying of plants.

 DETAILED DESCRIPTION OF THE USEFUL MODEL

As shown in FIG. 1 The structure of the UAV (100) includes a number of elements that are interconnected by a common data bus (150) for transmitting signals and control information, in particular: computational unit (101), memory unit (102), navigation system (103), means of reception and transmission (104), plant processing system (106), controlled by the control module (105), narrow-band multispectral photo fixation module (107) , battery charge control sensor (108), liquid chemical container (109) and battery (110).

 Computing unit (101) may be a processor, microcontroller, FPGA chip, etc.

 The memory block (102) can be executed in the form of various types of devices for storing information, for example, flash-based media (SD cards), SSD disk, HDD disk, or combinations thereof.

 The navigation system (103) on board the UAV (100) can be performed on the basis of known chips operating in GPS / rjlOHACC / Galileo / BeiDou systems. Combined modules can be used to work simultaneously in several GNSS / GNSS systems (Global Satellite Navigation System / Global Navigation Satellite Systems) simultaneously realizing the reception of satellite coordinates from these systems.

 Reception-transmission facilities (104) are mainly devices that provide wireless communication and data exchange, in particular, a GSM modem, Wi-Fi transceiver, Bluetooth module, NFC module, RFID, ZeegBee, etc.

 The spraying system (106) is a multi-rotor system controlled by an appropriate module (105), which is controlled by a computing unit (101). System (106) can be implemented in the form of one or more generators of hot or cold mist, or a nozzle sprayer. System (106) is connected to a liquid chemical tank (109) for performing the spraying procedure.

 The narrowband multispectral photo fixation module (107) is used to monitor the UAV flyby zone, in particular, to obtain images from which the plant spray area is determined. The module (107) contains a narrow-band multispectral camera for obtaining NDVI data, which are used to determine the lack of moisture and plant soreness.

 The elements of the UAV (100) are controlled using a rechargeable battery (110), to which the battery charge control sensor (108) is also connected, signaling the battery charge level (110) and generating a signal for the computing unit (101) to return the UAV (100) for recharging or replacing the battery (110).

 On Fig.2 presents a General view of the UAV (100). The movement of the UAV (100) is carried out with the help of a propeller group consisting of brushless motors, travel regulators and screws (111) located on the beams (112) connected to the hull. Rays (112) can be made removable and connected to the UAV case (100) using a detachable connection (113). This principle ensures the prompt replacement of the beam (112) in case of its breakdown or the fall of the UAV (100).

The body of the UAV (100) can be of various shapes, the most preferred is the shape of a monocoque. The case has a dust / moisture protection, for example, according to the IP65 standard, and the elements of the UAV (100) can be covered with a hydrophobic coating for the safety of their work. A container (109) containing chemicals can be attached to the body of a UAV (100), for example, by means of a bolt joint, or placed on the ground and connected to a plant processing system (106) by means of a hose. The container (109) contains a pump to provide a spray liquid. Additionally, a liquid level control sensor can be installed in the tank (109), which signals the number of chemicals and a signal is generated for the computing unit (101) to return the UAV (100) to refuel the tank (109), when the tank is installed on the UAV case ( 100) .

 If the tank (109) is installed on the ground, the chemical level sensor generates a signal to transmit it to the operator’s mobile device, for example, a smartphone, tablet or laptop.

 According to FIG. 3, the operation of the UAV (100) is as follows. UAV (100) is delivered to the work area and is activated. The activation of the UAV (100) can be performed using the controls installed on the UAV (100) or using a specialized software application.

 The memory (102) of the UAV (100) contains data for processing the necessary zone with plants, in particular, the flight route, data on the cultivated crop in the fly zone, a map of vegetation. Also, the UAV (100) can synchronize data with a server that contains data of vegetation maps, in particular, information about the cultivated crop.

 The elements of the declared UAV (100) are fixed between themselves and the supporting elements of the structure, for example, the housing, with the help of a wide range of assembly operations, for example, screwing, articulation, adhesions, riveting, etc., depending on the most suitable method of fastening the elements.

 Having processed with the help of the computing unit (101) data on the state of the plants currently synchronized using the navigation system or the GSM module, the UAV (100) builds a flight mission with an autonomous flight and processing route. After processing the plants, the UAV (100) independently returns to a specialized container to replace the power source, or if the charge level becomes critically low during the processing of the plants. After processing the entire area of the UAV (100) returns to the container, closes and signals the end of the work.

 The UAV (100) is capable of operating in two modes: a continuous monitoring mode with a parameter removal period, for example, 1 sec. / 10 sec. / 30 sec. / 1 minute. / 5 minutes; and the point measurement mode at the moment of triggering the shutter of the narrowband multispectral photo fixing module (107). The obtained information from the module (107) is processed by the computing unit (101) and recorded in the memory (102).

 The data obtained during the monitoring are available for analysis and are used together with the NDVI graphic data for their refinement and correction for external conditions at the time of the survey.

NDVI is one of the most common and used indices for solving problems using quantitative estimates of vegetation cover. This index is used to quantify biomass in agricultural fields, as well as to analyze the condition of plants and identify diseases in plants. When flying at low altitudes, up to 20m. UAV (100) performs a crop survey in high resolution. After that, it carries out a verification of the initially specified parameters of the presence of a disease.

 NDVI measurement is carried out using the ratio of the intensity of reflected radiation from plants in different ranges of light radiation. For this, it is necessary to use specialized multispectral means of photo fixation (camera).

 Having a GNSS binding (GPS, GLONASS), the UAV (100) recognizes its position at the time of launch and via GSM networks synchronizes the data on the fields within the range of the cultures growing on them. Thus, the preparation for monitoring and adjustment of the initial input parameters takes place. UAV (100) has the ability to synchronize with satellite maps, for more information about the territory of the monitoring.

 Also, by recognizing individual sprouts for some crops, or the ratio of the area of a cultivated plant to the free land in the photo for others, the UAV software (100) can count the number of plants. Further, using the coefficients, the useful biomass in a given territory is calculated.

 The UAV (100), on the basis of the information received in the process of performing the spraying procedure, conducts field surveys and builds plant health cards, on the basis of which chemical maps and flyby routes are constructed. The data obtained when shooting plants are processed using the computing unit (101). Also, the received information can be transmitted using the means (104) to a remote server or the mobile device of the operator.

 The map and data of the application of chemicals contains information on the required dose of application in different areas of the treated area. The map also contains the optimal flight route of the UAV (100) for the introduction of chemicals. The optimal route is the movement path of the UAV (100) in the plant processing area with the shortest (shortest) distance from one crop to another to be treated with chemicals, which leads to a reduction in the time spent on processing plants, thereby increasing productivity (maximum number of treated foci for the minimum time).

 Using the maps and data of chemical application, the UAV (100) calculates the spray power of the plant treatment system (106), in particular the power of the nozzles / cold mist generators / hot mist generators. When chemicals are applied, certain areas can be processed at full capacity, or left without treatment, which depends on the data obtained from the analysis of plant health cards.

 For various crops and chemical application tasks, there are various algorithms and programs for constructing chemical processing maps and for constructing a route of a flyout when chemicals are introduced [1], [2]. There are also universal algorithms for constructing maps and introducing chemicals for circulating and processing for different types of plants, various chemicals and various tasks for introducing chemicals [3], [4].

Elements of the UAV (100) can also be installed on funds for monitoring and introducing chemicals that do not contain a propeller group, for example, a balloon or airship. In this case, such UAVs will perform a similar function. Information presented in these materials discloses preferred embodiments of the claimed device and should not be used as limiting other, private embodiments of the device that do not go beyond the scope of legal protection disclosed in this application.

 Bibliography:

 1. Changqing et al. IEEE Region 10 Conference (31194). UAV path planning using GSO-DE algorithm / TENCON 2013 - 2013.

 2. Sundar et al. A & M University University College, College Station, TX 77843.

 3. Enright et al. UAV Routing and Coordination in Stochastic, Dynamic Environments / Massachusetts Institute of Technology.

 4. Nikolos et al. University of Crete Kounoupidiana Greece.

Claims

CLAIM  1. unmanned aerial vehicle (BILA) for processing plants, comprising a housing inside which are installed: a battery, a computing unit, a memory unit containing information about the coordinates of the flight route BOLA., A navigation system, means of wireless transmission and reception of information; propeller group consisting of brushless motors, stroke controllers and screws, located on the beams connected to the body, installed on the body a plant processing system, mounted on a rotary system, a container with plant processing chemicals, connected to a plant processing system, a system control module processing plants, the module narrowband multispectral photo fixation, made with the possibility of obtaining spectral images of plants, the sensor control charge a cumulator, and - the computing unit is configured to process data from a plant processing area received from a narrow-band multispectral photo fixation module and external sources, information, build a flight route map based on the information received, and transfer data to a processing system control module that is capable of activating and controlling spraying power plants and  - the computing unit is connected to the sensor for checking the level of chemicals, which is configured to generate a signal for the computing unit o. the need to return the UAV for refueling when it reaches a predetermined level, chemicals, and the battery charge control sensor, which is capable of generating a signal for the computing unit to return the UAV for charging for> Gop,  2. BOLA according to claim 1, characterized in that the rays of the installation of the propeller motor group are removable.  3- UAV according to claim 2, characterized in that the rays are attached to the body through a detachable connection.  4. B-Sh1A according to claim I, characterized in that the plant treatment system is at least one generator: a hot or cold mist, or a nozzle sprayer. 5. UAV on PL, characterized by the fact that the container with chemicals is connected by means of a hose with a plant processing system,  6. UAV according to G5, characterized in that the tank is installed on the ground and contains a pump, configured to provide access of the chemical to the UAV.  7. UAV according to claim 5, characterized in that the tank is attached to the body of the UAV.  8. UAV according to claim 7, characterized in that it additionally contains a sensor for checking the level of a chemical s installed in the tank SUBSTITUTE SHEET (RULE 26) and connected to the computing unit, and configured to generate a signal for the computing unit about the need to return the UAV for refueling when it reaches a given level of chemicals.  9. UAV according to claim 1, characterized in that the body contains dust / moisture protection.  10. A UAV according to claim 1, characterized by the fact that the body is made in the form of a monocoque.  11. VILA according to claim 1, characterized by the fact that the computing unit is designed as a processor or microcontroller.  12. UAV according to claim 1, characterized in that the memory unit is designed as a flash memory module,  13. UAV according to claim 1, characterized in that the means of wireless transmission and reception of information are a Wi-Fi module, a GSH module or a Bluetooth module,  14. UAV to item 1, characterized by the fact that the navigation system is made in. satellite receiver in the GPS / GLONSS / VehDcu / Ga111ео system or their combinations.  15:. V.PDA on d, 1, characterized by that, “then the module is node-commodified. The photo fixation is made in the form of a narrowband mud baked ry camera for monitoring plant health.  16. BPL. Π, 1, characterized by the fact that the body and equipment installed in it contains a hydrophobic coating. SUBSTITUTE SHEET (RULE 26)