Self-adaptive sprinkling width regulating device and method for multi-rotor plant protection unmanned aerial vehicle
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A technology for planting and protecting drones and control devices, which can be applied to launch devices, devices for capturing or killing insects, and applications, and can solve problems such as adaptive control and inability to adaptive control.
Inactive Publication Date: 2018-09-04
CHINA AGRI UNIV
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[0003] Aiming at the problem that the spraying width of the current multi-rotor plant protection UAV cannot be adaptively regulated according to the edge contour of the section where the maximum crown diameter of the fruit tree is located, the purpose of the present invention is to provide a multi-rotor plant protection UAV adaptive spraying width control device and method, In order to solve the problem that the spray width of the current multi-rotor plant protection drone cannot be adaptively adjusted according to the edge contour of the section where the maximum crown diameter of the fruit tree is located
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no. 1 example
[0181] like Figure 9 As shown, the adaptive spray width control method of the six-rotor plant protection UAV includes the following steps:
[0182] Step 1: read data, hover over;
[0183] The six-rotor plant protection UAV reads the data of the base station information database of the modern standardized orchard center at a fixed height H 0 Autonomous flight, according to the fruit tree planting coordinate points (X i , Y i ) to realize fixed-point hovering at the top of the fruit tree (i=1, 2, 3...i max , representing the i-th fruit tree);
[0184] where the fixed height H 0 It is the flying height of the six-rotor plant protection drone, that is, the vertical distance from the six-rotor plant protection drone to the ground during normal operation.
[0185] Step 2: One scan calculation, centering adjustment;
[0186] The six-rotor plant protection UAV first adjusts the Y-axis direction, and then adjusts the X-axis direction.
[0187] like Figure 5 , Image 6 As sh...
no. 2 example
[0209] For quad-rotor or octa-rotor plant protection drones, there is no restriction on the order of adjustment. like Figure 8 As shown in the figure, only the axis M of the adaptive spray device in the direction of the X-axis and Y-axis is shown 1 m 2 , N 1 N 2 , at this time ∠M 1 ON 1 =θ=π / 2. The steps are the same as in the first embodiment, and the distances ΔX and ΔY that need to be adjusted by the UAV in the X-axis and Y-axis directions are also obtained:
[0210] ΔX=πnd(t N1 -t N2 ) / 2
[0211] ΔY=πnd(t M1 -t M2 ) / 2
[0212] n is the rotating speed of stepper motor 103;
[0213] D is the diameter of active synchronous toothed belt pulley 104 and driven synchronous toothed belt pulley 105;
[0214] t M1 , t M2 are two laser sensors M on the axis parallel to the Y axis 1 and M 2 The collection time corresponding to the height value that meets the conditions is collected;
[0215] t N1 , t N2 Respectively two laser sensors N on the axis parallel to the...
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Abstract
The invention relates to the technical field of plant protection unmanned aerial vehicles, in particular to a self-adaptive sprinkling width regulating device and method for a multi-rotor plant protection unmanned aerial vehicle. The self-adaptive sprinkling width regulating device is fixedly connected right under each rotor supporting rod of the multi-rotor plant protection unmanned aerial vehicle in a detachable manner; the self-adaptive sprinkling width regulating device comprises a housing, a nozzle and an automatic control system, wherein the nozzle faces towards the ground; the nozzle and the housing form a sliding connection and can freely move in the length direction of the housing; a laser sensor facing towards the ground is arranged on the nozzle; and the nozzle regulates the moving position in a self-adaptive manner by using the automatic control system according to the edge contour of the section of maximum crown diameter of a fruit tree. According to the self-adaptive sprinkling width regulating device and method for the multi-rotor plant protection unmanned aerial vehicle, the sprinkling width is regulated in a self-adaptive manner with the edge contour of the sectionof the maximum crown diameter of a fruit tree, the pesticide application is accurate, the drifting of a pesticide liquor to a non-target area is reduced, the soil pesticide residue is reduced, the fog drop distribution uniformity is improved, the pesticide utilization rate is increased.
Description
technical field [0001] The invention relates to the technical field of plant protection drones, in particular to a multi-rotor plant protection drone adaptive spray width control device and method. Background technique [0002] At present, with the large-scale, intelligent and modern development of agricultural production, safe, efficient and low-cost plant protection drones have been increasingly used in agricultural operations. Multi-rotor plant protection UAVs are widely used due to their advantages of simple control, low requirements for take-off and landing conditions, stable flight, easy hovering and relatively low price. However, there are still many problems in their application in the field of plant protection for fruit trees and gardens. Based on the differences in the biological characteristics of fruit trees, different types of fruit trees have different crown shapes, and there are large differences in the maximum crown diameter (diameter at breast height). The c...
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