CN104002974A - Dragging type unmanned liquid application system based on multi-rotor craft - Google Patents
Dragging type unmanned liquid application system based on multi-rotor craft Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及农业自动化领域，尤其涉及一种基于多旋翼飞行器的拖拽式无人施液系统。The invention relates to the field of agricultural automation, in particular to a towed unmanned liquid application system based on a multi-rotor aircraft.
背景技术Background technique
作为农业大国，农业的自动化程度及其劳动效率的高低是我国现代化建设的一项重要指标。在农业生产过程中，施液操作(浇水、施肥、施药)是一项劳动量较大的工作，在广大农村，目前大致有两种方式：①纯人工方式，在实行联产承包责任制后，每家每户的土地较少，主要采用背负式手动或电动喷雾器；②飞机施药，包括有人驾驶(固定翼、直升机、三角翼、动力伞等)和无人驾驶(固定翼、多旋翼、直升机等)两种方式。As a large agricultural country, the degree of automation of agriculture and the level of labor efficiency are an important indicator of my country's modernization drive. In the process of agricultural production, liquid application operation (watering, fertilization, and pesticide application) is a labor-intensive task. In the vast rural areas, there are currently two methods: ① purely manual method, in the implementation of joint production contract responsibility After the control, the land of each household is less, and mainly adopts the backpack type manual or electric sprayer; multi-rotor, helicopter, etc.) in two ways.
纯人工方式的优点是设备成本低，适合土地较少的家庭使用，其主要缺陷在于劳动效率低、工作时要近距离接触所施液体，安全性较低，尤其是在喷洒剧毒农药时，很容易造成中毒事故。对比而言，飞机施药效率高，然而，其根本的问题在于造价昂贵、对操控人员的要求高(有人机需要驾驶员，无人机需要操作手)、需要大型场地，因此除大型国家农场、林场外，一般家庭很难承受，实际上，在我国南方采用飞机施液(浇水、施肥、施药)很少见到。另外，随着航空技术的发展，特别是近年来无人机技术的发展和完善，以无人机为载体的无人施液系统已经有报道或示范应用，譬如，采用无人传统直升机或者无人多旋翼作为载体。然而，这种方式最大的问题在于成本高、载荷能力低、在空时间短、操作难度大。在实际现场，为了保证施药效果，一般要求低空慢速飞行，在这种情况下，操作稍有不慎，就会造成严重的事故，对人民群众的生命财产安全存在很大的威胁。囿于这些不利因素，以无人机为载体的施液系统在农村应用很少。The advantage of the purely manual method is that the cost of equipment is low, and it is suitable for families with less land. It is easy to cause poisoning accidents. In contrast, the spraying efficiency of aircraft is high. However, the fundamental problem is that it is expensive, has high requirements for operators (manned aircraft requires a driver, and unmanned aircraft requires an operator), and requires a large site. Therefore, except for large national farms 1. Outside the forest farm, it is difficult for general families to bear. In fact, it is seldom seen in the south of my country to adopt aircraft liquid application (watering, fertilization, pesticide application). In addition, with the development of aviation technology, especially the development and improvement of UAV technology in recent years, there have been reports or demonstration applications of unmanned liquid application systems based on UAVs. For example, using unmanned traditional helicopters or unmanned Multi-rotor as a carrier. However, the biggest problems of this method are high cost, low load capacity, short space time, and difficult operation. In the actual field, in order to ensure the effect of spraying, it is generally required to fly at low altitude and slow speed. In this case, a little carelessness in operation will cause serious accidents and pose a great threat to the safety of people's lives and property. Due to these unfavorable factors, liquid application systems based on drones are rarely used in rural areas.
因此，旨在克服已有系统的技术缺陷，本发明提出了一种基于多旋翼飞行器的拖拽式无人施液系统。Therefore, in order to overcome the technical defects of the existing systems, the present invention proposes a towed unmanned liquid application system based on a multi-rotor aircraft.
发明内容Contents of the invention
本发明旨在提供一种基于多旋翼飞行器的拖拽式无人施液系统，能够以较高的精度、较快的速度、安全、可靠地在较大的范围内进行施液操作(浇水、施肥、洒农药等)。The present invention aims to provide a towed unmanned liquid application system based on a multi-rotor aircraft, which can perform liquid application operations (watering) in a relatively large range with higher precision, faster speed, safety and reliability. , fertilization, spraying pesticides, etc.).
本发明提出的一种基于多旋翼飞行器的拖拽式无人施液系统，包括：移动工作站和多旋翼飞行器，其中：A drag-type unmanned liquid application system based on a multi-rotor aircraft proposed by the present invention includes: a mobile workstation and a multi-rotor aircraft, wherein:
所述移动工作站用于将用户在移动工作站指定的任务路径信息传递给所述多旋翼飞行器，对所述多旋翼飞行器发送的信息进行处理和显示；为所述多旋翼飞行器提供电源；并通过输液管向所述多旋翼飞行器泵给施液液体；The mobile workstation is used to transfer the task path information specified by the user on the mobile workstation to the multi-rotor aircraft, process and display the information sent by the multi-rotor aircraft; provide power for the multi-rotor aircraft; and through infusion the tube pumps application liquid to said multirotor aircraft;
所述多旋翼飞行器用于拖拽供电线和输液管，按照所述移动工作站发送的任务路径信息飞行、控制施液，并将采集得到的信息和状态信息发送给所述移动工作站。The multi-rotor aircraft is used to drag power supply lines and infusion tubes, fly according to the task path information sent by the mobile workstation, control fluid application, and send the collected information and status information to the mobile workstation.
根据上述技术方案，本发明具有下列有益效果：According to the above technical scheme, the present invention has the following beneficial effects:
①安全性高：其拖拽式工作方式既能够使人与施液液体保持安全距离，又保证多旋翼飞行器在极限情况下也能受到拖拽输液管及供电线的约束，不会失控乱飞，以致于威胁人民生命财产安全；① High safety: its dragging working method can not only keep a safe distance between people and liquid, but also ensure that the multi-rotor aircraft can be restrained by dragging infusion tubes and power supply lines under extreme conditions, and will not fly out of control , so as to threaten the safety of people's lives and property;
②在空时间长，作业面积大：其特有的结构(电源和施液液体均在移动工作站上)，多旋翼飞行器无需携带电池和施液液体，理论上其在空时间不受限制，另外，由于移动工作站能够灵活移动，因此其作业面积大，远强于目前在空时间仅为十几分钟的已有系统；②Long time in the air, large operating area: With its unique structure (power supply and liquid application liquid are all on the mobile workstation), the multi-rotor aircraft does not need to carry batteries and liquid application liquid, and its air time is not limited in theory. In addition, Because the mobile workstation can be moved flexibly, its operating area is large, which is far stronger than the existing system whose idle time is only ten minutes;
③机械结构简单：相对于传统直升机，本发明所涉及的系统机械机构简单，容易维护；③Simple mechanical structure: Compared with traditional helicopters, the mechanical structure of the system involved in the present invention is simple and easy to maintain;
④精度高、速度快：采用GPS定位技术融合气压传感器定高技术，三维定位精度较高，从而保证施液效果，另外，多旋翼飞行器能够以较快速度在空中移动，因此施液速度快、效率高。④ High precision and fast speed: GPS positioning technology combined with air pressure sensor height setting technology is adopted, and the three-dimensional positioning accuracy is high, so as to ensure the liquid application effect. In addition, the multi-rotor aircraft can move in the air at a relatively fast speed, so the liquid application speed is fast efficient.
附图说明Description of drawings
图1是本发明基于多旋翼飞行器的拖拽式无人施液系统的结构框图。Fig. 1 is a structural block diagram of the towed unmanned liquid application system based on the multi-rotor aircraft of the present invention.
图2是根据本发明一实施例的拖拽式无人施液系统的结构示意图。Fig. 2 is a schematic structural diagram of a towed unmanned liquid application system according to an embodiment of the present invention.
图3是根据本发明一实施例的电控子系统10的结构框图。FIG. 3 is a structural block diagram of the electronic control subsystem 10 according to an embodiment of the present invention.
图4是根据本发明一实施例的自动驾驶仪23的结构框图。FIG. 4 is a structural block diagram of the autopilot 23 according to an embodiment of the present invention.
图5是根据本发明一实施例的拖拽式无人施液系统的工作流程示意图。Fig. 5 is a schematic diagram of the workflow of the drag-and-drop unmanned liquid application system according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
图1是本发明基于多旋翼飞行器的拖拽式无人施液系统的结构框图，如图1所示，所述基于多旋翼飞行器的拖拽式无人施液系统包括：移动工作站1和多旋翼飞行器2，其中：Fig. 1 is a structural block diagram of the dragged unmanned liquid application system based on the multi-rotor aircraft of the present invention. As shown in Fig. 1, the dragged unmanned liquid application system based on the multi-rotor aircraft includes: a mobile workstation 1 and a rotorcraft 2, wherein:
所述移动工作站1用于将用户在移动工作站指定的任务路径信息传递给所述多旋翼飞行器2，对所述多旋翼飞行器2发送的信息进行处理和显示；为所述多旋翼飞行器2提供电源；并通过输液管向所述多旋翼飞行器2泵给施液液体；所述多旋翼飞行器2用于拖拽供电线和输液管，按照所述移动工作站1发送的任务路径信息飞行、控制施液，并将采集得到的相关位置、图像、视频等信息和状态信息发送给所述移动工作站1。The mobile workstation 1 is used to transmit the task path information specified by the user on the mobile workstation to the multi-rotor aircraft 2, process and display the information sent by the multi-rotor aircraft 2; provide power for the multi-rotor aircraft 2 ; and pump the liquid application liquid to the multi-rotor aircraft 2 through the infusion tube; the multi-rotor aircraft 2 is used to drag the power supply line and the infusion tube, and fly and control the liquid application according to the task path information sent by the mobile workstation 1 , and send the collected relevant position, image, video and other information and status information to the mobile workstation 1 .
所述基于多旋翼飞行器的拖拽式无人施液系统的工作原理可简述为：移动工作站1可以在施液现场自由移动(沿公路、机耕道、简易土路)，当其到达一个点固定之后，多旋翼飞行器2可在以该点为中心，以拖拽的输液管及输电线的最大长度(如100米)为半径的圆形区域内进行施液操作。也就是说，由移动工作站1通过手动或自动方式，控制多旋翼飞行器2起飞，并利用多旋翼飞行器2自身携带的自动驾驶仪23控制其按照规划好的任务需求完成施液操作，并将采集到的位置、图像、视频等相关信息以无线或有线的方式作为数传信号/图传信号传回给移动工作站1，地面工作人员可根据不同区域的状况(植物生长状况，病虫害程度等)实时调整规划。The working principle of the drag-and-drop unmanned liquid application system based on multi-rotor aircraft can be briefly described as follows: the mobile workstation 1 can move freely at the liquid application site (along the road, the machine road, the simple dirt road), and when it reaches a point, it can be fixed. Afterwards, the multi-rotor aircraft 2 can use this point as the center and take the maximum length (such as 100 meters) of the towed infusion pipe and power line as the radius of the circular area to perform liquid application operations. That is to say, the mobile workstation 1 controls the multi-rotor aircraft 2 to take off manually or automatically, and uses the autopilot 23 carried by the multi-rotor aircraft 2 to control it to complete the liquid application operation according to the planned task requirements, and collect The received position, image, video and other relevant information are sent back to the mobile workstation 1 as a digital signal/image transmission signal in a wireless or wired manner, and the ground staff can real-time Adjust planning.
图2是根据本发明一实施例的拖拽式无人施液系统的结构示意图，如图2所示，所述移动工作站1包括：电控子系统10、运载车11、发电机12、液体罐13、液体泵14、输液管15、供电线16、自动收卷架17、伸缩杆18、伸缩杆伺服电机19、伸缩杆变速箱1A，其中：Fig. 2 is a schematic structural diagram of a drag-type unmanned liquid application system according to an embodiment of the present invention. As shown in Fig. Tank 13, liquid pump 14, infusion tube 15, power supply line 16, automatic winding frame 17, telescopic rod 18, telescopic rod servo motor 19, telescopic rod gearbox 1A, wherein:
所述运载车11用于运载所述移动工作站1的各个组成部分到施液现场，其中，运载车11的具体形式可依据现场需要灵活采用；The carrier vehicle 11 is used to carry the various components of the mobile workstation 1 to the liquid application site, wherein the specific form of the carrier vehicle 11 can be flexibly adopted according to the needs of the site;
所述电控子系统10安装在运载车11中，用于将所述任务路径信息传递给所述多旋翼飞行器2，以及与所述多旋翼飞行器2进行通信；The electronic control subsystem 10 is installed in the carrier vehicle 11, and is used to transmit the mission path information to the multi-rotor aircraft 2, and communicate with the multi-rotor aircraft 2;
所述发电机12用于产生所述多旋翼飞行器2及移动工作站1所需要的电能，无需专门说明，专业人士可根据实际系统的需要自行选择发电机的电压等级、功率大小，或者可以理解为根据需要作相应的修改；The generator 12 is used to generate the electric energy required by the multi-rotor aircraft 2 and the mobile workstation 1, without special instructions, professionals can choose the voltage level and power of the generator according to the needs of the actual system, or it can be understood as Make corresponding changes as needed;
所述液体罐13用于贮存施液液体，并同时作为所述多旋翼飞行器2的起降平台；The liquid tank 13 is used to store the application liquid, and at the same time as the take-off and landing platform of the multi-rotor aircraft 2;
所述液体泵14用于将所述液体罐13中的液体以特定的压力泵给所述多旋翼飞行器2；The liquid pump 14 is used to pump the liquid in the liquid tank 13 to the multi-rotor aircraft 2 at a specific pressure;
所述输液管15用于将所述液体泵14泵出的液体提供给所述多旋翼飞行器2以完成施液操作；The infusion tube 15 is used to provide the liquid pumped out by the liquid pump 14 to the multi-rotor aircraft 2 to complete the liquid application operation;
所述供电线16用于将所述发电机12产生的电能传输给所述多旋翼飞行器2；The power supply line 16 is used to transmit the electric energy generated by the generator 12 to the multi-rotor aircraft 2;
所述自动收卷架17用于收纳所述输液管15和供电线16，以在所述多旋翼飞行器2起飞时自动放卷，在所述多旋翼飞行器2施液或回收过程中，根据其位置自动收卷，以及时调节所述多旋翼飞行器2拖拽管线的长度，避免管线过长产生缠绕、与庄稼碰撞等现象；The automatic winding frame 17 is used to accommodate the infusion tube 15 and the power supply line 16, so as to automatically unwind when the multi-rotor aircraft 2 takes off. During the application or recovery process of the multi-rotor aircraft 2, according to its The position is automatically rewound, and the length of the pipeline dragged by the multi-rotor aircraft 2 is adjusted in time to avoid phenomena such as entanglement and collision with crops caused by the pipeline being too long;
所述伸缩杆18用于调节所述自动收卷架17的高度；The telescopic rod 18 is used to adjust the height of the automatic winding frame 17;
所述伸缩杆伺服电机19及伸缩杆变速箱1A用于控制所述伸缩杆18的伸缩运动，从而调节自动收卷架17的高度。The telescopic rod servo motor 19 and the telescopic rod gearbox 1A are used to control the telescopic movement of the telescopic rod 18 so as to adjust the height of the automatic winding frame 17 .
图3是根据本发明一实施例的电控子系统10的结构框图，其包括：数传电台101、图传电台102、地面计算机103、遥控器104和移动工作站电源105，其中：Fig. 3 is a structural block diagram of an electronic control subsystem 10 according to an embodiment of the present invention, which includes: a digital transmission station 101, a video transmission station 102, a ground computer 103, a remote controller 104 and a mobile workstation power supply 105, wherein:
所述数传电台101用于接收由所述多旋翼飞行器2的飞控数传电台232发送过来的信息；The digital transmission station 101 is used to receive the information sent by the flight control digital transmission station 232 of the multi-rotor aircraft 2;
所述图传电台102用于接收由所述多旋翼飞行器2的飞控图传电台231发送过来的图像、视频等采集到的信息；The image transmission station 102 is used to receive images, videos and other collected information sent by the flight control image transmission station 231 of the multi-rotor aircraft 2;
所述地面计算机103是所述移动工作站1的核心，其与数传电台101、图传电台102、遥控器104通信，以完成任务规划、任务上传、手动控制、信息记录、检测、分析等功能；The ground computer 103 is the core of the mobile workstation 1, and it communicates with the digital transmission station 101, the image transmission station 102, and the remote controller 104 to complete functions such as task planning, task uploading, manual control, information recording, detection, and analysis ;
所述遥控器104用于手动控制所述多旋翼飞行器2；The remote controller 104 is used to manually control the multi-rotor aircraft 2;
所述移动工作站电源105用于为整个移动工作站1供电，将由发电机12输送来的电能按照移动工作站1的需要进行电压变换，无需专门说明，专业人士可根据实际系统的需要自行选择电压等级、功率大小，或者可以理解为根据需要作相应的修改。The mobile workstation power supply 105 is used to supply power to the entire mobile workstation 1. The electric energy delivered by the generator 12 is converted into voltage according to the needs of the mobile workstation 1. There is no need for special instructions. Professionals can choose the voltage level, The size of the power, or can be understood as making corresponding modifications according to needs.
如图2所示，所述多旋翼飞行器2包括：螺旋桨21、GPS天线22、自动驾驶仪23、电机支架24、左侧喷嘴25、右侧喷嘴26、起落架27、无刷电机28，其中：As shown in Figure 2, described multirotor aircraft 2 comprises: propeller 21, GPS antenna 22, autopilot 23, motor support 24, left side nozzle 25, right side nozzle 26, landing gear 27, brushless motor 28, wherein :
所述螺旋桨21由所述无刷电机28带动其旋转并产生升力；The propeller 21 is driven by the brushless motor 28 to rotate and generate lift;
所述GPS天线22用于接收GPS(全球定位系统)信号，以完成所述多旋翼飞行器2的实时定位；Described GPS antenna 22 is used for receiving GPS (Global Positioning System) signal, to complete the real-time positioning of described multi-rotor aircraft 2;
所述自动驾驶仪23用于接受所述移动工作站1的指令控制所述多旋翼飞行器2的飞行；The autopilot 23 is used to accept instructions from the mobile workstation 1 to control the flight of the multi-rotor aircraft 2;
图4是根据本发明一实施例的自动驾驶仪23的结构框图，如图4所示，所述自动驾驶仪23包括：飞控图传电台231、飞控数传电台232、GPS模块233、遥控接收机234、飞控中央处理器235、图像采集器236、多路电调237、气压高度计238、三轴加速度计及三轴陀螺仪239、三轴地磁计2310、飞控电源2311，其中：Fig. 4 is a structural block diagram of an autopilot 23 according to an embodiment of the present invention. As shown in Fig. 4, the autopilot 23 includes: a flight control image transmission station 231, a flight control data transmission station 232, a GPS module 233, Remote control receiver 234, flight control central processing unit 235, image collector 236, multi-channel ESC 237, barometric altimeter 238, three-axis accelerometer and three-axis gyroscope 239, three-axis geomagnetometer 2310, flight control power supply 2311, among which :
所述飞控图传电台231用于将所述图像采集器236采集得到的图像通过无线方式传送给所述移动工作站1；The flight control image transmission station 231 is used to wirelessly transmit the images collected by the image collector 236 to the mobile workstation 1;
所述飞控数传电台232用于将所述多旋翼飞行器2的状态信息，包括位置、检测时间等状态信息通过无线方式传给所述移动工作站1；The flight control digital transmission station 232 is used to transmit the status information of the multi-rotor aircraft 2, including status information such as position and detection time, to the mobile workstation 1 in a wireless manner;
所述GPS模块233用于接收GPS天线22传送的GPS信号并计算得到所述多旋翼飞行器2的经度、纬度、高度等定位信息；The GPS module 233 is used to receive the GPS signal transmitted by the GPS antenna 22 and calculate the longitude, latitude, height and other positioning information of the multi-rotor aircraft 2;
所述遥控接收机234用于接收由所述移动工作站1的遥控器104传送的手动遥控信号，以备手动控制所述多旋翼飞行器2；The remote control receiver 234 is used to receive the manual remote control signal transmitted by the remote control 104 of the mobile workstation 1, in order to manually control the multi-rotor aircraft 2;
所述飞控中央处理器235是整个自动驾驶仪23的核心，其与飞控图传电台231、飞控数传电台232、GPS模块233、遥控接收机234、图像采集器236、多路电调237、气压高度计238、三轴加速度计及三轴陀螺仪239、三轴地磁计2310各个部分通信，得到需要的姿态、位置、遥控等信号，以完成多旋翼飞行器2的手动或自动控制；Described flight control central processing unit 235 is the core of whole autopilot 23, and it is connected with flight control image transmission station 231, flight control digital transmission station 232, GPS module 233, remote control receiver 234, image acquisition device 236, multiple circuit Adjust 237, barometric altimeter 238, three-axis accelerometer and three-axis gyroscope 239, and three-axis geomagnetometer 2310 to communicate with each other to obtain the required attitude, position, remote control and other signals to complete the manual or automatic control of the multi-rotor aircraft 2;
所述图像采集器236用于采集图像或视频信息；The image collector 236 is used to collect image or video information;
所述多路电调237用于控制多路无刷电机28的旋转并调节其转速；The multi-channel electric regulator 237 is used to control the rotation of the multi-channel brushless motor 28 and adjust its speed;
所述气压高度计238用于通过测量大气压力和环境温度来以较高的精度计算所述多旋翼飞行器2的海拔高度；The barometric altimeter 238 is used to calculate the altitude of the multi-rotor aircraft 2 with higher accuracy by measuring atmospheric pressure and ambient temperature;
所述三轴加速度计及三轴陀螺仪239用于测量多旋翼飞行器2的三轴加速度、三轴旋转速率；The three-axis accelerometer and the three-axis gyroscope 239 are used to measure the three-axis acceleration and the three-axis rotation rate of the multi-rotor aircraft 2;
所述三轴地磁计2310用于测量地磁在多旋翼飞行器2上的三轴分量，并和三轴加速度计及三轴陀螺仪239测量到的三轴加速度、三轴旋转速率一起传送给飞控中央处理器235，以通过卡尔曼滤波法来计算得到所述多旋翼飞行器2的姿态；The three-axis magnetometer 2310 is used to measure the three-axis component of the geomagnetism on the multi-rotor aircraft 2, and transmit the three-axis acceleration and three-axis rotation rate measured by the three-axis accelerometer and the three-axis gyroscope 239 to the flight controller. The central processing unit 235 is used to calculate the attitude of the multi-rotor aircraft 2 through the Kalman filter method;
所述飞控电源2311用于为整个自动驾驶仪23供电，其包括电压变换模块等组件，主要功能是将由地面供电线16输送来的电能按照自动驾驶仪23的需要进行电压变换，无需专门说明，专业人士可根据实际系统的需要自行选择电压等级、功率大小，或者可以理解为根据需要作相应的修改。The flight control power supply 2311 is used to supply power to the entire autopilot 23, and it includes components such as a voltage conversion module. , Professionals can choose the voltage level and power size according to the needs of the actual system, or it can be understood as making corresponding modifications according to the needs.
所述电机支架24用于安装所述无刷电机28和其它设备；The motor bracket 24 is used to install the brushless motor 28 and other equipment;
所述左侧喷嘴25及右侧喷嘴26安装在所述电机支架24上，用于喷洒施液液体(比如水、农药等)；The left nozzle 25 and the right nozzle 26 are installed on the motor bracket 24 for spraying liquid (such as water, pesticides, etc.);
所述起落架27用于在所述多旋翼飞行器2起降时产生缓冲和保护作用；The landing gear 27 is used for buffering and protecting when the multi-rotor aircraft 2 takes off and lands;
所述无刷电机28与所述螺旋桨21对应设置，用于带动所述螺旋桨21并产生升力。The brushless motor 28 is arranged correspondingly to the propeller 21 for driving the propeller 21 and generating lift.
图5是根据本发明一实施例的拖拽式无人施液系统的工作流程示意图，如图5所示，所述拖拽式无人施液系统工作时主要包括以下几个步骤：Fig. 5 is a schematic diagram of the workflow of the drag-type unmanned liquid application system according to an embodiment of the present invention. As shown in Fig. 5, the drag-type unmanned liquid application system mainly includes the following steps when working:
步骤S1：用户根据作业现场的需要，规划任务并输入，具体而言就是输入多旋翼飞行器2的飞行路径中各个航点的位置和高度，以及在每个航点的施液动作；Step S1: The user plans and inputs the task according to the needs of the job site, specifically the position and altitude of each waypoint in the flight path of the multi-rotor aircraft 2, and the liquid application action at each waypoint;
步骤S2：多旋翼飞行器2从地面站起飞，按照任务要求飞至指定航点；Step S2: The multi-rotor aircraft 2 takes off from the ground station, and flies to the designated waypoint according to the mission requirements;
步骤S3：在指定航点完成施液操作，具体而言就是根据各个航点的施液动作要求，以规定的方位和强度完成施液操作；Step S3: Complete the liquid application operation at the designated waypoint, specifically, complete the liquid application operation with the specified orientation and intensity according to the liquid application action requirements of each waypoint;
步骤S4：判断是否施液完毕，若已按照规划任务的要求完成施液操作，则执行下一个步骤，若未完成，则重新执行步骤S3；Step S4: Judging whether the liquid application is completed, if the liquid application operation has been completed according to the requirements of the planned task, then perform the next step, if not completed, then re-execute step S3;
步骤S5：完成规划的任务后，自动控制多旋翼飞行器2安全降落。Step S5: After completing the planned mission, automatically control the multi-rotor aircraft 2 to land safely.
以上对本发明基于多旋翼飞行器的拖拽式无人施液系统进行了详细说明。由以上公开的技术方案可知，本发明具有下列有益效果：The towed unmanned liquid application system based on the multi-rotor aircraft of the present invention has been described in detail above. As can be seen from the technical solutions disclosed above, the present invention has the following beneficial effects:
①安全性高：其拖拽式工作方式既能够使人与施液液体保持安全距离，又保证多旋翼飞行器2在极限情况下也能受到拖拽输液管及供电线的约束，不会失控乱飞，以致于威胁人民生命财产安全；① High safety: the dragging working method can not only keep a safe distance between the person and the application liquid, but also ensure that the multi-rotor aircraft 2 can also be restrained by dragging the infusion tube and power supply line under extreme conditions, and will not lose control. fly, so as to threaten the safety of people's lives and property;
②在空时间长，作业面积大：其特有的结构(电源和施液液体均在移动工作站1上)，多旋翼飞行器2无需携带电池和施液液体，理论上其在空时间不受限制，另外，由于移动工作站能够灵活移动，因此其作业面积大，远强于目前在空时间仅为十几分钟的已有系统；②Long time in the air, large operating area: with its unique structure (the power supply and liquid application liquid are all on the mobile workstation 1), the multi-rotor aircraft 2 does not need to carry batteries and liquid application liquid, and its air time is not limited in theory. In addition, because the mobile workstation can be moved flexibly, it has a large operating area, which is far stronger than the existing system whose idle time is only ten minutes;
③机械结构简单：相对于传统直升机，本发明所涉及的系统机械机构简单，容易维护；③Simple mechanical structure: Compared with traditional helicopters, the mechanical structure of the system involved in the present invention is simple and easy to maintain;
④精度高、速度快：采用GPS定位技术融合气压传感器定高技术，三维定位精度较高，从而保证施液效果，另外，多旋翼飞行器2能够以较快速度在空中移动，因此施液速度快、效率高。④ High precision and fast speed: GPS positioning technology combined with air pressure sensor height determination technology is adopted, and the three-dimensional positioning accuracy is high, so as to ensure the liquid application effect. In addition, the multi-rotor aircraft 2 can move in the air at a relatively fast speed, so the liquid application speed is fast ,efficient.
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (7)
- Towed based on multi-rotor aerocraft nobody execute a liquid system, it is characterized in that, this system comprises: mobile workstation and multi-rotor aerocraft, wherein:Described mobile workstation passes to described multi-rotor aerocraft for the task path information that user is specified at mobile workstation, and the information that described multi-rotor aerocraft is sent processs and displays; For described multi-rotor aerocraft provides power supply; And give and execute liquid liquid to described multi-rotor aerocraft pump by hydraulic pipe;Described multi-rotor aerocraft is used for pulling supply line and hydraulic pipe, and the flight of task path information, the control that send according to described mobile workstation are executed liquid, and the information collecting and status information are sent to described mobile workstation.
- 2. system according to claim 1, is characterized in that, described mobile workstation takes off by multi-rotor aerocraft described in mode control manually or automatically.
- 3. system according to claim 1, it is characterized in that, described mobile working stands in to be executed liquid scene and moves freely, after point of its arrival is fixing, multi-rotor aerocraft is centered by this point, executes liquid operation taking the hydraulic pipe that pulls and the extreme length of power transmission line in the border circular areas of radius.
- 4. system according to claim 1, it is characterized in that, described mobile workstation comprises: automatically controlled subsystem, carrier loader, electrical generator, liquid tank, liquor pump, hydraulic pipe, supply line, automatic winding frame, expansion link, expansion link servomotor, expansion link change speed gear box, wherein:Each component part that described carrier loader is used for delivering described mobile workstation is to executing liquid scene;Described automatically controlled subsystem is arranged in carrier loader, for described task path information is passed to described multi-rotor aerocraft, and communicates with described multi-rotor aerocraft;Described electrical generator is for generation of described multi-rotor aerocraft and the needed electric energy of mobile workstation;Described liquid tank is executed liquid liquid for storage, and the while is as the landing platform of described multi-rotor aerocraft;Described liquor pump is for giving described multi-rotor aerocraft by the liquor pump of described liquid tank;Described hydraulic pipe is supplied with described multi-rotor aerocraft for the liquid carrying that described liquor pump is pumped and is executed liquid operation to complete;Described supply line is for giving described multi-rotor aerocraft by the delivery of electrical energy of described electrical generator generation;Described automatic winding frame is used for receiving described hydraulic pipe and supply line, automatically to unreel in the time that described multi-rotor aerocraft takes off, executes in liquid or removal process at described multi-rotor aerocraft, according to its position automatic winding;Described expansion link is for regulating the height of described automatic winding frame;Described expansion link servomotor and expansion link change speed gear box are for controlling the fore and aft motion of described expansion link.
- 5. system according to claim 4, is characterized in that, described automatically controlled subsystem comprises: data radio station, figure conduct electricity platform, ground-based computer, remote controller and mobile workstation power supply, wherein:Described data radio station flies to control by described multi-rotor aerocraft the information that data radio station sends over for receiving;The described figure platform that conducts electricity flies the control figure Information Monitoring that platform sends over that conducts electricity for receiving by described multi-rotor aerocraft;Conduct electricity platform, remote controller of described ground-based computer and data radio station, figure communicated by letter;Described remote controller is for manually controlling described multi-rotor aerocraft;Described mobile workstation power supply is used to whole mobile workstation power supply.
- 6. system according to claim 1, is characterized in that, described multi-rotor aerocraft comprises: screw propeller, gps antenna, autopilot, electric machine support, left side nozzle, right side nozzle, alighting gear, brushless motor, wherein:Described screw propeller is driven its rotation and is produced lift by described brushless motor;Described gps antenna is used for receiving gps signal, to complete the real-time location of described multi-rotor aerocraft;Described autopilot is for accepting the flight of multi-rotor aerocraft described in the instruction control of described mobile workstation;Described electric machine support is used for installing described brushless motor;Described left side nozzle and right side nozzle are arranged on described electric machine support, execute liquid liquid for spraying;Described alighting gear for producing cushioning and protection in the time of described multi-rotor aerocraft landing;The setting corresponding to described screw propeller of described brushless motor, for driving described screw propeller and producing lift.
- 7. system according to claim 6, it is characterized in that, described autopilot comprises: fly control figure conduct electricity platform, fly to control data radio station, GPS module, remote control receiver, fly to control central process unit, image acquisition device, Multi-path electricity tune, barometric altimeter, 3-axis acceleration take into account three-axis gyroscope, three axle magnetometers, fly to control power supply, wherein:The described control figure platform that conducts electricity that flies sends described mobile workstation for the image that described image acquisition device is collected to by wireless mode;Describedly fly to control data radio station for the status information of described multi-rotor aerocraft is passed to described mobile workstation by wireless mode;The locating information such as gps signal the longitude, latitude, height that calculates described multi-rotor aerocraft that described GPS module transmits for receiving gps antenna;Described remote control receiver is for receiving the remote manual control signal being transmitted by the remote controller of described mobile workstation, in order to manually controlling described multi-rotor aerocraft;Describedly fly to control central process unit and communicate by letter with miscellaneous part, to control manually or automatically for described multi-rotor aerocraft;Described image acquisition device is used for gathering image or video information;Described Multi-path electricity calls in controlling the rotation of multichannel brushless motor and regulating its rotating speed;Described barometric altimeter is for calculating the sea level elevation of described multi-rotor aerocraft;Described 3-axis acceleration is taken into account three-axis gyroscope for measuring 3-axis acceleration and three rotating rate of shaft of multi-rotor aerocraft;Described three axle magnetometers are for measuring the three axle components of earth magnetism on multi-rotor aerocraft;Describedly fly to control power supply and be used to the power supply of whole autopilot.
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