CN108536170B - Aviation variable pesticide application monitoring device and method - Google Patents
Aviation variable pesticide application monitoring device and methodDownload PDFInfo
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- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域Technical Field
本发明涉及智能农业技术领域，特别涉及一种航空变量施药监控装置及方法。The present invention relates to the field of intelligent agricultural technology, and in particular to an aerial variable pesticide application monitoring device and method.
背景技术Background Art
航空施药在农业上的应用越来越普遍，但是施药的效果很难掌握。目前主要依赖操作员的感觉进行施药，因此存在一定的主观性和随机性，作业质量很难保证，例如施药是否均匀，是否造成污染与浪费等。据调查由于农户不能直观的了解施药情况，影响他们对航空施药的认可度，进而影响我国航空施药与精准农业的发展。The application of aerial pesticide application in agriculture is becoming more and more common, but the effect of application is difficult to grasp. At present, the application of pesticides mainly relies on the operator's feeling, so there is a certain degree of subjectivity and randomness, and the quality of the operation is difficult to guarantee, such as whether the application is uniform, whether it causes pollution and waste, etc. According to the survey, since farmers cannot intuitively understand the application of pesticides, their recognition of aerial pesticide application is affected, which in turn affects the development of aerial pesticide application and precision agriculture in my country.
因此在农业航空施药的市场上，急需一种价格低廉、操作简单又能达到实时监测控制施药情况的装置。Therefore, in the agricultural aerial spraying market, there is an urgent need for a device that is low-cost, easy to operate, and can achieve real-time monitoring and control of the spraying situation.
发明内容Summary of the invention
针对以上缺陷，本发明提供了一种航空变量施药监控装置及方法，能够实时监测控制施药情况，精准施药，量化施药效果，还具有操作简单，成本低，适应性广等特点，满足市场需求。In view of the above defects, the present invention provides an aerial variable pesticide application monitoring device and method, which can monitor and control the pesticide application situation in real time, apply pesticides accurately, and quantify the effect of pesticide application. It also has the characteristics of simple operation, low cost, and wide adaptability, which can meet market demand.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following solutions:
一种航空变量施药监控装置，所述航空变量施药监控装置包括信号采集模块、单片机、显示器、电磁阀、操作板以及药箱；An aerial variable-rate pesticide application monitoring device, comprising a signal acquisition module, a single-chip microcomputer, a display, a solenoid valve, an operation panel and a medicine box;
所述信号采集模块包括多种传感器；所述信号采集模块用于依据多种传感器采集飞机飞行状态信号、施药情况信号；所述药箱安装在飞机的机架上；所述电磁阀安装在所述药箱的喷头上；The signal acquisition module includes a variety of sensors; the signal acquisition module is used to collect aircraft flight status signals and pesticide application status signals based on the various sensors; the medicine box is installed on the aircraft frame; the solenoid valve is installed on the nozzle of the medicine box;
所述操作板用于采集操作员输入的执行信息；The operation panel is used to collect execution information input by the operator;
所述单片机的输入端分别与所述信号采集模块、所述操作板连接，所述单片机的输出端分别与所述电磁阀、所述喷头、所述显示器以及飞机的舵机连接；The input end of the single chip microcomputer is respectively connected to the signal acquisition module and the operation panel, and the output end of the single chip microcomputer is respectively connected to the solenoid valve, the nozzle, the display and the steering gear of the aircraft;
所述显示器用于以数值的形式实时显示飞机飞行信息和施药信息；所述飞机飞行信息包括飞行高度、飞行速度、飞行位置、飞行轨迹；所述施药信息包括施药面积、施药浓度、药液剩余量、药箱中无药液时所对应的飞行位置以及所需要补充的药液。The display is used to display the aircraft flight information and pesticide application information in real time in the form of numerical values; the aircraft flight information includes flight altitude, flight speed, flight position, and flight trajectory; the pesticide application information includes pesticide application area, pesticide application concentration, remaining amount of pesticide solution, flight position corresponding to when there is no pesticide solution in the medicine box, and pesticide solution that needs to be replenished.
可选的，所述信号采集模块包括飞行高度传感器、飞行速度传感器、飞行姿态传感器、GPS定位器、流量传感器、液位传感器、电压传感器；Optionally, the signal acquisition module includes a flight altitude sensor, a flight speed sensor, a flight attitude sensor, a GPS locator, a flow sensor, a liquid level sensor, and a voltage sensor;
所述飞行高度传感器，设置在飞机的机箱内，用于实时采集飞机的飞行高度；The flight altitude sensor is arranged in the chassis of the aircraft and is used to collect the flight altitude of the aircraft in real time;
所述飞行速度传感器，设置在飞机的机体外顶部，用于实时采集飞机的飞行速度；The flight speed sensor is arranged on the top of the aircraft body and is used to collect the flight speed of the aircraft in real time;
所述飞行姿态传感器，设置在飞机的机箱内，用于实时采集飞机的飞行姿态；The flight attitude sensor is arranged in the chassis of the aircraft and is used to collect the flight attitude of the aircraft in real time;
所述GPS定位器，设置在飞机的机箱内，用于获取当前时刻飞机的位置信息；The GPS locator is arranged in the chassis of the aircraft and is used to obtain the position information of the aircraft at the current moment;
所述流量传感器，设置在所述电磁阀上，用于实时采集电磁阀开口角度；The flow sensor is arranged on the solenoid valve and is used to collect the opening angle of the solenoid valve in real time;
所述液位传感器，设置在所述药箱内，用于实时采集药箱的液面高度；The liquid level sensor is arranged in the medicine box and is used to collect the liquid level height of the medicine box in real time;
所述电压传感器，设置在所述喷头上，用于实时采集喷头电机电压。The voltage sensor is arranged on the nozzle and is used for collecting the nozzle motor voltage in real time.
可选的，所述航空变量施药监控装置还包括A/D转换器；所述信号采集模块通过所述A/D转换器与所述单片机的输入端连接；所述A/D转换器用于将所述信号采集模块采集的模拟信号转换成数字信号。Optionally, the aerial variable pesticide application monitoring device also includes an A/D converter; the signal acquisition module is connected to the input end of the single-chip microcomputer through the A/D converter; the A/D converter is used to convert the analog signal collected by the signal acquisition module into a digital signal.
可选的，所述航空变量施药监控装置还包括无线传输模块；所述操作板通过所述无线传输模块与所述单片机的输入端连接；所述显示器通过所述无线传输模块与所述单片机的输出端连接。Optionally, the aerial variable pesticide application monitoring device further includes a wireless transmission module; the operating panel is connected to the input end of the single-chip microcomputer via the wireless transmission module; and the display is connected to the output end of the single-chip microcomputer via the wireless transmission module.
可选的，所述无线传输模块为GSM通信模块。Optionally, the wireless transmission module is a GSM communication module.
可选的，所述航空变量施药监控装置还包括电源和稳压器；所述电源通过所述稳压器分别与所述信号采集模块、所述单片机、所述电磁阀、所述无线通信模块的电源端连接。Optionally, the aerial variable pesticide application monitoring device also includes a power supply and a voltage stabilizer; the power supply is respectively connected to the power supply terminals of the signal acquisition module, the single-chip microcomputer, the solenoid valve, and the wireless communication module through the voltage stabilizer.
可选的，所述单片机内存储待施药的农田面积和地形，以及依据待施药的农田面积和地形自行规划的飞行路线、飞行高度、飞行速度、飞行姿态、喷头流量、喷头电机电压。Optionally, the single chip microcomputer stores the farmland area and terrain to be sprayed, as well as the flight route, flight altitude, flight speed, flight attitude, nozzle flow rate, and nozzle motor voltage that are self-planned based on the farmland area and terrain to be sprayed.
可选的，所述喷头为旋转液力雾化喷头。Optionally, the nozzle is a rotary hydraulic atomizing nozzle.
本发明还提供了一种航空变量施药监控装置的监控方法，所述监控方法包括：The present invention also provides a monitoring method for an aerial variable-rate pesticide application monitoring device, the monitoring method comprising:
确定自变量和因变量；所述自变量包括飞行高度、飞行速度、喷头电机电压以及电磁阀开口角度；所述因变量包括施药面积和施药效果；其中，所述自变量中的电磁阀开口角度对应所述因变量的施药浓度；所述自变量中的飞行高度、飞行速度、喷头电机电压对应所述因变量的施药面积；Determine the independent variables and dependent variables; the independent variables include the flight height, the flight speed, the nozzle motor voltage and the electromagnetic valve opening angle; the dependent variables include the application area and the application effect; wherein the electromagnetic valve opening angle in the independent variable corresponds to the application concentration of the dependent variable; the flight height, the flight speed and the nozzle motor voltage in the independent variables correspond to the application area of the dependent variable;
采用多元回归模型，确定第一关系式和第二关系式；所述第一关系式为所述电磁阀开口角度与所述施药浓度的关系式；所述第二关系式为所述飞行高度、所述飞行速度、所述喷头电机电压与所述施药面积的关系式；A multivariate regression model is used to determine a first relational expression and a second relational expression; the first relational expression is a relational expression between the opening angle of the solenoid valve and the spraying concentration; the second relational expression is a relational expression between the flying height, the flying speed, the nozzle motor voltage and the spraying area;
实时获取飞机飞行状态信号和施药情况信号；所述飞机飞行状态信号包括飞机的飞行高度、飞行速度、飞行姿态、位置信息；所述施药情况信号包括电磁阀开口角度、喷头电机电压以及药箱的液面高度；Acquire aircraft flight status signals and spraying condition signals in real time; the aircraft flight status signals include the aircraft's flight altitude, flight speed, flight attitude, and position information; the spraying condition signals include the electromagnetic valve opening angle, the nozzle motor voltage, and the liquid level of the medicine box;
根据所述第一关系式、所述第二关系式、所述飞行高度、所述飞行速度、所述电磁阀开口角度以及所述喷头电机电压，计算施药面积和施药浓度；Calculate the application area and the application concentration according to the first relationship, the second relationship, the flight height, the flight speed, the electromagnetic valve opening angle, and the nozzle motor voltage;
根据所述飞机的飞行姿态和位置信息，确定飞机的飞行轨迹；Determining the flight trajectory of the aircraft according to the flight attitude and position information of the aircraft;
根据所述药箱的液面高度，确定药液剩余量；Determining the remaining amount of the medicine liquid according to the liquid level of the medicine box;
根据所述药箱的液面高度和所述位置信息，确定药箱中无药液时所对应的飞行位置；Determine the flight position corresponding to when there is no liquid medicine in the medicine box according to the liquid level of the medicine box and the position information;
根据所述药箱中无药液时所对应的飞行位置、所述飞机的飞行轨迹、以及单片机预先存储的飞行轨迹，确定所需要补充的药量。The amount of medicine to be supplemented is determined according to the flight position corresponding to when there is no medicine liquid in the medicine box, the flight track of the aircraft, and the flight track pre-stored in the single-chip computer.
可选的，所述第一关系式为：
所述第二关系式为：The second relation is:
根据本发明提供的具体实施例，本发明公开了以下技术效果：According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:
本发明提供了一种航空变量施药监控装置及方法，该装置包括信号采集模块、单片机、显示器、电磁阀、操作板以及药箱；信号采集模块包括多种传感器；信号采集模块用于依据多种传感器采集飞机飞行状态信号、施药情况信号；药箱安装在飞机的机架上；电磁阀安装在药箱的喷头上；操作板用于采集操作员输入的执行信息；单片机的输入端分别与信号采集模块、操作板连接，单片机的输出端分别与电磁阀、喷头、显示器以及飞机的舵机连接；显示器用于以数值的形式实时显示飞机飞行信息和施药信息；飞机飞行信息包括飞行高度、飞行速度、飞行位置、飞行轨迹；施药信息包括施药面积、施药浓度、药液剩余量、药箱中无药液时所对应的飞行位置以及所需要补充的药液。本发明提供的装置是利用飞机自带的传感器实时监测飞机的飞行状态，再增加两个传感器监测施药流量和药箱余量，再由单片机把信息进行融合处理，确定施药浓度和施药面积，实时监测控制施药情况，精准施药，量化施药效果。另外，该装置操作简单，成本低，适应性广，满足市场需求。The invention provides an aerial variable spraying monitoring device and method, the device comprises a signal acquisition module, a single chip computer, a display, a solenoid valve, an operation panel and a medicine box; the signal acquisition module comprises a plurality of sensors; the signal acquisition module is used for collecting aircraft flight status signals and spraying condition signals according to the plurality of sensors; the medicine box is installed on the frame of the aircraft; the solenoid valve is installed on the nozzle of the medicine box; the operation panel is used for collecting execution information input by an operator; the input end of the single chip computer is respectively connected to the signal acquisition module and the operation panel, and the output end of the single chip computer is respectively connected to the solenoid valve, the nozzle, the display and the aircraft steering gear; the display is used for displaying aircraft flight information and spraying information in real time in the form of numerical values; the aircraft flight information comprises flight altitude, flight speed, flight position and flight trajectory; the spraying information comprises spraying area, spraying concentration, remaining amount of liquid medicine, flight position corresponding to when there is no liquid medicine in the medicine box and liquid medicine to be supplemented. The device provided by the present invention uses the sensors of the aircraft to monitor the flight status of the aircraft in real time, and then adds two sensors to monitor the spraying flow rate and the remaining amount of the medicine box. Then the single chip microcomputer integrates the information to determine the spraying concentration and spraying area, monitors and controls the spraying situation in real time, sprays accurately, and quantifies the spraying effect. In addition, the device is simple to operate, low in cost, and widely adaptable, meeting market demand.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明实施例航空变量施药监控装置的结构示意图；FIG1 is a schematic diagram of the structure of an aerial variable-rate pesticide application monitoring device according to an embodiment of the present invention;
图2为本发明无线传输模块部分原理图；FIG2 is a partial schematic diagram of a wireless transmission module of the present invention;
图3为本发明单片机电路原理图；FIG3 is a schematic diagram of a single chip microcomputer circuit of the present invention;
图4为本发明操作板电路原理图FIG. 4 is a schematic diagram of the circuit of the operating panel of the present invention.
图5为本发明信号采集模块部分原理图；FIG5 is a partial schematic diagram of a signal acquisition module of the present invention;
图6为本发明电源模块部分原理图；FIG6 is a partial schematic diagram of a power module of the present invention;
图7为本发明实施例航空变量施药监控方法的流程示意图。FIG. 7 is a schematic flow chart of a method for monitoring aerial variable spraying according to an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明的目的是提供一种航空变量施药监控装置及方法，能够实时监测控制施药情况，精准施药，量化施药效果，还具有操作简单，成本低，适应性广等特点，满足市场需求。The purpose of the present invention is to provide an aerial variable pesticide application monitoring device and method, which can monitor and control the pesticide application situation in real time, apply pesticides accurately, and quantify the pesticide application effect. It also has the characteristics of simple operation, low cost, wide adaptability, etc., to meet market demand.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
本发明公开了一种航空变量施药监控装置及方法，能够根据农田面积和地形等具体信息自动规划飞行路线、飞行高度、飞行速度、飞行姿态以及施药流量，并在施药过程中，实时监测航空施药情况，操作员也可根据实际需求情况实时进行调控，达到量化施药效果，精准施药的目的。The present invention discloses an aerial variable pesticide application monitoring device and method, which can automatically plan the flight route, flight altitude, flight speed, flight attitude and pesticide application flow rate according to specific information such as farmland area and terrain, and monitor the aerial pesticide application situation in real time during the pesticide application process. The operator can also adjust and control in real time according to actual needs, so as to achieve the purpose of quantitative pesticide application effect and precise pesticide application.
本发明实施例提供的一种航空变量施药监控装置主要包括信号采集模块、控制显示模块、执行模块、无线通信模块以及药箱。所述药箱安装在飞机的机架上；所述电磁阀安装在所述药箱的喷头上。所述执行模块作用是控制飞机的飞行状态和施药情况。其中，通过舵机控制飞机的飞行状态，通过电磁阀和喷头控制施药情况。优选的所述喷头为旋转液力雾化喷头。An aviation variable spraying monitoring device provided by an embodiment of the present invention mainly includes a signal acquisition module, a control display module, an execution module, a wireless communication module and a medicine box. The medicine box is installed on the frame of the aircraft; the solenoid valve is installed on the nozzle of the medicine box. The execution module is used to control the flight status and spraying conditions of the aircraft. Among them, the flight status of the aircraft is controlled by the steering gear, and the spraying conditions are controlled by the solenoid valve and the nozzle. Preferably, the nozzle is a rotary hydraulic atomizing nozzle.
图1为本发明实施例航空变量施药监控装置的结构示意图。FIG1 is a schematic diagram of the structure of an aerial variable-rate pesticide application monitoring device according to an embodiment of the present invention.
如图1所示，所述控制显示模块包括单片机、显示器以及操作板；所述执行模块主要包括电磁阀、所述喷头以及飞机的舵机；所述无线传输模块主要包括GSM通信模块，其作用是实现单片机与显示器和操作板之间的通信功能。其中，本发明实施例中的无线传输模块部分原理图如图2所示。As shown in Figure 1, the control display module includes a single chip microcomputer, a display and an operation panel; the execution module mainly includes a solenoid valve, the nozzle and the aircraft steering gear; the wireless transmission module mainly includes a GSM communication module, which is used to realize the communication function between the single chip microcomputer and the display and the operation panel. Among them, the partial schematic diagram of the wireless transmission module in the embodiment of the present invention is shown in Figure 2.
所述信号采集模块主要包括多种传感器和A/D转换器，多种传感器为飞行高度传感器、飞行速度传感器、飞行姿态传感器、GPS定位器(在图1中简称高度传感器、速度传感器、姿态传感器、GPS)、流量传感器、液位传感器、电压传感器；所述信号采集模块用于依据多种传感器采集飞机飞行状态信号、施药情况信号。The signal acquisition module mainly includes a variety of sensors and A/D converters. The various sensors are flight altitude sensors, flight speed sensors, flight attitude sensors, GPS locators (referred to as altitude sensors, speed sensors, attitude sensors, and GPS in FIG1 ), flow sensors, liquid level sensors, and voltage sensors. The signal acquisition module is used to collect aircraft flight status signals and pesticide application status signals based on the various sensors.
所述操作板用于采集操作员输入的执行信息。The operation panel is used to collect execution information input by the operator.
所述单片机的输入端分别与所述信号采集模块、所述操作板连接，所述单片机的输出端分别与所述电磁阀、所述喷头、所述显示器以及飞机的舵机连接。其中，所述信号采集模块通过所述A/D转换器与所述单片机的输入端连接；所述操作板通过所述无线传输模块与所述单片机的输入端连接；所述显示器通过所述无线传输模块与所述单片机的输出端连接。所述单片机内存储待施药的农田面积和地形，以及依据待施药的农田面积和地形自行规划的飞行路线、飞行高度、飞行速度、飞行姿态、喷头流量、喷头电机电压。本发明实施例中的单片机电路原理图和操作板电路原理图如图3和图4所示。The input end of the single-chip microcomputer is respectively connected to the signal acquisition module and the operation panel, and the output end of the single-chip microcomputer is respectively connected to the solenoid valve, the nozzle, the display and the aircraft's steering gear. Among them, the signal acquisition module is connected to the input end of the single-chip microcomputer through the A/D converter; the operation panel is connected to the input end of the single-chip microcomputer through the wireless transmission module; the display is connected to the output end of the single-chip microcomputer through the wireless transmission module. The single-chip microcomputer stores the area of farmland to be sprayed and the terrain, as well as the flight route, flight altitude, flight speed, flight attitude, nozzle flow rate, and nozzle motor voltage that are planned according to the area of farmland to be sprayed and the terrain. The circuit schematic diagram of the single-chip microcomputer and the circuit schematic diagram of the operation panel in the embodiment of the present invention are shown in Figures 3 and 4.
所述显示器用于以数值的形式实时显示飞机飞行信息和施药信息；所述飞机飞行信息包括飞行高度、飞行速度、飞行位置、飞行轨迹；所述施药信息包括施药面积、施药浓度、药液剩余量、药箱中无药液时所对应的飞行位置以及所需要补充的药液。The display is used to display the aircraft flight information and pesticide application information in real time in the form of numerical values; the aircraft flight information includes flight altitude, flight speed, flight position, and flight trajectory; the pesticide application information includes pesticide application area, pesticide application concentration, remaining amount of pesticide solution, flight position corresponding to when there is no pesticide solution in the medicine box, and pesticide solution that needs to be replenished.
图5为本发明信号采集模块部分原理图。FIG. 5 is a partial schematic diagram of the signal acquisition module of the present invention.
如图5所示，本发明实施例没有画出具体的传感器，只画出接口，且拓展了16个传感器接口。As shown in FIG. 5 , the embodiment of the present invention does not show specific sensors, but only shows interfaces, and expands 16 sensor interfaces.
所述飞行高度传感器，设置在飞机的机箱内，用于实时检测、采集以及输出飞机的飞行高度。The flight altitude sensor is arranged in the chassis of the aircraft and is used for real-time detection, collection and output of the flight altitude of the aircraft.
所述飞行速度传感器，设置在飞机的机体外顶部，用于实时检测、采集以及输出飞机的飞行速度。The flight speed sensor is arranged on the top of the aircraft body and is used for real-time detection, collection and output of the flight speed of the aircraft.
所述飞行姿态传感器，设置在飞机的机箱内，用于实时检测、采集以及输出飞机的飞行姿态。The flight attitude sensor is arranged in the chassis of the aircraft and is used for real-time detection, collection and output of the flight attitude of the aircraft.
所述GPS定位器，设置在飞机的机箱内，用于检测、采集以及输出当前时刻飞机的位置信息。The GPS locator is arranged in the chassis of the aircraft and is used to detect, collect and output the position information of the aircraft at the current moment.
所述流量传感器，设置在所述电磁阀上，用于实时检测、采集以及输出电磁阀开口角度。The flow sensor is arranged on the solenoid valve and is used for real-time detection, collection and output of the opening angle of the solenoid valve.
所述液位传感器，设置在所述药箱内，用于实时检测、采集以及输出药箱的液面高度。The liquid level sensor is arranged in the medicine box and is used for real-time detection, collection and output of the liquid level height of the medicine box.
所述电压传感器，设置在所述喷头上，用于实时检测、采集以及输出喷头电机电压。喷头电机电压的高低影响喷幅的大小。The voltage sensor is arranged on the nozzle and is used for real-time detection, collection and output of the nozzle motor voltage. The nozzle motor voltage affects the size of the spray width.
所述A/D转换器用于将所述信号采集模块采集的模拟信号转换成数字信号。The A/D converter is used to convert the analog signal collected by the signal collection module into a digital signal.
本发明实施例提供的一种航空变量施药监控装置还包括电源模块。电源模块是提供该装置所需的能源。所述电源模块包括电源和稳压器。所述电源通过所述稳压器分别与所述信号采集模块、所述单片机、所述电磁阀、所述无线通信模块的电源端连接。The aerial variable spraying monitoring device provided by the embodiment of the present invention also includes a power module. The power module provides the energy required by the device. The power module includes a power supply and a voltage regulator. The power supply is respectively connected to the power supply end of the signal acquisition module, the single chip microcomputer, the solenoid valve, and the wireless communication module through the voltage regulator.
图6为本发明信号采集模块部分原理图，如图6所示，电源接有4个输出端，为了保证电压的稳定性，都分别用稳压器78M05和AMS1117进行稳压。稳压器78M05主要为GPS定位器、GSM通信模块和单片机提供稳定的5V电压；稳压器AMS1117主要为信号采集模块、单片机和SD内存卡提供稳定的3.3V电压。FIG6 is a partial schematic diagram of the signal acquisition module of the present invention. As shown in FIG6 , the power supply is connected to four output terminals. To ensure the stability of the voltage, the voltage regulators 78M05 and AMS1117 are used for voltage stabilization. The voltage regulator 78M05 mainly provides a stable 5V voltage for the GPS locator, the GSM communication module and the single-chip microcomputer; the voltage regulator AMS1117 mainly provides a stable 3.3V voltage for the signal acquisition module, the single-chip microcomputer and the SD memory card.
本发明还提供了一种航空施药监控方法，该方法主要是根据飞机的飞行高度、飞行速度、流量和喷头电压大小计算出施药面积和施药浓度。The present invention also provides an aerial pesticide application monitoring method, which mainly calculates the pesticide application area and the pesticide application concentration based on the aircraft's flight altitude, flight speed, flow rate and nozzle voltage.
图7为本发明实施例航空变量施药监控方法的流程示意图，如图7，本发明实施例提供的监控方法具体包括以下几个步骤。FIG7 is a flow chart of a method for monitoring aerial variable spraying according to an embodiment of the present invention. As shown in FIG7 , the monitoring method provided by the embodiment of the present invention specifically includes the following steps.
步骤101：确定自变量和因变量；所述自变量包括飞行高度、飞行速度、喷头电机电压以及电磁阀开口角度；所述因变量包括施药面积和施药效果；其中，所述自变量中的电磁阀开口角度对应所述因变量的施药浓度；所述自变量中的飞行高度、飞行速度、喷头电机电压对应所述因变量的施药面积。Step 101: Determine the independent variables and dependent variables; the independent variables include flight altitude, flight speed, nozzle motor voltage and solenoid valve opening angle; the dependent variables include application area and application effect; wherein, the solenoid valve opening angle in the independent variable corresponds to the application concentration of the dependent variable; the flight altitude, flight speed and nozzle motor voltage in the independent variables correspond to the application area of the dependent variable.
步骤102：采用多元回归模型，确定第一关系式和第二关系式；所述第一关系式为所述电磁阀开口角度与所述施药浓度的关系式；所述第二关系式为所述飞行高度、所述飞行速度、所述喷头电机电压与所述施药面积的关系式。Step 102: Use a multivariate regression model to determine a first relationship and a second relationship; the first relationship is the relationship between the solenoid valve opening angle and the spraying concentration; the second relationship is the relationship between the flight height, the flight speed, the nozzle motor voltage and the spraying area.
步骤103：实时获取飞机飞行状态信号和施药情况信号；所述飞机飞行状态信号包括飞机的飞行高度、飞行速度、飞行姿态、位置信息；所述施药情况信号包括电磁阀开口角度、喷头电机电压以及药箱的液面高度。Step 103: Acquire the aircraft flight status signal and the pesticide application status signal in real time; the aircraft flight status signal includes the aircraft's flight altitude, flight speed, flight attitude, and position information; the pesticide application status signal includes the solenoid valve opening angle, the nozzle motor voltage, and the liquid level of the medicine box.
步骤104：根据所述第一关系式、所述第二关系式、所述飞行高度、所述飞行速度、所述电磁阀开口角度以及所述喷头电机电压，计算施药面积和施药浓度。Step 104: Calculate the application area and application concentration according to the first relationship, the second relationship, the flight height, the flight speed, the solenoid valve opening angle, and the nozzle motor voltage.
步骤105：根据所述飞机的飞行姿态和位置信息，确定飞机的飞行轨迹。Step 105: Determine the flight trajectory of the aircraft according to the flight attitude and position information of the aircraft.
步骤106：根据所述药箱的液面高度，确定药液剩余量。Step 106: Determine the remaining amount of the medicine liquid according to the liquid level of the medicine box.
步骤107：根据所述药箱的液面高度和所述位置信息，确定药箱中无药液时所对应的飞行位置。Step 107: Determine the flight position corresponding to when there is no liquid medicine in the medicine box according to the liquid level of the medicine box and the position information.
步骤108：根据所述药箱中无药液时所对应的飞行位置、所述飞机的飞行轨迹、以及单片机预先存储的飞行轨迹，确定所需要补充的药量。Step 108: Determine the amount of medicine that needs to be replenished based on the flight position corresponding to when there is no medicine liquid in the medicine box, the flight trajectory of the aircraft, and the flight trajectory pre-stored in the single-chip microcomputer.
具体内容如下：The specific contents are as follows:
1、确定自变量和因变量。由单片机综合处理飞行高度传感器、飞行速度传感器、流量传感器、电压传感器传送来的飞行高度信号、飞行速度信号、喷头电机电压信号、电磁阀开口角度信号(该电磁阀开口角度大小在0到90度之间)，并把该四个信号设为自变量，施药效果设为因变量。施药效果包括施药面积和施药浓度两个指标。其中，自变量中的电磁阀开口角度主要对应施药浓度指标；自变量中的飞行高度、飞行速度、喷头电机电压主要对应施药面积指标。1. Determine the independent variables and dependent variables. The single-chip microcomputer comprehensively processes the flight height signal, flight speed signal, nozzle motor voltage signal, and solenoid valve opening angle signal (the solenoid valve opening angle is between 0 and 90 degrees) transmitted by the flight height sensor, flight speed sensor, flow sensor, and voltage sensor, and sets the four signals as independent variables, and the spraying effect as the dependent variable. The spraying effect includes two indicators: spraying area and spraying concentration. Among them, the solenoid valve opening angle in the independent variable mainly corresponds to the spraying concentration indicator; the flight height, flight speed, and nozzle motor voltage in the independent variables mainly correspond to the spraying area indicator.
2、确定自变量与因变量之间的关系，即确定第一关系式和第二关系式。采用的方法是多元回归模型，具体为确定其他自变量不变，只改变其中一个变量，测出施药效果。2. Determine the relationship between the independent variable and the dependent variable, that is, determine the first relationship and the second relationship. The method used is the multiple regression model, which is to determine that other independent variables remain unchanged, only change one variable, and measure the effect of pesticide application.
通过多组数据计算，得出该自变量与施药效果之间的函数关系。可采用分步计算。Through the calculation of multiple sets of data, the functional relationship between the independent variable and the effect of pesticide application can be obtained. Step-by-step calculation can be adopted.
第一步先计算电磁阀开口角度与施药浓度的关系式。设定自变量飞行高度、飞行速度、喷头电机电压都不变，再改变电磁阀开口角度，每改变一次测量因变量的施药浓度指标。这里可通过公式推导得到电磁阀开口角度与施药浓度指标的关系式，即公式(1)，如下所示：
第二步在计算飞行高度、飞行速度、喷头电机电压与施药面积之间的关系式。The second step is to calculate the relationship between the flight height, flight speed, nozzle motor voltage and application area.
(1)确定喷头电机电压与喷幅之间的函数关系式。设置飞行高度、飞行速度都不变，即设置飞机处于静止状态。由于施药高度在1米—3米范围内，因此设置飞机高度为1.6米固定值，改变喷头电机电压大小，通过多组实验数据可总结出公式(2)，如下所示：Y＝P1+P2cos(U*w)+P3sin(U*w)(2)w、P1、P2、P3常数，w＝0.5604，P1＝3.287，P2＝0.967，P3＝0.2542，Y为喷幅，U为喷头电机电压。由公式(2)可知电机电压与喷幅成三角函数关系。(1) Determine the functional relationship between the nozzle motor voltage and the spray width. Set the flight altitude and flight speed unchanged, that is, set the aircraft to a stationary state. Since the spraying height is within the range of 1 meter to 3 meters, the aircraft altitude is set to a fixed value of 1.6 meters. By changing the nozzle motor voltage, formula (2) can be summarized through multiple sets of experimental data, as shown below: Y =P1 +P2 cos(U*w) +P3 sin(U*w)(2)w,P1 ,P2 ,P3 are constants, w = 0.5604,P1 = 3.287,P2 = 0.967,P3 = 0.2542, Y is the spray width, and U is the nozzle motor voltage. From formula (2), it can be seen that the motor voltage and the spray width are in a trigonometric function relationship.
(2)确定飞行高度与喷幅之间的函数关系式。设置喷头电机电压大小、飞行速度都不变，改变飞行高度。这里可通过相关公式推导出公式(3)，如下所示：
(3)确定飞行速度与施药面积之间的函数关系式。设置喷头电机电压大小、飞行高度都不变，改变飞行速度。这里可通过相关公式推导出公式(4)，如下所示：S＝V机tY(4)，其中S为施药面积，V机为飞机的飞行速度，t为施药时间，Y为喷幅。由公式(4)可知施药时间和喷幅不变时飞行速度与施药面积成正比例关系。(3) Determine the functional relationship between the flight speed and the spraying area. Set the nozzle motor voltage and the flight altitude unchanged, and change the flight speed. Here, formula (4) can be derived through the relevant formula, as shown below: S =Vmachine tY (4), where S is the spraying area, Vmachineis the flight speed of the aircraft, t is the spraying time, and Y is the spray width. From formula (4), it can be seen that the flight speed is directly proportional to the spraying area when the spraying time and spray width remain unchanged.
通过整合公式(2)、公式(3)、公式(4)可到飞行高度、飞行速度、喷头电机电压与施药面积之间的函数关系式，即公式(5)：
再结合公式(1)，可得公式(6)，即施药浓度与飞行高度、飞行速度、喷头电机电压、电磁阀开口角度信号之间的函数关系式。
由公式(6)，根据飞行高度传感器、飞行速度传感器、流量传感器、电压传感器检测的数据计算出施药浓度，再结合飞行姿态传感器、GPS定位器可实时掌握飞机姿态、位置与飞行轨迹，此外在结合液位传感器监测药液余量，就可以准确地监测出的航空施药的效果。操作员还可根据实际情况预设各变量的参数，也可实时调控各个变量进而实现精准航空施药。According to formula (6), the pesticide concentration is calculated based on the data detected by the flight altitude sensor, flight speed sensor, flow sensor, and voltage sensor. The aircraft attitude, position, and flight trajectory can be monitored in real time in combination with the flight attitude sensor and GPS locator. In addition, the effect of aerial pesticide application can be accurately monitored by combining the liquid level sensor to monitor the remaining amount of the liquid. The operator can also preset the parameters of each variable according to the actual situation, and can also adjust each variable in real time to achieve precise aerial pesticide application.
具体实施为：The specific implementation is:
飞行前准备：在起飞前先对所有传感器调零，保证多元信息采集的准确性。Pre-flight preparation: Zero all sensors before takeoff to ensure the accuracy of multi-dimensional information collection.
施药作业：当操作员把待施药的农田面积和地形输入到本发明提供的装置中，该装置会根据农田具体信息自动规划好飞行路线、飞行高度、飞行速度、飞行姿态以及喷头的流量电压。飞机起飞后，操作员可通过显示器实时准确的观察飞机的飞行高度、速度、轨迹、姿态和以及施药流量、药液余量和喷头电压大小等信息。Pesticide application: When the operator inputs the area and terrain of the farmland to be applied into the device provided by the present invention, the device will automatically plan the flight route, flight altitude, flight speed, flight attitude, and flow rate and voltage of the nozzle according to the specific information of the farmland. After the aircraft takes off, the operator can observe the aircraft's flight altitude, speed, trajectory, attitude, and information such as the pesticide flow rate, remaining amount of liquid, and nozzle voltage in real time and accurately through the display.
当对农田边缘位置施药时，该装置设定相应的参数以达到最佳施药效果，即低速、低空、少喷量、低电压的施药效果。操作员还可根据实际情况改变其中一个或几个变量，例如改变飞行速度和喷幅。为保证施药效果不变，该装置还能够提供其余变量的最佳数据，并显示给操作员，例如显示飞行高度和施药流量。操作员可选择自动调控飞行状态与施药情况，也可选择手动调控。当针对大面积农作物施药时，该装置设定飞机高空快速飞过，同时会给喷头设定大喷量、高电压，这样不仅提高施药面积还提高均匀性，还能节约大量时间，提高作业效率。同理，操作员可根据实际需求改变飞行高度、速度、流量和电压一个或几个变量，为保证施药效果，该装置同样能够提供其余变量的相应变量情况，实现精准施药，避免造成农药污染与浪费。When applying pesticides to the edge of the farmland, the device sets the corresponding parameters to achieve the best application effect, that is, the application effect of low speed, low altitude, small spray volume and low voltage. The operator can also change one or several variables according to the actual situation, such as changing the flight speed and spray width. To ensure that the application effect remains unchanged, the device can also provide the best data of the remaining variables and display them to the operator, such as displaying the flight altitude and the application flow rate. The operator can choose to automatically control the flight status and the application situation, or choose manual control. When applying pesticides to large areas of crops, the device sets the aircraft to fly high and fast, and at the same time sets a large spray volume and high voltage for the nozzle, which not only increases the application area and uniformity, but also saves a lot of time and improves work efficiency. Similarly, the operator can change one or several variables of flight altitude, speed, flow rate and voltage according to actual needs. To ensure the application effect, the device can also provide the corresponding variable conditions of the remaining variables to achieve precise application and avoid pesticide pollution and waste.
该装置在显示施药效果的同时，也会把药液余量显示出来。设定最短路线和最佳载药量，节约飞机能源，进一步节约施药时间。当药箱内的药液喷完后，该装置不仅会记录相应的坐标位置，也会准确地显示需要补充的药量。待药液补充后，可根据记录的坐标位置从该处继续喷药，防止重复施药，实现精准施药。施药完成后该装置会把施药情况以数据信息的方式显示给操作员观察，达到量化施药效果，实现精准施药的目的。The device will display the remaining amount of liquid medicine while displaying the effect of spraying. Setting the shortest route and the best loading amount of medicine can save aircraft energy and further save spraying time. When the liquid medicine in the medicine box is sprayed, the device will not only record the corresponding coordinate position, but also accurately display the amount of medicine that needs to be replenished. After the liquid medicine is replenished, the spraying can continue from that location according to the recorded coordinate position to prevent repeated spraying and achieve precise spraying. After the spraying is completed, the device will display the spraying situation in the form of data information for the operator to observe, so as to quantify the effect of spraying and achieve the purpose of precise spraying.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
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