Key Technology Research Of Based On Four-rotor Facility Space Environment Information Monitoring

SCADA(Supervisory Control And Data Acquisition) of Greenhouse environment plays a vital role on crop production. It offers detailed information on aspects: 1) Evaluation of Greenhouse’s properties, 2) Precise control of environment elements, and 3) Alert for occurrence of pests and diseases. Whereas traditional methods measuring single point cannot satisfy the need to acquire adequate data and it needs larger cost on wire/wireless measuring sensors. This thesis designs a micro four-motor aircraft scenario for quick and accurate SCADA for Greenhouse environment.First of all, domestic and international literates were searched to analysis the most recent development of micro four-motor aircraft technique and its application on agriculture. This gave guidance of what technical problems are confronted with the micro four-motor aircraft on SCADA currently.Then, the hardware part for micro four-motor aircraft was designed. This part used KLH-100 laser distance measuring sensor, MS5611 barometer and MB1242 ultrasonic sensor, which will tackle the problem of automatic positioning and navigation. Besides, KLH-100 will be used to avoid obstacle automatically. MPU6000 is the sensor for attitude measurement. This thesis illustrates the hardware design of low-voltage alerting circuit and wireless data transmission module.Next, efforts were taken to design the micro-aircraft’s software. It includes programming of positioning and navigation, obstacle avoidance and attitude measurement routines. The thesis also introduces the algorithms for data fusion and attitude control and adjustment of corresponding parameters.Finally, tests for this micro four-motor aircraft were carried to evaluate the feasibility on humidity and temperature data acquisition in Greenhouse environment. Tests presented that there is 1% difference between the measured data and real values. This shows the feasibility of SCADA with micro four-motor aircraft, exhibits disadvantages of the aircraft technique, and also lightens the key points future research tasks.