CN107192341A - A kind of height measuring device - Google Patents
A kind of height measuring device Download PDFInfo
- Publication number
- CN107192341A CN107192341A CN201710621920.9A CN201710621920A CN107192341A CN 107192341 A CN107192341 A CN 107192341A CN 201710621920 A CN201710621920 A CN 201710621920A CN 107192341 A CN107192341 A CN 107192341A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- sensor
- crop
- sensor unit
- power line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
Abstract
The invention belongs to agricultural aviation technical field, it is related to a kind of height measuring device, it is characterised in that：Including connection member, multiple sensor units, power line, signal wire, protection overcoat.It is connected to by connection member on unmanned plane；Sensor unit includes sensor and signal processing circuit；Sensor unit is powered by unmanned electromechanical source by power line or powered by independent power supply；The height measurement signal that each sensor unit is produced is transmitted to unmanned plane main control chip by signal wire carries out altitude information fusion treatment；Sensor unit, power line, signal wire are placed in protection overcoat.Measure whether multiple sensor units are placed in crop to obtain the absolute distance that unmanned plane distance treats dispenser crop by " contact ", do not influenceed by factor in terms of wind-force, light, aspect, air speed, crop biological nature difference, enable unmanned plane to be truly realized independently to fly everywhere, increase substantially operating efficiency and operation effectiveness.
Description
Technical field
The present invention relates to a kind of height measuring device, belong to agricultural aviation technical field.
Background technology
With the development of agricultural aviation technology, using having, man-machine and unmanned plane progress plant protection operation is more and more extensive, especially
It is the large-scale application recently as multi-rotor unmanned aerial vehicle, is applied in agriculturally such as spray, fertilising, sowing, pollination
It is more and more extensive Deng application.
During using there is man-machine (including fixed-wing and helicopter) aviation operation, driver passes through board instrument and point of view
To tackle hypsography on course line, control aircraft carry out adjustable height with hypsography with keep distance between aircraft and crop and then
Ensure good pesticide supplying effect, due to hysteresis quality and subjective differences that people operates, therefore lean on driver artificially to control aircraft to make
Industry height error is larger, and operation effectiveness is have impact on to a certain extent.
Carried out using unmanned plane (many rotors and depopulated helicopter) aerial pesticide operation be also required to according to hypsography come
Aircraft is adjusted at a distance of the absolute altitude of crop to ensure good pesticide supplying effect.Current unmanned plane is sensed frequently with pressure altitude
Device, laser range sensor, ultrasonic sensor, three dimension scan radar, vision sensor etc. are come to highly measuring with reality
Now flown with topography variation, but the above method is all " contactless ", it is easy to by wind-force, light, aspect, aircraft speed
Factor influences in terms of degree, crop biology characteristic difference, therefore the above method can not all control unmanned plane well with landform
Height-lock control, ensures that absolute altitude of the unmanned plane away from crop is made mainly by operating personnel's subjective judgement and by straighforward operation
Industry, therefore height relief of the unmanned plane away from crop is larger and then have impact on operation effectiveness, while straighforward operation also limit operation
Apart from close, operating efficiency and operation effectiveness greatly affected.
The content of the invention
To overcome above-mentioned technical deficiency, it is an object of the invention to provide a kind of height measuring device, height of the invention is surveyed
Amount device is not influenceed by factor in terms of wind-force, light, aspect, air speed, crop biology characteristic difference, it is ensured that
With landform height-lock control during unmanned plane aviation operation.
A kind of height measuring device of the present invention, including connection member, multiple sensor units, power line, signal wire, guarantor
Protect overcoat.Height measuring device is connected on unmanned plane by connection member；The distance between multiple sensor units are kept
Equal or different and demarcate in advance, sensor unit includes sensor and signal processing circuit；Sensor unit passes through power supply
Line is powered by unmanned electromechanical source or powered by independent power supply；The height measurement signal that each sensor unit is produced passes through signal wire
Transmit to unmanned plane main control chip and carry out altitude information fusion treatment；Sensor unit, power line, signal wire are placed in protection overcoat
Interior, protection overcoat is using transparent, flexible materials such as plastics.
Described sensor can be active photoelectric sensor, passive type photoelectric sensor, microswitch, of the invention
When a kind of height measuring device carries out aerial pesticide operation with unmanned plane, unmanned plane is being treated to keep certain height above dispenser crop
And multiple sensor units is hung in crop, while making more than one sensor unit above crop, by above-mentioned many
Individual sensor detects itself whether in crop, and utilizes the distance between each sensor demarcated in advance data, so that it may
To measure absolute distance of the unmanned plane apart from crop, and then the fixed high dispenser operation of progress can be followed automatically with topography variation.
A kind of height measuring device that the present invention is provided, measures whether multiple sensor units are placed in by " contact "
The absolute distance that unmanned plane distance treats dispenser crop is obtained in crop, not by wind-force, light, aspect, air speed, work
Factor influences in terms of thing biological nature difference, unmanned plane is truly realized and independently flies everywhere, meets unmanned plane complete certainly
The acquisition of absolute altitude when changing during main flight with landform and plant height, or can also be significantly during for remote operation
Increase operation distance, reduce the control difficulty of short transverse most rambunctious, reduce the requirement to operating personnel, increase substantially
Operating efficiency and operation effectiveness.
Brief description of the drawings
Fig. 1 is the schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the sensor unit schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the schematic diagram of the embodiment of the present invention 2；
Fig. 4 is the sensor unit schematic diagram of the embodiment of the present invention 2.
Embodiment
The present invention is described in further detail below in conjunction with the embodiment that accompanying drawing is provided.
Embodiment 1
As depicted in figs. 1 and 2, a kind of height measuring device of the present embodiment, including connection member 1, multiple sensor lists
Member 2, power line 3, signal wire 4, protection overcoat 5.This height measuring device is connected on unmanned plane by connection member 1；It is many
The distance between individual sensor unit 2 keeps equal or different and demarcated in advance, and sensor unit 2 includes the He of sensor 201
Signal processing circuit 202；Sensor unit 2 is powered by unmanned electromechanical source by power line 3 or powered by independent power supply；It is each to pass
The height measurement signal that sensor cell 2 is produced is transmitted to unmanned plane main control chip by signal wire 4 and carried out at altitude information fusion
Reason；Multiple sensor units 2, power line 3, signal wire 4 are placed in protection overcoat 5, and use plastics of protection overcoat 5 etc. are transparent, have
The material of elasticity.Sensor 201 can be that active photoelectric sensor can also be passive type photoelectric sensor, when unmanned plane band
When carrying a kind of height measuring device work of the present invention, into the active photoelectric sensor or passive type photoelectric sensor of crop
Because intensity of illumination changes and causes obvious signal output, without enter crop active photoelectric sensor or by
Dynamic formula photoelectric sensor intensity of illumination does not change or occurred very little change and causes no clear signal to export, multiple by judging
Whether sensor 201 enters crop, in conjunction with the distance between multiple sensors demarcated in advance, realizes unmanned plane and crop
Between absolute distance " contact " measurement.
Embodiment 2
As shown in Figure 3 and Figure 4, a kind of height measuring device of the present embodiment, its operation principle is same as Example 1, area
It is not：Sensor 201 is microswitch, and the leakage of microswitch sensitive part is in the outside of protection overcoat 5；Protective case 5 can be with
It is that transparent material can also be opaque material；When unmanned plane drives a kind of height measuring device work of the present invention, enter
The microswitch of crop produces signal due to coming in contact stress with crop, without entering the microswitch of crop due to not having
Have and contact therefore produced without signal with crop, by judging whether multiple sensors 201 enter crop, in conjunction with prior demarcation
The distance between good multiple sensors, realize " contact " measurement of absolute distance between unmanned plane and crop.
For those skilled in the art, technical scheme and design that can be as described above make other various phases
The change and deformation answered, and all these change and deformation should all belong to right scope of protection of the present invention it
It is interior.
Claims (1)
1. a kind of height measuring device, it is characterised in that：Including connection member, multiple sensor units, power line, signal wire,
Protection overcoat；Height measuring device is connected on unmanned plane by connection member；The distance between multiple sensor units are protected
Hold equal or different and demarcate in advance, sensor unit includes sensor and signal processing circuit；Sensor unit passes through electricity
Source line is powered by unmanned electromechanical source or powered by independent power supply；The height measurement signal that each sensor unit is produced passes through signal
Line transmits to unmanned plane main control chip and carries out altitude information fusion treatment；It is outer that sensor unit, power line, signal wire are placed in protection
In set, protection overcoat is using transparent, flexible materials such as plastics；Described sensor can be active photoelectric sensor,
Passive type photoelectric sensor, microswitch；When unmanned plane carries out aerial pesticide operation, unmanned plane is being treated to keep above dispenser crop
Certain altitude simultaneously makes multiple sensor units hang in crop, while making more than one sensor unit above crop, leads to
Cross above-mentioned multiple sensors and detect itself whether in crop, and utilize the distance between each sensor demarcated in advance number
According to, it is possible to measure absolute distance of the unmanned plane apart from crop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710621920.9A CN107192341A (en) | 2017-07-27 | 2017-07-27 | A kind of height measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710621920.9A CN107192341A (en) | 2017-07-27 | 2017-07-27 | A kind of height measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107192341A true CN107192341A (en) | 2017-09-22 |
Family
ID=59885074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710621920.9A Pending CN107192341A (en) | 2017-07-27 | 2017-07-27 | A kind of height measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107192341A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111639595A (en) * | 2020-05-29 | 2020-09-08 | 桂林电子科技大学 | Unmanned aerial vehicle micro-motion characteristic signal detection method based on weight-agnostic neural network |
| CN114136205A (en) * | 2021-10-25 | 2022-03-04 | 中航通飞华南飞机工业有限公司 | Waviness measuring device and using method |
-
2017
- 2017-07-27 CN CN201710621920.9A patent/CN107192341A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111639595A (en) * | 2020-05-29 | 2020-09-08 | 桂林电子科技大学 | Unmanned aerial vehicle micro-motion characteristic signal detection method based on weight-agnostic neural network |
| CN111639595B (en) * | 2020-05-29 | 2022-03-18 | 桂林电子科技大学 | Unmanned aerial vehicle micro-motion characteristic signal detection method based on weight-agnostic neural network |
| CN114136205A (en) * | 2021-10-25 | 2022-03-04 | 中航通飞华南飞机工业有限公司 | Waviness measuring device and using method |
| CN114136205B (en) * | 2021-10-25 | 2024-04-09 | 中航通飞华南飞机工业有限公司 | Waviness measuring device and using method |
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