CN109444876A

CN109444876A - Operating equipment and its method of adjustment and device

Info

Publication number: CN109444876A
Application number: CN201811528063.9A
Authority: CN
Inventors: 丁胜东
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2019-03-08

Abstract

The invention discloses a kind of operating equipment and its method of adjustment and devices.Wherein, this method comprises: obtaining the echo-signal that the multiple radars installed in operating equipment receive；Echo-signal is handled, the information of target object in the elevation information and operating equipment local environment of operating equipment is obtained；Information based on elevation information and target object, is adjusted the operating parameter of operating equipment；Wherein, radar is installed in the horizontal direction of operating equipment, radar is installed below operating equipment, the installation site of the radar of horizontal direction includes one of following: in the fuselage surrounding of operating equipment, horn, on electric machine casing.The method of adjustment that the present invention solves operating equipment in the related technology can not accurately determine the technical issues of position of height and ambient enviroment barrier over the ground.

Description

Operating equipment and its method of adjustment and device

Technical field

The present invention relates to unmanned plane fields, in particular to a kind of operating equipment and its method of adjustment and device.

Background technique

With moving forward steadily for agricultural modernization, demand of the agricultural production to mechanization of agriculture is growing, it is agricultural nobody Because it is widely suitable for the farming region that ground machine is difficult to operation, obvious feature is shown in practice promotes and applies And advantage.It keeps away with the large-scale use of plant protection drone, height-lock control and to the identification of ambient enviroment barrier and in real time Barrier becomes the inexorable trend of plant protection drone intelligent development.It is uncontrollable due to meteorological condition, especially high non-irrigated sand and dust of high temperature etc. The difficulty of operation greatly improves under bad weather, and relatively high requirement is proposed to the intelligence of unmanned plane, to how having Under civil construction object, Urban Greening, electrical network facilities, communications facility, and the operating environment with irregular activity biology appearance, Unmanned plane be capable of intelligence foundation preset height, avoid peripheral obstacle in real time, it has been proposed that it is various imitatively with keep away Barrier scheme.For example, using ultrasonic wave, monocular cam, binocular camera, laser radar, TOF (flying time technology, Time Of Fight) etc., different sensors because its respective feature actual in use, application effect also has larger difference.

Existing technical solution, for example ultrasonic wave is used, camera, the sensors such as TOF, unmanned plane is with can be specific It completes the requirement on fixed high imitative ground and Real Time Obstacle Avoiding under environment, but because uses these the characteristics of the environment of plant protection drone operation The unmanned plane of sensor can not high quality complete task in complicated agricultural operation environment.The operating environment of plant protection drone Many places are under high temperature, the more stringent environment such as more dirt, humidity is big, light pollution is serious, to the more demanding of sensor, ultrasonic wave Although have structure it is simple, directive property is strong, not vulnerable to environmental disturbances the advantages that, its range is small, when unmanned plane speed is higher, Barrier remotely cannot be measured, the biggish reaction time cannot be reserved for unmanned plane；TOF, laser radar and camera are all It is optical device, vulnerable to the interference of environment, dust and light pollution especially can be affected greatly the data of measurement, together When at high cost, especially laser radar.

Height and ambient enviroment barrier over the ground can not be accurately determined for the method for adjustment of operating equipment in the related technology The problem of hindering the position of object, currently no effective solution has been proposed.

Summary of the invention

The embodiment of the invention provides a kind of operating equipment and its method of adjustment and devices, at least to solve in the related technology The method of adjustment of operating equipment can not accurately determine the technical issues of position of height and ambient enviroment barrier over the ground.

According to an aspect of an embodiment of the present invention, a kind of method of adjustment of operating equipment is provided, comprising: obtain operation The echo-signal that the multiple radars installed in equipment receive；Echo-signal is handled, the height letter of operating equipment is obtained The information of target object in breath and operating equipment local environment；Information based on elevation information and target object, sets operation Standby operating parameter is adjusted；Wherein, the horizontal direction surrounding of operating equipment is equipped with radar, the lower section installation of operating equipment There is a radar, the installation site of the radar of horizontal direction includes one of following: in the fuselage surrounding of operating equipment, horn, motor casing On body.

Further, in the case that radar in the horizontal direction is mounted on the electric machine casing of operating equipment, horizontal direction Radar be separately mounted to the front, rear, left and right side of electric machine casing.

Further, operating parameter includes: control parameter, course line parameter and job parameter.

Further, echo-signal is handled, obtains the elevation information of operating equipment, comprising: to echo-signal into Row processing, obtains operating equipment at a distance from ground；Obtain the attitude data of operating equipment, wherein attitude data includes: operation The posture inclination angle of equipment；Based on distance and inclination angle, elevation information is obtained using trigonometric function relationship.

Further, it is based on elevation information, the operating parameter of operating equipment is adjusted, comprising: decision height information It is whether identical as preset height information；In the case where determining elevation information and the different situation of preset height information, operation is set Standby attitude parameter is adjusted, so that elevation information is identical as preset height information.

Further, the attitude parameter of operating equipment is adjusted, comprising: by the power device to operating equipment into Row control, so that attitude parameter is adjusted.

Further, the information of target object includes: the range information and location information of target object.

Further, based on the information of target object, the operating parameter of operating equipment is adjusted, comprising: be based on mesh The information for marking object, judges whether target object appears in the operating area of operating equipment；Determining target object appearance In the case where in operating area, operating parameter is adjusted.

Further, operating parameter is adjusted, including one of following: being adjusted to the course line parameter of operating equipment It is whole；The speed parameter of operating equipment is adjusted；The attitude parameter of operating equipment is adjusted；It is outstanding to control operating equipment Stop.

Further, job parameter includes at least one following: the amount of injection, the injection amplitude of drug, wherein based on height The information of information and target object is adjusted the operating parameter of operating equipment, comprising: is based on elevation information and target object Information, the control parameter of the apparatus for work of operating equipment is adjusted, wherein apparatus for work include: pump, medicine-chest, conduit, Spray head, conduit include at least one following for connecting pump and medicine-chest, and pump and spray head, control parameter: the pressure of pump, stream The revolving speed for spraying disk of amount, spray head.

Further, while being adjusted to operating parameter, prompt information is sent to controlling equipment, wherein prompt Information is for prompting operating equipment that can not execute corresponding movement.

Further, the normal of plane where the antenna of the radar of horizontal direction and the angle of horizontal plane are preset value.

According to another aspect of an embodiment of the present invention, a kind of method of adjustment of operating equipment is additionally provided, comprising: obtain and make The environmental information that the multiple radars installed in industry equipment are sent, wherein environmental information includes: the elevation information of operating equipment, with And in operating equipment local environment target object information；Information based on elevation information and target object, to operating equipment Operating parameter is adjusted；Wherein, the horizontal direction surrounding of operating equipment is equipped with radar, is equipped with thunder below operating equipment It reaches, the installation site of the radar of horizontal direction includes one of following: in the fuselage surrounding of operating equipment, horn, on electric machine casing.

Further, before the environmental information that the multiple radars installed on obtaining operating equipment are sent, method further include: Each radar emission radar wave signal, and receives echo-signal；Each radar handles the echo-signal received, obtains The information of elevation information or target object.

According to another aspect of an embodiment of the present invention, a kind of adjustment device of operating equipment is additionally provided, comprising: obtain mould Block, the echo-signal received for obtaining the multiple radars installed in operating equipment；Processing module, for echo-signal into Row processing, obtains the information of target object in the elevation information and operating equipment local environment of operating equipment；Control module is used In the information based on elevation information and target object, the operating parameter of operating equipment is adjusted；Wherein, the water of operating equipment Square radar is installed around, radar is installed below operating equipment, the installation site of the radar of horizontal direction includes such as It is one of lower: in the fuselage surrounding of operating equipment, horn, on electric machine casing.

According to another aspect of an embodiment of the present invention, a kind of adjustment device of operating equipment is additionally provided, comprising: obtain mould Block, the environmental information sent for obtaining the multiple radars installed in operating equipment, wherein environmental information includes: operating equipment Elevation information and operating equipment local environment in target object information；Control module, for being based on elevation information and mesh The information for marking object, is adjusted the operating parameter of operating equipment；Wherein, the horizontal direction surrounding of operating equipment is equipped with thunder It reaches, radar is installed below operating equipment, the installation site of the radar of horizontal direction includes one of following: the machine of operating equipment In body surrounding, horn, on electric machine casing.

According to another aspect of an embodiment of the present invention, a kind of operating equipment is additionally provided, comprising: multiple radars, for connecing Receive echo-signal, wherein the horizontal direction surrounding of operating equipment is equipped with radar, and radar, water are equipped with below operating equipment Square to the installation site of radar include one of following: in the fuselage surrounding of operating equipment, horn, on electric machine casing；Processing Device is connect with multiple radars, for handling echo-signal, obtains elevation information and the operating equipment institute of operating equipment Locate the information of target object in environment, and the information based on elevation information and target object, to the operating parameter of operating equipment into Row adjustment.

According to another aspect of an embodiment of the present invention, a kind of operating equipment is additionally provided, comprising: multiple radars, for giving birth to At environmental information, wherein environmental information includes: object in the elevation information and operating equipment local environment of operating equipment The information of body, the horizontal direction surrounding of operating equipment are equipped with radar, radar are equipped with below operating equipment, horizontal direction The installation site of radar includes one of following: in the fuselage surrounding of operating equipment, horn, on electric machine casing；Processor, and it is multiple Radar connection, for the information based on elevation information and target object, is adjusted the operating parameter of operating equipment.

Further, each radar includes: transmitting antenna, for emitting radar wave signal；Receiving antenna, for being received back Wave signal；Processing module is connect with receiving antenna, for handling the echo-signal received, obtain elevation information or The information of target object.

According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, storage medium includes the journey of storage Sequence, wherein equipment where control storage medium executes the method for adjustment of above-mentioned operating equipment in program operation.

According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, processor is used to run program, In, program executes the method for adjustment of above-mentioned operating equipment when running.

In embodiments of the present invention, the echo-signal received by obtaining the multiple radars installed in operating equipment, into One step handles echo-signal, object in the elevation information and operating equipment local environment of available operating equipment The information of body, and then the operating parameter of operating equipment is adjusted.Since radar is not easily susceptible to environmental disturbances, range is moderate, Cost is relatively low, so that the available accurate elevation information of operating equipment and reliable avoidance, improve operating equipment peace to reach Quan Xing preferably completes the technical effect of plant protection task, and then the method for adjustment for solving operating equipment in the related technology can not The technical issues of accurately determining the position of height over the ground and ambient enviroment barrier.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:

Fig. 1 is a kind of flow chart of the method for adjustment of operating equipment according to an embodiment of the present invention；

Fig. 2 a is the schematic diagram of the first optional radar installation site according to an embodiment of the present invention；

Fig. 2 b is the schematic diagram of second according to an embodiment of the present invention optional radar installation site；

Fig. 2 c is the schematic diagram of the third optional radar installation site according to an embodiment of the present invention；

Fig. 2 d is the schematic diagram of 4th kind according to an embodiment of the present invention optional radar installation site；

Fig. 3 is a kind of schematic diagram of the adjustment device of operating equipment according to an embodiment of the present invention；

Fig. 4 is a kind of schematic diagram of operating equipment according to an embodiment of the present invention；

Fig. 5 is the flow chart of the method for adjustment of another operating equipment according to an embodiment of the present invention；And

Fig. 6 is the schematic diagram of the adjustment device of another operating equipment according to an embodiment of the present invention.

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work It encloses.

It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product Or other step or units that equipment is intrinsic.

Embodiment 1

According to embodiments of the present invention, a kind of embodiment of the method for adjustment of operating equipment is provided, it should be noted that The step of process of attached drawing illustrates can execute in a computer system such as a set of computer executable instructions, also, It, in some cases, can be to be different from shown in sequence execution herein although logical order is shown in flow charts The step of out or describing.

Fig. 1 is a kind of flow chart of the method for adjustment of operating equipment according to an embodiment of the present invention, as shown in Figure 1, the party Method includes the following steps:

Step S102 obtains the echo-signal that the multiple radars installed in operating equipment receive.

Specifically, above-mentioned operating equipment can be agricultural unmanned plane, and multiple radars are equipped on unmanned plane, can pass through Radar is to different directions transmitting electromagnetic pulse or through the electromagnetic wave of ovennodulation, by the diffusing reflection on irradiated object surface, part Electromagnetic wave can be reflected to the direction of the launch, and radar receiving antenna receives the electromagnetic wave being transmitted back to, and form echo-signal.

Above-mentioned radar can be pulse radar or continuous wave radar, and radar antenna is directional aerial, compared to omnidirectional It possesses stronger directionality with antenna, while the transmission characteristic of radar wave in some cases, can generate mirror close to the characteristic of light Face reflection, but due to the particularity of plant protection environment, radar is practical, and irradiate is coarse earth's surface and sparse leaf or plant surface, It will be received in this way by the receiving antenna of radar by the echo that diffusing reflection generates, generate echo-signal.

Optionally, the horizontal direction surrounding of operating equipment is equipped with radar, and radar is equipped with below operating equipment, horizontal The installation site of the radar in direction includes one of following: in the fuselage surrounding of operating equipment, horn, on electric machine casing.

Radar can also be assembled above operating equipment, the barriers such as electric wire, high tree for detecting top.

Specifically, in the present embodiment, few a radar can be all around mounted respectively to lower section in unmanned plane, Radar is respectively to five direction transmitting electromagnetic pulses or through the electromagnetic wave of ovennodulation.The installation site of omnidirectional's radar can be installed to On fuselage, be also possible on horn or motor casing, radar is mounted on fuselage can guarantee that the whole design of aircraft meets must The starting performance wanted；It realizes and is easier on horn, and interference of the propeller to radar can be reduced；It can be used on motor casing Interference of the propeller to radar is avoided in the better visual field.

For example, as shown in Fig. 2 a to 2d, it as shown in Figure 2 a, can be on four positions all around of unmanned aerial vehicle body 2 Radar 42 is installed.As shown in Figure 2 b, radar 42 can be installed on four horns 3 of unmanned plane, four radars 42 are respectively forwardly Left and right four direction transmitting electromagnetic pulse or the electromagnetic wave through ovennodulation afterwards.As illustrated in figures 2 c and 2d, it may be mounted at unmanned plane Four motor casings 4 on radar 42 is installed, four radars 42 are separately mounted to the front, rear, left and right side of electric machine casing, The direction of the directional aerial of radar 42 is different, so that the direction of the transmitting electromagnetic pulse of radar 42 or the electromagnetic wave through ovennodulation is not Together.In addition, installing radar 42 below unmanned aerial vehicle body 2.

Further, as shown in Figure 2 c, the radar 42 on the motor casing of upper left is mounted on the left side of motor casing, so as to make For the left-hand radar of unmanned plane；Radar 42 on the motor casing of lower-left is mounted on the rear of motor casing, so as to as unmanned plane Backward radar；Radar 42 on upper right motor casing is mounted on the front of motor casing, so as to the forward direction thunder as unmanned plane It reaches；Radar 42 on the motor casing of bottom right is mounted on the right side of motor casing, so as to the dextrad radar as unmanned plane.Such as Fig. 2 d Shown, the radar 42 on the motor casing of upper left is mounted on the front of motor casing, so as to the forward direction radar as unmanned plane；Lower-left Radar 42 on motor casing is mounted on the left side of motor casing, so as to the left-hand radar as unmanned plane；On upper right motor casing Radar 42 be mounted on the right side of motor casing, so as to the dextrad radar as unmanned plane；Radar 42 on the motor casing of bottom right It is mounted on the rear side of motor casing, so as to the backward radar as unmanned plane.

Motor casing refers to the motor casing of the propeller of rotor wing unmanned aerial vehicle.

In addition, radar has its specific field angle, difference according to demand chooses the radar of different field angles, different views Rink corner is defined with main lobe level, and still, minor level is not zero, so the case where electromagnetic wave gets to ground is had, because This will consider that the normal in radar antenna face and horizontal plane have a upward inclination alpha (i.e. above-mentioned preset value) when installation, Influence of the land clutter to radar is maximally reduced, the size of α depends on true demand and actual application environment, if Radar is smaller in the field angle of vertical plane, and the value of α can be relatively smaller, measures the letter on the ground of aircraft front lower place if necessary Breath, the value of α can suitably take greatly.

In a kind of optional scheme, each radar is returned by sending radar wave, and receives echo-signal by what is received Wave signal is sent to processor.

Step S104, handles echo-signal, obtain operating equipment elevation information and operating equipment locating for ring The information of target object in border.

Optionally, the information of target object includes: the range information and location information of target object.

Specifically, above-mentioned target object can be the barrier around unmanned plane.

In a kind of optional scheme, after the echo-signal for receiving the radar being mounted on immediately below unmanned plane, place Device is managed by the processing to the echo-signal, radar can be calculated at a distance from earth's surface, that is, the flight for obtaining unmanned plane is high Degree.

In another optional scheme, the echo-signal for being mounted on four radars of unmanned plane all around is being received Later, processor summarizes four echo-signals, and by handling the echo-signal after summarizing, can calculate Apart from the distance of the nearest object of unmanned plane on four direction, so that perceiving which object in unmanned plane ambient enviroment can be to nobody The flight safety of machine impacts.

Step S106, the information based on elevation information and target object, is adjusted the operating parameter of operating equipment.

Optionally, operating parameter includes: control parameter, course line parameter and job parameter.

In a kind of optional scheme, based on the obtained flying height of detection, processor can control unmanned plane climb, under Drop or position present level realize the purpose on the imitative ground of unmanned plane；It, can based on the distance and position for detecting obtained peripheral obstacle Evaded with controlling unmanned plane to peripheral obstacle, realizes the purpose of unmanned plane avoidance.

Above-described embodiment through the invention is believed by obtaining the echo that the multiple radars installed in operating equipment receive Number, further echo-signal is handled, in the elevation information and operating equipment local environment of available operating equipment The information of target object, and then the operating parameter of operating equipment is adjusted.Since radar is not easily susceptible to environmental disturbances, range Moderate, cost is relatively low, so that the available accurate elevation information of operating equipment and reliable avoidance, set to reach and improve operation Standby safety, preferably completes the technical effect of plant protection task, and then solves the method for adjustment of operating equipment in the related technology The technical issues of position of height over the ground and ambient enviroment barrier can not be accurately determined.

Optionally, in the above embodiment of the present invention, step S104 handles echo-signal, obtains operating equipment Elevation information, comprising: echo-signal is handled, obtains operating equipment at a distance from ground；Obtain the posture of operating equipment Data, wherein attitude data includes: the posture inclination angle of operating equipment；Based on distance and inclination angle, obtained using trigonometric function relationship Elevation information.

In a kind of optional scheme, being installed on the radar immediately below unmanned plane is the radar for imitative ground, available The real-time height of unmanned plane.Due to unmanned plane forward, backward, flight to the left or to the right when, unmanned plane has an inclination angle, is The height of more accurate acquisition unmanned plane, can read the attitude data of unmanned plane, in three dimensions according to aircraft Elevation information is accurately calculated by trigonometric function relationship in posture inclination angle.

Optionally, in the above embodiment of the present invention, step S106 is based on elevation information, to the operating parameter of operating equipment It is adjusted, comprising: whether decision height information is identical as preset height information；Determining elevation information and preset height letter It ceases in different situation, the attitude parameter of operating equipment is adjusted, so that elevation information is identical as preset height information.

Specifically, above-mentioned preset height information can be unmanned plane in flight course with the preset height of earth's surface, can To be configured by user by earth station.

In a kind of optional scheme, unmanned plane can get unmanned plane apart from earth's surface by the radar immediately below fuselage Elevation information can pass through when the obtained elevation information of detection is not consistent with preset elevation information and control unmanned plane Attitude parameter completes the adjustment to height, makes the preset height of the height of unmanned plane and earth's surface.

Optionally, in the above embodiment of the present invention, the attitude parameter of operating equipment is adjusted, comprising: by work The power device of industry equipment is controlled, so that attitude parameter is adjusted.

Specifically, above-mentioned power device can be propeller and drive the motor of propeller rotational.

In a kind of optional scheme, can by controlling the power device of unmanned plane, realize to the posture of unmanned plane into Row adjustment.

Optionally, in the above embodiment of the present invention, step S106, the information based on target object, to the fortune of operating equipment Row parameter is adjusted, comprising: the information based on target object judges whether target object appears in the operation area of operating equipment In domain；In the case where determining that target object appears in operating area, operating parameter is adjusted.

Specifically, above-mentioned operating area can be the region in unmanned plane during flying course line.

In a kind of optional scheme, after perceiving the barrier of surrounding, can further disturbance in judgement object whether In the region for appearing in unmanned plane during flying course line, if it is, illustrating that the barrier can threaten the safety of unmanned plane, need The operating parameter of unmanned plane is adjusted.

Optionally, in the above embodiment of the present invention, operating parameter is adjusted, including one of following: to operating equipment Course line parameter be adjusted；The speed parameter of operating equipment is adjusted；The attitude parameter of operating equipment is adjusted； Control operating equipment hovering.

In a kind of optional scheme, after unmanned plane perceives peripheral obstacle information by omnidirectional's radar, if really These fixed barriers appear on the course line of aircraft, influence the flight of unmanned plane, can the course line parameter to unmanned plane carry out phase Avoiding obstacles are advised in the adjustment answered, and be can control unmanned plane in the case where that can not avoid and are slowed down or hover.

Unmanned plane is when avoiding barrier, and in some cases, unmanned plane can judge the barrier in front by radar Hinder object whether can from it is intermediate, above or below fly over, such as barriers such as power line in high-voltage line or farmland, distance compared with In the case where remote, radar can detect electric wire presence, when unmanned plane flies close, due to the field angle of unmanned plane, electric wire Can be outside field angle, radar detection is less than passing through fusion other information, it can be determined that barrier is in the substantially square of vertical plane Position, unmanned plane can leap barrier from the height of safety when suitable.

When unmanned plane is close to windbreak, unmanned plane can perceive the presence of windbreak, Ke Yigen by lateral radar Certain safe distance is kept according to preset value, prevents unmanned aerial vehicle to windbreak.

When unmanned plane takes off, whether unmanned plane can be according to having barrier around omnidirectional's radar detection, if so, then forbidding It takes off, until barrier alarm release, prevents from taking off the object for bumping against surrounding, such as wall, trees, electric pole etc. also can Preferably protection unmanned plane operator, when operator is in non-security range, unmanned plane can not take off, and can protect in this way Shield and prompting operator will could operate departing aeroplane and carry out operation in safety zone.

When unmanned plane returns and lands, can there are many uncertainties, such as some common barriers on return path, Whether windbreak, electric pole etc., landing place meet drop conditions, and unmanned plane can be visited by omnidirectional's radar and imitative ground radar It surveys, perceives external information, it is ensured that aircraft safety landing.

Optionally, in the above embodiment of the present invention, job parameter includes at least one following: the amount of injection of drug, injection Amplitude, wherein step S106, the information based on elevation information and target object are adjusted the operating parameter of operating equipment, Include: the information based on elevation information and target object, the control parameter of the apparatus for work of operating equipment be adjusted, In, apparatus for work includes: pump, medicine-chest, conduit, spray head, and conduit is for connecting pump and medicine-chest, and pump and spray head, control parameter Including at least one following: the pressure of pump, flow, spray head spray disk revolving speed.

In a kind of optional scheme, unmanned plane is while control height and avoiding barrier, because of UAV Attitude Change, while also the job parameter of unmanned plane is adjusted, identical operation effectiveness can be reached, such as in no aircraft In the case that height declines, Yao Zeng great spraying swath in the case that unmanned plane speed reduces, reduces dose etc., the parameters such as spraying swath, dose Control can be achieved the goal by the associated control parameters of airborne apparatus for work, apparatus for work include pump, medicine-chest, lead Pipe, spray head, conduit connection pump and medicine-chest, spray head and pump, the effect of pump are that the object in medicine-chest is sprayed by spray head, discharge rate Size can be obtained by the pressure or flowmeter of pump, and the size of spraying swath can control the revolving speed control of spray head spray disk.

Optionally, in the above embodiment of the present invention, while being adjusted to operating parameter, prompt information is sent to control Control equipment, wherein prompt information is for prompting operating equipment that can not execute corresponding movement.

Specifically, above-mentioned control equipment can be earth station, be also possible to the intelligent hand of the user communicated with earth station The mobile devices such as machine, tablet computer, IPAD.

In a kind of optional scheme, after through omnidirectional's detections of radar to peripheral obstacle, unmanned plane can be sent Prompt information is shown that there are barriers in prompt user's current environment to earth station by earth station, will affect unmanned plane Normal flight movement takes off or lands.

Through the above scheme, elevation information can be improved and to ring around for unmanned plane by installation radar on unmanned plane The perception in border, the information that unmanned plane is provided by radar is to aspect, and course line parameter, job parameter is adjusted, and is protected Unmanned plane is taking off, the safety in operation and the descent that makes a return voyage.The safety for improving unmanned plane during flying, so that unmanned function exists In complicated operating environment, more intelligent flight, accident caused by reducing because of extraneous factor preferably plays plant protection drone Advantage, it is more intelligent, more accurately carry out plant protection operation.

Embodiment 2

According to embodiments of the present invention, a kind of embodiment of the adjustment device of operating equipment is provided.

Fig. 3 is a kind of schematic diagram of the adjustment device of operating equipment according to an embodiment of the present invention, as shown in figure 3, the dress It sets and includes:

Obtain module 32, the echo-signal received for obtaining the multiple radars installed in operating equipment.

Processing module 34 obtains the elevation information and operating equipment of operating equipment for handling echo-signal The information of target object in local environment.

Control module 36 carries out the operating parameter of operating equipment for the information based on elevation information and target object Adjustment.

Embodiment 3

According to embodiments of the present invention, a kind of embodiment of operating equipment is provided.

Fig. 4 is a kind of schematic diagram of operating equipment according to an embodiment of the present invention, as shown in figure 4, the operating equipment includes:

Multiple radars 42 are used for receives echo-signal.

Processor 44 is connect with multiple radars, for handling echo-signal, obtains the elevation information of operating equipment And in operating equipment local environment target object information, and the information based on elevation information and target object sets operation Standby operating parameter is adjusted.

In a kind of optional scheme, after the echo-signal for receiving the radar being mounted on immediately below unmanned plane, place Device is managed by the processing to the echo-signal, radar can be calculated at a distance from earth's surface, that is, the flight for obtaining unmanned plane is high Degree.Based on the obtained flying height of detection, it can control unmanned plane and climb, decline or position present level, realize that unmanned plane is imitative The purpose on ground.

In another optional scheme, the echo-signal for being mounted on four radars of unmanned plane all around is being received Later, processor summarizes four echo-signals, and by handling the echo-signal after summarizing, can calculate Apart from the distance of the nearest object of unmanned plane on four direction, so that perceiving which object in unmanned plane ambient enviroment can be to nobody The flight safety of machine impacts.Based on the distance and position for detecting obtained peripheral obstacle, unmanned plane can control to week It encloses barrier to be evaded, realizes the purpose of unmanned plane avoidance.

Embodiment 4

According to embodiments of the present invention, a kind of embodiment of the method for adjustment of operating equipment is additionally provided, it should be noted that Step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions, and It, in some cases, can be to be different from sequence execution institute herein and although logical order is shown in flow charts The step of showing or describing.

Fig. 5 is the flow chart of the method for adjustment of another operating equipment according to an embodiment of the present invention, as shown in figure 5, should Method includes the following steps:

Step S502 obtains the environmental information that the multiple radars installed in operating equipment receive, wherein environmental information packet It includes: the information of target object in the elevation information and operating equipment local environment of operating equipment.

In a kind of optional scheme, each radar being mounted on unmanned plane can emit thunder by the antenna of oneself Up to wave, and echo-signal is received, then the echo-signal received is handled by the processing unit of oneself, is somebody's turn to do Environmental information in radar coverage, that is, the distance of each radar Yu the object nearest apart from unmanned plane is obtained, thus To the flying height of unmanned plane, and the distance of object nearest apart from unmanned plane in each direction.Then all radars will be certainly The environmental information that oneself obtains is sent to processor and summarizes.

Step S504, the information based on elevation information and target object, is adjusted the operating parameter of operating equipment.

Above-described embodiment through the invention, the operating equipment received by obtaining the multiple radars installed in operating equipment Elevation information and operating equipment local environment in target object information, and then the operating parameter of operating equipment is adjusted It is whole.Since radar is not easily susceptible to environmental disturbances, range is moderate, and cost is relatively low, so that the available accurate height of operating equipment Information and reliable avoidance improve operating equipment safety to reach, preferably complete the technical effect of plant protection task, and then solve The method of adjustment for the operating equipment in the related technology of having determined can not accurately determine the position of height and ambient enviroment barrier over the ground The technical issues of setting.

Optionally, in the above embodiment of the present invention, in step S502, the multiple radars installed in operating equipment is obtained and are received Before the environmental information arrived, this method further include: each radar emission radar wave signal, and receives echo-signal；Each radar The echo-signal received is handled, the information of elevation information or target object is obtained.

In a kind of optional scheme, for the radar being mounted on immediately below unmanned plane, which is receiving echo letter After number, radar can be calculated at a distance from earth's surface to the processing of the echo-signal, that is, the flight for obtaining unmanned plane is high Degree, and the flying height of unmanned plane is sent to processor.

In another optional scheme, for being mounted on four radars of unmanned plane all around, each radar is being connect After receiving echo-signal, which can be handled, be calculated separately out nearest apart from unmanned plane on four direction The distance of object, thus perceive which object in unmanned plane ambient enviroment can impact the flight safety of unmanned plane, and The distance of object nearest apart from unmanned plane in each direction is sent to processor.

It should be noted that the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 1, But the associated description being not limited only in embodiment 1 is not repeating herein.

Embodiment 5

According to embodiments of the present invention, a kind of embodiment of the adjustment device of operating equipment is additionally provided.

Fig. 6 is the schematic diagram of the adjustment device of another operating equipment according to an embodiment of the present invention, as shown in fig. 6, should Device includes:

Specifically, in the present embodiment, one radar, radar can be all around installed respectively with lower section in unmanned plane Respectively to five direction transmitting electromagnetic pulses or through the electromagnetic wave of ovennodulation.The installation site of omnidirectional's radar can be installed to fuselage On, it is also possible on horn or motor casing, radar is mounted on fuselage to can to guarantee that the whole design of aircraft meets necessary Starting performance；It realizes and is easier on horn, and interference of the propeller to radar can be reduced；It can be used on motor casing more preferable The visual field, avoid interference of the propeller to radar.

Control module 34 carries out the operating parameter of operating equipment for the information based on elevation information and target object Adjustment.

In a kind of optional scheme, based on the obtained flying height of detection, it can control unmanned plane and climb, decline or position Present level is set, realizes the purpose on the imitative ground of unmanned plane；Based on the distance and position for detecting obtained peripheral obstacle, can control Unmanned plane evades peripheral obstacle, realizes the purpose of unmanned plane avoidance.

It should be noted that the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 4, But the associated description being not limited only in embodiment 1 is not repeating herein.

Embodiment 3

According to embodiments of the present invention, a kind of embodiment of operating equipment is additionally provided, as shown in figure 4, the operating equipment packet It includes:

Multiple radars 42 are used for build environment information, wherein and environmental information includes: the elevation information of operating equipment, and The information of target object in operating equipment local environment.

Processor 44 is connect with multiple radars, for the information based on elevation information and target object, to operating equipment Operating parameter is adjusted.

Optionally, in the above embodiment of the present invention, each radar includes: transmitting antenna, for emitting radar wave signal；It connects Antenna is received, receives echo-signal is used for；Processing module is connect with receiving antenna, to the echo-signal received Reason, obtains the information of elevation information or target object.

Embodiment 7

According to embodiments of the present invention, a kind of embodiment of storage medium is provided, storage medium includes the program of storage, In, in program operation, equipment where control storage medium executes the method for adjustment of the operating equipment in above-described embodiment 1 and 4.

Embodiment 8

According to embodiments of the present invention, a kind of embodiment of processor is provided, processor is for running program, wherein journey The method of adjustment of the operating equipment in above-described embodiment 1 and 4 is executed when sort run.

The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.

In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment The part of detailed description, reference can be made to the related descriptions of other embodiments.

In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module It connects, can be electrical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that a computer Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code Medium.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of method of adjustment of operating equipment characterized by comprising

Obtain the echo-signal that the multiple radars installed in operating equipment receive；

The echo-signal is handled, obtain the operating equipment elevation information and the operating equipment local environment The information of middle target object；

Information based on the elevation information and the target object, is adjusted the operating parameter of the operating equipment；

Wherein, the horizontal direction surrounding of the operating equipment is equipped with radar, and radar, institute are equipped with below the operating equipment It includes one of following for stating the installation site of the radar of horizontal direction: in the fuselage surrounding of the operating equipment, horn, electric machine casing On.

2. the method according to claim 1, wherein the radar in the horizontal direction is mounted on the operation and sets In the case where on standby electric machine casing, the radar of the horizontal direction be separately mounted to the front of electric machine casing, rear, left side and Right side.

3. according to the method described in claim 2, it is characterized in that, the operating parameter include: control parameter, course line parameter and Job parameter.

4. according to the method described in claim 3, obtaining the operation it is characterized in that, handle the echo-signal The elevation information of equipment, comprising:

The echo-signal is handled, obtains the operating equipment at a distance from ground；

Obtain the attitude data of the operating equipment, wherein the attitude data includes: the posture inclination angle of the operating equipment；

Based on the distance and the inclination angle, the elevation information is obtained using trigonometric function relationship.

5. according to the method described in claim 4, it is characterized in that, the elevation information is based on, to the fortune of the operating equipment Row parameter is adjusted, comprising:

Judge whether the elevation information is identical as preset height information；

In the case where determining the elevation information and the different situation of preset height information, to the posture of the operating equipment Parameter is adjusted, so that the elevation information is identical as the preset height information.

6. according to the method described in claim 5, it is characterized in that, being adjusted to the attitude parameter of the operating equipment, packet It includes:

It is controlled by the power device to the operating equipment, so that the attitude parameter is adjusted.

7. according to the method described in claim 3, it is characterized in that, the information of the target object includes: the target object Range information and location information.

8. the method according to the description of claim 7 is characterized in that the information based on the target object, sets the operation Standby operating parameter is adjusted, comprising:

Based on the information of the target object, judge whether the target object appears in the operating area of the operating equipment It is interior；

In the case where determining that the target object appears in the operating area, the operating parameter is adjusted.

9. according to the method described in claim 8, it is characterized in that, be adjusted to the operating parameter, including one of following:

The course line parameter of the operating equipment is adjusted；

The speed parameter of the operating equipment is adjusted；

The attitude parameter of the operating equipment is adjusted；

Control the operating equipment hovering.

10. according to the method described in claim 3, it is characterized in that, the job parameter includes at least one following: drug The amount of injection, injection amplitude, wherein the information based on the elevation information and the target object, to the fortune of the operating equipment Row parameter is adjusted, comprising:

Information based on the elevation information and the target object, to the control parameter of the apparatus for work of the operating equipment into Row adjustment, wherein the apparatus for work includes: pump, medicine-chest, conduit, spray head, and the conduit is for connecting the pump and the medicine Case and the pump and the spray head, the control parameter include at least one following: the pressure of the pump, flow, the spray The revolving speed of the spray disk of head.

11. according to the method described in claim 3, it is characterized in that, being sent while being adjusted to the operating parameter Prompt information is to controlling equipment, wherein the prompt information is for prompting the operating equipment that can not execute corresponding movement.

12. the method according to claim 1, wherein plane where the antenna of the radar of the horizontal direction The angle of normal and horizontal plane is preset value.

13. a kind of method of adjustment of operating equipment characterized by comprising

Obtain the environmental information that the multiple radars installed in operating equipment are sent, wherein the environmental information includes: the operation The information of target object in the elevation information of equipment and the operating equipment local environment；

14. according to the method for claim 13, which is characterized in that the multiple radars installed on obtaining operating equipment are sent Environmental information before, the method also includes:

Each radar emission radar wave signal, and receives echo-signal；

Each radar handles the echo-signal received, obtains the elevation information or the target object Information.

15. a kind of adjustment device of operating equipment characterized by comprising

Obtain module, the echo-signal received for obtaining the multiple radars installed in operating equipment；

Processing module obtains the elevation information and the work of the operating equipment for handling the echo-signal The information of target object in industry equipment local environment；

Control module joins the operation of the operating equipment for the information based on the elevation information and the target object Number is adjusted；

16. a kind of operating equipment characterized by comprising

Multiple radars are used for receives echo-signal, wherein the horizontal direction surrounding of the operating equipment is equipped with radar, described Radar is installed, the installation site of the radar of the horizontal direction includes one of following: the operation is set below operating equipment In standby fuselage surrounding, horn, on electric machine casing；

Processor is connect with the multiple radar, for handling the echo-signal, obtains the height of the operating equipment The information of target object in information and the operating equipment local environment is spent, and is based on the elevation information and the object The information of body is adjusted the operating parameter of the operating equipment.

17. a kind of operating equipment characterized by comprising

Multiple radars are used for build environment information, wherein and the environmental information includes: the elevation information of the operating equipment, with And in the operating equipment local environment target object information, the horizontal direction surrounding of the operating equipment is equipped with radar, Radar is installed, the installation site of the radar of the horizontal direction includes one of following: the work below the operating equipment In the fuselage surrounding of industry equipment, horn, on electric machine casing；

Processor is connect with the multiple radar, for the information based on the elevation information and the target object, to described The operating parameter of operating equipment is adjusted.

18. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program When control the storage medium where equipment perform claim require any one of 1 to 14 described in operating equipment adjustment side Method.

19. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run Benefit require any one of 1 to 14 described in operating equipment method of adjustment.