CN109828601A - Traveling control method and its control device for agricultural unmanned plane - Google Patents
Traveling control method and its control device for agricultural unmanned plane Download PDFInfo
- Publication number
- CN109828601A CN109828601A CN201910026829.1A CN201910026829A CN109828601A CN 109828601 A CN109828601 A CN 109828601A CN 201910026829 A CN201910026829 A CN 201910026829A CN 109828601 A CN109828601 A CN 109828601A
- Authority
- CN
- China
- Prior art keywords
- traveling
- traveling data
- route
- unmanned plane
- data
- 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.)
- Pending
Links
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of traveling control method and its device and control equipment, it can preferably realize that the traveling to agricultural unmanned plane controls, improve route planning and execution efficiency, wherein the traveling control method includes: that editor obtains a traveling data, is travelled on the route represented by the traveling data wherein the traveling data are used to indicate an agricultural unmanned plane；The traveling data are analyzed according to a preset splitting condition and judge whether route represented by the traveling data needs to split；A traveling instruction is sent in the traveling data that analysis receives and after determining route；It obtains the traveling instruction and generates a traveling control information, travelled on fixed route with controlling the agricultural unmanned plane.
Description
Technical field
The present invention relates to traveling control technology field more particularly to a kind of traveling control methods and its device and control to set
It is standby.
Background technique
In recent years, increasingly developed with national science technology, more and more sci-tech products occur therewith, " unmanned plane "
Be exactly it is one of, with stronger mobility and environment sensing ability, driver can with the operation of remote control unmanned plane,
To reduce the fatigue and potential risk factor of driver, therefore have a very wide range of applications.With Chinese labour force
The continuous improvement of population gradually astogeny and urbanization rate, agricultural population gradually decrease, and in order to save, labour, to reduce labour strong
Degree, has complied with development in science and technology and needed for the epoch using the agricultural unmanned plane (i.e. intelligent agricultural machinery) for having high-intelligentization, it has also become existing
The developing direction of generation agricultural, and the working efficiency and work quality of intelligent agricultural machinery are determined to the control technology of intelligent agricultural machinery.
Past, agricultural robot generally pass through airmanship and determine current position and extract navigation reference line as subsequent
Travelling route, advances and works further according to control strategy control agricultural robot, therefore in agricultural robot traveling
Control technology is mainly to propose suitable control life according to the traveling that current location and subsequent travelling route are agricultural robot
It enables, agricultural robot is made to advance along scheduled path.Control technology in wherein advancing mostly is that direct quote has industrial machine
The features such as control technology of people, this has ignored complicated farmland operation environment, actually farmland operation environment is to agricultural robot
Requirement much higher than the requirement in industrial production to robot.Therefore, it is improved now according to the characteristics of farm environment with uncertainty
Traveling control technology is to develop the agricultural unmanned plane of high-intelligentization, improves the key of agricultural production efficiency.
Currently, UAV can be executed for user and such as be clapped by being communicated between ground remote control terminal
According to tasks such as photography, address monitoring, disaster monitoring, detailed process is as follows: ground remote control terminal is by the image of shooting to unmanned plane
Command stream signal is sent, advances to designated position for controlling unmanned plane, and travel in some region, meanwhile, unmanned plane will
The image taken is sent to ground remote control terminal by way of traffic spike, and ground remote control terminal parses traffic spike
Obtain corresponding image.Similarly, agricultural unmanned plane can also realize control by way of being communicated with remote terminal
Travel path, but on the one hand, the automation of current agricultural unmanned plane, intelligence degree be not high；On the other hand, since farmland is made
Industry complicated condition causes the travelling route of agricultural unmanned plane usually irregular, there are certain error between expectation path,
This will directly affect control precision.Therefore, current traveling control technology be not met by user to agricultural unmanned plane in real time and
The demand of control is effectively performed.
Summary of the invention
A main advantage of the invention is to provide a kind of traveling control method and its device and control equipment, can
The working scene of farmland complexity is adapted to, preferably to realize that the traveling to agricultural unmanned plane controls.
It is of the invention another advantage is that provide a kind of traveling control method and its device and control equipment, can control
The agricultural unmanned plane is made in effective direction and with speed appropriate traveling, to improve the operation effect of the agricultural unmanned plane
Rate, to improve agricultural production efficiency.
It is of the invention another advantage is that a kind of traveling control method and its device and control equipment are provided, wherein described
Traveling control method can improve the control precision of the control equipment under the premise of guaranteeing certain farmland operation scale, into
One step improves the operating efficiency of the agricultural unmanned plane.
It is of the invention another advantage is that provide a kind of traveling control method and its device and control equipment, can lead to
It crosses a processor and error analysis is carried out according to preset travelling route and previous traveling data, establish corresponding fault tolerance control
To reduce the influence of the error possibly being present in operation process mutation, to improve adaptation of the agricultural unmanned plane to environment
Degree.
It is of the invention another advantage is that a kind of traveling control method and its device and control equipment are provided, wherein described
Control equipment can automatically generate a travelling route according to the label that user is done in the target area in farmland, and store life
At the travelling route data and send it to the agricultural unmanned plane so that row of the agricultural unmanned plane according to generation
Into route running.
It is of the invention another advantage is that provide a kind of traveling control method and its device and control equipment, being capable of root
Travelling route is split as the sub- route of multistage according to actual conditions, so that the agricultural unmanned plane is better carried out in operation process
Travel task.
It is of the invention another advantage is that provide a kind of traveling control method and its device and control equipment, wherein user
The travelling route that can according to need any length of disposable typing, without the memory by storage line into route data
Amount of capacity etc. influences, to improve route planning and execution efficiency.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
One aspect under this invention can be realized a kind of traveling of the invention of foregoing purpose and other purposes and advantage
Control method the following steps are included:
Editor obtains a traveling data, wherein the traveling data are used to indicate the agricultural unmanned plane in the traveling number
According to being travelled on represented route；
The traveling data are handled, the traveling data are analyzed according to a preset splitting condition and are judged is described
Whether route represented by traveling data, which needs, splits, wherein the preset splitting condition is made according to the farmland detected in advance
Industry environment determines；
A traveling instruction is sent, wherein described advance instructs the traveling data received according to analysis and determining route
After formed；And
It obtains the traveling instruction and generates a traveling control information, wherein traveling control information is described for controlling
Agricultural unmanned plane travels on fixed route.
According to one embodiment of present invention, in the traveling control method the step of, handle the traveling data into
One step includes:
If the traveling data meet the preset splitting condition, route represented by the traveling data is split
For the sub- route of multistage；
Determine that pending sub- route forms the traveling instruction in the obtained sub- route of the multistage from splitting.
According to one embodiment of present invention, in the traveling control method the step of, handle the traveling data into
One step includes:
If the traveling data are unsatisfactory for the preset splitting condition, route represented by the traveling data is not required to
It splits, the agricultural unmanned plane is according to route running represented by the traveling data.
According to one embodiment of present invention, the traveling control method further comprises:
Track path and the storage traveling data, according to the driving path real-time storage row for tracking the agricultural unmanned plane
Into data, it is compared with the traveling data of first pre-editing, corresponding fault tolerance is established after error analysis.
Other side under this invention, the present invention further provides an advance controlling devices, comprising:
One editor module obtains a traveling data for editing, wherein the traveling data are used to indicate the agricultural nothing
It is travelled on the man-machine route represented by the traveling data；
One processing module, for according to preset splitting condition the traveling data to be analyzed and judged with the traveling
Whether route represented by data, which needs, splits；
One control module, for determining route according to the traveling data received and controlling the agricultural unmanned plane
It is travelled on fixed route；
One path tracking module, for tracking the driving path of the agricultural unmanned plane；And
One storage and analysis module, for the traveling data of agricultural unmanned plane described in real-time storage, by itself and first pre-editing
The traveling data be compared, corresponding fault tolerance is established after error analysis.
According to one embodiment of present invention, the control module includes a traveling control unit and a control information list
Member determines wherein the traveling control unit is coupled to the control information unit in the travelling route of the agricultural unmanned plane
Afterwards, the traveling control unit sends a traveling instruction, and the control information unit generates one according to traveling instruction and advances
Information is controlled, is travelled on fixed route with controlling the agricultural unmanned plane.
According to one embodiment of present invention, the advance controlling device further comprises:
One splits module, is used for when the traveling data meet a preset splitting condition, by the traveling data institute
The route of expression is split as the sub- route of multistage；
One determining module, for determining pending sub- route from the sub- route of the multistage that fractionation obtains and sending
To the agricultural unmanned plane.
Correspondingly, the present invention also provides a control equipment, a processor, a controller and a display are included at least,
Wherein the processor obtains a traveling data and is carried out according to a preset splitting condition to the traveling data for editing
It analyzes and generates traveling instruction and one to advance and control information, wherein described in the controller is used to generate the processor
Instruction of advancing is sent to the agricultural unmanned plane, to control agricultural unmanned plane traveling road represented by the traveling data
It is travelled on line, wherein the display provides a user interface to show travel information and obtain user operation instruction.
According to one embodiment of present invention, the control equipment further includes a memory, wherein the memory can
The traveling data of agricultural unmanned plane described in real-time storage, and it is compared with the traveling data of first pre-editing, through accidentally
Corresponding fault tolerance is established after difference analysis, to reduce the influence that error mutation generates, to improve the agricultural unmanned plane to agriculture
The adaptedness of field operating environment.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the flow diagram of the traveling control method described according to a preferred embodiment of the present invention.
Fig. 2 is the flow diagram of another traveling control method described in above preferred embodiment according to the present invention.
Fig. 3 is the structure composition block diagram of advance controlling device described in above preferred embodiment according to the present invention.
Fig. 4 is the structure composition frame of another advance controlling device described in above preferred embodiment according to the present invention
Figure.
Fig. 5 is the structure composition block diagram of control equipment described in above preferred embodiment according to the present invention.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Agricultural unmanned plane is this year to study more one of product for agriculture, usually by leading to it with remote terminal
The mode of connection is believed to realize control travel path, but current traveling control technology is not met by user to agricultural unmanned plane
In real time and the demand of control is effectively performed, in order to adapt to the working scene of farmland complexity, so as to preferably in real time with have
Effect ground carries out traveling control to the agricultural unmanned plane, and the present invention provides a kind of traveling control methods and its device and control to set
It is standby.
With reference to Fig. 1 to Fig. 5 in attached drawing, the traveling control method described according to a preferred embodiment of the present invention and its
Device and control equipment will be set forth in following description, wherein the traveling control method can adapt to farmland complexity
Working scene, preferably to realize that the traveling to an agricultural unmanned plane 100 controls, correspondingly, the traveling control method is logical
An advance controlling device 200 is crossed to realize, wherein the advance controlling device 200 can be set by the control as remote terminal
Standby 300 execute, wherein the control equipment 300 may be implemented as general remote controller or dedicated remote control, can also be carried out
For electronic mobile devices such as operable mobile terminals, such as smart phone, tablet computer.In embodiments of the present invention, user
It can be that the agricultural unmanned plane 100 edits traveling data by the control equipment 300, the traveling data are used to indicate phase
The travelling route answered, the agricultural unmanned plane 100 being capable of autonomous rows in the travelling route represented by the traveling data
It sails.
When editing the traveling data, some target area including farmland is presented to user in the control equipment 300
Interactive interface, the initial position of user's traveling of the agricultural unmanned plane 100 described in the target area internal labeling as needed
Several location points that point and midway may be passed through, wherein the location point can be determined with many different forms, such as
It is determined according to the GPS location coordinate in the target area, is for another example determined at a distance from certain point according in direction of advance
Etc., wherein the control equipment 300 can automatically generate a travelling route according to these location points, and the row will be generated
The data of route line store, and are sent to the agricultural unmanned plane 100, so that the agricultural unmanned plane 100 is according to generation
The travelling route traveling.
Since in actual farmland operation scene, the agricultural unmanned plane 100 needs to consider itself occupied area, farmland
Situations such as existing barrier, crops branches and leaves grow wild, and the amount of capacity of memory etc. of the storage traveling data are more
Kind factor, therefore there are certain restrictions to the hardware configuration of the agricultural unmanned plane 100, for some traveling data, the agriculture
It possibly can not be executed or cannot be executed well with unmanned plane 100, specifically, if the traveling data packet that user edits
The location point included is excessive so that the memory configured on the agricultural unmanned plane 100 be not enough to completely store receive it is described
When traveling data, the agricultural unmanned plane 100 will be unable to execute institute represented by these traveling data or the traveling data
State that travelling route is too long, and when the battery capacity of the agricultural unmanned plane 100 is not enough to complete too long traveling data, the agriculture
These traveling data can not be executed with unmanned plane 100.
In order to avoid there is above situation, user, can be in the control equipment 300 when editing the traveling data
The location point of label is reduced, so that the less travelling route of location point is obtained, or the travelling route that editor is shorter, to guarantee
The traveling of corresponding travelling route can be completed by stating agricultural unmanned plane 100.
When user's location point that the traveling data edited include in the control equipment 300 is more than the capacity of memory,
Or editor the traveling data represented by travelling route be greater than preset path length when, 300 energy of control equipment
It is enough that travelling route corresponding to traveling data is split according to the traveling data in the case of this, it obtains about institute
The sub- route of multistage of travelling route is stated, the agricultural unmanned plane 100 can select wherein one section or several sections conjunction according to the actual situation
Suitable sub- route running, wherein the control equipment 300 to the fractionation of the travelling route be based on preset splitting condition into
Capable, wherein the preset splitting condition is according to the farmland operation environment detected in advance in conjunction with the agricultural unmanned plane 100
Memory memory capacity size and residual capacity of battery determine.Specifically, the farmland operation environment detected may include
Barrier size and location existing for the size in farmland operation region, farmland, crops branches and leaves grow wild, can according to these situations
With the initial position of the direction of travel of the determination agricultural unmanned plane 100 and a certain section of route on the direction of travel and
Length, will be in the memory capacity size of the memory of the agricultural unmanned plane 100 and residual capacity of battery and the direction of travel
The initial position of a certain section of route and length combine, and analysis obtains the preset splitting condition.
It is understood that the present invention according to the actual situation splits the travelling route, it is convenient for the agricultural nothing
Man-machine 100 are better carried out travel task, and wherein user can according to need the travelling route of any length of disposable typing, and
Not will receive storage line influences into amount of capacity of memory of route data etc., to improve route planning and execution efficiency.
After determining the sub- route of travelling route of the agricultural unmanned plane 100, the control equipment 300 can pass through transmission
One traveling instruction travels on fixed route to control the agricultural unmanned plane 100.
Since the control equipment 100 has a certain error to the control of travelling route and practical executive condition, and with
The activity duration extension will accumulate, along with farmland operation environment complexity and variation lack rule, to it is described it is agricultural nobody
There may be acute variations for the control error amount of machine 100, therefore are contemplated that the driving path of the tracking agricultural unmanned plane and real
When store traveling data, it is compared with the traveling data of first pre-editing, corresponding hold is established after error analysis
Mistake value, to reduce the influence that error mutation generates, to improve the agricultural unmanned plane 100 to the adaptation journey of farmland operation environment
Degree.
In addition, when farmland operation is larger traveling error and institute can be analyzed according to a large amount of traveling data of storage
The relationship between the execution position of agricultural unmanned plane 100, and then the accumulation of evaluated error are stated, is set so as to improve the control
The control precision of standby 300 pairs of agricultural unmanned planes 100, further increases the operating efficiency of the agricultural unmanned plane 100.
As illustrated by figure 1 of the attached drawings, in order to which the control of the traveling to the agricultural unmanned plane 100 is better achieved, in this hair
A kind of traveling control method is provided in a bright preferred embodiment, wherein the traveling control method can be by the control
Equipment 300 executes, comprising the following steps:
S1: editor obtains a traveling data, wherein the traveling data are used to indicate the agricultural unmanned plane 100 described
It is travelled on route represented by traveling data；
S2: handling the traveling data, is divided according to a preset splitting condition the traveling data received
It analyses and judges whether route represented by the traveling data needs to split, wherein the preset splitting condition is according to prior inspection
The farmland operation environment that measures determines；
S3: sending a traveling instruction, wherein described advance instructs the traveling data received according to analysis and determination
It is formed after route；
S4: obtaining the traveling instruction and generates a traveling control information, wherein traveling control information is for controlling
The agricultural unmanned plane travels on fixed route；And
S5: track path and the storage traveling data are deposited in real time according to the driving path for tracking the agricultural unmanned plane
Traveling data are stored up, it is compared with the traveling data of first pre-editing, corresponding fault tolerance is established after error analysis.
It is worth noting that, the preset splitting condition is according in advance in the step S2 of the traveling control method
The farmland operation environment detected comes in conjunction with the memory capacity size and residual capacity of battery of the memory of the agricultural unmanned plane 100
It determines.
It is worth noting that, the traveling control information includes the agriculture in the step S4 of the traveling control method
With the direction of travel of unmanned plane 100, travel speed and stability of traveling etc..
It is further noted that establishes after error analysis is corresponding in the step S5 of the traveling control method
Fault tolerance edits the foundation of traveling data when can be used as next farmland operation, can control by establishing fault tolerance to reduce possibility
The influence for appearing in the error mutation in operation process, to improve the agricultural unmanned plane to the adaptedness of environment.
In the traveling control method, judge whether route represented by the traveling data needs to split tool in step S2
Body may include: whether the quantity for the location point for judging that the traveling data include is more than finger in the preset splitting condition
The number threshold value shown, if more than or equal to the number threshold value, then the traveling data meet the preset splitting condition,
Described in number threshold value can be a numerical value that user is manually entered, be also possible to the control equipment 300 according to described agricultural
The numerical value that the amount of capacity or remaining capacity of the memory of unmanned plane 100 automatically determine；Alternatively, judging the length of the travelling route
Whether degree is more than the length threshold indicated in the preset splitting condition, if more than or equal to the length threshold, then described
Traveling data meet the preset splitting condition, wherein the number threshold value can be a numerical value that user is manually entered,
It is automatically true according to the amount of capacity or remaining capacity of the memory of the agricultural unmanned plane 100 to can be the control equipment 300
Fixed numerical value.
Specifically, step S2 the following steps are included:
S21: if the traveling data are unsatisfactory for the preset splitting condition, route represented by the traveling data
It is not required to split, the agricultural unmanned plane is according to route running represented by the traveling data.
The above situation is suitable for farmland operation, the fairly simple situation of ground form, such as plains region farmland
Operating area is essentially regular rectangle, and crop growth is more neat, under this situation, agricultural 100 base of unmanned plane
Several location points can be taken on straight line when originally can advance along straight line, therefore edit traveling data every time, and only need to control
The length of route.But in actual conditions, many place states of ground are complicated and irregular, especially deposit in some mountain areas
In many terraced fields, curved gully etc., the agricultural unmanned plane 100 can not be achieved simple straight and advance, therefore, described
The travelling route of agricultural unmanned plane 100 is substantially irregular curve or broken line, this is just with greater need in farmland operation region
Location point is inside reasonably selected and is distributed, in order to which intelligentized control method is better achieved, the method for disconnecting route is used in the present invention,
Travelling route represented by the traveling data edited is split according to practical farmland operation environment, obtains multistage
Sub- route, the agricultural unmanned plane 100 can choose wherein one or more snippets sub- route, be combined, during fulfiling assignment
Travel task.
As illustrated in figure 2 of the appended drawings, another traveling control method is provided in a preferred embodiment of the present invention, is wrapped
Include following steps:
S1 ': the traveling data that editor obtains are received, wherein the traveling data are used to indicate the agricultural unmanned plane
It is travelled on 100 routes represented by the traveling data；
S2 ': the traveling is analyzed and judged to the traveling data received according to a preset splitting condition
Whether route represented by data, which needs, splits, wherein the preset splitting condition is according to the farmland operation ring detected in advance
Border determines；
S21 ': if the traveling data meet the preset splitting condition, by road represented by the traveling data
Line is split as the sub- route of multistage；
S22 ': determine that pending sub- route forms the traveling and refers in the obtained sub- route of the multistage from splitting
It enables.
S3 ': the traveling data received according to analysis simultaneously send a traveling instruction after determining route；
S4 ': receiving the traveling instruction and generates a traveling control information, wherein traveling control information is for controlling
The agricultural unmanned plane travels on fixed route；And
S5 ': track path and the storage traveling data are deposited in real time according to the driving path for tracking the agricultural unmanned plane
Traveling data are stored up, it is compared with the traveling data of first pre-editing, corresponding fault tolerance is established after error analysis.
It is worth noting that, in above-mentioned another kind traveling control method, in step S21 ', the preset splitting condition root
It is surplus in conjunction with the memory capacity size and battery of the memory of the agricultural unmanned plane 100 according to the farmland operation environment detected in advance
Surplus determines；In step S22 ', pending sub- route may include one or more snippets, that is to say, that it is described it is agricultural nobody
The practical travelling route of machine 100 can be curve or broken line made of one or more snippets sub- route combination.
As shown in Fig. 3 in attached drawing, which show the advance controlling devices that a preferred embodiment of the present invention provides
200, the traveling control method in Fig. 1 may be implemented by the advance controlling device 200, wherein traveling control dress
Setting 200 can be executed by the control equipment 300 as remote terminal, and specifically, the advance controlling device 200 includes one
Editor module 210, a processing module 220, a control module 230, a path tracking module 240 and a storage and analysis mould
Block 250, wherein the editor module 210 obtains the traveling data for editing, wherein the traveling data are used to indicate institute
It states agricultural unmanned plane 100 to travel on the route represented by the traveling data, wherein the processing module 220 is used for according to pre-
If splitting condition the traveling data are analyzed and judge whether route represented by the traveling data needs to split,
Wherein the preset splitting condition is determined according to the farmland operation environment detected in advance, wherein the control module 230
For determining route according to the traveling data received and controlling the agricultural unmanned plane 100 in fixed route
Traveling, wherein the path trace module 240 be used for track the agricultural unmanned plane 100 driving path and the storage
Traveling data with analysis module 250 for agricultural unmanned plane 100 described in real-time storage, and by the row of itself and first pre-editing
It is compared into data, corresponding fault tolerance is established after error analysis, to reduce the influence that error mutation generates, to improve
Adaptedness of the agricultural unmanned plane 100 to farmland operation environment.
Further, the control module 230 includes a traveling control unit 231 and a control information unit 232, wherein
The traveling control unit 231 is coupled to the control information unit 232, when the travelling route of the agricultural unmanned plane 100 is true
After fixed, the traveling control unit 231 sends a traveling instruction, and the control information unit 232 is instructed according to the traveling and given birth to
In a row into control information, travelled on fixed route with controlling the agricultural unmanned plane 100.
As illustrated in figure 4 of the drawings, which show another travelings that a preferred embodiment of the present invention provides to control dress
200 ' are set, unlike advance controlling device 200 described in Fig. 3, wherein the advance controlling device 200 further includes a fractionation
Module 260 and a determining module 270, wherein the fractionation module 260 is used to meet described preset tear open in the traveling data
When slitting part, route represented by the traveling data is split as the sub- route of multistage, wherein the determining module 270 be used for from
It splits and determines pending sub- route in the obtained sub- route of the multistage and be sent to the agricultural unmanned plane 100, wherein
The practical travelling route of the agricultural unmanned plane 100 can be curve or broken line made of one or more snippets sub- route combination.
As shown in figure 5 of the drawings, the advance controlling device 200, a preferred embodiment of the invention are corresponded to
The control equipment 300 provided includes at least a processor 310, a controller 320 and a display 330, wherein the place
Reason device 310 obtains the traveling data and is analyzed according to the preset splitting condition the traveling data for editing
And the traveling instruction and traveling control information are generated, wherein the controller 320 is for generating the processor 310
The traveling instruction be sent to the agricultural unmanned plane 100, to control the agricultural unmanned plane 100 in the traveling data institute
It is travelled in the travelling route of expression, wherein the display 330 provides a user interface to show travel information and acquisition
User operation instruction.
In addition, the control equipment 300 further includes a memory 340, wherein the memory 340 being capable of real-time storage institute
The traveling data of agricultural unmanned plane 100 are stated, and it is compared with the traveling data of first pre-editing, after error analysis
Corresponding fault tolerance is established, to reduce the influence that error mutation generates, to improve the agricultural unmanned plane 100 to farmland operation
The adaptedness of environment.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (16)
1. a kind of traveling control method for agricultural unmanned plane, which comprises the following steps:
Editor obtains a traveling data, wherein the traveling data are used to indicate the agricultural unmanned plane in the traveling data institute
It is travelled on the route of expression；
The traveling data are handled, according to a preset splitting condition traveling data are analyzed and judged with the traveling
Whether route represented by data, which needs, splits；
It sends one to advance instruction, wherein the instruction of advancing is according to the traveling data that receive of analysis and determines shape after route
At；And
It obtains the traveling instruction and generates a traveling control information, wherein traveling control information is described agricultural for controlling
Unmanned plane travels on fixed route.
2. traveling control method according to claim 1, wherein the preset splitting condition according to detecting in advance
Farmland operation environment is determined in conjunction with the memory capacity size and residual capacity of battery of the memory of the agricultural unmanned plane.
3. traveling control method according to claim 2, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Specifically include: whether the quantity for judging the location point that the traveling data include is more than instruction in the preset splitting condition
Number threshold value, if more than or be equal to the number threshold value, then the traveling data meet the preset splitting condition.
4. traveling control method according to claim 2, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Specifically include: whether the length for judging the travelling route is more than the length threshold indicated in the preset splitting condition, if
More than or equal to the length threshold, then the traveling data meet the preset splitting condition.
5. traveling control method according to claim 3, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Further comprise:
If the traveling data meet the preset splitting condition, route represented by the traveling data is split as more
Cross-talk route；
Determine that pending sub- route forms the traveling instruction in the obtained sub- route of the multistage from splitting.
6. traveling control method according to claim 4, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Further comprise:
If the traveling data meet the preset splitting condition, route represented by the traveling data is split as more
Cross-talk route；
Determine that pending sub- route forms the traveling instruction in the obtained sub- route of the multistage from splitting.
7. traveling control method according to claim 3, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Further comprise:
If the traveling data are unsatisfactory for the preset splitting condition, route represented by the traveling data is not required to tear open
Point, the agricultural unmanned plane is according to route running represented by the traveling data.
8. traveling control method according to claim 4, wherein the processing traveling data, preset torn open according to one
Slitting part analyzes the traveling data and judges whether route represented by the traveling data needs the step of splitting,
Further comprise:
If the traveling data are unsatisfactory for the preset splitting condition, route represented by the traveling data is not required to tear open
Point, the agricultural unmanned plane is according to route running represented by the traveling data.
9. traveling control method according to claim 2, wherein the traveling control method further comprises:
Track path and the storage traveling data, according to the driving path real-time storage traveling number for tracking the agricultural unmanned plane
According to it is compared with the traveling data of first pre-editing, corresponding fault tolerance is established after error analysis.
10. a kind of advance controlling device for agricultural unmanned plane characterized by comprising
One editor module obtains a traveling data for editing, wherein the traveling data are used to indicate the agricultural unmanned plane
It is travelled on the route represented by the traveling data；
One processing module, for according to preset splitting condition the traveling data to be analyzed and judged with the traveling data
Whether represented route, which needs, splits；
One control module, for determining route according to the traveling data received and controlling the agricultural unmanned plane
It is travelled on determining route；
One path tracking module, for tracking the driving path of the agricultural unmanned plane；And
One storage and analysis module, for the traveling data of agricultural unmanned plane described in real-time storage, by the institute of itself and first pre-editing
It states traveling data to be compared, corresponding fault tolerance is established after error analysis.
11. advance controlling device according to claim 10, wherein the processing module is for judging the traveling data
Whether represented route, which needs to split, specifically includes: whether the quantity for judging the location point that the traveling data include is more than institute
The number threshold value of the instruction in preset splitting condition is stated, if more than or equal to the number threshold value, then the traveling data are full
The foot preset splitting condition.
12. advance controlling device according to claim 10, wherein the processing module is for judging the traveling data
Whether represented route, which needs to split, specifically includes: whether the length for judging the travelling route is more than the preset fractionation
The length threshold indicated in condition, if more than or be equal to the length threshold, then the traveling data meet described preset tear open
Slitting part.
13. advance controlling device according to claim 10, wherein the control module include a traveling control unit and
One control information unit, wherein the traveling control unit is coupled to the control information unit, in the agricultural unmanned plane
After travel route determines, the traveling control unit sends a traveling instruction, and the control information unit refers to according to the traveling
It enables and generates a traveling control information, travelled on fixed route with controlling the agricultural unmanned plane.
14. advance controlling device according to claim 13, wherein the advance controlling device further comprises:
One splits module, is used for when the traveling data meet a preset splitting condition, will be represented by the traveling data
Route be split as the sub- route of multistage；With
One determining module, for determining pending sub- route from the sub- route of the multistage that fractionation obtains and being sent to institute
State agricultural unmanned plane.
15. a kind of traveling for agricultural unmanned plane controls equipment characterized by comprising
One processor, wherein the processor obtains a traveling data and according to a preset splitting condition to described for editing
Traveling instruction is analyzed and generated to traveling data and a traveling controls information；
One controller, wherein the controller is used to the traveling instruction that the processor generates being sent to the agricultural nothing
It is man-machine, travelled with to control the agricultural unmanned plane in the travelling route represented by the traveling data and
One display is referred to wherein the display provides a user interface with showing travel information and obtaining user's operation
It enables.
16. control equipment according to claim 10, wherein the control equipment further comprises a memory, wherein
The memory is capable of the traveling data of agricultural unmanned plane described in real-time storage, and by the traveling data of itself and first pre-editing
It is compared, corresponding fault tolerance is established after error analysis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910026829.1A CN109828601A (en) | 2019-01-11 | 2019-01-11 | Traveling control method and its control device for agricultural unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910026829.1A CN109828601A (en) | 2019-01-11 | 2019-01-11 | Traveling control method and its control device for agricultural unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109828601A true CN109828601A (en) | 2019-05-31 |
Family
ID=66860908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910026829.1A Pending CN109828601A (en) | 2019-01-11 | 2019-01-11 | Traveling control method and its control device for agricultural unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109828601A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027966A1 (en) * | 2019-08-15 | 2021-02-18 | 纳恩博（常州）科技有限公司 | Traveling method, traveling device, and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107636552A (en) * | 2016-09-27 | 2018-01-26 | 深圳市大疆创新科技有限公司 | A kind of flight control method and device, control device |
| CN107636551A (en) * | 2016-09-22 | 2018-01-26 | 深圳市大疆创新科技有限公司 | A kind of flight control method, device and intelligent terminal |
-
2019
- 2019-01-11 CN CN201910026829.1A patent/CN109828601A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107636551A (en) * | 2016-09-22 | 2018-01-26 | 深圳市大疆创新科技有限公司 | A kind of flight control method, device and intelligent terminal |
| CN107636552A (en) * | 2016-09-27 | 2018-01-26 | 深圳市大疆创新科技有限公司 | A kind of flight control method and device, control device |
Non-Patent Citations (4)
| Title |
|---|
| 勾志阳等: "无人机航空摄影质量评价", 《影像技术》 * |
| 姚裕盛等: "基于GPS航迹的飞行误差分布规律研究", 《中国民航飞行学院学报》 * |
| 河南省质量技术监督局: "《DB41/T 1521-2018 农用旋翼植保无人机技术条件》", 3 January 2018 * |
| 赵嶷飞等: "基于ADS-B的航迹误差分布规律研究", 《中国民航大学学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027966A1 (en) * | 2019-08-15 | 2021-02-18 | 纳恩博（常州）科技有限公司 | Traveling method, traveling device, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107544548B (en) | Method and device for controlling operation of unmanned aerial vehicle and unmanned aerial vehicle | |
| WO2019096263A1 (en) | Intelligent mowing system | |
| CN108508891B (en) | A kind of method of robot reorientation | |
| US10303175B2 (en) | Work vehicle management system and work vehicle management method | |
| CN109074038A (en) | agricultural machine control method, device and agricultural machine | |
| CN113128747B (en) | Intelligent mowing system and autonomous image building method thereof | |
| CN111694356A (en) | Driving control method and device, electronic equipment and storage medium | |
| CN109445438A (en) | Cruise control method and system based on the cruising device that map is shared | |
| CN112344945B (en) | Indoor distribution robot path planning method and system and indoor distribution robot | |
| CN112567959A (en) | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system | |
| CN114265409A (en) | Track information processing method and device and ground equipment | |
| CN106156303A (en) | Report processing method and processing device | |
| CN109828601A (en) | Traveling control method and its control device for agricultural unmanned plane | |
| CN211207169U (en) | Chassis control system of greenhouse picking robot | |
| CN112414410B (en) | Path generation method, equipment operation method and equipment control system | |
| AU2021334408A1 (en) | Method and apparatus for coordinating multiple cooperative vehicle trajectories on shared road networks | |
| CN114063615A (en) | Backing navigation control method and system for intelligent vehicle for spraying pesticide between ridges in shed | |
| CN113733086A (en) | Robot traveling method, device, equipment and storage medium | |
| CN112445205A (en) | Control method, device, equipment and storage medium for ground plant protection equipment | |
| CN109830124A (en) | A kind of fleet's obstacle avoidance system | |
| CN113432610A (en) | Robot passage planning method and device, robot and storage medium | |
| CN116088533B (en) | Information determination method, remote terminal, device, mower and storage medium | |
| EP4250041A1 (en) | Method for determining information, remote terminal, and mower | |
| Xu et al. | Path planning method for Camellia oleifera forest trenching operation based on human-robot collaboration | |
| CN109757164A (en) | Rice seedlings transplanting system and its rice transplanting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Hubei Province Applicant after: Fengjiang Intelligent Technology Co., Ltd. Address before: 441100 No. 1 Dongfengjingguan Avenue, Xiangzhou International Logistics Park, Xiangyang City, Hubei Province Applicant before: Fengjiang Intelligent Agriculture Co., Ltd. |