CN110825100A - Plant protection fixed wing unmanned aerial vehicle autonomous take-off and landing control method - Google Patents
Plant protection fixed wing unmanned aerial vehicle autonomous take-off and landing control method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000005507 spraying Methods 0.000 claims abstract description 83
- 238000012545 processing Methods 0.000 claims abstract description 39
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 30
- 239000003814 drug Substances 0.000 claims abstract description 29
- 239000007788 liquid Substances 0.000 claims abstract description 27
- 238000013439 planning Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 8
- 239000000575 pesticide Substances 0.000 claims description 6
- 238000005265 energy consumption Methods 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 244000144980 herd Species 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an autonomous take-off and landing control method for a plant protection fixed wing unmanned aerial vehicle, which comprises an unmanned aerial vehicle flight control system, an unmanned aerial vehicle ground control station, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module and a power supply module. Unmanned aerial vehicle realizes changing between the waypoint and independently taking off and independently descending when carrying out the spraying operation of flying that continues for many times to avoid the repetition of spraying route and the waste of spraying liquid medicine volume, improved the efficiency of many times plant protection unmanned aerial vehicle spraying operation.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to an autonomous take-off and landing control method for a plant protection fixed wing unmanned aerial vehicle, and belongs to the technical field of agricultural plant protection unmanned aerial vehicles.
[ background of the invention ]
Since the new century, the concepts of high-efficiency agriculture and precision agriculture gradually deepen into the heart of people, and plant protection unmanned aerial vehicles also get more and more attention. With continuous perfection and popularization of the related technology, the agricultural plant protection unmanned aerial vehicle featuring high efficiency and convenience gradually changes the traditional mode of relying on manual operation in the agricultural field, and becomes the main means and the moderate and hard strength of agricultural condition monitoring and agricultural plant protection.
With the gradual maturity of plant protection unmanned aerial vehicle technique, more and more countries apply it in the actual production operation. For example, in countries such as australia and brazil where livestock is the main target, agricultural drones are often used to monitor grassland growth, locate herds, and obtain pest and disease information in time. Korea also started to introduce unmanned aerial vehicles for aviation plant protection work in the early 2003, and both the number of agricultural unmanned aerial vehicles and the unmanned aerial vehicle work area in korea increased year by year.
The research on the aviation plant protection airplane and the pesticide application technology has been carried out in China in the early 50 s of the last century, but at the moment, because the related aviation plant protection technology in China is weak, the operation airplane and the equipment are basically purchased from foreign countries. The first agricultural airplane, Yun-5, was produced by Nanchang airplane factories until 1958, thus breaking the monopoly of the aviation plant protection technology abroad.
The unmanned plant protection technology is widely regarded by people because of high speed and high efficiency, but because the operation area is large, a single unmanned aerial vehicle is difficult to carry liquid medicine with enough weight, so that the continuous flight operation of multiple unmanned aerial vehicles is a technical problem which needs to be solved, and how to provide a faster autonomous take-off and landing technology among multiple changes is a technical problem which needs to be solved by the invention. (applicant is advised to add this advantage to the specification or claims to highlight the beneficial effects of the invention of the present application, and the prior art spray planning is that the midway waypoints are judged by GPS positioning only after the dosage is low
[ summary of the invention ]
For solving the problem of autonomous take-off and landing faced by continuous operation in the multi-flight process of the plant protection unmanned aerial vehicle, the energy consumption is reduced, and repeated spraying is avoided. In addition, the pre-spraying planning method based on unmanned aerial vehicle image acquisition can judge the relationship between the area of the area to be operated and the capacity of the spraying box in advance through the acquired image information, so that midway navigation points are obtained in advance for spraying planning, and a plurality of unmanned aerial vehicles can work simultaneously.
A plant protection fixed wing unmanned autonomous take-off and landing control method comprises a plurality of unmanned aerial vehicles, an unmanned aerial vehicle flight control system, an unmanned aerial vehicle ground control station, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module and a power supply module; the flight path planning control method specifically comprises the following steps:
step 1: the method comprises the following steps that power-on self-checking is carried out on an unmanned aerial vehicle and a ground control station, the ground control station sends a control command to carry out initialization of a flight control system, a spraying control module is initialized, and an image acquisition and processing module is initialized;
step 2: entering an automatic cruise process, starting an image acquisition and processing module, acquiring vegetation images of the to-be-operated area through a high-definition camera, and obtaining vegetation image data after an image processing algorithm;
and step 3: calculating the vegetation image data, judging the relation between the area of the area to be operated and the capacity of a spraying box, if the capacity of the spraying box is not enough to finish the spraying of the operation area, executing multi-frame regional track planning, entering the step 4, otherwise executing single-frame regional track planning, and entering the step 7;
and 4, step 4: the method comprises the following steps of (1) entering liquid medicine supplement and midway return points calculation, determining midway continuing switch points of a multi-set unmanned aerial vehicle, and performing optimized calculation of the medicine spraying amount and the return points of each set;
and 5: the unmanned aerial vehicle enters an autonomous takeoff control flow to prepare for executing spraying operation;
step 6: when the liquid medicine capacity of the unmanned aerial vehicle medicine box is lower than the first volume threshold value L1, the unmanned aerial vehicle is informed to return to the air and land, the autonomous landing control flow is entered, the next unmanned aerial vehicle continuously flies, and the step 5 is repeated until all spraying operation areas are completed.
And 7: reading vegetation image data cached by the image acquisition and processing module, and calculating a variable spraying control signal according to an empirical function; driving an electromagnetic valve, starting spraying operation, reading the data of a liquid level sensor of a spraying agent box in real time, judging the liquid medicine capacity, and informing the unmanned aerial vehicle to return when the liquid medicine capacity is lower than a first threshold value L1;
furthermore, in the step 5, the autonomous takeoff control flow of the unmanned aerial vehicle is as follows, a takeoff height is set, the takeoff height is set according to the flight height during the last cruise operation, a coordinate point of the current position is acquired through the GIS, the current position point is used as a return point, a continuing change point is used as a target point, the unmanned aerial vehicle takes off automatically, and the flight control system controls the posture of the plant protection unmanned aerial vehicle, so that the plant protection unmanned aerial vehicle flies to the target point position in a straight line at the uniform speed.
Further, in step 6, the autonomous landing control process includes that when the unmanned aerial vehicle is notified to return to the flight, the flight control system reads a pre-stored return point, the original point of the whole operation area is used as a target flight point, the plant protection unmanned aerial vehicle keeps the current height and moves to the position above the return point, and then the flight control system regulates and controls the flight speed of the plant protection unmanned aerial vehicle according to the collected real-time height information to decelerate and land to the target flight point.
Furthermore, in step 3, after obtaining the image of the spraying operation area, the image acquisition and processing module firstly performs image gray level binarization processing, obtains spatial proximity and pixel value similarity of the image based on spatial distribution of the image, and combines the image gray level similarity to realize background denoising and obtain a contour image of the vegetation. In addition, a contour database of the vegetation area to be operated is prestored in the image processing system, the image vegetation contour obtained after acquisition and processing is compared with the vegetation contour in the memory database, so that a corresponding vegetation prior type matching value is obtained, and the matching value is transmitted to the flight control system.
Furthermore, in step 4, when a plurality of continuous operations of the unmanned aerial vehicle are performed, the total length F of the operation route and the maximum route length Fm of a single operation are calculated at first, when F is an integral multiple of Fm, route planning is not performed any more, return flight is performed according to the situation that the unmanned aerial vehicle runs out of liquid medicine, and meanwhile, another unmanned aerial vehicle is started to continuously fly; and when F is not an integral multiple of Fm, performing at least one midway return voyage, performing optimal solution on the minimum point of return voyage energy consumption, and taking the point coordinate as a return voyage point.
Furthermore, after a plurality of times of exploration and test, the applicant of the invention obtains the numerical function relationship between the spraying control variable P and the operation area data S, the vegetation type V, the vegetation row number R and the vegetation column number C, wherein
The unmanned aerial vehicle flight control system is responsible for carrying out data transmission and flight data processing with the ground station, and receives the manual control instruction of the ground control station.
The flight parameter acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle, including flight height and flight speed.
The image acquisition and processing module is used for carrying out image acquisition on the ground spraying operation area and obtaining vegetation image data to be sprayed on based on an image processing algorithm.
The spraying control module is used for comprehensively executing spraying flow control according to the image data acquired by the image acquisition and processing module and the flight control state parameters of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to dynamically adjust the spraying amount according to the ground vegetation type, the current flight state and other parameters.
The ground control station with unmanned aerial vehicle flight control system carries out remote data transmission for flight control system can accept ground staff's control data, thereby realizes unmanned aerial vehicle remote control.
The power supply module provides corresponding power supplies for the modules.
Further, image acquisition and processing module are high definition remote sensing camera, and it shoots ground spraying operation regional image through the remote sensing, based on image processing algorithm, acquires the area in spraying operation region, vegetation kind, vegetation line number, vegetation column number to give unmanned aerial vehicle flight control system with this data transmission.
Furthermore, the flight parameter acquisition module is a strapdown inertial navigation system based on a GPS/INS, and can accurately acquire the flight height and the flight speed of the unmanned aerial vehicle in real time.
Furthermore, the power module is a lithium battery pack with high capacity, rechargeable performance and long endurance.
Furthermore, the unmanned aerial vehicle ground control station carries out remote data transmission with the unmanned aerial vehicle flight control system through a wireless communication network, such as WIFI or 4G.
Further, the capacity first threshold value L1 is 0.5 liters.
Optionally, the volume of the pesticide spraying box is about 5L-10L, the pesticide spraying box is mounted right below the unmanned aerial vehicle and right above the diaphragm pump, and the water outlet is connected with the water inlet of the diaphragm pump; the diaphragm pump is used for providing liquid medicine spraying pressure. The PWM control module adopts a MOSFET trigger switch driving module and is used for converting a PWM duty ratio signal into a diaphragm pump driving voltage signal. The electromagnetic valve is used for controlling the opening and closing of the spraying of the spray head. The top of the spraying box is provided with a liquid level sensor, so that the volume data of the liquid medicine in the spraying box can be obtained in real time.
[ description of the drawings ]
Fig. 1 is a flow chart of an autonomous take-off and landing control algorithm of the plant protection unmanned aerial vehicle.
[ detailed description ] embodiments
In order to solve the problem of autonomous take-off and landing in continuous operation of the plant protection fixed wing unmanned aerial vehicle in the process of multiple flights, reduce energy consumption and avoid repeated spraying, the invention designs the following technical scheme.
A plant protection fixed wing unmanned autonomous take-off and landing control method comprises a plurality of unmanned aerial vehicles, an unmanned aerial vehicle flight control system, an unmanned aerial vehicle ground control station, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module and a power supply module; the flight path planning control method specifically comprises the following steps:
step 1: the method comprises the following steps that power-on self-checking is carried out on an unmanned aerial vehicle and a ground control station, the ground control station sends a control command to carry out initialization of a flight control system, a spraying control module is initialized, and an image acquisition and processing module is initialized;
step 2: entering an automatic cruise process, starting an image acquisition and processing module, acquiring vegetation images of the to-be-operated area through a high-definition camera, and obtaining vegetation image data after an image processing algorithm;
and step 3: calculating the vegetation image data, judging the relation between the area of the area to be operated and the capacity of a spraying box, if the capacity of the spraying box is not enough to finish the spraying of the operation area, executing multi-frame regional track planning, entering the step 4, otherwise executing single-frame regional track planning, and entering the step 7;
and 4, step 4: the method comprises the following steps of (1) entering liquid medicine supplement and midway return points calculation, determining midway continuing switch points of a multi-set unmanned aerial vehicle, and performing optimized calculation of the medicine spraying amount and the return points of each set;
and 5: the unmanned aerial vehicle enters an autonomous takeoff control flow to prepare for executing spraying operation;
step 6: when the liquid medicine capacity of the unmanned aerial vehicle medicine box is lower than the first volume threshold value L1, the unmanned aerial vehicle is informed to return to the air and land, the autonomous landing control flow is entered, the next unmanned aerial vehicle continuously flies, and the step 5 is repeated until all spraying operation areas are completed.
And 7: reading vegetation image data cached by the image acquisition and processing module, and calculating a variable spraying control signal according to an empirical function; driving an electromagnetic valve, starting spraying operation, reading the data of a liquid level sensor of a spraying agent box in real time, judging the liquid medicine capacity, and informing the unmanned aerial vehicle to return when the liquid medicine capacity is lower than a first threshold value L1;
furthermore, in the step 5, the autonomous takeoff control flow of the unmanned aerial vehicle is as follows, a takeoff height is set, the takeoff height is set according to the flight height during the last cruise operation, a coordinate point of the current position is acquired through the GIS, the current position point is used as a return point, a continuing change point is used as a target point, the unmanned aerial vehicle takes off automatically, and the flight control system controls the posture of the plant protection unmanned aerial vehicle, so that the plant protection unmanned aerial vehicle flies to the target point position in a straight line at the uniform speed.
Further, in step 6, the autonomous landing control process includes that when the unmanned aerial vehicle is notified to return to the flight, the flight control system reads a pre-stored return point, the original point of the whole operation area is used as a target flight point, the plant protection unmanned aerial vehicle keeps the current height and moves to the position above the return point, and then the flight control system regulates and controls the flight speed of the plant protection unmanned aerial vehicle according to the collected real-time height information to decelerate and land to the target flight point.
Furthermore, in step 3, after obtaining the image of the spraying operation area, the image acquisition and processing module firstly performs image gray level binarization processing, obtains spatial proximity and pixel value similarity of the image based on spatial distribution of the image, and combines the image gray level similarity to realize background denoising and obtain a contour image of the vegetation. In addition, a contour database of the vegetation area to be operated is prestored in the image processing system, the image vegetation contour obtained after acquisition and processing is compared with the vegetation contour in the memory database, so that a corresponding vegetation prior type matching value is obtained, and the matching value is transmitted to the flight control system.
Furthermore, in step 4, when a plurality of continuous operations of the unmanned aerial vehicle are performed, the total length F of the operation route and the maximum route length Fm of a single operation are calculated at first, when F is an integral multiple of Fm, route planning is not performed any more, return flight is performed according to the situation that the unmanned aerial vehicle runs out of liquid medicine, and meanwhile, another unmanned aerial vehicle is started to continuously fly; and when F is not an integral multiple of Fm, performing at least one midway return voyage, performing optimal solution on the minimum point of return voyage energy consumption, and taking the point coordinate as a return voyage point.
Furthermore, after a plurality of times of exploration and test, the applicant of the invention obtains the numerical function relationship between the spraying control variable P and the operation area data S, the vegetation type V, the vegetation row number R and the vegetation column number C, wherein
The unmanned aerial vehicle flight control system is responsible for carrying out data transmission and flight data processing with the ground station, and receives the manual control instruction of the ground control station.
The flight parameter acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle, including flight height and flight speed.
The image acquisition and processing module is used for carrying out image acquisition on the ground spraying operation area and obtaining vegetation image data to be sprayed on based on an image processing algorithm.
The spraying control module is used for comprehensively executing spraying flow control according to the image data acquired by the image acquisition and processing module and the flight control state parameters of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to dynamically adjust the spraying amount according to the ground vegetation type, the current flight state and other parameters.
The ground control station with unmanned aerial vehicle flight control system carries out remote data transmission for flight control system can accept ground staff's control data, thereby realizes unmanned aerial vehicle remote control.
The power supply module provides corresponding power supplies for the modules.
Further, image acquisition and processing module are high definition remote sensing camera, and it shoots ground spraying operation regional image through the remote sensing, based on image processing algorithm, acquires the area in spraying operation region, vegetation kind, vegetation line number, vegetation column number to give unmanned aerial vehicle flight control system with this data transmission.
Furthermore, the flight parameter acquisition module is a strapdown inertial navigation system based on a GPS/INS, and can accurately acquire the flight height and the flight speed of the unmanned aerial vehicle in real time.
Furthermore, the power module is a lithium battery pack with high capacity, rechargeable performance and long endurance.
Furthermore, the unmanned aerial vehicle ground control station carries out remote data transmission with the unmanned aerial vehicle flight control system through a wireless communication network, such as WIFI or 4G.
Further, the capacity first threshold value L1 is 0.5 liters.
Optionally, the volume of the pesticide spraying box is about 5L-10L, the pesticide spraying box is mounted right below the unmanned aerial vehicle and right above the diaphragm pump, and the water outlet is connected with the water inlet of the diaphragm pump; the diaphragm pump is used for providing liquid medicine spraying pressure. The PWM control module adopts a MOSFET trigger switch driving module and is used for converting a PWM duty ratio signal into a diaphragm pump driving voltage signal. The electromagnetic valve is used for controlling the opening and closing of the spraying of the spray head. The top of the spraying box is provided with a liquid level sensor, so that the volume data of the liquid medicine in the spraying box can be obtained in real time.
In the selection of carrying out vegetation spraying variable empirical formula, the inventor subtracts one respectively with vegetation line number and column number to divide by regional area, thereby can obtain the area of operation in every grid region, then, utilize predetermined vegetation kind value, as spraying control adjustment coefficient, utilize basic mathematical relationship, obtain the input waveform of PWM signal control, based on power electronics basic knowledge, can obtain corresponding control signal. Variable accurate spraying operation realized based on the method can well identify the vegetation types and avoid the waste of liquid medicine in the spraying process.
For verifying the stability of the automatic cruising operation of the full-automatic plant protection unmanned aerial vehicle, two different fields are selected for carrying out grouping experiments, the number of times of flight of each group is 50, and 100 flight experiments are carried out in total.
For example, the volume of a medicine box is selected to be 5L, the diaphragm pump adopts PLD-1206, the rated voltage is 12V, the maximum pressure is 1MPa, and the maximum flow is 4L/min; an STM32F407VET6 single chip microcomputer based on an ARM Cortex-M4 inner core is adopted as a core processor of the drug delivery controller; the method comprises the steps that all modules of the unmanned aerial vehicle are built, a data communication interface is connected, after the unmanned aerial vehicle passes through image acquisition and data processing, parameter state judgment is carried out through a spraying control module, PWM chopping control signals are obtained after calculation of a spraying control variable empirical function calculation formula, and then a PWM controller is driven to achieve variable spraying operation.
When the plant protection unmanned aerial vehicle flies to waypoint 2, the ground management system displays "the plant protection unmanned aerial vehicle will return to the home at 3 rd waypoint". When the plant protection unmanned aerial vehicle moves to the 3 rd waypoint, the plant protection unmanned aerial vehicle interrupts the operation and executes the return flight instruction, then relevant breakpoint information is stored in the memory in a text file form, and finally the plant protection unmanned aerial vehicle flies to the landing waypoint and lands by itself.
Claims (8)
1. A plant protection fixed wing unmanned autonomous take-off and landing control method is characterized by comprising a plurality of unmanned aerial vehicles, an unmanned aerial vehicle flight control system, an unmanned aerial vehicle ground control station, a flight parameter acquisition module, an image acquisition and processing module, a flight attitude control module, a spraying control module and a power supply module; the autonomous take-off and landing control method specifically comprises the following steps:
step 1: the method comprises the following steps that power-on self-checking is carried out on an unmanned aerial vehicle and a ground control station, the ground control station sends a control command to carry out initialization of a flight control system, a spraying control module is initialized, and an image acquisition and processing module is initialized;
step 2: entering an automatic cruise process, starting an image acquisition and processing module, acquiring vegetation images of the to-be-operated area through a high-definition camera, and obtaining vegetation image data after an image processing algorithm;
and step 3: calculating the vegetation image data, judging the relation between the area of the area to be operated and the liquid medicine capacity of the spraying box, if the capacity of the spraying box is not enough to finish the spraying of the operation area, executing multi-frame spraying operation, and entering the step 4, otherwise executing single-frame area spraying operation, and entering the step 7;
and 4, step 4: performing liquid medicine supplement and midway return point calculation, determining midway continuing change points of the unmanned aerial vehicle for multiple frames, and performing optimized calculation on the medicine spraying amount and the return point of each frame;
and 5: the unmanned aerial vehicle enters an autonomous takeoff control flow to prepare for executing spraying operation;
step 6: when the liquid medicine capacity of the unmanned aerial vehicle pesticide spraying box is lower than the first volume threshold value L1, the unmanned aerial vehicle is informed to return to the air and land, an autonomous landing control flow is entered, the next unmanned aerial vehicle continuously flies, and the step 5 is repeated until all spraying operation areas are completed.
And 7: reading vegetation image data cached by the image acquisition and processing module, and calculating a variable spraying control signal according to an empirical function; the drive solenoid valve opens the spraying operation to read spraying case level sensor data in real time, judge the liquid medicine capacity, when the liquid medicine capacity is less than the first threshold value L1 of capacity, inform unmanned aerial vehicle to return voyage.
2. The plant protection fixed wing unmanned autonomous take-off and landing control method according to claim 1, characterized in that: in the step 2, the vegetation image data obtained in the step 2 specifically includes operation area data S, vegetation type V, vegetation line number R, and vegetation column number C.
3. The plant protection fixed wing unmanned autonomous take-off and landing control method according to claim 1, characterized in that: in step 3, after obtaining the image of the spraying operation area, the image acquisition and processing module firstly performs image gray level binarization processing, obtains spatial proximity and pixel value similarity of the image based on spatial distribution of the image, and implements background denoising by combining the image gray level similarity to obtain a contour image of the vegetation.
4. The plant protection fixed wing unmanned autonomous take-off and landing control method according to claim 1, characterized in that: in the step 4, when the continuous operation of multiple unmanned aerial vehicles is carried out, the total length F of an operation route and the maximum route length Fm of single operation are calculated firstly, when the F is integral multiple of the Fm, route planning is not carried out any more, return voyage is executed according to the situation that the unmanned aerial vehicles run out of liquid medicine, and meanwhile, the other unmanned aerial vehicle is started to continuously fly; and when F is not an integral multiple of Fm, performing at least one midway return voyage, performing optimal solution on the minimum point of return voyage energy consumption, and taking the point coordinate as a return voyage point.
5. The plant protection fixed wing unmanned autonomous take-off and landing control method according to claim 1, characterized in that: in the step 5, the unmanned aerial vehicle autonomous takeoff control process comprises the steps of setting a takeoff height, setting the takeoff height according to the flight height during the last cruise operation, acquiring a coordinate point of the current position through a GIS (geographic information system), taking the current position point as a return flight point, continuously changing the flight point as a target flight point, enabling the unmanned aerial vehicle to take off automatically, and controlling the posture of the plant protection unmanned aerial vehicle by a flight control system to enable the plant protection unmanned aerial vehicle to fly to the target flight point at a constant speed in a straight line.
6. The plant protection fixed wing unmanned autonomous take-off and landing control method according to claim 1, characterized in that: in step 6, the autonomous landing control process includes that when the unmanned aerial vehicle is notified to return to the flight, the flight control system reads a pre-stored return point, the original point of the whole operation area is used as a target flight point, the plant protection unmanned aerial vehicle keeps the current height and moves to the position above the return point, and then the flight control system regulates and controls the flight speed of the plant protection unmanned aerial vehicle according to the collected real-time height information and decelerates to land to the target flight point.
7. The plant protection unmanned self take-off and landing control method as claimed in claim 2, wherein: in the step 7, the spraying control signal P is in numerical function relationship with the operation area data S, the vegetation type V, the vegetation line number R and the vegetation line number C, wherein
8. The plant protection unmanned aerial vehicle autonomous take-off and landing control method of claim 1, wherein the capacity first threshold value L1 is 0.5 liter.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112352759A (en) * | 2020-10-26 | 2021-02-12 | 江苏大学 | Multi-rotor-wing spray rod structure and control method thereof |
| CN112965518A (en) * | 2021-02-01 | 2021-06-15 | 北京北航天宇长鹰无人机科技有限公司 | Unmanned aerial vehicle measurement and control method and system and ground command control station |
| CN113325873A (en) * | 2021-06-11 | 2021-08-31 | 武汉华武合胜网络科技有限公司 | Unmanned aerial vehicle plant protection operation data acquisition and analysis method, system and computer storage medium |
| CN113942634A (en) * | 2021-09-27 | 2022-01-18 | 西安羚控电子科技有限公司 | Automatic takeoff control method and system for large and medium-sized fixed wing unmanned aerial vehicle |
-
2019
- 2019-12-04 CN CN201911229966.1A patent/CN110825100A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112352759A (en) * | 2020-10-26 | 2021-02-12 | 江苏大学 | Multi-rotor-wing spray rod structure and control method thereof |
| CN112965518A (en) * | 2021-02-01 | 2021-06-15 | 北京北航天宇长鹰无人机科技有限公司 | Unmanned aerial vehicle measurement and control method and system and ground command control station |
| CN112965518B (en) * | 2021-02-01 | 2022-03-11 | 北京北航天宇长鹰无人机科技有限公司 | Unmanned aerial vehicle measurement and control method and system and ground command control station |
| CN113325873A (en) * | 2021-06-11 | 2021-08-31 | 武汉华武合胜网络科技有限公司 | Unmanned aerial vehicle plant protection operation data acquisition and analysis method, system and computer storage medium |
| CN113942634A (en) * | 2021-09-27 | 2022-01-18 | 西安羚控电子科技有限公司 | Automatic takeoff control method and system for large and medium-sized fixed wing unmanned aerial vehicle |
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