AU2020104334A4 - A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface - Google Patents
A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface Download PDFInfo
- Publication number
- AU2020104334A4 AU2020104334A4 AU2020104334A AU2020104334A AU2020104334A4 AU 2020104334 A4 AU2020104334 A4 AU 2020104334A4 AU 2020104334 A AU2020104334 A AU 2020104334A AU 2020104334 A AU2020104334 A AU 2020104334A AU 2020104334 A4 AU2020104334 A4 AU 2020104334A4
- Authority
- AU
- Australia
- Prior art keywords
- uav
- ground
- distance
- sensitivity
- ultrasonic positioning
- 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.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 230000035945 sensitivity Effects 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 4
- 241000196324 Embryophyta Species 0.000 claims description 16
- 240000000111 Saccharum officinarum Species 0.000 claims description 13
- 235000007201 Saccharum officinarum Nutrition 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 7
- 239000000575 pesticide Substances 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 5
- 230000008021 deposition Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a unmanned aerial vehicle (UAV) ground-simulated flight method
based on the ultrasonic positioning detection of vegetation surface, which specifically
including the following steps. Acquisition of vertical distance and oblique distance between
UAV and ground, and the angle between the two. Image information acquisition of target
vegetation scene by utilizing the onboard airborne camera. Detection of the pixel movement
speed of image information according to the optical flow of feature matching. And, adjustment
for the flight state of the UAV after its movement speed is obtained based on the depth image
of the scene. Through this method of the invention, the UAV can be controlled to make
different flight actions aiming at different oblique distances from the ground, so that the UAV
can fly with constant altitude difference in various environments such as mountains, hills,
terraces, plains, fields with tall culm plants and the like, which not only improves the operation
efficiency and adaptability of the UAV, but also improves its reliability and security.
-1/2
long-stalked crop low- sensitivity land with large low- sensitivily&
sunken area,
high-sensitivity undulating terrain<- medium/high- sensitivity
ten-am with
largegradient,
Figure 1
Acquisition of vertical distance between UAV and ground.
Acquisition of oblique distance between UAV and ground.
Acquisition of angle between the vertical distance and oblique distance.
Calculation of one or more decision data using the included angle and
the vertical distance.
One or more decision data ranges composed of one or more decision data.
Adjustment to the ground- simulated flight state of the UAV, based on the
decision data range to which the oblique distance belongs.
Figure 2
Description
-1/2
long-stalked crop low- sensitivity land with large low- sensitivily& sunken area,
high-sensitivity undulating terrain<- medium/high- sensitivity
ten-am with largegradient,
Figure 1
Acquisition of vertical distance between UAV and ground.
Acquisition of oblique distance between UAV and ground.
Acquisition of angle between the vertical distance and oblique distance.
Calculation of one or more decision data using the included angle and the vertical distance.
One or more decision data ranges composed of one or more decision data.
Adjustment to the ground- simulated flight state of the UAV, based on the decision data range to which the oblique distance belongs.
Figure 2
A UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface
The invention belongs to the UAV technical field, and specifically describes a method
for UAV ground-simulated flight based on the ultrasonic positioning detection of
vegetation surface.
Unmanned aerial vehicle (UAV) can not only complete aerial photography or
reconnaissance, but also has great advantages over other agricultural machines in
agricultural plant protection, which has been widely used in recent years.
However, in practical application, UAV has some urgent problems to be solved.
Taking pesticide spraying as an example, the distance between the UAV and the plant
determines the spraying effect. If the distance is too large, it is difficult to spray the
atomized drug evenly on the surface of the plant; if too small, it will affect the
operational efficiency of UAV. In terms of the safety, the smaller the distance
between UAV and plant, the lower the flight safety factor. Therefore, in order to
improve the pesticide spraying effect, operation efficiency and flight safety of UAV,
the UAV must keep a constant distance from plants during operation.
In order to solve the above problems, the present invention provides a UAV ground
simulated flight method based on the ultrasonic positioning detection of vegetation
surface, which comprises the following steps:
Si. To obtain the vertical distance and oblique distance between UAV and target
vegetation, and the angle between the two by utilizing the ultrasonic positioning
module.
S2. To acquire the image information of target vegetation scene by using the onboard
airborne camera. And then to get the pixel movement speed of image information
according to the optical flow of feature matching. Further, based on the movement
speed of the UAV in the scene and the pixel moving speed, the depth image of the
scene is obtained.
S3. Based on above-mentioned depth image, to determine the flight sensitivity model
of the UAV referring to the vertical distance, the oblique distance and the included
angle.
S4. To control the UAV to carry out ground-simulated flight on the basis of flight
sensitivity model.
Preferably, the UAV is a plant protection UAV.
The target vegetation is sugarcane.
The UAV is used for spraying pesticides on sugarcane in different areas.
Preferably, the flight sensitivity model comprises three judgment modes, namely a
high-sensitivity mode, a medium-sensitivity mode and a low-sensitivity mode.
The UAV performs ground-simulated flight in the scene based on the corresponding
judgment mode.
Preferably, the high-sensitivity mode indicates that the UAV responds quickly and
timely, and the flying height can be quickly adjusted according to the detected data of
the ultrasonic positioning module, that is, the flying height changes with the change of
the surface height of the target vegetation, presenting a high degree of fitting to the
landform.
The low-sensitivity mode means slow and lagging response of the UAV, and the
ultrasonic positioning module acquires detected data slowly. Besides, the flying
height cannot be adjusted. With gentle height change, its fitting degree to landform is
low.
Preferably, the high-sensitivity mode is suitable for the scenes with large gradient or
undulating terrain. The medium-sensitivity mode is appropriate for the scene with
undulating terrain. And the low-sensitivity mode is applied when the scene is a plain
and the target vegetation is a long-stalked crop.
Preferably, the low-sensitivity mode is also used in plain with large sunken land.
Preferably, in S3, the initial distance buffer queue and the initial movement speed
buffer queue of the UAV are further determined, based on which, filtering to the
currently measured distance is carried out to obtain the actual flight distance of the
UAV. And then selecting the flight sensitivity model of the UAV in view of the
vertical distance, the oblique distance and the included angle.
Preferably, the method for determining the initial distance buffer queue and the initial
movement speed buffer queue comprises the following steps.
S31. Utilizing sonar ranging method to measure N continuous distances in a preset
time. Then taking the derivative of the N continuous distances to obtain N-i
movement speeds of the UAV.
S32. Calculating the variance of the N- movement speeds.
S33. Judging whether the variance is less than or equal to the first preset value.
S34. if yes, making the N distances into the initial distance buffer queue, and the N-I
movement speeds into the initial movement speed buffer queue.
The positive progress effect of the invention is that in the invention, the ground
simulated flight state of the UAV can be adjusted based on the vertical distance, the
oblique distance and the included angle, which are acquired during the ground
simulated flight progress. On one hand, the UAV of the invention can be controlled to
make different flight actions aiming at different oblique distances from the ground, so
that the UAV can fly with constant altitude difference in various environments such
as mountains, hills, terraces, plains, fields with tall culm plants and the like, which not
only improves the operation efficiency and adaptability of the UAV, but also
improves its reliability and security. On the other hand, the UVA of the embodiment
is especially suitable for playing the part of plant protection UAV, which needs to
maintain a constant height with the ground and adapt to various environments.
Figure 1 reveals the setting situation of the UAV sensitivity for ground-simulated
flight under different terrains.
Figure 2 is a flow chart of the present invention method.
Figure 3 is a processing flow of a depth image in the present invention.
In order to make the purpose, technical scheme and advantages of the present
invention clearer, the technical scheme of the embodiments will be described clearly
and completely with reference to the figures in the embodiments. Obviously, the
described embodiments are only part of the embodiment, not all of them. The
components of the embodiments generally described and illustrated herein can be
arranged and designed in various different configurations. Therefore, the following
detailed description of the embodiments provided in the attached figures is not
intended to limit the protection scope of the application, but only represents the
selected embodiments of the application. Based on the embodiment of the application,
all other embodiments obtained by a person skilled in the field without making
creative labour should fall within the protection scope of the application.
As shown in figs.1-3, the UAV ground-simulated flight method based on the
ultrasonic positioning detection of vegetation surface specifically consists of the
following steps:
Si. To obtain the vertical distance and oblique distance between UAV and target
vegetation, and the angle between the two by utilizing the ultrasonic positioning
module.
S2. To acquire the image information of target vegetation scene by using the onboard
airborne camera. And then to get the pixel movement speed of image information
according to the optical flow of feature matching. Further, based on the movement
speed of the UAV in the scene and the pixel moving speed, the depth image of the
scene is obtained.
S3. Based on above-mentioned depth image, to determine the flight sensitivity model
of the UAV referring to the vertical distance, the oblique distance and the included
angle.
S4. To control the UAV to carry out ground-simulated flight on the basis of flight
sensitivity model.
Preferably, the UAV is a plant protection UAV.
The target vegetation is sugarcane.
The UAV is used for spraying pesticides on sugarcane in different areas.
Preferably, the flight sensitivity model comprises three judgment modes, namely a
high-sensitivity mode, a medium-sensitivity mode and a low-sensitivity mode.
The UAV performs ground-simulated flight in the scene based on the corresponding
judgment mode.
Further, the high-sensitivity mode indicates that the UAV responds quickly and
timely, and the flying height can be quickly adjusted according to the detected data of
the ultrasonic positioning module, that is, the flying height changes with the change of
the surface height of the target vegetation, presenting a high degree of fitting to the
landform.
The low-sensitivity mode means slow and lagging response of the UAV, and the
ultrasonic positioning module acquires detected data slowly. Besides, the flying
height cannot be adjusted. With gentle height change, its fitting degree to landform is
low.
Furthermore, the high-sensitivity mode is suitable for the scenes with large gradient or
undulating terrain. The medium-sensitivity mode is appropriate for the scene with
undulating terrain. And the low-sensitivity mode is applied when the scene is a plain
and the target vegetation is a long-stalked crop.
The low-sensitivity mode is also used in plain with large sunken land.
Preferably, in S3, the initial distance buffer queue and the initial movement speed
buffer queue of the UAV are further determined, based on which, filtering to the
currently measured distance is carried out to obtain the actual flight distance of the
UAV. And then selecting the flight sensitivity model of the UAV in view of the
vertical distance, the oblique distance and the included angle.
Preferably, the method for determining the initial distance buffer queue and the initial
movement speed buffer queue comprises the following steps.
S31. Utilizing sonar ranging method to measure N continuous distances in a preset
time. Then taking the derivative of the N continuous distances to obtain N-i
movement speeds of the UAV.
S32. Calculating the variance of the N- movement speeds.
S33. Judging whether the variance is less than or equal to the first preset value.
S34. If yes, making the N distances into the initial distance buffer queue, and the N-I
movement speeds into the initial movement speed buffer queue.
In the invention, the ground-simulated flight state of the UAV can be adjusted based
on the vertical distance, the oblique distance and the included angle, which are
acquired during the ground-simulated flight progress. On one hand, the UAV of the
invention can be controlled to make different flight actions aiming at different oblique
distances from the ground, so that the UAV can fly with constant altitude difference
in various environments such as mountains, hills, terraces, plains, fields with tall culm
plants and the like, which not only improves the operation efficiency and adaptability
of the UAV, but also improves its reliability and security. On the other hand, the UVA
of the embodiment is especially suitable for playing the part of plant protection UAV,
which needs to maintain a constant height with the ground and adapt to various
environments.
To sum up, in the embodiment of the invention, the UAV depth image is obtained
according to the following method. Firstly, the UAV onboard airborne camera is used
to capture continuous images, and the position change of each pixel in the overlapping
area of two consecutive images is calculated to obtain the pixel movement speed of each pixel point in the camera coordinate system. Then the actual flying speed of
UAV in world coordinate system is measured by equipment such as UAV onboard
GPS. Finally, the depth image of UAV can be obtained by calculating the relationship
among the pixel movement speed of each pixel in camera coordinate system, the
actual flying speed and flying height of UAV in world coordinate system. This
method can obtain the depth image accurately, and the operation process is simple and
easy to realize. Meanwhile, there is no specific requirement on whether the measured
object can reflect energy, and with measurable distance far enough, there is no energy
attenuation problem. Besides, the application range is wide. In addition, the method
can be realized by only using the equipment on the existing UAV, without adding
additional equipment, thus reducing the load of the UAV and the measurement cost
and avoiding the problems of active measurement failure caused by energy
attenuation or surface absorption of the measured object.
The UAV ground-simulated flight module based on the ultrasonic positioning
detection of vegetation surface overcomes the technical problem of operation in
sugarcane area with complex topography, and defines the optimal multivariate
parameter combination for sugarcane operation when UAV starts ground-simulated
flight module: 15L/hm 2 of nozzle flow, 80-120pm of droplet size, 3m of ground
simulated height, 4m/s of flight speed and 3-4m of width.
The invention relates to a ground-simulated flight module based on ultrasonic
positioning and detecting vegetation surface.
Wherein, ultrasonic ranging is a non-contact distance measurement technology. The
ultrasonic ground-simulated flight module uses a transmitting probe to transmit pulse
trains, which are reflected to form echoes after encountering obstacles. The receiving
probe receives echo signals and induction signals. If the intensity of echo signals
exceeds the threshold, the echo signals are considered to be valid. The coordinates of
the strongest echo energy point can be read to obtain the signal flight time. Since the
speed of sound is constant, the flight distance can be obtained, thus obtaining an
approximation of the height.
The module can also work in sugarcane areas with complex topography such as hills,
mountains, terraces, etc. It is not affected by the high stalk shape of sugarcane and has
no physical damage to sugarcane. Moreover, it can be used in combination with the
real-time differential positioning technology of UAV to solve the problem of inability
to work at night.
The module is mounted on the plant protection UAV, and when the "ground
simulated flight" function is enabled, the fixed height mode based on the vegetation
surface detected by ultrasonic is selected, and its height and simulated sensitivity can
be adjusted in three levels: high, medium and low. High-sensitivity means quick and
timely response and the UAV can adjust the flying height according to the data
obtained by ultrasonic exploration in time, namely, changing with the height change
of vegetation surface in time, which has a high degree of fitting to the landform. On
the contrary, the low-sensitivity means low and lagging response, and the UAV is
slow to respond to the data obtained by ultrasonic exploration, and its flight altitude is not adjusted in time, that is, its altitude changes smoothly, and the degree of fitting to the landform is low (shown in fig.1).
The optimal parameters of UAV using ground-simulated flight module for sugarcane
operation are defined as 15L/hm 2 of nozzle flow, 80-120pm of droplet size, 3m of
ground-simulated height, 4m/s of flight speed and 3-4m of width.
The droplet distribution characteristics of liquid medicine on the target is the main
index to evaluate the effect of plant protection operation. Different operation heights,
speeds, machine types, nozzle types and plant shapes have influence on the droplet
deposition characteristics. Therefore, studying the distribution characteristics of
droplets under different factors can provide reference for selecting suitable operation
height, operation speed, spraying flow rate and pesticide.
Combining the characteristics of the plant protection UVA and the topography of
Guangxi to performing parameter optimization. Orthogonal experiments with three
factors and three levels is carried out, specifically, different nozzle flow (9L/ha,
12L/ha, 15L/ha), working height (2m, 3m, 4m) and flight speed (4m/s, 5m/s, 6m/s)
are set to study the effects of nozzle flow, working height and flight speed on droplet
deposition. After screening, the optimal parameters of UAV ground-simulated flight
module for sugarcane operation are nozzle flow of 15L/hm 2, droplet size of 80
120pm, simulated height of 3 m, flight speed of 4m/s and width of 3-4m (Table 1).
Table 1
Droplet Deposition Uniformity Pbeinetra Combin action Factor Density Uni
Mid Bott A B C Top Middle Bottom Top die om
1 1 1 1 22.06± 18.94± 16.29± 60. 71. 79.3 63.37 13.41 13.55 12.92 77 54 3 2 1 2 2 22.95± 13.62± 12.42± 61. 57. 57.8 40.38 14.20 7.77 7.19 90 05 7 3 1 3 3 17.60± 8.76±4. 7.13±7. 56. 51. 98. 51.40 9.98 53 04 74 76 7 4 2 1 2 31.06± 26.33± 19.19± 112 84. 62.8 57.49 34.78 22.37 12.06 .25 94 4 2 2 3 25.47± 15.10± 14.99± 83. 51. 56.8 5 21.37 7.71 8.52 89 04 4 6 2 3 1 22.60± 17.30± 13.62± 72. 60. 49.8 78.68 16.43 10.43 6.78 70 29 0 7 3 1 3 30.49± 29.13± 18.50± 77. 68. 85.0 42.07 23.54 19.97 15.73 21 56 5 8 3 2 1 54.61± 32.07± 25.83± 59. 35. 46.3 59.84 32.34 11.53 11.97 21 95 4 9 3 3 2 21.98± 17.37± 14.82± 42. 41. 41.4 35.16 9.29 7.19 6.14 28 41 2
It should be noted that similar reference numerals and letters indicate similar items in
the following figures, so once an item is defined in one figure, it is not necessary to
further define and explain it in the following figures. In addition, the terms "first",
"second", "third", etc are only used to distinguish descriptions, but cannot be
understood as indicating or implying relative importance.
Finally, the above-mentioned embodiments are only specific embodiments of the
present invention, which are used to illustrate the technical scheme of the present
invention, but not to limit it. Although the present invention has been described in
detail with reference to the above-mentioned embodiments, ordinary technicians in
the field should understand that any person familiar with the technical field can still
modify the technical solutions recorded in the above-mentioned embodiments or
easily think of changes, or replace some of the technical features equally within the
technical scope disclosed by the present invention. Further, these modifications, changes or substitutions do not make the essence of the corresponding technical solutions deviate from the essence of the technical solutions of the present invention, instead they should belong to the protection scope of the invention. Therefore, the protection scope of the invention shall be subject to the protection scope of the claim.
Claims (8)
1. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically, characterized by comprising the following
steps.
Si. To obtain the vertical distance and oblique distance between UAV and target
vegetation, and the angle between the two by utilizing the ultrasonic positioning module.
S2. To acquire the image information of target vegetation scene by using the onboard
airborne camera. And then to get the pixel movement speed of image information
according to the optical flow of feature matching. Further, based on the movement speed
of the UAV in the scene and the pixel moving speed, the depth image of the scene is
obtained.
S3. Based on above-mentioned depth image, to determine the flight sensitivity model of
the UAV referring to the vertical distance, the oblique distance and the included angle.
S4. To control the UAV to carry out ground-simulated flight on the basis of flight
sensitivity model.
2. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 1, characterized in that the
UAV is a plant protection UAV, the target vegetation is sugarcane and the UAV is used
for spraying pesticides on sugarcane in different areas.
3. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 1, characterized in that the
flight sensitivity model comprises three judgment modes, namely a high-sensitivity
mode, a medium-sensitivity mode and a low-sensitivity mode.
The UAV performs ground-simulated flight in the scene based on the corresponding
judgment mode.
4. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 3, characterized in that the
high-sensitivity mode indicates that the UAV responds quickly and timely, and the flying
height can be quickly adjusted according to the detected data of the ultrasonic positioning
module, that is, the flying height changes with the change of the surface height of the
target vegetation, presenting a high degree of fitting to the landform.
The low-sensitivity mode means slow and lagging response of the UAV, and the
ultrasonic positioning module acquires detected data slowly. Besides, the flying height
cannot be adjusted. With gentle height change, its fitting degree to landform is low.
5. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 1, characterized in that the
high-sensitivity mode is suitable for the scenes with large gradient or undulating terrain.
The medium-sensitivity mode is appropriate for the scene with undulating terrain. And
the low-sensitivity mode is applied when the scene is a plain and the target vegetation is a
long-stalked crop.
6. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 5, characterized in that the
low-sensitivity mode is also used in plain with large sunken land.
7. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 1, characterized in that, in
S3, the initial distance buffer queue and the initial movement speed buffer queue of the
UAV are further determined, based on which, filtering to the currently measured distance
is carried out to obtain the actual flight distance of the UAV. And then selecting the flight
sensitivity model of the UAV in view of the vertical distance, the oblique distance and
the included angle.
8. The UAV ground-simulated flight method based on the ultrasonic positioning
detection of vegetation surface specifically as stated in Claim 7, characterized in that the
method for determining the initial distance buffer queue and the initial movement speed
buffer queue comprises the following steps.
S31. Utilizing sonar ranging method to measure N continuous distances in a preset time.
Then taking the derivative of the N continuous distances to obtain N-I movement speeds
of the UAV.
S32. Calculating the variance of the N-i movement speeds.
S33. Judging whether the variance is less than or equal to the first preset value.
S34. if yes, making the N distances into the initial distance buffer queue, and the N-1
movement speeds into the initial movement speed buffer queue.
-1/2- 2020104334
Figure 1
Figure 2
-2/2-
Figure 3
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020104334A AU2020104334A4 (en) | 2020-12-24 | 2020-12-24 | A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020104334A AU2020104334A4 (en) | 2020-12-24 | 2020-12-24 | A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2020104334A4 true AU2020104334A4 (en) | 2021-03-18 |
Family
ID=75093490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020104334A Ceased AU2020104334A4 (en) | 2020-12-24 | 2020-12-24 | A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU2020104334A4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113761671A (en) * | 2021-11-11 | 2021-12-07 | 西安羚控电子科技有限公司 | Method and system for calibrating dynamic simulation model of fixed-wing unmanned aerial vehicle |
-
2020
- 2020-12-24 AU AU2020104334A patent/AU2020104334A4/en not_active Ceased
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113761671A (en) * | 2021-11-11 | 2021-12-07 | 西安羚控电子科技有限公司 | Method and system for calibrating dynamic simulation model of fixed-wing unmanned aerial vehicle |
| CN113761671B (en) * | 2021-11-11 | 2022-03-22 | 西安羚控电子科技有限公司 | Method and system for calibrating dynamic simulation model of fixed-wing unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106167098B (en) | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space | |
| CN109099779B (en) | A kind of detecting of unmanned plane and intelligent intercept system | |
| US10191486B2 (en) | Unmanned surveyor | |
| CN108008408B (en) | Search and track imaging method, apparatus and system | |
| CN111932588A (en) | Tracking method of airborne unmanned aerial vehicle multi-target tracking system based on deep learning | |
| WO2017214566A1 (en) | Autonomous work vehicle obstacle detection system | |
| US7388662B2 (en) | Real-time measuring of the spatial distribution of sprayed aerosol particles | |
| CN108519775A (en) | A kind of UAV system and its control method precisely sprayed | |
| US20190110461A1 (en) | Method and apparatus for identifying, locating and scaring away birds | |
| CN105182992A (en) | Unmanned aerial vehicle control method and device | |
| CN206590122U (en) | A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space | |
| JP2001521403A (en) | Golf driving range distance determination apparatus and method | |
| CN108827297A (en) | A kind of real-time planing method of unmanned plane agricultural patrolled and examined track based on image | |
| AU2020104334A4 (en) | A UAV ground-simulated flight method based on the ultrasonic positioning detection of vegetation surface | |
| Liu et al. | Development of a positioning system using UAV-based computer vision for an airboat navigation in paddy field | |
| US20120120230A1 (en) | Apparatus and Method for Small Scale Wind Mapping | |
| CN106613571A (en) | Pesticide spraying method and system | |
| CN107561550A (en) | A kind of plant monitoring device and monitoring method | |
| WO2015193822A1 (en) | Method and device for measuring vegetation cover on farmland | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN105738909A (en) | Unmanned helicopter work boundary extraction method suitable for low-altitude plant protection | |
| DE3843006C2 (en) | ||
| EP4040954B1 (en) | An aerial vehicle | |
| US4951213A (en) | Vehicle navigation | |
| CN208044406U (en) | A kind of obstacle avoidance system and unmanned plane based on plant protection drone Multiple detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |