CN103885454B - Operational method and the device of canopy characteristic parameter flight followed by agricultural aircraft - Google Patents
Operational method and the device of canopy characteristic parameter flight followed by agricultural aircraft Download PDFInfo
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Abstract
The invention discloses agricultural aircraft and follow operational method and the device of the flight of canopy characteristic parameter, the method passes through Laser Radar Scanning unit, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit obtain cloud data respectively, positional information and attitude information, obtain the canopy information data under earth coordinates, then from canopy information data, extract canopy characteristic parameter, canopy characteristic map is generated according to canopy characteristic parameter, flight job parameter is generated in conjunction with canopy characteristic map and job parameter Z, generate then for each flight job parameter and fly control flight work flow instruction accordingly, and carry out integrated decision-making to flying control flight work flow instruction accordingly, generate flight operating type instruction, last flight control system controls the operation concrete form of aircraft according to flight operating type instruction.The present invention determines aircraft operating type in conjunction with the actual canopy characteristic parameter of manipulating object, substantially increases operation effectiveness and the operation degree of accuracy of aircraft.
Description
Technical field
The present invention relates to a kind of agricultural aircraft low altitude flight operating type field, follow operational method and the device of the flight of canopy characteristic parameter particularly to a kind of agricultural aircraft.
Background technology
The following demand of China agricultural aviation be concentrated mainly on low latitude agriculture feelings information quick obtaining, extreme low-altitude spray operation and other jobs that requires special skills (hybrid paddy rice production of hybrid seeds supple-mentary pollination) etc. in.Along with all kinds of small aircrafts are in agriculture field progressively popularization and application, above crop canopies, low altitude flight has become agricultural aircraft and has carried out the major way of operation.Agricultural aviation field manipulating object has focused largely on crop canopies, and wherein the selection of flying method and operation effectiveness are also closely related with the characteristic parameter of operation canopy, such as canopy height, canopy density, canopy width etc..The characteristic parameter of crop canopies is different along with crop species, plantation landform is different, planting patterns difference and agriculture requirement difference present very big-difference, but no matter existing flying method is manual control mode or flying control stored program control system does not all account for the difference of canopy characteristic parameter, the location mode in existing operation course line relies primarily on artificial location or GPS device location, the contour straight line of main employing, the mode flied at a constant speed carries out operation, only only account for the characteristic parameter in spatial domain above manipulating object, have ignored the actual canopy characteristic parameter of Ground Operation object, therefore in prior art, the actual job parameter degree of accuracy of aircraft and effect are necessarily had a greatly reduced quality.
Summary of the invention
It is an object of the invention to the shortcoming overcoming prior art with not enough, it is provided that the operational method of canopy characteristic parameter flight followed by the agricultural aircraft that a kind of operation degree of accuracy is high and operation effectiveness is good.The method can obtain crop canopies information in real time, and constitutes canopy characteristic map according to operation purpose and canopy characteristic parameter, canopy characteristic map cook up aircraft job parameter, fulfils assignment controlling aircraft.
The second object of the present invention is in that the apparatus for work providing the agricultural aircraft that a kind of operation degree of accuracy is high and operation effectiveness is good to follow the flight of canopy characteristic parameter,
The first object of the present invention is achieved through the following technical solutions: the operational method of canopy characteristic parameter flight followed by agricultural aircraft, comprises the following steps:
(1) the canopy information data of manipulating object is obtained: obtain the attitude information data of cloud data, the location information data of Laser emission position and Laser emission position；
(2) by coordinates transformation method, cloud data, the location information data of Laser emission position and the attitude information data of Laser emission position are blended, convert the canopy information data under earth coordinates to；
(3) from the canopy information data earth coordinates, crop canopies characteristic parameter is extracted；
(4) job parameter Z is generated according to operation purpose and requirement；
(5) generate crop canopies parameter attribute map: combination sprays the job parameter Z canopy characteristic parameter to extracting in step (3) and processes, obtain corresponding map attribute canopy characteristic parameter；Then the Crown canopy parametre characteristics map that map attribute canopy characteristic parameter is corresponding is generated；Scanning area canopy characteristic distributions is reflected by this Crown canopy parametre characteristics map；
(6) flight job parameter is generated according to Crown canopy parametre characteristics map in conjunction with job parameter Z；
(7) control flight work flow instruction is flown accordingly according to the generation of each flight job parameter；
(8) the control flight work flow instruction that respectively flies generated in step (6) is carried out integrated decision-making, generate flight operating type instruction, and the flight operating type instruction of generation is input in flight control system；Flight control system controls aircraft according to the flight operating type instruction of its reception and carries out corresponding operation.
Preferably, the cloud data obtained in described step (1) includes crop canopies ranging data.
Preferably, in described step (3), crop canopies characteristic parameter includes parameter, canopy density parameter and canopy width parameter bottom canopy top parameter, canopy；
Described canopy top parameter is the distance S of the scanning area crop canopies distance from top aircraft obtained by distance feature algorithm1；
Bottom described canopy, parameter is the distance S of the scanning area crop canopies distance from bottom aircraft obtained by distance feature algorithm2；
Described canopy density parameter is the scanning area crop canopies planting density ρ obtained by density feature algorithm；
Described canopy width parameter is the scanning area crop canopies plantation line width B obtained by line width characteristics algorithm.
In described step (5):
The map attribute canopy distance from top characteristic parameter S that canopy top parameter is corresponding is generated according to subject fusion algorithmz1=f1(S1,Z)；
The map attribute canopy distance from bottom characteristic parameter S that bottom canopy, parameter is corresponding is generated according to subject fusion algorithmz2=f1(S2,Z)；
The map attribute canopy density feature parameter that canopy density parameter is corresponding is generated according to subject fusion algorithm
ρz=f1(ρ,Z)；
The map attribute canopy line width characteristic parameter that canopy width parameter is corresponding is generated according to subject fusion algorithm
Bz=f1(B,Z)；
Wherein generate map attribute canopy distance from top characteristic parameter in the described step (5) and combine Crown canopy parametre characteristics map corresponding to corresponding Crown canopy parametre characteristics map, map attribute canopy density feature parameter and Crown canopy parametre characteristics map corresponding to map attribute canopy width characteristics parameter with map attribute canopy distance from bottom characteristic parameter.
Further, in described step (6), flight job parameter includes aircraft altitude track, aircraft activity duration and intensity and aircraft's flight track and operation wide cut；
In described step (6), map attribute canopy distance from top characteristic parameter and map attribute canopy distance from bottom characteristic parameter are combined the Crown canopy parametre characteristics map of correspondence in conjunction with job parameter Z generation aircraft altitude track；Crown canopy parametre characteristics map corresponding to map attribute canopy density feature parameter generates aircraft activity duration and intensity in conjunction with job parameter Z；Crown canopy parametre characteristics map corresponding to map attribute canopy width characteristics parameter generates aircraft's flight track and operation wide cut in conjunction with job parameter Z.
Further, described step (7) generates flying corresponding to aircraft altitude track, aircraft activity duration and intensity and aircraft's flight track and operation wide cut respectively control flight work flow instruction P1, fly control flight work flow instruction P2 and fly control flight work flow instruction P3.
The second object of the present invention is achieved through the following technical solutions: the apparatus for work of canopy characteristic parameter flight followed by agricultural aircraft, including Laser Radar Scanning unit, Differential positioning GPS unit and aircraft flight control system,
Laser Radar Scanning unit, is used for scanning crop canopies, obtains cloud data；
Differential positioning GPS unit, for obtaining the location information data of Laser emission position；
Flight control system, controls the operating type of aircraft according to flight operating type instruction；
Described apparatus for work also includes Dynamic High-accuracy attitude of carrier measuring unit IMU, Point Cloud Processing unit, canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction generates unit and synthetic job mode decision system, wherein:
Dynamic High-accuracy attitude of carrier measuring unit IMU(InertialMeasurementUnit), for obtaining the attitude information data of Laser emission position；
Point Cloud Processing unit, the attitude information data that the location information data obtained for the cloud data obtained by Laser Radar Scanning unit by coordinates transformation method, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit IMU are obtained blend, and convert the canopy information data under earth coordinates to；
Canopy characteristic parameter extraction unit, for extracting canopy characteristic parameter from the canopy information data earth coordinates；
Crown canopy parametre characteristics map generates unit, for combining according to operation purpose and requiring that the canopy characteristic parameter extracted is processed by the job parameter Z generated, generates Crown canopy parametre characteristics map；
Flight job parameter generates unit, for generating the flight job parameter of aircraft in conjunction with job parameter according to Crown canopy parametre characteristics map；
Fly control flight work flow instruction and generate unit: generate according to the flight job parameter of aircraft and fly control flight work flow instruction accordingly；
Synthetic job mode decision system, for carrying out integrated decision-making to respectively flying control flight work flow instruction, generates the flight operating type instruction of aircraft, and the flight operating type instruction of generation is input in flight control system；
Described Laser Radar Scanning unit, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit IMU are connected with the input of Point Cloud Processing unit respectively, and the outfan of described Point Cloud Processing unit passes sequentially through canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction generation unit and synthetic job mode decision system is connected with flight control system.
Preferably, described Laser Radar Scanning unit is two dimension, and the angle between laser scanning direction and the aircraft flight direction of described Laser Radar Scanning unit is 45 °.
Preferably, described synthetic job mode decision system includes spectral instrument and aerial camera, and described synthetic job mode decision system carries out integrated decision-making in conjunction with aircraft flight work flow instruction, the spectroscopic data of spectral instrument collection and the view data of aerial camera collection.
The present invention has such advantages as relative to prior art and effect:
null(1) cloud data that the present invention is obtained by Laser Radar Scanning unit、The attitude information data D3 of the Laser emission position that the location information data D2 and Dynamic High-accuracy attitude of carrier measuring unit IMU of the Laser emission position that Differential positioning GPS unit obtains obtains obtains the canopy information data under earth coordinates，Then from canopy information data, extract canopy characteristic parameter，Canopy characteristic map is generated according to canopy characteristic parameter，The various flight job parameter of aircraft is generated in conjunction with canopy characteristic map and job parameter Z，Generate then for the various flight job parameter of aircraft and fly control flight work flow instruction accordingly，And carry out integrated decision-making to flying control flight work flow instruction accordingly，Generate flight operating type instruction，Last flight control system controls the operation concrete form of aircraft according to flight operating type instruction.Invention not only considers the characteristic parameter in spatial domain above manipulating object, determines the operating type of aircraft herein in connection with the actual canopy characteristic parameter of operation purpose and Ground Operation object, therefore substantially increase the operation effectiveness of aircraft.Additionally in whole operation process, the flight apparatus for work of aircraft of the present invention can obtain canopy characteristic parameter in real time, and follows the operating type of the real-time change of flight device of current canopy state, enables that aircraft is point-device to fulfil assignment.
(2) present invention is capable of precision and the standardization of agricultural aircraft farm work mode, need not directly interfere the flight control system of aircraft could realize the adjustment of operating type as existing aircraft, the present invention has only to that the work flow instruction formed according to canopy characteristic parameter is flowed to flight control system and performs, and therefore the operating type of the agricultural aircraft of the present invention has the simple and convenient advantage of control.Additionally synthetic job mode decision system of the present invention can also be combined with spectral instrument and aerial camera, synthetic job mode decision system can carry out integrated decision-making in conjunction with flying control flight work flow instruction, the spectroscopic data of spectral instrument collection and the view data of aerial camera collection, thus providing a kind of more precisely feasible operating type for agricultural aviation application technology.
Accompanying drawing explanation
Fig. 1 is the operational method flow chart that the flight of canopy characteristic parameter followed by the agricultural aircraft of the present invention.
Fig. 2 is the operational method theory diagram that the flight of canopy characteristic parameter followed by the agricultural aircraft of the present invention.
Fig. 3 is the apparatus for work structure composition frame chart that the flight of canopy characteristic parameter followed by the agricultural aircraft of the present invention.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As illustrated in fig. 1 and 2, present embodiment discloses a kind of agricultural aircraft and follow the operational method of canopy characteristic parameter flight, the present embodiment adopts this operational method that Oryza sativa L. is sprayed, and specifically comprises the following steps that
(1) the canopy information data spraying manipulating object Oryza sativa L. is obtained: include obtaining cloud data D1, Laser emission position location information data D2Attitude information data D with Laser emission position3；Wherein the present embodiment obtains cloud data by Laser Radar Scanning unit, the cloud data obtained includes rice canopy ranging data, the present embodiment is obtained by Differential positioning GPS unit the location information data of Laser emission position, the present embodiment is obtained by Dynamic High-accuracy attitude of carrier measuring unit IMU the attitude information data D of Laser emission position3。
(2) by coordinates transformation method by cloud data D1, Laser emission position location information data D2Attitude information data D with Laser emission position3Blend, convert the rice canopy information data D under earth coordinates to4=f(D1,D2,D3)。
(3) from the rice canopy information data D4 earth coordinates, rice canopy characteristic parameter is extracted；The rice canopy information data extracted in the present embodiment includes parameter, rice canopy density parameter and rice canopy width parameter bottom rice canopy top parameter, rice canopy, and certain the present embodiment can also extract other rice canopy characteristic parameters from rice canopy information data.Wherein:
Rice canopy top parameter is the distance S of the scanning area rice canopy distance from top aircraft obtained by distance feature algorithm1；
Bottom rice canopy, parameter is the distance S of the scanning area rice canopy distance from bottom aircraft obtained by distance feature algorithm2；
Rice canopy density parameter is the scanning area rice canopy planting density ρ obtained by density feature algorithm；
Rice canopy width parameter is the scanning area rice canopy plantation line width B obtained by line width characteristics algorithm；
(4) according to spraying operation purpose and requiring that generation sprays job parameter Z；
(5) generate crop canopies parameter attribute map: combination sprays the job parameter Z rice canopy characteristic parameter to extracting in step (3) and processes, obtain corresponding map attribute rice canopy characteristic parameter；Then attribute rice canopy characteristic parameter generates corresponding Crown canopy parametre characteristics map according to the map；Scanning area rice canopy characteristic distributions is reflected by this Crown canopy parametre characteristics map；Wherein in the present embodiment:
The map attribute canopy distance from top characteristic parameter S that rice canopy top parameter is corresponding is generated according to subject fusion algorithmz1=f1(S1,Z)；
The map attribute canopy distance from bottom characteristic parameter S that bottom rice canopy, parameter is corresponding is generated according to subject fusion algorithmz2=f1(S2,Z)；
The map attribute canopy density feature parameter ρ that rice canopy density parameter is corresponding is generated according to subject fusion algorithmz=f1(ρ,Z)；
The map attribute canopy width characteristics parameter B that rice canopy width parameter is corresponding is generated according to subject fusion algorithmz=f1(B,Z)；
Wherein generate map attribute rice canopy distance from top characteristic parameter and map attribute rice canopy distance from bottom characteristic parameter in the present embodiment and combine Crown canopy parametre characteristics map corresponding to corresponding Crown canopy parametre characteristics map, map attribute rice canopy density feature parameter and Crown canopy parametre characteristics map corresponding to map attribute rice canopy width characteristics parameter.
(6) the Crown canopy parametre characteristics map obtained according to step (5) combines the flight job parameter spraying job parameter Z generation aircraft；The flight job parameter that wherein the present embodiment generates includes aircraft altitude track, aircraft activity duration and intensity and aircraft's flight track and operation wide cut；Certain the present embodiment can also generate other flight job parameter,
Wherein in the present embodiment, map attribute canopy distance from top characteristic parameter and map attribute canopy distance from bottom characteristic parameter combine corresponding Crown canopy parametre characteristics map combination and spray job parameter Z generation aircraft altitude track；Crown canopy parametre characteristics map corresponding to map attribute canopy density feature parameter combines and sprays job parameter Z and generate aircraft activity duration and intensity；The Crown canopy parametre characteristics map that attribute canopy width characteristics parameter generates according to the map combines and sprays job parameter Z generation aircraft's flight track and operation wide cut.
(7) generate them respectively according to aircraft altitude track in step (6), aircraft activity duration and intensity and aircraft's flight track and operation wide cut corresponding to fly control flight work flow instruction P1, fly control flight work flow instruction P2 and fly control flight work flow instruction P3.
(8) fly control flight work flow instruction P1 to what step (7) generated, fly control flight work flow instruction P2 and fly control flight work flow instruction P3 and carry out integrated decision-making, generate flight operating type instruction P, and the flight operating type instruction P of generation is input in flight control system；Flight control system controls aircraft according to the flight operating type instruction P of its reception and performs corresponding operation.
As shown in Figure 3, the present embodiment also discloses a kind of for realizing the apparatus for work that the operational method of canopy characteristic parameter flight followed by above-mentioned agricultural aircraft, it includes Laser Radar Scanning unit, Differential positioning GPS unit, Dynamic High-accuracy attitude of carrier measuring unit IMU(InertialMeasurementUnit), Point Cloud Processing unit, canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction and generate unit, synthetic job mode decision system and flight control system, wherein:
Laser Radar Scanning unit, is used for scanning crop canopies, real-time acquisition cloud data D1, including crop canopies ranging data；The Laser Radar Scanning unit adopted in the present embodiment is two dimension, and the angle between laser scanning direction and the aircraft flight direction of Laser Radar Scanning unit is 45 °.Laser scan unit in certain the present embodiment can also be one-dimensional or three-dimensional, and the angle between laser scanning direction and the aircraft flight direction of Laser Radar Scanning unit can also be other proper angle.
Differential positioning GPS unit, for obtaining the location information data D of Laser emission position2。
Dynamic High-accuracy attitude of carrier measuring unit IMU, for obtaining the attitude information data D of Laser emission position3。
Point Cloud Processing unit, for the cloud data D obtained by Laser Radar Scanning unit by coordinates transformation method1, Differential positioning GPS unit obtain location information data D2And the attitude information data D that Dynamic High-accuracy attitude of carrier measuring unit IMU obtains3Blend, convert the canopy information data under earth coordinates to.
Canopy characteristic parameter extraction unit, for extracting canopy characteristic parameter, such as parameter, canopy density parameter, canopy width parameter etc. bottom canopy top parameter, canopy from the canopy information data earth coordinates.
Crown canopy parametre characteristics map generates unit, in conjunction with job parameter Z, the canopy characteristic parameter extracted is processed, and obtains corresponding map attribute rice canopy characteristic parameter；Then attribute rice canopy characteristic parameter generates corresponding Crown canopy parametre characteristics map according to the map；This Crown canopy parametre characteristics map can reflect scanning area crop canopies characteristic distributions, offers help to forming agricultural aircraft operating type decision-making.Wherein job parameter Z is the operation purpose according to aircraft and job requirements acquisition.
Flight job parameter generates unit, for generating the flight job parameter of aircraft in conjunction with job parameter Z according to Crown canopy parametre characteristics map.
Fly control flight work flow instruction and generate unit: generate according to aircraft flight job parameter and fly control flight work flow instruction accordingly.
Synthetic job mode decision system, for carrying out integrated decision-making to respectively flying control flight work flow instruction, generates flight operating type instruction, and the flight operating type instruction of generation is input in flight control system.Synthetic job mode decision system includes spectral instrument and aerial camera in the present embodiment, this system carries out integrated decision-making in conjunction with aircraft flight work flow instruction, the spectroscopic data of spectral instrument collection and the view data of aerial camera collection, thus providing a kind of more precisely feasible operating type for agricultural aviation application technology.
Flight control system, controls the operating type of aircraft according to flight operating type instruction.
Laser Radar Scanning unit, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit IMU are connected with the input of Point Cloud Processing unit respectively, the signal they collected is sent to Point Cloud Processing unit, and the outfan of Point Cloud Processing unit passes sequentially through canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction generation unit and synthetic job mode decision system is connected with flight control system.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. the operational method of canopy characteristic parameter flight followed by agricultural aircraft, it is characterised in that comprise the following steps:
(1) the canopy information data of manipulating object is obtained: obtain the attitude information data of cloud data, the location information data of Laser emission position and Laser emission position；
(2) by coordinates transformation method, cloud data, the location information data of Laser emission position and the attitude information data of Laser emission position are blended, convert the canopy information data under earth coordinates to；
(3) from the canopy information data earth coordinates, crop canopies characteristic parameter is extracted；
(4) job parameter Z is generated according to operation purpose and requirement；
(5) generate crop canopies parameter attribute map: combination sprays the job parameter Z canopy characteristic parameter to extracting in step (3) and processes, obtain corresponding map attribute canopy characteristic parameter；Then the Crown canopy parametre characteristics map that map attribute canopy characteristic parameter is corresponding is generated；Scanning area canopy characteristic distributions is reflected by this Crown canopy parametre characteristics map；
(6) flight job parameter is generated according to Crown canopy parametre characteristics map in conjunction with job parameter Z；
(7) control flight work flow instruction is flown accordingly according to the generation of each flight job parameter；
(8) the control flight work flow instruction that respectively flies generated in step (7) is carried out integrated decision-making, generate flight operating type instruction, and the flight operating type instruction of generation is input in flight control system；Flight control system controls aircraft according to the flight operating type instruction of its reception and carries out corresponding operation.
2. the operational method of canopy characteristic parameter flight followed by agricultural aircraft according to claim 1, it is characterised in that the cloud data obtained in described step (1) includes crop canopies ranging data.
3. the operational method of canopy characteristic parameter flight followed by agricultural aircraft according to claim 1, it is characterized in that, in described step (3), crop canopies characteristic parameter includes parameter, canopy density parameter and canopy width parameter bottom canopy top parameter, canopy；
Described canopy top parameter is the distance S of the scanning area crop canopies distance from top aircraft obtained by distance feature algorithm1；
Bottom described canopy, parameter is the distance S of the scanning area crop canopies distance from bottom aircraft obtained by distance feature algorithm2；
Described canopy density parameter is the scanning area crop canopies planting density ρ obtained by density feature algorithm；
Described canopy width parameter is the scanning area crop canopies plantation line width B obtained by line width characteristics algorithm.
4. the operational method of canopy characteristic parameter flight followed by agricultural aircraft according to claim 3, it is characterised in that in described step (5):
The map attribute canopy distance from top characteristic parameter S that canopy top parameter is corresponding is generated according to subject fusion algorithmz1=f1(S1,Z)；
The map attribute canopy distance from bottom characteristic parameter S that bottom canopy, parameter is corresponding is generated according to subject fusion algorithmz2=f1(S2,Z)；
The map attribute canopy density feature parameter ρ that canopy density parameter is corresponding is generated according to subject fusion algorithmz=f1(ρ,Z)；
The map attribute canopy width characteristics parameter B that canopy width parameter is corresponding is generated according to subject fusion algorithmz=f1(B,Z)；
Wherein generate map attribute canopy distance from top characteristic parameter in the described step (5) and combine Crown canopy parametre characteristics map corresponding to corresponding Crown canopy parametre characteristics map, map attribute canopy density feature parameter and Crown canopy parametre characteristics map corresponding to map attribute canopy width characteristics parameter with map attribute canopy distance from bottom characteristic parameter.
5. the operational method of canopy characteristic parameter flight followed by agricultural aircraft according to claim 4, it is characterized in that, in described step (6), flight job parameter includes aircraft altitude track, aircraft activity duration and intensity and aircraft's flight track and operation wide cut；
In described step (6), map attribute canopy distance from top characteristic parameter and map attribute canopy distance from bottom characteristic parameter combine corresponding Crown canopy parametre characteristics map and generate aircraft altitude track in conjunction with job parameter Z；Crown canopy parametre characteristics map corresponding to map attribute canopy density feature parameter generates aircraft activity duration and intensity in conjunction with job parameter Z；Crown canopy parametre characteristics map corresponding to map attribute canopy width characteristics parameter generates aircraft's flight track and operation wide cut in conjunction with job parameter Z.
6. the operational method of canopy characteristic parameter flight followed by agricultural aircraft according to claim 5, it is characterized in that, described step (7) generates flying corresponding to aircraft altitude track, aircraft activity duration and intensity and aircraft's flight track and operation wide cut respectively and controls flight work flow instruction P1, fly control flight work flow instruction P2 and fly control flight work flow instruction P3.
7. the apparatus for work of canopy characteristic parameter flight followed by agricultural aircraft, including Laser Radar Scanning unit, Differential positioning GPS unit and aircraft flight control system,
Laser Radar Scanning unit, is used for scanning crop canopies, obtains cloud data；
Differential positioning GPS unit, for obtaining the location information data of Laser emission position；
Flight control system, controls the operating type of aircraft according to flight operating type instruction；
It is characterized in that, also include Dynamic High-accuracy attitude of carrier measuring unit IMU, Point Cloud Processing unit, canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction generation unit and synthetic job mode decision system, wherein:
Dynamic High-accuracy attitude of carrier measuring unit IMU, for obtaining the attitude information data of Laser emission position；
Point Cloud Processing unit, the attitude information data that the location information data obtained for the cloud data obtained by Laser Radar Scanning unit by coordinates transformation method, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit IMU are obtained blend, and convert the canopy information data under earth coordinates to；
Canopy characteristic parameter extraction unit, for extracting canopy characteristic parameter from the canopy information data earth coordinates；
Crown canopy parametre characteristics map generates unit, for combining according to operation purpose and requiring that the canopy characteristic parameter extracted is processed by the job parameter Z generated, generates Crown canopy parametre characteristics map；
Flight job parameter generates unit, for generating the flight job parameter of aircraft in conjunction with job parameter according to Crown canopy parametre characteristics map；
Fly control flight work flow instruction and generate unit: generate according to the flight job parameter of aircraft and fly control flight work flow instruction accordingly；
Synthetic job mode decision system, for carrying out integrated decision-making to respectively flying control flight work flow instruction, generates the flight operating type instruction of aircraft, and the flight operating type instruction of generation is input in flight control system；
Described Laser Radar Scanning unit, Differential positioning GPS unit and Dynamic High-accuracy attitude of carrier measuring unit IMU are connected with the input of Point Cloud Processing unit respectively, and the outfan of described Point Cloud Processing unit passes sequentially through canopy characteristic parameter extraction unit, Crown canopy parametre characteristics map generates unit, flight job parameter generates unit, fly control flight work flow instruction generation unit and synthetic job mode decision system is connected with flight control system.
8. the apparatus for work of canopy characteristic parameter flight followed by agricultural aircraft according to claim 7, it is characterized in that, described Laser Radar Scanning unit is two dimension, and the angle between laser scanning direction and the aircraft flight direction of described Laser Radar Scanning unit is 45 °.
9. the apparatus for work of canopy characteristic parameter flight followed by agricultural aircraft according to claim 7, it is characterized in that, described synthetic job mode decision system includes spectral instrument and aerial camera, and described synthetic job mode decision system carries out integrated decision-making in conjunction with aircraft flight work flow instruction, the spectroscopic data of spectral instrument collection and the view data of aerial camera collection.
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| CN103440648A (en) * | 2013-08-22 | 2013-12-11 | 北京农业信息技术研究中心 | Method and device for automatically measuring crop canopy uniformity |
| CN103592947A (en) * | 2013-11-19 | 2014-02-19 | 华南农业大学 | Farm-oriented aerial vehicle safe operation flight monitoring device and control algorithm thereof |
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| US9113590B2 (en) * | 2012-08-06 | 2015-08-25 | Superior Edge, Inc. | Methods, apparatus, and systems for determining in-season crop status in an agricultural crop and alerting users |
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| CN103440648A (en) * | 2013-08-22 | 2013-12-11 | 北京农业信息技术研究中心 | Method and device for automatically measuring crop canopy uniformity |
| CN103592947A (en) * | 2013-11-19 | 2014-02-19 | 华南农业大学 | Farm-oriented aerial vehicle safe operation flight monitoring device and control algorithm thereof |
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| Title |
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| 《农田信息采样方式及飞行器平台设计》;李继宇 等;《振动、测试与诊断》;20130630;第33卷(第3期);第466-471页 * |
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