CN105278546A - Agricultural plant protection unmanned aerial vehicle planting control system - Google Patents
Agricultural plant protection unmanned aerial vehicle planting control system Download PDFInfo
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- CN105278546A CN105278546A CN201510750602.3A CN201510750602A CN105278546A CN 105278546 A CN105278546 A CN 105278546A CN 201510750602 A CN201510750602 A CN 201510750602A CN 105278546 A CN105278546 A CN 105278546A
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Abstract
The invention provides an agricultural plant protection unmanned aerial vehicle (UAV) planting control system which is composed of a vehicle-borne subsystem and a ground station subsystem. The vehicle-borne subsystem comprises a vehicle-borne GPS antenna (1), a vehicle-borne relative height detector (2), a vehicle-borne obstacle detector (3), and a vehicle-borne data returning and receiving system (4). The ground station subsystem comprises a ground station geographic information system (5), a ground station flight task planning and flight control system (6), and a ground station instruction receiving and sending system (7). According to the system of the invention, work currently needing vehicle-borne flight control is transferred to the ground, the air control part is only responsible for stability augmentation and obstacle detection, and a lot of path computation and flight control operation are managed and controlled by the ground in a unified manner. Therefore, the weight of the vehicle-borne system is reduced greatly, the difficulty in UAV developing is reduced, and the operation requirements of a variety of UAVs are satisfied effectively.
Description
Technical field
The invention belongs to agriculture unmanned air vehicle technique field, be specifically related to a kind of agricultural plant protection unmanned plane and sow control system.
Background technology
Plant protection unmanned plane; be a kind of for agriculture and forestry plant protection operation unmanned spacecraft, generally by flying platform, GPS fly control and spraying mechanism three part form, by ground remote control or GPS fly control; realize spraying operation, can spraying agent, seed, pulvis etc.Can load 8-10 kilogram agricultural chemicals, spray insecticide in low latitude, its spraying efficiency is 30 times of Traditional Man operation, also can not cause residues of pesticides and pollution, available protecting agricultural operators simultaneously.
Existing plant protection unmanned plane sows control system, not only be provided with on unmanned plane and receive GPS information and sensorcraft height, detect the unit of peripheral obstacle information, unmanned plane is also provided with the spray appliance being loaded with a large amount of agricultural chemicals, also need the flight control system being provided with unmanned plane, mass data stores the equipment calculated with flying quality, and carries out with ground control cabinet the unit that communicates.This has just increased the weight of the burden of unmanned plane greatly, makes existing plant protection unmanned plane weight very large, also has strict demand to the design of its flight control system during design unmanned plane.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, propose a kind of agricultural plant protection unmanned plane and sow control system, apply satellite, vacant lot transmission and ground prestore geography information and implement centralized flight control, ground is transferred in the working set controlled needing airborne flying at present, and aerial control section is only responsible for increasing steady and obstacle detection, ground unified management and control is given a large amount of path computing and flight control algorithm, both unmanned plane unit operation was applicable to, also be applicable to the timesharing of unmanned plane multimachine and operation simultaneously, effectively meet the requirement that multiple unmanned plane runs.
Consider the problems referred to above of prior art, according to an aspect disclosed by the invention, the present invention by the following technical solutions:
A kind of agricultural plant protection unmanned plane sows control system, be made up of On-Board Subsystem and land station's subsystem two parts, On-Board Subsystem comprises airborne GPS antenna (1), airborne relative height detector (2), the passback of airborne obstacle detector (3), on-board data and receiving system (4), land station's subsystem comprises land station's Geographic Information System (5), land station's aerial mission planning and flight control system (6), land station's command reception and transmitting system (7);
Described airborne GPS antenna (1), with gps satellite system communication, receives gps signal, obtains horizontal coordinate and the height coordinate of agricultural plant protection unmanned plane;
Described airborne relative height detector (2), adopts sonar and light stream detection, for detecting the height of agricultural plant protection unmanned plane relative to ground;
Described airborne obstacle detector (3), for detecting the barrier around agricultural plant protection unmanned plane, comprises the barrier of stationary object and motion;
Described on-board data passback and receiving system (4), for the data that described airborne GPS antenna (1), airborne relative height detector (2) and airborne obstacle detector (3) are obtained, pass back to land station's subsystem, the flight of sending of satellite receiver subsystem can also control and sow instruction simultaneously;
Described land station Geographic Information System (5), is used for storing coordinate, vegetation pattern, the relative floor level of vegetation, the obstacle information of farmland massif;
The aerial mission planning of described land station and flight control system (6), according to the data that the described on-board data passback received and receiving system (4) are sent, and in conjunction with the information stored in described land station Geographic Information System (5), plan the flight path of agricultural plant protection unmanned plane in advance, and formation control instruction, control the flight of agricultural plant protection unmanned plane and sow operation; Further, according to the agricultural plant protection unmanned plane peripheral obstacle information received temporarily, send and promptly keep away barrier instruction for promptly keeping away barrier operation;
Described land station command reception and transmitting system (7), for the data that On-Board Subsystem is sent, and be sent to agricultural plant protection unmanned plane by flight steering order.
A kind of agricultural plant protection unmanned plane of the present invention sows control system, substantially reduce the weight of mobile system, unmanned plane is just for determining oneself orientation and finding out the situation of surrounding, and to where flying, when spray medicine, when raise or reduce (terrain following, to remain valid spraying altitude, and keep away barrier), all by the unified process of land station, also effectively reduce the difficulty of unmanned plane development.
Accompanying drawing explanation
Fig. 1 is that agricultural plant protection unmanned plane sows control system one-piece construction figure.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
See accompanying drawing 1, a kind of agricultural plant protection unmanned plane of the present invention sows control system, be made up of On-Board Subsystem and land station's subsystem two parts, On-Board Subsystem comprises airborne GPS antenna (1), airborne relative height detector (2), the passback of airborne obstacle detector (3), on-board data and receiving system (4), land station's subsystem comprises land station's Geographic Information System (5), land station's aerial mission planning and flight control system (6), land station's command reception and transmitting system (7);
Described airborne GPS antenna (1), with gps satellite system communication, receives gps signal, obtains horizontal coordinate and the height coordinate of agricultural plant protection unmanned plane;
Described airborne relative height detector (2), adopts sonar and light stream detection, for detecting the height of agricultural plant protection unmanned plane relative to ground;
Described airborne obstacle detector (3), for detecting the barrier around agricultural plant protection unmanned plane, comprises the barrier of stationary object and motion;
Described on-board data passback and receiving system (4), for the data that described airborne GPS antenna (1), airborne relative height detector (2) and airborne obstacle detector (3) are obtained, pass back to land station's subsystem, the flight of sending of satellite receiver subsystem can also control and sow instruction simultaneously;
Described land station Geographic Information System (5), is used for storing coordinate, vegetation pattern, the relative floor level of vegetation, the obstacle information of farmland massif;
The aerial mission planning of described land station and flight control system (6), according to the data that the described on-board data passback received and receiving system (4) are sent, and in conjunction with the information stored in described land station Geographic Information System (5), plan the flight path of agricultural plant protection unmanned plane in advance, and formation control instruction, control the flight of agricultural plant protection unmanned plane and sow operation; Further, according to the agricultural plant protection unmanned plane peripheral obstacle information received temporarily, send and promptly keep away barrier instruction for promptly keeping away barrier operation;
Described land station command reception and transmitting system (7), for the data that On-Board Subsystem is sent, and be sent to agricultural plant protection unmanned plane by flight steering order.
In agricultural plant protection unmanned plane during flying process, by airborne GPS antenna (1), obtain oneself horizontal coordinate and height coordinate, and by airborne relative height detector (2), obtain oneself relative height relative to ground, simultaneously, also by airborne obstacle detector (3), detect (working direction or fly over come) barrier around, by these information, together with other information of aircraft (as dose, speed, oil mass, electricity etc.), by on-board data passback and receiving system (4), go downwards to land station's command reception and the transmitting system (7) of land station.The information that land station's command reception and transmitting system (7) will receive, pass to land station's aerial mission planning and flight control system (6), comparison agricultural plant protection unmanned plane present case in land station's Geographic Information System (5), form flight Mass Control and sow instruction, then being sent to on-board data passback and receiving system (4) by land station's command reception and transmitting system (7).Finally, the instruction received is passed to aircraft by on-board data passback and receiving system (4), controls agricultural plant protection unmanned plane during flying and control agricultural chemicals to sow.
Claims (1)
1. an agricultural plant protection unmanned plane sows control system, be made up of On-Board Subsystem and land station's subsystem two parts, On-Board Subsystem comprises airborne GPS antenna (1), airborne relative height detector (2), the passback of airborne obstacle detector (3), on-board data and receiving system (4), land station's subsystem comprises land station's Geographic Information System (5), land station's aerial mission planning and flight control system (6), land station's command reception and transmitting system (7);
Described airborne GPS antenna (1), with gps satellite system communication, receives gps signal, obtains horizontal coordinate and the height coordinate of agricultural plant protection unmanned plane;
Described airborne relative height detector (2), adopts sonar and light stream detection, for detecting the height of agricultural plant protection unmanned plane relative to ground;
Described airborne obstacle detector (3), for detecting the barrier around agricultural plant protection unmanned plane, comprises the barrier of stationary object and motion;
Described on-board data passback and receiving system (4), for the data that described airborne GPS antenna (1), airborne relative height detector (2) and airborne obstacle detector (3) are obtained, pass back to land station's subsystem, the flight of sending of satellite receiver subsystem can also control and sow instruction simultaneously;
Described land station Geographic Information System (5), is used for storing coordinate, vegetation pattern, the relative floor level of vegetation, the obstacle information of farmland massif;
The aerial mission planning of described land station and flight control system (6), according to the data that the described on-board data passback received and receiving system (4) are sent, and in conjunction with the information stored in described land station Geographic Information System (5), plan the flight path of agricultural plant protection unmanned plane in advance, and formation control instruction, control the flight of agricultural plant protection unmanned plane and sow operation; Further, according to the agricultural plant protection unmanned plane peripheral obstacle information received temporarily, send and promptly keep away barrier instruction for promptly keeping away barrier operation;
Described land station command reception and transmitting system (7), for the data that On-Board Subsystem is sent, and be sent to agricultural plant protection unmanned plane by flight steering order.
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| CN105974937A (en) * | 2016-05-31 | 2016-09-28 | 南充驭云创新科技有限公司 | Rotor unmanned plane used for nest building, working method thereof, and flight remote control system |
| CN106020233A (en) * | 2016-07-08 | 2016-10-12 | 聂浩然 | Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method |
| CN106125762A (en) * | 2016-08-01 | 2016-11-16 | 北京艾森博航空科技股份有限公司 | Internet-based unmanned aerial vehicle plant protection management system and method |
| CN106200683A (en) * | 2016-07-04 | 2016-12-07 | 广东天米教育科技有限公司 | Unmanned plane plant protection system and plant protection method |
| CN106292698A (en) * | 2016-08-01 | 2017-01-04 | 北京艾森博航空科技股份有限公司 | Accurate operation method and system for plant protection unmanned aerial vehicle |
| CN106292706A (en) * | 2016-09-18 | 2017-01-04 | 成都天麒科技有限公司 | A kind of full-automatic unmanned machine operation system for agricultural |
| CN106516098A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN106919178A (en) * | 2017-04-14 | 2017-07-04 | 南京信息工程大学 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method |
| CN107390620A (en) * | 2017-07-17 | 2017-11-24 | 杨新高 | Agricultural work vehicle system |
| CN108303963A (en) * | 2018-04-04 | 2018-07-20 | 湖南丰茂植保机械有限公司 | A kind of Intelligent unattended driving equipment for plant protection earth station system |
| CN108388271A (en) * | 2018-03-27 | 2018-08-10 | 钟静海 | Unmanned plane pesticide spraying system based on server terminal |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN108719242A (en) * | 2018-03-27 | 2018-11-02 | 钟静海 | Pesticide spraying system |
| CN108812599A (en) * | 2018-06-13 | 2018-11-16 | 仲恺农业工程学院 | A kind of unmanned plane plant protection monitoring system and method for manual manipulation |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| CN109240304A (en) * | 2018-10-15 | 2019-01-18 | 南京林业大学 | A kind of precision planting system and method |
| WO2019104678A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Control method, terminal, management platform, system and storage medium |
| CN110989738A (en) * | 2019-11-22 | 2020-04-10 | 鄂尔多斯市凯图科技有限公司 | Biological control sowing unmanned aerial vehicle, control system and control method |
| WO2020087646A1 (en) * | 2018-10-30 | 2020-05-07 | 深圳市翔农创新科技有限公司 | Uav plant protection operation control method, device and computer readable storage medium |
| CN111506105A (en) * | 2020-04-08 | 2020-08-07 | 安徽舒州农业科技有限责任公司 | Agricultural unmanned aerial vehicle control device and sowing control method |
| CN111580538A (en) * | 2020-06-10 | 2020-08-25 | 中国兵器工业计算机应用技术研究所 | Unmanned platform obstacle avoidance system and method |
| WO2021081907A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Flight control method and device for unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
| CN113221829A (en) * | 2021-05-31 | 2021-08-06 | 四川熵智科技有限公司 | Grassland degradation intelligent treatment method and system |
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| CN105974937A (en) * | 2016-05-31 | 2016-09-28 | 南充驭云创新科技有限公司 | Rotor unmanned plane used for nest building, working method thereof, and flight remote control system |
| CN106200683A (en) * | 2016-07-04 | 2016-12-07 | 广东天米教育科技有限公司 | Unmanned plane plant protection system and plant protection method |
| CN106020233A (en) * | 2016-07-08 | 2016-10-12 | 聂浩然 | Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method |
| CN106020233B (en) * | 2016-07-08 | 2023-11-28 | 聂浩然 | Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method |
| CN106125762A (en) * | 2016-08-01 | 2016-11-16 | 北京艾森博航空科技股份有限公司 | Internet-based unmanned aerial vehicle plant protection management system and method |
| CN106292698A (en) * | 2016-08-01 | 2017-01-04 | 北京艾森博航空科技股份有限公司 | Accurate operation method and system for plant protection unmanned aerial vehicle |
| CN106125762B (en) * | 2016-08-01 | 2019-11-12 | 北京艾森博航空科技股份有限公司 | Internet-based unmanned aerial vehicle plant protection management system and method |
| CN106292706A (en) * | 2016-09-18 | 2017-01-04 | 成都天麒科技有限公司 | A kind of full-automatic unmanned machine operation system for agricultural |
| CN106516098A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN106516097A (en) * | 2016-10-19 | 2017-03-22 | 吴瑞霞 | Unpiloted aircraft |
| CN106919178A (en) * | 2017-04-14 | 2017-07-04 | 南京信息工程大学 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method |
| CN107390620A (en) * | 2017-07-17 | 2017-11-24 | 杨新高 | Agricultural work vehicle system |
| WO2019104678A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Control method, terminal, management platform, system and storage medium |
| CN108388271A (en) * | 2018-03-27 | 2018-08-10 | 钟静海 | Unmanned plane pesticide spraying system based on server terminal |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN108719242A (en) * | 2018-03-27 | 2018-11-02 | 钟静海 | Pesticide spraying system |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| CN108719242B (en) * | 2018-03-27 | 2020-12-29 | 钟静海 | Pesticide spraying system |
| CN108303963A (en) * | 2018-04-04 | 2018-07-20 | 湖南丰茂植保机械有限公司 | A kind of Intelligent unattended driving equipment for plant protection earth station system |
| CN108812599A (en) * | 2018-06-13 | 2018-11-16 | 仲恺农业工程学院 | A kind of unmanned plane plant protection monitoring system and method for manual manipulation |
| CN108812599B (en) * | 2018-06-13 | 2021-08-27 | 仲恺农业工程学院 | Unmanned aerial vehicle plant protection monitoring system and method for manual control |
| CN109240304A (en) * | 2018-10-15 | 2019-01-18 | 南京林业大学 | A kind of precision planting system and method |
| WO2020087646A1 (en) * | 2018-10-30 | 2020-05-07 | 深圳市翔农创新科技有限公司 | Uav plant protection operation control method, device and computer readable storage medium |
| WO2021081907A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Flight control method and device for unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
| CN110989738A (en) * | 2019-11-22 | 2020-04-10 | 鄂尔多斯市凯图科技有限公司 | Biological control sowing unmanned aerial vehicle, control system and control method |
| CN111506105A (en) * | 2020-04-08 | 2020-08-07 | 安徽舒州农业科技有限责任公司 | Agricultural unmanned aerial vehicle control device and sowing control method |
| CN111580538A (en) * | 2020-06-10 | 2020-08-25 | 中国兵器工业计算机应用技术研究所 | Unmanned platform obstacle avoidance system and method |
| CN113221829A (en) * | 2021-05-31 | 2021-08-06 | 四川熵智科技有限公司 | Grassland degradation intelligent treatment method and system |
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