CN106020233A - Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method - Google Patents
Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method Download PDFInfo
- Publication number
- CN106020233A CN106020233A CN201610537497.XA CN201610537497A CN106020233A CN 106020233 A CN106020233 A CN 106020233A CN 201610537497 A CN201610537497 A CN 201610537497A CN 106020233 A CN106020233 A CN 106020233A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- plant protection
- operating area
- protection operation
- aerial vehicle
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 238000009432 framing Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 239000007921 spray Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 206010048669 Terminal state Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses an unmanned aerial vehicle (UAV) adopted plant protection system, an unmanned aerial vehicle (UAV) for plant protection and its control method. The control method comprises the following steps: obtaining the terrain image of a working area; acquiring the GIS information based on the terrain image calculation so as to automatically plan the working path of one unmanned aerial vehicle or more and controlling the unmanned aerial vehicle(s) in operation according to the working path for plant protection. Therefore, on the one hand, it is possible to make an unmanned aerial vehicle(s) carry out plant protection autonomously according to the planned working path and ensure the quality of plant protection. On the other hand, operators do not need to control the UAV(s) manually, and multiple unmanned aerial vehicles can work simultaneously, meaning that working efficiency can be increased substantially.
Description
Technical field
The present invention relates to plant protection operation field, be specifically related to a kind of unmanned plane plant protection operation system, use
Unmanned plane and control method in plant protection operation.
Background technology
Traditional aviation plant protection operation is used manned all purpose aircraft by China General Aviation Corp
Carry out plant protection operation.Owing to all purpose aircraft volume is big, speed is fast, and working area is big, Er Qiewei
Protect operating cost the highest.Can only use on local excess area plant protection operation, the most very
Large-scale universal.Along with the development of unmanned air vehicle technique, SUAV is for getting over agricultural plant protection
Come the most universal.Use unmanned plane to carry out plant protection and fly anti-operation, compare traditional artificial or other machines
Tool operation has a lot of advantage.Can be suitable for the plant protection operation of various complicated landform, such as paddy field, gloomy
Woods, mountain region, the various situations such as lake.Wherein a lot of plant protection operations are that Traditional Man plant protection is difficult to
The place reached.Meanwhile, Traditional Man and mechanical work are compared in unmanned plane plant protection, go back effective percentage high,
Low cost, spray effect is good a little.Unmanned plane is UAV (Unmanned Aerial
Vehicle, UAV) abbreviation, in fact utilize radio robot or self-contained program to control device
The most manned aircraft of manipulation.Unmanned plane includes fixed-wing unmanned plane and rotor wing unmanned aerial vehicle two class, wherein
Rotor wing unmanned aerial vehicle has and includes single rotor and many rotor wing unmanned aerial vehicles two kinds.Many rotor wing unmanned aerial vehicles are tied due to it
Structure is simple, and stability and handling are preferable, are suitable to be applied to plant protection operation.
In the prior art, plant protection unmanned plane is the most all that separate unit unmanned plane is controlled to carry out by operator
Operation (is flown and sprays).This mode fully relies on the observation of operator to control working path,
And in bigger operating area, human eye for 100 meters outside unmanned plane position carry out judging and controlling
System, error is very big, and this can make operation quality be greatly reduced.Fig. 1 be manually-operated plant protection without
The man-machine flight path schematic diagram at irregular area, it can be seen that the working path pole of unmanned plane is not
Rule, this can cause subregion drain spray, and subregion is repeated to spray.And, an operation
Member can only control a frame unmanned plane, and the efficiency carrying out plant protection operation is the lowest.
Meanwhile, prior art exists part unmanned plane there is autonomous flight function, but, automatically
Change degree is low, flight path as shown in Figure 2 easily occurs when location misalignment, and this can cause greatly
The leakage operation of amount operating area.
Summary of the invention
In view of this, the present invention provides a kind of unmanned plane plant protection operation system, for plant protection operation
Unmanned plane and control method, to improve efficiency and the quality of unmanned plane plant protection operation.
First aspect, it is provided that a kind of unmanned plane plant protection operation system, including:
At least one operation unmanned plane, is suitable to according to satellite positioning information according to corresponding operation road
Footpath carries out plant protection operation automatically；
Work planning device, for obtaining terrain graph and the job parameter information of operating area, and
It is every operation unmanned plane planning working path according to described terrain graph and job parameter information；
Control terminal, for obtaining and sending described job parameter information to described work planning device.
Preferably, described unmanned plane plant protection operation system also includes:
Commander's unmanned plane, is provided with image acquiring device, is used for obtaining described terrain graph and to institute
State the transmission of job transfer device.
Preferably, described work planning device is arranged on described commander's unmanned plane.
Preferably, described work planning device includes the Image Acquisition for obtaining described terrain graph
Device, described work planning device is arranged on an operation unmanned plane.
Preferably, described work planning device and described control terminal are set to one, described operation
Device for planning receives the terrain graph of position by network.
Preferably, described system also includes:
Differential satellite positioner, for providing differential satellite for described at least one operation unmanned plane
Framing signal.
Preferably, described differential satellite positioner is arranged on described commander's unmanned aerial vehicle platform；
Preferably, described commander's unmanned plane is additionally operable to shoot plant protection operation process, and preserves or to institute
State the video file controlled acquired in terminal or presumptive address transmission.
Preferably, described commander's unmanned plane is additionally operable to obtain in real time the image information of operating area, institute
State commander's unmanned plane or described work planning device or described control terminal according to described operating area
The state of image information detection operating area.
Preferably, when detecting that mobiles in addition to operation unmanned plane occurs in operating area or
The distance of appearance distance arbitrary operation unmanned plane controls all works when being less than the mobiles of secure threshold
Industry unmanned plane rises to predetermined altitude.
Second aspect, it is provided that a kind of unmanned plane for plant protection operation, including:
Unmanned aerial vehicle platform；
Image acquiring device, is suitable to obtain the image below unmanned aerial vehicle platform；And,
Work planning device, for the landform including operating area obtained according to image acquiring device
Image and job parameter information are every operation unmanned plane planning working path, and described working path is used
Flight path in instruction operation unmanned plane.
Preferably, described unmanned plane also includes:
Differential satellite positioner, for providing differential satellite framing signal for described operation unmanned plane.
Preferably, described image acquiring device is additionally operable to obtain the video file of plant protection operation process,
And preserve or to the video file acquired in described control terminal or presumptive address transmission.
Preferably, described image acquiring device is additionally operable to obtain in real time the image information of operating area,
The image information of described operating area is for detecting the state of operating area.
Preferably, when detecting that mobiles in addition to operation unmanned plane occurs in operating area or
The distance of appearance distance arbitrary operation unmanned plane controls all works when being less than the mobiles of secure threshold
Industry unmanned plane rises to predetermined altitude.
The third aspect, it is provided that a kind of unmanned plane plant protection operation control method, including:
Obtain terrain graph and job parameter information；
According to the operating area in job parameter acquisition of information terrain graph；
The terrain graph corresponding according to described operating area and job parameter information be every operation without
Man-machine planning working path；
To every operation unmanned plane issue the working path of correspondence control described at least one operation without
Man-machine carry out plant protection operation according to described working path.
Preferably, described acquisition terrain graph includes: from the satellite landform of Network Capture position
Image；Or, obtain described terrain graph by image acquiring device.
Preferably, described location to described operation unmanned plane transmission differential satellite in operation process is believed
Breath assists described operation unmanned plane location.
Preferably, described method also includes: obtains the video file of plant protection operation process, and preserves
Or to the video file acquired in described control terminal or presumptive address transmission.
Preferably, described method also includes:
Obtaining the image information of operating area in real time, the image information of described operating area is used for detecting
The state of operating area；Preferably, detecting that operating area occurs in addition to operation unmanned plane
During mobiles or the distance of appearance distance arbitrary operation unmanned plane is less than the mobiles of secure threshold
Time control All Jobs unmanned plane rise to predetermined altitude.
The embodiment of the present invention is passed through in advance or obtains the terrain graph of operating area in real time, and based on ground
Shape image calculates the GIS information that obtains, and then automatically plans the operation of one or more operation unmanned planes
Path also controls operation unmanned plane and carries out plant protection operation according to working path.Thus, the most permissible
Unmanned plane is made to carry out plant protection operation according to the working path autonomous flight planned, it is ensured that plant protection
Operation quality, on the other hand, operator need not Non-follow control unmanned plane, can with multiple UAVs with
Shi Zuoye, greatly improves working performance.
Accompanying drawing explanation
By description to the embodiment of the present invention referring to the drawings, the present invention above-mentioned and other
Objects, features and advantages will be apparent from, in the accompanying drawings:
Fig. 1 is the existing plant protection operation unmanned plane flight path schematic diagram at irregular codes；
Fig. 2 is the existing plant protection operation unmanned plane autonomous flight path schematic diagram at regular domain；
Fig. 3 A is the schematic diagram of the unmanned plane plant protection operation system of one embodiment of the invention；
Fig. 3 B is the control flow chart of the unmanned plane plant protection operation system of the embodiment of the present invention；
Fig. 3 C is the embodiment of the present invention according to the determining of all positions in landform Image Acquisition operating area
The principle schematic of position information；
Fig. 3 D is the working path schematic diagram of the unmanned plane plant protection operation of the embodiment of the present invention；
Fig. 3 E is the structural representation of the work planning device of the embodiment of the present invention；
Fig. 3 F is the structural representation of the operation unmanned plane of the embodiment of the present invention；
Fig. 3 G is the structural representation of the control terminal of the embodiment of the present invention；
Fig. 4 is the system schematic of the unmanned plane plant protection operation system of another embodiment of the present invention；
Fig. 5 is the system schematic of the unmanned plane plant protection operation system of another embodiment of the present invention；
Fig. 6 is the system schematic of the unmanned plane plant protection operation system of further embodiment of the present invention.
Detailed description of the invention
Below based on embodiment, present invention is described, but the present invention is not restricted to these
Embodiment.In below the details of the present invention being described, detailed describe some specific detail portion
Point.The description not having these detail sections for a person skilled in the art can also understand this completely
Invention.In order to avoid obscuring the essence of the present invention, known method, process, flow process, element and
Circuit narration the most in detail.
Fig. 3 A is the schematic diagram of the unmanned plane plant protection operation system of one embodiment of the invention.Such as figure
Shown in 3A, in the present embodiment, unmanned plane plant protection operation system include multiple stage operation unmanned plane 1,
Work planning device 2, commander's unmanned plane 4 and control terminal 3.Wherein, at least one operation without
Man-machine 1 is suitable to automatically carry out plant protection operation according to satellite positioning information according to corresponding working path.
Ensure along the work planned it is to say, operation unmanned plane 1 carries out real-time positioning to self-position
Advance and carry out plant protection operation (usually spraying according to predefined parameter) in industry path.Working path
It is received from work planning device 2 or controls terminal 3 or download from predetermined network site.Commander's nothing
Man-machine 4 for aloft obtaining the ground comprising operating area by set image acquiring device 4a
Shape image.As a rule, control commander's unmanned plane 4 flight and obtain to carrying out image after predetermined height
Take and be obtained with described terrain graph.Work planning device 2 is carried on commander's unmanned plane 4,
Plan working path according to described terrain graph and job parameter, and be each operation unmanned plane 1
Send corresponding working path to control it and carry out plant protection operation.Above-mentioned sends for each operation unmanned plane 1
Corresponding working path can be the work that working path data are sent directly to correspondence by wireless connections
Industry unmanned plane 1, it is also possible to be the work that working path data are transmitted to by controlling terminal 3 correspondence
Industry unmanned plane 1, it is also possible to be working path data to be sent to predetermined network site for corresponding
Operation unmanned plane 1 is downloaded.Control terminal 3 for obtaining terrain graph with work planning device communication
And working path, and show described landform by human-computer interaction interface (such as display) to user
Image and working path, and obtain job parameter according to user instruction.Described job parameter is at least wrapped
Include the operating area that user limits on terrain graph.Preferably, job parameter can include simultaneously
Carry out Obstacle Position on the operation unmanned plane quantity of operation, terrain graph, operation unmanned plane
Obstacle is around line mode, safe distance etc..Specifically, when carrying out operation, command unmanned plane 4
The position that carrying work planning device 2 flight is higher to overhead, operating area, is filled by Image Acquisition
Put 4a and obtain the terrain graph comprising operating area.By the transmission of this terrain graph to controlling terminal 3,
Shown to user by controlling terminal 3 and point out user to be set for plant protection operation parameter.User
Can control to limit in terminal 3 operating area or whole of each operation unmanned plane in terrain graph
The operating area of body.Preferably, user can also be in controlling terminal 3 subscript note operating area
Barrier and operation key point.Labelling barrier is used for so that plant protection operation unmanned plane 1 can be walked around
Corresponding barrier.Labelling operation key point is so that work planning device 2 is with operation key point
For with reference to carrying out path planning.Meanwhile, user can also control terminal 3 arrange plant protection operation without
The barrier of man-machine 1 is around the parameter such as line mode and flying height.After setting, control terminal 3
The job parameter of setting is transferred to work planning device 2.Work planning device 2 is according to topography
The parameter that arranges of picture, the operating area that user specifies and correspondence is that each operation unmanned plane 1 is planned
Working path.After having planned, under work planning device 2 will plan that working path is directly or indirectly
It is dealt into the operation unmanned plane 1 of correspondence.Each operation unmanned plane 1 is made according to corresponding working path
Industry.It should be noted that be respectively provided with satellite positioning functions on operation unmanned plane 1, it is possible to according to certainly
The location information of body judges whether to deviate working path, thus ensures that it completes to plant according to working path
Protect operation.Thus, on the one hand so that unmanned plane is according to the working path autonomous flight planned
Carrying out plant protection operation, it is ensured that plant protection operation quality, on the other hand, operator need not Non-follow control
Unmanned plane, can greatly improve working performance with multiple UAVs operation simultaneously.
Fig. 3 B is the control flow chart of the unmanned plane plant protection operation system of inventive embodiments.Such as Fig. 3 B
Shown in, obtain terrain graph, wherein, described terrain graph bag in step 310, commander's unmanned plane
Containing operating area.
It is sent to control terminal and work planning dress by terrain graph in step 320, commander's unmanned plane
Put.
Certainly, the transmission mode of terrain graph can be different, are carried on commander at work planning device
Time on unmanned plane, data bus transmission terrain graph can be passed through, and control terminal earthward is sent out
Send terrain graph then to need to rely on radio communication to connect, such as bluetooth or ZigBee or 2.4G frequency
The custom protocol etc. of section.
Step 330, control terminal to user show terrain graph and obtain user input operation
Parameter.
In step 340, control terminal by job parameter to the transmission of work planning device.
Acquisition every is planned according to terrain graph and job parameter in step 350, work planning device
The working path that operation unmanned plane is corresponding.
Specific address, work planning device can be according to terrain graph and the satellite of commander's unmanned plane
The satellite positioning information of location information and ground installation (such as controlling terminal 3) by existing respectively
Plant GIS technology and calculate the satellite positioning information of every bit on terrain graph.Its ultimate principle such as figure
Shown in 3C, the satellite positioning coordinate of aerial commander's unmanned plane 4 is (x1, y1, z1), and ground sets
The satellite positioning coordinate put is that (x2, y2, z2) (coordinate that existing satellite positioning tech obtains is
Three-dimensional coordinate).Thus, it is possible to calculate the height H obtaining commander's unmanned plane 4.Meanwhile, Zhi Huiwu
The visual angle A of the device of the Image Acquisition of man-machine 4 is known.Obtained thus, it is possible to easily calculate
The physical length that the terrain graph that takes is corresponding, thus conversion obtains the real area that each pixel is corresponding
And size.The each pixel (each point) obtaining on terrain graph that simultaneously can also convert is relative
In the position of commander's unmanned plane, and then calculate its coordinate of acquisition.
Further, it is also possible to based on the such as barometer arranged on commander's unmanned plane 4 and height
Elevation information is modified or measures rolling topography by the devices such as radar.
Correspondence is issued to all direct or indirect operation unmanned planes in step 360, work planning device
Working path.
Plant protection operation is carried out according to working path in step 370, operation unmanned plane.
Further, in order to ensure the degree of accuracy of unmanned plane operation, it is poor that described system can also include
Divide satellite positioning device 5.Differential satellite positioner 5 is for unmanned for described at least one operation
Machine provides differential satellite framing signal.Differential satellite location technology is that one is applied to global positioning system
In order to improve a kind of technology of civilian positioning precision in system.It utilizes in areal, satellite
The position slowly varying systematic error of system, including selecting availability (SA) error, to standard station and
The impact of proximal subscribers is same or like.Application differential technique can weaken SA, ionization effectively
Layer delay, atmosphere delay, ephemeris error, satellite clock error, reach meter level positioning precision.Difference
Satellite positioning device is divided to provide differential satellite fixed as standard station for the operation unmanned plane in operating area
Position signal, such that it is able to improve the positioning precision of operation unmanned plane, improves plant protection operation quality.Logical
Often, differential satellite positioner point needs to be precisely located, to ensure to export based on it
The terminal that positions of differential satellite signal be obtained in that accurate definitely satellite positioning coordinate.But,
In the present embodiment, requirement is not the most done in the position for differential satellite positioner 5.In this reality
Executing in example, differential satellite positioner 5 is arranged to detachable, when carrying out plant protection operation by grasping
Author is fixed on ground.The satellite fix that differential satellite positioner 5 obtains according to self poisoning is sat
It is denoted as self-position, and sends differential signal accordingly.Due to differential satellite location technology actually
It it is the technology to carry out location calibration as the differential satellite positioner 5 of base station for initial point.Cause
This, the degree of accuracy of absolute satellite positioning coordinate depends on the position coordinates of differential satellite positioner 5
Degree of accuracy, and the relative satellite elements of a fix (that is, with differential satellite positioner 5 as initial point
Coordinate system in coordinate) whether inaccurate by the position coordinates of differential satellite positioner 5
Impact.And in operation process, as long as ensureing that each unmanned plane is accurate with the relative coordinate of arbitrary origin
, it is not required that definitely satellite positioning coordinate is accurate.It is therefore possible to use movably difference is defended
Star positioner comes the location of all unmanned planes of assisted calibration, improves walking accurately of operation unmanned plane
Degree.
When being provided with the differential satellite positioner 5 being positioned at ground in systems, work planning device
2 or commander unmanned plane 4 can coordinate based on differential satellite positioner 5 true with the coordinate of self
Surely the height of unmanned plane is commanded.
Further, commander's unmanned plane 4 can also utilize image acquiring device to shoot plant protection operation mistake
Journey, and the video file obtained is sent to described control terminal or predetermined network address, or directly
Acquired video file is preserved in the storage device loaded.Preferably, the video image of acquisition
Can also be real-time transmitted to control terminal 3 show.And it is possible to followed the tracks of by image recognition technology
The motion of operation unmanned plane, shows the track of operation unmanned plane on the display controlling terminal 3.
Further, it is also possible to draw sprinkling according to the spray width of operation unmanned plane along its track and cover feelings
Condition, shows job state with intuitive way.Thus, on the one hand can be made by the display of image
Region that the border of industry and working rig spray and path, the in real time circuit of display working rig and picture.
On the other hand, being got off by whole plant protection operation process record, the operation recorded accordingly is unmanned actual to fly
Row track technology calculates spray area, carries out Global Operation area statistics for follow-up.
Meanwhile, during operation, in fact it could happen that animal or people enter the unexpected feelings of operating area
Condition.Owing to operation unmanned plane during flying height is relatively low, if there is collision, operation unmanned plane can be caused
Damage or cause humans and animals injured.During operation, commander's unmanned aerial vehicle platform hovers in operation area
Overhead, territory, monitors the video information of operating area in real time by image acquiring device, knows based on image
State in other technology for detection operating area, when the mobiles detected in addition to operation unmanned plane,
Control all of operation unmanned plane and rise to predetermined height.Thus, it is possible to avoid the occurrence of collision,
Ensure job safety.It is also possible to when detecting except the unexpected mobiles of ancestors' meritorious achievements unmanned plane,
Monitor the distance of remaining each operation unmanned plane, when distance is less than secure threshold control All Jobs without
Man-machine rise to predetermined altitude.Thus, it is possible to avoid dropping into human or animal's frequency of operating area
Numerous job interruption that causes, simultaneously it is also ensured that job safety.
Easy to understand, when being made without large area operation, it is also possible to the most only to arrange one
Platform operation unmanned plane, carries out operation under the control of the work planning device commanding unmanned plane to be carried.
Fig. 3 D is based on the working path schematic diagram of the unmanned plane plant protection operation of the present invention.By Fig. 3 D
Visible, the unmanned plane plant protection operation system of the embodiment of the present invention is adapted to irregular landform and enters
Row operation, has higher operation quality.
Fig. 3 E is the structural representation of commander's unmanned plane of the embodiment of the present invention.As shown in FIGURE 3 E,
Described commander's unmanned plane includes unmanned aerial vehicle platform, work planning device 2, image acquiring device 4a.
Unmanned aerial vehicle platform can include control device and the communicator of necessity.Image acquiring device 4a
Special communication component can be set or utilize the existing communicator of unmanned aerial vehicle platform to be transmitted ground
Shape image, receive job parameter and issue the traffic operations such as working path.Between above-mentioned each parts
Partial circuit or resource can be shared.For example, it is possible to share power-supply management system, share communication and receive
Send out front-end circuit or whole telecommunication circuit etc..
Fig. 3 F is the structural representation of the operation unmanned plane of the embodiment of the present invention.As illustrated in Figure 3 F,
Described operation unmanned plane includes unmanned aerial vehicle platform, satellite positioning device, communicator, control device
And the plant protection operation device loaded.Satellite positioning device is for obtaining the position letter of operation unmanned plane
Breath, in order to control device control unmanned aerial vehicle platform and prolong the working path flight planned.Communicator
For obtaining working path, receive control information and the real-time report operation unmanned plane controlling terminal
State (including but not limited to position, fountain height, dump energy, activity duration etc.).Load
Plant protection operation device for carrying out plant protection operation (such as, spray according to the control controlling device
Spill operation).
Fig. 3 G is the structural representation controlling device of the embodiment of the present invention.As shown in Figure 3 G,
Control terminal to include display device, control device, communicator and human-computer interaction device.Communication
Device is used for obtaining terrain graph and shows for display device.Human-computer interaction device can be keyboard or touch
Touch screen, be used for obtaining user's input.It is defeated by human-computer interaction device that control device is used for obtaining user
The instruction entered, shows corresponding effect in display device and controls communicator when necessary to outgoing
Send.
Fig. 4 is the system schematic of the unmanned plane plant protection operation system of another embodiment of the present invention.
As shown in Figure 4, in the unmanned plane plant protection operation system of the present embodiment, it is not provided with special commander
Unmanned aerial vehicle platform.But work planning device 2 is carried on an operation unmanned plane.By carrying
The operation unmanned plane of work planning device 2 first flies to higher position acquisition terrain graph, and obtains
After the working path that each operation unmanned plane is corresponding, then it is unmanned with other operation to fly to relatively low height
Machine together starts operation.The scheme of the present embodiment can reduce the quantity of the unmanned plane required for system.
Preferably, in the unmanned plane plant protection operation system of the present embodiment, equally arrange and be positioned at ground
Differential satellite positioner 5 think that each operation unmanned plane 1 provides differential satellite framing signal, carry
High position precision.
Fig. 5 is the system schematic of the unmanned plane plant protection operation system of another embodiment of the present invention.
As it is shown in figure 5, in the unmanned plane plant protection operation system of the present embodiment, work planning device 2 with
Control terminal 3 and be set to one.The work planning device 2 landform by Network Capture position
Image, and give control terminal 3 by bus or other communication line, join for user
Number input.After getting job parameter information, work planning device 2 is according to terrain graph and work
Industry parameter information is every operation unmanned plane planning working path, and is handed down to by described working path
Corresponding operation unmanned plane.Thus, work planning device 2 need not arrange image acquiring device,
Decrease cost.Preferably, in the unmanned plane plant protection operation system of the present embodiment, it is also possible to set
Put commander's unmanned plane 4 to carry out terrain graph acquisition, and state to operating area during operation
It is monitored with operation process and record.Preferably, in the unmanned plane plant protection operation system of the present embodiment
In system, equally arrange and be positioned at the differential satellite positioner 5 on ground and think each operation unmanned plane
1 provides differential satellite framing signal, improves positioning precision.
Fig. 6 is the system schematic of the unmanned plane plant protection operation system of further embodiment of the present invention.
In the present embodiment, utilizing commander's unmanned plane 4 to be selected in, that air position determines relatively is specific, will
Differential satellite positioner 5 is loaded on commander's unmanned plane 4, it it is poor to provide after aloft hovering
Dividing satellite positioning signal, less important work unmanned plane positions, and improves positioning precision.The present embodiment
System critical component all be integrated in commander this platform of unmanned plane on, integration of equipments can be improved
Degree, conveniently transports and carries.
Due to flying height and the restriction of image acquiring device resolution, hovering commander's unmanned plane
The region about 50-100 mu can only be covered.When carrying out large area operation, can control to command nothing
A man-machine present sub regions operation, after operation completes, moves again to new subregion and carries out operation,
Until whole operating area is the most capped.
The embodiment of the present invention obtains the terrain graph of operating area, root by arranging work planning device
Automatically plan the working path of one or more operation unmanned plane according to terrain graph and to control operation unmanned
Machine carries out plant protection operation according to working path.Thus, on the one hand so that unmanned plane is according to planning
Good working path autonomous flight carries out plant protection operation, it is ensured that plant protection operation quality, on the other hand,
Operator need not Non-follow control unmanned plane, work can be greatly improved with multiple UAVs simultaneously operation
Industry efficiency.
Additionally, it should be understood by one skilled in the art that accompanying drawing is provided to provided herein
Bright purpose, and accompanying drawing is not necessarily drawn to scale.
Unless the context clearly requires otherwise, otherwise " the including " in entire disclosure and claims,
Implication rather than the exclusive or exhaustive implication that similar word should be construed to comprise such as " comprise "；Also
That is, it is the implication of " including but not limited to ".
In describing the invention, it is to be understood that term " first ", " second " etc. are only used for
Purpose is described, and it is not intended that indicate or hint relative importance.Additionally, retouching in the present invention
In stating, except as otherwise noted, " multiple " are meant that two or more.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for this
For skilled person, the present invention can have various change and change.All spirit in the present invention
Any modification, equivalent substitution and improvement etc. with being made within principle, should be included in the present invention's
Within protection domain.
Claims (10)
1. a unmanned plane plant protection operation system, including:
At least one operation unmanned plane, is suitable to according to satellite positioning information according to corresponding operation road
Footpath carries out plant protection operation automatically；
Work planning device, for obtaining terrain graph and the job parameter information of operating area, and
It is every operation unmanned plane planning working path according to described terrain graph and job parameter information；
Control terminal, for obtaining and sending described job parameter information to described work planning device.
Unmanned plane plant protection operation system the most according to claim 1, it is characterised in that institute
State unmanned plane plant protection operation system also to include:
Commander's unmanned plane, is provided with image acquiring device, is used for obtaining described terrain graph and to institute
State the transmission of job transfer device.
Unmanned plane plant protection operation system the most according to claim 1 and 2, it is characterised in that
Described work planning device is arranged on described commander's unmanned plane；Or,
Described work planning device includes the image acquiring device for obtaining described terrain graph, institute
State work planning device to be arranged on an operation unmanned plane；Or,
Described work planning device and described control terminal are set to one, described work planning device
The terrain graph of position is received by network.
4. according to the unmanned plane plant protection operation system according to any one of claim 1-3, its feature
Being, described system also includes:
Differential satellite positioner, for providing differential satellite for described at least one operation unmanned plane
Framing signal；
Preferably, described differential satellite positioner is arranged on described commander's unmanned aerial vehicle platform.
Unmanned plane plant protection operation system the most according to claim 2, it is characterised in that described
Commander's unmanned plane is additionally operable to shoot plant protection operation process, and preserves or to described control terminal or predetermined
Video file acquired in the transmission of address；Or,
Described commander's unmanned plane is additionally operable to obtain in real time the image information of operating area, described commander's nothing
Man-machine or described work planning device or described control terminal are according to the image information of described operating area
The state of detection operating area；
Preferably, when detecting that mobiles in addition to operation unmanned plane occurs in operating area or
The distance of appearance distance arbitrary operation unmanned plane controls all works when being less than the mobiles of secure threshold
Industry unmanned plane rises to predetermined altitude.
6. for a unmanned plane for plant protection operation, including:
Unmanned aerial vehicle platform；
Image acquiring device, is suitable to obtain the image below unmanned aerial vehicle platform；And,
Work planning device, for the landform including operating area obtained according to image acquiring device
Image and job parameter information are every operation unmanned plane planning working path, and described working path is used
Flight path in instruction operation unmanned plane.
Unmanned plane the most according to claim 6, it is characterised in that described unmanned plane also includes:
Differential satellite positioner, for providing differential satellite framing signal for described operation unmanned plane.
Unmanned plane for plant protection operation the most according to claim 6, it is characterised in that institute
State image acquiring device and be additionally operable to obtain the video file of plant protection operation process, and preserve or to described
Control the video file acquired in terminal or presumptive address transmission；Or,
Described image acquiring device is additionally operable to obtain in real time the image information of operating area, described operation
The image information in region is for detecting the state of operating area；
Preferably, when detecting that mobiles in addition to operation unmanned plane occurs in operating area or
The distance of appearance distance arbitrary operation unmanned plane controls all works when being less than the mobiles of secure threshold
Industry unmanned plane rises to predetermined altitude.
9. a unmanned plane plant protection operation control method, including:
Obtain terrain graph and job parameter information；
According to the operating area in job parameter acquisition of information terrain graph；
The terrain graph corresponding according to described operating area and job parameter information be every operation without
Man-machine planning working path；
To every operation unmanned plane issue the working path of correspondence control described at least one operation without
Man-machine carry out plant protection operation according to described working path.
Unmanned plane plant protection operation control method the most according to claim 9, it is characterised in that
Described acquisition terrain graph includes: from the satellite terrain graph of Network Capture position；Or
Person, obtains described terrain graph by image acquiring device；
Or,
Described in operation process to described operation unmanned plane send differential satellite location information auxiliary
Described operation unmanned plane positions；
Or,
Described method also includes: obtains the video file of plant protection operation process, and preserves or to described
Control the video file acquired in terminal or presumptive address transmission；
Or,
Described method also includes:
Obtaining the image information of operating area in real time, the image information of described operating area is used for detecting
The state of operating area；Preferably, detecting that operating area occurs in addition to operation unmanned plane
During mobiles or the distance of appearance distance arbitrary operation unmanned plane is less than the mobiles of secure threshold
Time control All Jobs unmanned plane rise to predetermined altitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537497.XA CN106020233B (en) | 2016-07-08 | 2016-07-08 | Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537497.XA CN106020233B (en) | 2016-07-08 | 2016-07-08 | Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106020233A true CN106020233A (en) | 2016-10-12 |
| CN106020233B CN106020233B (en) | 2023-11-28 |
Family
ID=57108472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610537497.XA Active CN106020233B (en) | 2016-07-08 | 2016-07-08 | Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106020233B (en) |
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106383646A (en) * | 2016-10-26 | 2017-02-08 | 广州极飞科技有限公司 | Method and device for starting plant projection by unmanned aerial vehicle |
| CN106503433A (en) * | 2016-10-18 | 2017-03-15 | 广州极飞科技有限公司 | Sprinkling area determination method and device based on unmanned machine operation |
| CN106528513A (en) * | 2016-10-18 | 2017-03-22 | 广州极飞科技有限公司 | An unmanned aerial vehicle work-based work report generating method and device |
| CN106547280A (en) * | 2016-11-09 | 2017-03-29 | 红河恒翔农业科技有限公司 | A kind of method that unmanned plane is sprayed insecticide |
| CN106716288A (en) * | 2016-11-24 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle control method, ground control terminal and storage medium |
| CN106774434A (en) * | 2017-01-18 | 2017-05-31 | 北京艾森博航空科技股份有限公司 | Automatic obstacle avoidance method and system applied to unmanned aerial vehicle plant protection |
| CN106843277A (en) * | 2017-04-13 | 2017-06-13 | 珠海市双捷科技有限公司 | Unmanned plane mapping, spray and monitoring integration of operation method and system |
| CN106873620A (en) * | 2017-02-22 | 2017-06-20 | 华中农业大学 | Agricultural unmanned plane accuracy control method based on working cell independent start and stop on demand |
| CN106873597A (en) * | 2017-03-24 | 2017-06-20 | 上海思岚科技有限公司 | The implementation method of virtual rail is set by computer client to mobile robot |
| 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 |
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN107089346A (en) * | 2017-06-12 | 2017-08-25 | 江苏蒲公英无人机有限公司 | A kind of full autonomous flight system and method for plant protection unmanned plane |
| CN107144264A (en) * | 2017-06-19 | 2017-09-08 | 北京理工大学 | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane |
| CN107450574A (en) * | 2016-12-09 | 2017-12-08 | 广州亿航智能技术有限公司 | Compound flight control method and system, aircraft |
| CN107633202A (en) * | 2017-08-11 | 2018-01-26 | 合肥嘉浓航空科技有限公司 | A kind of plant protection unmanned plane based on the identification of farmland characteristics of image flies control method and system |
| CN107839883A (en) * | 2017-10-23 | 2018-03-27 | 广州极飞科技有限公司 | Aircraft and its cruise sprinkling control method, device and control terminal |
| CN107957731A (en) * | 2017-11-22 | 2018-04-24 | 余仪琳 | Agriculture unmanned plane spray control system based on the enhancing of Big Dipper ground and Internet of Things |
| CN107980751A (en) * | 2017-11-24 | 2018-05-04 | 辽宁世达通用航空股份有限公司 | A kind of method and monitoring system of aerial sprays Pesticide administration and supervision |
| CN107992081A (en) * | 2017-12-25 | 2018-05-04 | 衢州量智科技有限公司 | Plant protection unmanned aerial vehicle (UAV) control method and control device |
| CN108181924A (en) * | 2017-12-20 | 2018-06-19 | 广州亿航智能技术有限公司 | A kind of method and system that unmanned plane during flying is controlled on graphic interface |
| CN108513643A (en) * | 2017-08-31 | 2018-09-07 | 深圳市大疆创新科技有限公司 | A kind of paths planning method, aircraft, flight system |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN109254306A (en) * | 2018-08-21 | 2019-01-22 | 江苏大学 | System and method is transferred in a kind of agricultural machinery working path positioned based on mobile Internet and GNSS |
| CN109669401A (en) * | 2017-10-13 | 2019-04-23 | 迪尔公司 | The building site data acquisition of unmanned vehicle auxiliary |
| CN109885060A (en) * | 2019-01-18 | 2019-06-14 | 丰疆智能科技研究院(常州)有限公司 | Path management system and its management method |
| WO2019119241A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Plant protection task management method and device |
| CN110163210A (en) * | 2019-05-24 | 2019-08-23 | 北京百度网讯科技有限公司 | A kind of point of interest POI information acquisition method, device, equipment and storage medium |
| CN110286670A (en) * | 2019-04-09 | 2019-09-27 | 丰疆智能科技股份有限公司 | The driving path planning system and its method of more automatic harvesters |
| WO2019183856A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Control method and apparatus for operation of plant protection unmanned aerial vehicle |
| CN110383333A (en) * | 2017-08-29 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Flight body controlling means, flying body, program and recording medium |
| WO2019237411A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Unmanned aerial vehicle plant protection monitoring system and method for manual control |
| WO2019237413A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Gis-based unmanned aerial vehicle plant protection system and method |
| CN110597279A (en) * | 2019-08-30 | 2019-12-20 | 南京精微迅智能科技有限公司 | Operation method of agricultural unmanned aerial vehicle and control method thereof |
| WO2020087384A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Control method, apparatus, surveying and mapping unmanned aerial vehicle, and spraying unmanned aerial vehicle |
| WO2020107475A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Obstacle avoidance control method, apparatus and device for spraying unmanned aerial vehicle, and storage medium |
| CN111754357A (en) * | 2019-10-28 | 2020-10-09 | 广州极飞科技有限公司 | Job control method, device, system, equipment and readable storage medium |
| CN111984028A (en) * | 2019-05-23 | 2020-11-24 | 广州极飞科技有限公司 | Method, device and equipment for adjusting spraying amount in plant protection and storage medium |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
| CN112612299A (en) * | 2020-12-01 | 2021-04-06 | 北京麦飞科技有限公司 | Micro unmanned aerial vehicle cluster variable plant protection method |
| CN113791632A (en) * | 2021-09-10 | 2021-12-14 | 常州希米智能科技有限公司 | Processing method and device for real-time flight attitude of unmanned aerial vehicle |
| CN114237255A (en) * | 2021-12-09 | 2022-03-25 | 复旦大学 | Air-ground collaborative desert control robot system |
| CN114627685A (en) * | 2018-09-27 | 2022-06-14 | 北京小米移动软件有限公司 | Unmanned aerial vehicle flight path providing method, unmanned aerial vehicle flight path obtaining method, unmanned aerial vehicle flight path providing device, unmanned aerial vehicle flight path obtaining device and unmanned aerial vehicle flight path obtaining system |
| CN114237255B (en) * | 2021-12-09 | 2024-04-30 | 复旦大学 | Air-ground cooperative desert control robot system |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0924832A (en) * | 1995-07-11 | 1997-01-28 | Hitachi Ltd | Monitor image switching system |
| JP2010152834A (en) * | 2008-12-26 | 2010-07-08 | Ihi Aerospace Co Ltd | Unmanned mobile body system |
| US20100298977A1 (en) * | 2009-05-20 | 2010-11-25 | National Taiwan University Of Science And Technology | Mobile robot and path planning method thereof for manipulating target objects |
| CN104049625A (en) * | 2014-07-09 | 2014-09-17 | 华南农业大学 | Internet-of-things irrigation facility regulating and controlling platform and method based on unmanned aerial vehicle |
| JP2014203146A (en) * | 2013-04-02 | 2014-10-27 | 株式会社Ihi | Method and device for guiding robot |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
| CN104615146A (en) * | 2015-02-05 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle spraying operation automatic navigation method without need of external navigation signal |
| CN104850134A (en) * | 2015-06-12 | 2015-08-19 | 北京中飞艾维航空科技有限公司 | High-precision autonomous obstacle-avoiding flying method for unmanned plane |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| CN105116911A (en) * | 2015-07-20 | 2015-12-02 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle spraying method |
| CN105159319A (en) * | 2015-09-29 | 2015-12-16 | 广州极飞电子科技有限公司 | Spraying method of unmanned plane and unmanned plane |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN105318888A (en) * | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105352508A (en) * | 2015-10-22 | 2016-02-24 | 深圳创想未来机器人有限公司 | Method and device of robot positioning and navigation |
| CN105388907A (en) * | 2015-12-11 | 2016-03-09 | 上海埃威航空电子有限公司 | Mobile communication network-based multi-unmanned aerial vehicle low-altitude monitoring system |
| CN205121341U (en) * | 2015-10-27 | 2016-03-30 | 四川豪斯特电子技术有限责任公司 | Unmanned aerial vehicle ground command system |
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN105573336A (en) * | 2014-10-11 | 2016-05-11 | 中国航空工业第六一八研究所 | Portable ground station capable of supporting multiple unmanned aerial vehicles |
| CN205327423U (en) * | 2016-01-29 | 2016-06-22 | 北京博鹰通航科技有限公司 | Many rotors plant protection unmanned aerial vehicle with sprinkler |
| CN105700553A (en) * | 2016-01-28 | 2016-06-22 | 中国科学院自动化研究所 | A multi-unmanned-aerial-vehicle autonomous collaborative-decision-making fast integration system |
| CN205353770U (en) * | 2016-01-07 | 2016-06-29 | 谭圆圆 | Spray sprays controlling means based on unmanned aerial vehicle |
| CN205880671U (en) * | 2016-07-08 | 2017-01-11 | 聂浩然 | Unmanned aerial vehicle plant protection operating system and be used for unmanned aerial vehicle of plant protection operation |
-
2016
- 2016-07-08 CN CN201610537497.XA patent/CN106020233B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0924832A (en) * | 1995-07-11 | 1997-01-28 | Hitachi Ltd | Monitor image switching system |
| JP2010152834A (en) * | 2008-12-26 | 2010-07-08 | Ihi Aerospace Co Ltd | Unmanned mobile body system |
| US20100298977A1 (en) * | 2009-05-20 | 2010-11-25 | National Taiwan University Of Science And Technology | Mobile robot and path planning method thereof for manipulating target objects |
| JP2014203146A (en) * | 2013-04-02 | 2014-10-27 | 株式会社Ihi | Method and device for guiding robot |
| CN104049625A (en) * | 2014-07-09 | 2014-09-17 | 华南农业大学 | Internet-of-things irrigation facility regulating and controlling platform and method based on unmanned aerial vehicle |
| CN105573336A (en) * | 2014-10-11 | 2016-05-11 | 中国航空工业第六一八研究所 | Portable ground station capable of supporting multiple unmanned aerial vehicles |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
| CN104615146A (en) * | 2015-02-05 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle spraying operation automatic navigation method without need of external navigation signal |
| CN104850134A (en) * | 2015-06-12 | 2015-08-19 | 北京中飞艾维航空科技有限公司 | High-precision autonomous obstacle-avoiding flying method for unmanned plane |
| CN105116911A (en) * | 2015-07-20 | 2015-12-02 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle spraying method |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| CN105159319A (en) * | 2015-09-29 | 2015-12-16 | 广州极飞电子科技有限公司 | Spraying method of unmanned plane and unmanned plane |
| CN105352508A (en) * | 2015-10-22 | 2016-02-24 | 深圳创想未来机器人有限公司 | Method and device of robot positioning and navigation |
| CN205121341U (en) * | 2015-10-27 | 2016-03-30 | 四川豪斯特电子技术有限责任公司 | Unmanned aerial vehicle ground command system |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN105318888A (en) * | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105388907A (en) * | 2015-12-11 | 2016-03-09 | 上海埃威航空电子有限公司 | Mobile communication network-based multi-unmanned aerial vehicle low-altitude monitoring system |
| CN205353770U (en) * | 2016-01-07 | 2016-06-29 | 谭圆圆 | Spray sprays controlling means based on unmanned aerial vehicle |
| CN105700553A (en) * | 2016-01-28 | 2016-06-22 | 中国科学院自动化研究所 | A multi-unmanned-aerial-vehicle autonomous collaborative-decision-making fast integration system |
| CN205327423U (en) * | 2016-01-29 | 2016-06-22 | 北京博鹰通航科技有限公司 | Many rotors plant protection unmanned aerial vehicle with sprinkler |
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN205880671U (en) * | 2016-07-08 | 2017-01-11 | 聂浩然 | Unmanned aerial vehicle plant protection operating system and be used for unmanned aerial vehicle of plant protection operation |
Cited By (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106503433A (en) * | 2016-10-18 | 2017-03-15 | 广州极飞科技有限公司 | Sprinkling area determination method and device based on unmanned machine operation |
| CN106528513A (en) * | 2016-10-18 | 2017-03-22 | 广州极飞科技有限公司 | An unmanned aerial vehicle work-based work report generating method and device |
| CN106383646A (en) * | 2016-10-26 | 2017-02-08 | 广州极飞科技有限公司 | Method and device for starting plant projection by unmanned aerial vehicle |
| CN106547280A (en) * | 2016-11-09 | 2017-03-29 | 红河恒翔农业科技有限公司 | A kind of method that unmanned plane is sprayed insecticide |
| CN106716288A (en) * | 2016-11-24 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle control method, ground control terminal and storage medium |
| CN106716288B (en) * | 2016-11-24 | 2020-10-27 | 深圳市大疆创新科技有限公司 | Control method and ground control end of agricultural unmanned aerial vehicle |
| WO2018094670A1 (en) * | 2016-11-24 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Control method for agricultural unmanned aerial vehicle, and ground control end and storage medium |
| CN112099556A (en) * | 2016-11-24 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium |
| CN107450574A (en) * | 2016-12-09 | 2017-12-08 | 广州亿航智能技术有限公司 | Compound flight control method and system, aircraft |
| WO2018103716A1 (en) * | 2016-12-09 | 2018-06-14 | 亿航智能设备（广州）有限公司 | Composite flight control method and system, aircraft |
| CN106774434A (en) * | 2017-01-18 | 2017-05-31 | 北京艾森博航空科技股份有限公司 | Automatic obstacle avoidance method and system applied to unmanned aerial vehicle plant protection |
| CN106774434B (en) * | 2017-01-18 | 2020-12-01 | 北京艾森博航空科技股份有限公司 | Automatic obstacle avoidance method and system applied to unmanned aerial vehicle plant protection |
| CN106873620A (en) * | 2017-02-22 | 2017-06-20 | 华中农业大学 | Agricultural unmanned plane accuracy control method based on working cell independent start and stop on demand |
| CN106873620B (en) * | 2017-02-22 | 2019-06-25 | 华中农业大学 | Agricultural unmanned plane accuracy control method based on working cell independent start and stop on demand |
| CN106873597A (en) * | 2017-03-24 | 2017-06-20 | 上海思岚科技有限公司 | The implementation method of virtual rail is set by computer client to mobile robot |
| CN106843277B (en) * | 2017-04-13 | 2020-08-07 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle surveying and mapping, pesticide spraying and monitoring combined operation method and system |
| WO2018188171A1 (en) * | 2017-04-13 | 2018-10-18 | 珠海市双捷科技有限公司 | Mapping, operations, and monitoring joint working method and system for unmanned aerial vehicle, and computer readable storage medium |
| CN106843277A (en) * | 2017-04-13 | 2017-06-13 | 珠海市双捷科技有限公司 | Unmanned plane mapping, spray and monitoring integration of operation method and system |
| 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 |
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN107089346A (en) * | 2017-06-12 | 2017-08-25 | 江苏蒲公英无人机有限公司 | A kind of full autonomous flight system and method for plant protection unmanned plane |
| CN107144264A (en) * | 2017-06-19 | 2017-09-08 | 北京理工大学 | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane |
| CN107633202A (en) * | 2017-08-11 | 2018-01-26 | 合肥嘉浓航空科技有限公司 | A kind of plant protection unmanned plane based on the identification of farmland characteristics of image flies control method and system |
| CN110383333A (en) * | 2017-08-29 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Flight body controlling means, flying body, program and recording medium |
| CN108513643A (en) * | 2017-08-31 | 2018-09-07 | 深圳市大疆创新科技有限公司 | A kind of paths planning method, aircraft, flight system |
| CN109669401A (en) * | 2017-10-13 | 2019-04-23 | 迪尔公司 | The building site data acquisition of unmanned vehicle auxiliary |
| CN107839883A (en) * | 2017-10-23 | 2018-03-27 | 广州极飞科技有限公司 | Aircraft and its cruise sprinkling control method, device and control terminal |
| CN107957731A (en) * | 2017-11-22 | 2018-04-24 | 余仪琳 | Agriculture unmanned plane spray control system based on the enhancing of Big Dipper ground and Internet of Things |
| CN107980751A (en) * | 2017-11-24 | 2018-05-04 | 辽宁世达通用航空股份有限公司 | A kind of method and monitoring system of aerial sprays Pesticide administration and supervision |
| WO2019119241A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Plant protection task management method and device |
| CN108181924A (en) * | 2017-12-20 | 2018-06-19 | 广州亿航智能技术有限公司 | A kind of method and system that unmanned plane during flying is controlled on graphic interface |
| CN107992081A (en) * | 2017-12-25 | 2018-05-04 | 衢州量智科技有限公司 | Plant protection unmanned aerial vehicle (UAV) control method and control device |
| WO2019183856A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Control method and apparatus for operation of plant protection unmanned aerial vehicle |
| WO2019237411A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Unmanned aerial vehicle plant protection monitoring system and method for manual control |
| WO2019237413A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Gis-based unmanned aerial vehicle plant protection system and method |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN109254306A (en) * | 2018-08-21 | 2019-01-22 | 江苏大学 | System and method is transferred in a kind of agricultural machinery working path positioned based on mobile Internet and GNSS |
| CN114627685B (en) * | 2018-09-27 | 2023-06-30 | 北京小米移动软件有限公司 | Unmanned aerial vehicle flight path providing method, unmanned aerial vehicle flight path obtaining device and unmanned aerial vehicle flight path obtaining system |
| CN114627685A (en) * | 2018-09-27 | 2022-06-14 | 北京小米移动软件有限公司 | Unmanned aerial vehicle flight path providing method, unmanned aerial vehicle flight path obtaining method, unmanned aerial vehicle flight path providing device, unmanned aerial vehicle flight path obtaining device and unmanned aerial vehicle flight path obtaining system |
| WO2020087384A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Control method, apparatus, surveying and mapping unmanned aerial vehicle, and spraying unmanned aerial vehicle |
| WO2020107475A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Obstacle avoidance control method, apparatus and device for spraying unmanned aerial vehicle, and storage medium |
| CN111386508A (en) * | 2018-11-30 | 2020-07-07 | 深圳市大疆创新科技有限公司 | Obstacle avoidance control method, device and equipment for unmanned spraying machine and storage medium |
| CN109885060A (en) * | 2019-01-18 | 2019-06-14 | 丰疆智能科技研究院(常州)有限公司 | Path management system and its management method |
| WO2020206945A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Travel path planning system for multiple automatic harvesters and method therefor |
| CN110286670A (en) * | 2019-04-09 | 2019-09-27 | 丰疆智能科技股份有限公司 | The driving path planning system and its method of more automatic harvesters |
| CN111984028B (en) * | 2019-05-23 | 2023-11-17 | 广州极飞科技股份有限公司 | Method, device, equipment and storage medium for adjusting spraying dosage in plant protection |
| CN111984028A (en) * | 2019-05-23 | 2020-11-24 | 广州极飞科技有限公司 | Method, device and equipment for adjusting spraying amount in plant protection and storage medium |
| CN110163210A (en) * | 2019-05-24 | 2019-08-23 | 北京百度网讯科技有限公司 | A kind of point of interest POI information acquisition method, device, equipment and storage medium |
| CN110597279A (en) * | 2019-08-30 | 2019-12-20 | 南京精微迅智能科技有限公司 | Operation method of agricultural unmanned aerial vehicle and control method thereof |
| CN111754357A (en) * | 2019-10-28 | 2020-10-09 | 广州极飞科技有限公司 | Job control method, device, system, equipment and readable storage medium |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
| CN112612299A (en) * | 2020-12-01 | 2021-04-06 | 北京麦飞科技有限公司 | Micro unmanned aerial vehicle cluster variable plant protection method |
| CN113791632A (en) * | 2021-09-10 | 2021-12-14 | 常州希米智能科技有限公司 | Processing method and device for real-time flight attitude of unmanned aerial vehicle |
| CN113791632B (en) * | 2021-09-10 | 2023-07-18 | 常州希米智能科技有限公司 | Processing method and device for real-time flight attitude of unmanned aerial vehicle |
| CN114237255A (en) * | 2021-12-09 | 2022-03-25 | 复旦大学 | Air-ground collaborative desert control robot system |
| CN114237255B (en) * | 2021-12-09 | 2024-04-30 | 复旦大学 | Air-ground cooperative desert control robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106020233B (en) | 2023-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106020233A (en) | Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method | |
| CN205880671U (en) | Unmanned aerial vehicle plant protection operating system and be used for unmanned aerial vehicle of plant protection operation | |
| US20210358315A1 (en) | Unmanned aerial vehicle visual point cloud navigation | |
| US11866198B2 (en) | Long-duration, fully autonomous operation of rotorcraft unmanned aerial systems including energy replenishment | |
| CN110062919B (en) | Drop-off location planning for delivery vehicles | |
| US11897607B2 (en) | Unmanned aerial vehicle beyond visual line of sight control | |
| EP3557362B1 (en) | Unmanned aerial vehicle operating method and device | |
| CN104808682B (en) | Small-sized rotor wing unmanned aerial vehicle automatic obstacle avoiding flight control method | |
| CN107688354A (en) | The UAS and its control method of a kind of autonomous flight | |
| CN105556408B (en) | The flight control method and relevant apparatus of a kind of aircraft | |
| CN105159319A (en) | Spraying method of unmanned plane and unmanned plane | |
| JP2021513714A (en) | Aircraft smart landing | |
| US7269513B2 (en) | Ground-based sense-and-avoid display system (SAVDS) for unmanned aerial vehicles | |
| US20170235018A1 (en) | Systems and methods for taking, processing, retrieving, and displaying images from unmanned aerial vehicles | |
| CN104991565B (en) | The autonomous assigned spot recovery method of parachuting fixed-wing unmanned plane | |
| CN106919178A (en) | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method | |
| CN107808550B (en) | Plant protection unmanned aerial vehicle management system | |
| CN207319070U (en) | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation | |
| CN105116915B (en) | A kind of paragliding flight path control system using multimodal satellite navigation | |
| CN206431277U (en) | Unmanned plane alignment system | |
| JP2019015670A (en) | Flight altitude setting method of unmanned aircraft and unmanned aircraft system | |
| CN106200680A (en) | A kind of unmanned plane cluster management system and control method thereof | |
| CN205121347U (en) | Agricultural plant protection unmanned aerial vehicle scatters control system | |
| CN106483499A (en) | Unmanned plane alignment system and unmanned plane take off, landing method | |
| CN106843277A (en) | Unmanned plane mapping, spray and monitoring integration of operation method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |