CN106125762B - Internet-based unmanned aerial vehicle plant protection management system and method - Google Patents
Internet-based unmanned aerial vehicle plant protection management system and method Download PDFInfo
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- CN106125762B CN106125762B CN201610621200.8A CN201610621200A CN106125762B CN 106125762 B CN106125762 B CN 106125762B CN 201610621200 A CN201610621200 A CN 201610621200A CN 106125762 B CN106125762 B CN 106125762B
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- 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 belongs to the technical field of agricultural unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle plant protection management system and method based on the Internet. The invention aims to solve the problems that the existing unmanned aerial vehicle plant protection operation management mode is too dispersed and is inconvenient for unified management. For this purpose, the unmanned aerial vehicle plant protection management system provided by the invention comprises a ground station system and a flight control system, the management system further comprises a cloud network data operation and control platform, and the cloud network data operation and control platform comprises: the task allocation module is used for allocating tasks to each unmanned aerial vehicle plant protection operation group according to the positioning information of the plant protection area; the route planning module is used for planning routes of the unmanned aerial vehicle for the plant protection area according to the topographic information of the plant protection area; and the flight monitoring module is used for monitoring the flight track of the unmanned aerial vehicle in real time and storing the flight track information of the unmanned aerial vehicle and the operation information of the unmanned aerial vehicle. According to the invention, the centralized management of plant protection operation is realized by establishing the cloud network data operation and control platform, and the efficiency of unmanned aerial vehicle plant protection operation is improved.
Description
Technical field
The invention belongs to agriculture air vehicle technique fields, and in particular to a kind of unmanned plane plant protection management system Internet-based
System and method.
Background technique
Existing unmanned plane plant protection operation is usually to be managed by earth station system, and earth station system is as plant protection operation
Manager the flight control system on unmanned plane is issued by radio station in the course line planned after carrying out flight course planning, fly control
System executes aerial mission according to the flight course control unmanned plane of planning, and track points information is sent to ground in real time in implementation procedure
It stands system, the track points information that earth station system real-time reception flight control system is sent generates operation text after aerial mission
Part.
The management mode of existing unmanned plane plant protection operation has the following disadvantages: 1, passes through earth station system in operation field
When carrying out flight course planning, the database of the machine is generally relied only on, if obtaining data by mobile communication network, will increase
Many costs.And with the variation of operating area, earth station system needs to be continuously updated database.2, earth station system
It can manage and monitor one or a few unmanned plane of the ground station control.In large area plant protection operation, lack means pair
A large amount of unmanned planes carry out task distribution and flight monitoring.
Therefore, this field needs a kind of new management system and method to solve to deposit in existing unmanned plane plant protection operation management
The above problem.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve the management mode mistake of existing unmanned plane plant protection operation
In dispersion, it is not easy to the problem of being managed collectively, the present invention provides a kind of unmanned plane plant protection management systems Internet-based.It should
Unmanned plane plant protection management system includes earth station system and flight control system, and the management system further includes that the fortune control of cloud network data is flat
Platform, the cloud network data fortune control platform includes: task allocating module, is used for according to the location information in plant protection region to each nothing
Man-machine plant protection operation group carries out task distribution；Flight course planning module is used for the terrain information according to plant protection region to the plant
Protect the flight course planning that region carries out unmanned plane；Flight monitoring module, is used to monitor in real time the flight path of unmanned plane and can
Store the flight path information and unmanned plane job information of unmanned plane, wherein the earth station system can be with the cloud netting index
Information exchange is carried out according to fortune control platform and the flight control system.
In above-mentioned unmanned plane plant protection management system, the task allocating module is according to plant protection contract information progress farmland
Figure inquiry, obtains the location information in target area farmland, and the fractionation of mission area is carried out according to location information, farmland is divided into size
Then moderate mission area carries out task distribution according to the quantity of current unmanned machine operation group.
In above-mentioned unmanned plane plant protection management system, the flight course planning module operation group execute job task it
Before, it is inquired by farmland map inquiry and barrier, obtains the location information and obstacle information in target plot, then call boat
The algorithm that line gauge is drawn calculates reasonable course line, and the course line planned storage is downloaded into certain table for earth station system
It uses.
In above-mentioned unmanned plane plant protection management system, the flight monitoring module connects on the basis of the map denotation of farmland
The unmanned plane track that receipts earth station system is sent, real-time display unmanned plane current location and state on map, and in operation knot
Job file that earth station system is sent, including unmanned plane trace information and unmanned plane job information is received and stored when beam.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, the flight monitoring module passes through Transmission Control Protocol
The unmanned plane track that port satellite receiver system is sent by mobile communications network and internet.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, the flight control system is arranged on unmanned plane.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, unmanned plane plant protection management system of the invention is also
Module and automatic load system are matched including pesticide；
Pesticide proportion module includes pesticide storage unit, pesticide selection control unit, pesticide dilution unit；The pesticide is deposited
Storage unit is used for the various pesticides of classification storage, which includes the sealed storage case of Multiple Pesticides；The pesticide dilution unit is
The liquid oscillating uniform device of sealing, the device include that the mixed liquid of sealing shakes up cabinet, and the cabinet is respectively by having electrically operated valve
Pipeline is connected with the sealed storage case of storage pesticide and external water source, and the Electric Actuator and pesticide of the electrically operated valve select
Control unit is connected；The mixed liquid shakes up the bottom of box and is provided with the pipeline with electrically operated valve for raffinate discharge；Institute
It states pesticide control unit and transports the pesticide information that control platform acquisition currently needs to prepare from cloud network data, control corresponding electrically operated valve
It opens and is closed, pesticide information conveyance to the mixed liquid that the pesticide of needs and dilution water source are prepared as required is shaken up into case
Body carries out mixing and shakes up；
Automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；The pesticide draw-out device is used for
The pesticide and output that box drawing mixes are shaken up from mixed liquid, which includes water pump and the extraction conduit that is connected with water pump
And output channel；The unmanned plane medicine-chest docking facilities position of the input port of unmanned plane medicine-chest and by output channel and nothing for identification
Man-machine medicine-chest carries out the filling that pesticide is realized in docking, which includes image acquisition units, image processing unit, docks unit,
Described image acquisition unit is used to obtain the video information of the unmanned plane of state to be loaded, and described image processing unit passes through acquisition
Video information carry out the identification of unmanned plane medicine-chest input port and the output of docking location coordinate, docking unit foundation image
The position coordinates of processing unit output control the output channel and are docked with the input port of unmanned plane medicine-chest.
Another aspect of the present invention, the unmanned plane plant protection management system include earth station system and flight control system, the pipe
Reason system further includes cloud network data fortune control platform, and the cloud network data fortune control platform includes: cloud network data fortune control Website server,
It is used to provide task distribution, flight course planning and flight monitoring service；Map server transports control website service with cloud network data
Device communication, for providing Map Services；And database server, control Website server is transported with cloud network data and is communicated, and is used for
Database service is provided.
In above-mentioned unmanned plane plant protection management system, the cloud network data fortune control Website server includes: that Web server is soft
Part is used to provide the described task distribution, flight course planning and flight monitoring service；Cloud network data fortune control website, is used to store
Information, the information of flight course planning and the information of flight monitoring of task distribution.
In above-mentioned unmanned plane plant protection management system, the map server includes web server software and Map Services
Software transports control website for the cloud network data and provides Map Services.
In above-mentioned unmanned plane plant protection management system, the database server includes spatial database engine and database
Management system provides list data and GML data storage and access for map server and cloud network data fortune control Website server
Service.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, the map server, database clothes
Business device and cloud network data fortune control Website server pass through optical fiber each other and are in communication with each other.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, the earth station system passes through mobile radio communication
Network and internet and the cloud network data fortune control website carry out information exchange, and control website or more can be transported from the cloud network data
Information carrying breath and upload information are transported to the cloud network data controls website.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, client can pass through browser and internet
Access the cloud network data fortune control Website server.
In the preferred embodiment of above-mentioned unmanned plane plant protection management system, the cloud network data fortune control platform can be with official
The unmanned machine management system in side is communicated.
The present invention also provides a kind of unmanned plane plant protection methods Internet-based, and the method includes the following steps: logical
Cloud network data fortune control platform is crossed to plant protection operation small component with task；The boat that flight course planning is carried out to plant protection region and will have been planned
Line is stored in database server；Earth station system from cloud network data transport control platform downloading unmanned plane planning course line and will under
The unmanned plane planning course line of load is sent to flight control system；The planning course line of flight control system satellite receiver system transmission simultaneously controls nothing
Man-machine edge planning airline operation.
Further, the method also includes the following steps: flight control system sends unmanned aerial vehicle flight path point to earth station in real time
System；Earth station system receives the unmanned aerial vehicle flight path point data that flight control system is sent, and is sent to cloud network data fortune control platform；Cloud
The track point data that network data fortune control platform satellite receiver system is sent, and unmanned plane during flying track is monitored.
Further, the method also includes the following steps: after the completion of plant protection operation, earth station system is literary by plant protection operation
Part is sent to cloud network data fortune control platform；The plant protection operation file that cloud network data fortune control platform satellite receiver system is sent is gone forward side by side
Row storage.
In the inventive solutions, unmanned plane plant protection operation is concentrated by establishing cloud network data fortune control platform
Unified management makes plant protection operation more efficiently by means of internet and cloud platform technology.Simultaneously as the fortune control of cloud network data
Platform is convenient for being communicated with official unmanned machine management system, and the letter of real-time no-fly zone is obtained by the unmanned machine management system of official
Breath, to improve the controllability and safety of unmanned plane plant protection operation.
Scheme 1, a kind of unmanned plane plant protection management system Internet-based, including earth station system and flight control system,
It is characterized in that, the management system further includes cloud network data fortune control platform, and the cloud network data fortune control platform includes: task distribution
Module is used to carry out task distribution to each unmanned plane plant protection operation group according to the location information in plant protection region；Course line rule
Module is drawn, is used to carry out the plant protection region according to the terrain information in plant protection region the flight course planning of unmanned plane；Flight monitoring
Module, be used to monitor in real time the flight path of unmanned plane and can store unmanned plane flight path information and unmanned machine operation
Information, wherein the earth station system control platform can be transported with the cloud network data and the flight control system carries out information exchange.
Scheme 2, unmanned plane plant protection management system Internet-based according to scheme 1, which is characterized in that described
Distribution module of being engaged in carries out farmland map inquiry according to plant protection contract information, obtains the location information in target area farmland, according to fixed
Position information carries out the fractionation of mission area, and farmland is divided into the mission area being of moderate size, then according to current unmanned machine operation group
Quantity carry out task distribution.
Scheme 3, the unmanned plane plant protection management system according to scheme 2, which is characterized in that the flight course planning module exists
It before operation group executes job task, is inquired by farmland map inquiry and barrier, obtains the location information in target plot
And obstacle information, then call the algorithm of flight course planning to calculate reasonable course line, and the course line planned is stored to specific
In table, downloads and use for earth station system.
Scheme 4, unmanned plane plant protection management system according to scheme 3, which is characterized in that the flight monitoring module exists
On the basis of the map denotation of farmland, the unmanned plane track that satellite receiver system is sent, real-time display unmanned plane is worked as on map
Front position and state, and earth station system is sent including unmanned plane trace information and nothing are received and stored at the end of operation
The job file of man-machine operation's information.
Scheme 5, unmanned plane plant protection management system according to scheme 4, which is characterized in that the flight monitoring module is logical
Cross the unmanned plane track that Transmission Control Protocol port satellite receiver system is sent by mobile communications network and internet.
Scheme 6, the unmanned plane plant protection management system according to any one of scheme 1 to 5, which is characterized in that described to fly
Control system is arranged on unmanned plane.
Scheme 7, unmanned plane plant protection management system according to scheme 6, which is characterized in that the management system further includes
Pesticide matches module and automatic load system；Pesticide proportion module includes pesticide storage unit, pesticide selection control unit, pesticide
Dilution unit；The pesticide storage unit is used for the various pesticides of classification storage, which includes the sealed storage case of Multiple Pesticides；
The pesticide dilution unit is the liquid oscillating uniform device of sealing, which includes that the mixed liquid of sealing shakes up cabinet, cabinet difference
It is connected by the pipeline with electrically operated valve with the sealed storage case of storage pesticide and external water source, the electricity of the electrically operated valve
Dynamic actuator is connected with pesticide selection control unit；The mixed liquid shakes up the bottom of box and is provided with the pipe with electrically operated valve
Road is discharged for raffinate；The pesticide control unit transports control platform from cloud network data and obtains the pesticide information for currently needing to prepare,
It controls corresponding electrically operated valve to open and be closed, the pesticide information conveyance that the pesticide of needs and dilution water source are prepared as required
To the mixed liquid shake up cabinet carry out mixing shake up；Automatic load system includes pesticide draw-out device, the docking of unmanned plane medicine-chest
Device；The pesticide draw-out device is used to shake up the pesticide and output that box drawing mixes from mixed liquid, the device include water pump,
The extraction conduit and output channel being connected with water pump；The input of unmanned plane medicine-chest docking facilities unmanned plane medicine-chest for identification
Output channel and unmanned plane medicine-chest are simultaneously carried out the filling that pesticide is realized in docking by the position of mouth, which includes Image Acquisition list
Member, image processing unit, docking unit, described image acquisition unit are used to obtain the video letter of the unmanned plane of state to be loaded
Breath, described image processing unit carry out identification and the docking location coordinate of unmanned plane medicine-chest input port by the video information of acquisition
Output, the docking unit controls the output channel and unmanned plane medicine-chest according to the position coordinates of image processing unit output
Input port docked.
Scheme 8, a kind of unmanned plane plant protection management system Internet-based, including earth station system and flight control system,
It is characterized in that, the management system further includes cloud network data fortune control platform, and the cloud network data fortune control platform includes: cloud network data
Fortune control Website server, is used to provide task distribution, flight course planning and flight monitoring service；Map server, with cloud net
Data fortune control Website server communication, for providing Map Services；And database server, control website is transported with cloud network data
Server communication, for providing database service.
Scheme 9, the unmanned plane plant protection management system Internet-based according to scheme 8, which is characterized in that the cloud
Network data fortune control Website server includes: web server software, is used to provide the described task distribution, flight course planning and flight
Monitoring service；Cloud network data fortune control website is used for the information, the information of flight course planning and flight monitoring of store tasks distribution
Information.
Scheme 10, the management system of unmanned plane plant protection according to scheme 9, which is characterized in that the map server
Including web server software and Map Services software, control website is transported for the cloud network data, Map Services are provided.
Scheme 11, the management system of unmanned plane plant protection according to scheme 10, which is characterized in that the database service
Device includes spatial database engine and data base management system, is provided for map server and cloud network data fortune control Website server
List data and GML data storage and access service.
Scheme 12, the unmanned plane plant protection management system according to any one of scheme 8 to 11, which is characterized in that described
Passing through optical fiber carries out phase each other for map server, the database server and cloud network data fortune control Website server
Mutual communication.
Scheme 13, the unmanned plane plant protection management system according to any one of scheme 8 to 11, which is characterized in that described
Earth station system carries out information exchange by mobile communications network and internet and cloud network data fortune control website, and can be from
The cloud network data fortune control website download information and upload information transport to the cloud network data and control website.
Scheme 14, unmanned plane plant protection management system according to scheme 13, which is characterized in that client can be by clear
Cloud network data described in device and internet access of looking at fortune control Website server.
Scheme 15, the management system of the unmanned plane plant protection according to any one of scheme 8 to 11, which is characterized in that institute
Stating cloud network data fortune control platform can be communicated with the unmanned machine management system of official.
Scheme 16, a kind of unmanned plane plant protection method Internet-based, which is characterized in that the method includes following steps
It is rapid: control platform being transported by cloud network data and matches task to plant protection operation small component；Flight course planning is carried out to plant protection region and will be planned
Good course line is stored in database server；Earth station system transports the planning course line of control platform downloading unmanned plane from cloud network data
And the unmanned plane of downloading planning course line is sent to flight control system；The planning course line that flight control system satellite receiver system is sent is simultaneously
Unmanned plane is controlled along planning airline operation.
Scheme 17, unmanned plane plant protection method according to scheme 16, which is characterized in that the method also includes following steps
Rapid: flight control system sends unmanned aerial vehicle flight path point to earth station system in real time；Earth station system receives nobody of flight control system transmission
Machine track point data, and it is sent to cloud network data fortune control platform；The boat that cloud network data fortune control platform satellite receiver system is sent
Mark point data, and unmanned plane during flying track is monitored.
Scheme 18, the unmanned plane plant protection method according to scheme 17, which is characterized in that the method also includes following steps
Rapid: after the completion of plant protection operation, plant protection operation file is sent cloud network data fortune control platform by earth station system；The fortune control of cloud network data
The plant protection operation file of platform satellite receiver system transmission is simultaneously stored.
Scheme 19, the unmanned plane plant protection method according to scheme 18, which is characterized in that the specific method of flight course planning
Are as follows: the boundary rectangle of the corresponding polygon in calculating task area；On the basis of the wherein a line of boundary rectangle, with unmanned plane spraying swath
Parallel lines are taken turns doing into rectangle for spacing, until parallel lines and rectangle do not have intersection, the intersection of every parallel lines and polygon
It is exactly a segment；All segments are connected and exactly plan course line.
Detailed description of the invention
Fig. 1 is the functional structure frame diagram of cloud network data fortune control platform of the invention；
Fig. 2 is the structural schematic diagram of unmanned plane plant protection management system Internet-based of the invention；
Fig. 3 is the flow chart of unmanned plane plant protection method Internet-based of the invention.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.For example, this hair
Although bright be described by taking farmland as an example, however, it will be apparent that present invention may also apply to all kinds of plant protection regions such as forest, ability
Field technique personnel, which can according to need, is used for all kinds of relevant occasions for of the invention.
The present invention is based on internets and cloud, establish the cloud network data fortune control platform of unmanned plane plant protection, pass through the cloud net
Data fortune control platform carries out task distribution, flight course planning and flight to unmanned plane plant protection operation and monitors, to realize that unmanned plane is planted
The centralized management of guarantor.Wherein, when task distribution is referred to farmland progress plant protection task, the especially biggish agriculture of plant protection area ratio
Field needs for be divided into farmland several mission areas being of moderate size, and then distributes to unmanned plane plant protection operation group and go to carry out plant protection
Operation.
Unmanned plane plant protection management system of the invention includes earth station system and flight control system, wherein flight control system setting
On unmanned plane.The management system further includes cloud network data fortune control platform, and earth station system can transport control platform with cloud network data
Information exchange is carried out, while earth station system can also carry out information exchange with flight control system.Fig. 1 is cloud network data of the invention
The functional structure frame diagram of fortune control platform.As shown in Figure 1, including: task allocating module, boat in cloud network data fortune control platform feature
Line planning module and flight monitoring module.Wherein, task allocating module is used for according to the location information in plant protection region to each nothing
Man-machine plant protection operation group carries out task distribution.Specifically, task allocating module is according to plant protection contract information progress farmland
Figure inquiry, obtains the location information in target area farmland, and the fractionation of mission area is carried out according to the location information, farmland is divided into greatly
Then small moderate mission area carries out task distribution according to the quantity of current unmanned machine operation group, each operation group is daily
It is responsible for completing one or more mission areas.Flight course planning module be used for according to the terrain information in plant protection region to the plant protection region into
The flight course planning of row unmanned plane.Specifically, flight course planning module operation group execute job task before, by farmland
Figure inquiry and barrier inquiry, obtain the location information and obstacle information in target plot, then call the algorithm of flight course planning
Reasonable course line is calculated, and the course line planned storage is downloaded for earth station system and used into certain table.Wherein, it navigates
One implementation method of line planning algorithm is: the boundary rectangle of the corresponding polygon in calculating task area first, then with external square
On the basis of the wherein a line of shape, parallel lines are taken turns doing into rectangle using unmanned plane spraying swath as spacing, until parallel lines and rectangle
There is no an intersection, the intersection of every parallel lines and polygon is exactly a segment, and all segments are connected and exactly plan course line,
Planning course line encounters barrier, and one of which selection is by rising avoiding obstacles.Flight monitoring module is for monitoring in real time
The flight path of unmanned plane, and the flight path information and unmanned plane job information of unmanned plane can be stored.Specifically, in office
On the basis of the map denotation of the farmland Wu Qu, flight monitoring module is by Transmission Control Protocol port satellite receiver system by mobile logical
The unmanned plane track that communication network and internet are sent, and in real-time display unmanned plane current location and state on map, including
Unmanned plane latitude and longitude coordinates and height, and earth station system is sent including unmanned plane rail is received and stored at the end of operation
The job file of mark information and unmanned plane job information.
Above-mentioned is the function description that control platform is transported to cloud net, and Fig. 2 is unmanned plane plant protection pipe Internet-based of the invention
The structural schematic diagram of reason system.As shown in Fig. 2, unmanned plane plant protection management system of the invention includes earth station system, flies control system
System and cloud net fortune control platform.It wherein, include the cloud net being deployed under commercial cloud platform environment on cloud network data fortune control platform physical
Fortune control Website server, map server and database server.Specifically, cloud network data fortune control Website server is for mentioning
For task distribution, flight course planning and flight monitoring service；Map server is transported control Website server with cloud network data and is communicated, and is used for
Map Services are provided；Database server is transported control Website server with cloud network data and is communicated, for providing database service.Ground
System of standing carries out information exchange by mobile communications network and internet and the cloud network data fortune control website, and can be from cloud net
Data fortune control website download information and upload information are transported to cloud network data controls website.Client can by browser and mutually
Networking access cloud network data fortune control Website server.Wherein, cloud net fortune control Website server, map server and database service
Device is in communication with each other by optical fiber.
With continued reference to Fig. 2, cloud network data fortune control Website server includes web server software and cloud network data fortune control net
It stands, client carries out task distribution, flight course planning and flight by web server software and monitors.It deposits cloud network data fortune control website
The information that information, the information of flight course planning and the flight of storage task distribution monitor, earth station system pass through mobile communications network
Information exchange is carried out with internet and cloud network data fortune control website.Map server include web server software-for example
Tomcat and Map Services software-such as GeoServer transports control website for cloud network data and provides Map Services.Database service
Device includes spatial database engine-such as PostGIS and data base management system-such as Postgres, is map server
Control Website server is transported with cloud network data, and list data and GML data storage and access service are provided.It should be noted that ground
Face station system can transport from cloud network data and the letter such as download the route information planned on control website and upload unmanned aerial vehicle flight path point
Cloud network data fortune control website is ceased, the information is stored in database server.
Unmanned plane plant protection management system of the invention further includes pesticide proportion module and automatic load system；
Pesticide proportion module includes pesticide storage unit, pesticide selection control unit, pesticide dilution unit；The pesticide is deposited
Storage unit is used for the various pesticides of classification storage, which includes the sealed storage case of Multiple Pesticides；The pesticide dilution unit is
The liquid oscillating uniform device of sealing, the device include that the mixed liquid of sealing shakes up cabinet, and the cabinet is respectively by having electrically operated valve
Pipeline is connected with the sealed storage case of storage pesticide and external water source, and the Electric Actuator and pesticide of the electrically operated valve select
Control unit is connected；The mixed liquid shakes up the bottom of box and is provided with the pipeline with electrically operated valve for raffinate discharge；Institute
It states pesticide control unit and transports the pesticide information that control platform acquisition currently needs to prepare from cloud network data, control corresponding electrically operated valve
It opens and is closed, pesticide information conveyance to the mixed liquid that the pesticide of needs and dilution water source are prepared as required is shaken up into case
Body carries out mixing and shakes up；
Automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；The pesticide draw-out device is used for
The pesticide and output that box drawing mixes are shaken up from mixed liquid, which includes water pump and the extraction conduit that is connected with water pump
And output channel；The unmanned plane medicine-chest docking facilities position of the input port of unmanned plane medicine-chest and by output channel and nothing for identification
Man-machine medicine-chest carries out the filling that pesticide is realized in docking, which includes image acquisition units, image processing unit, docks unit,
Described image acquisition unit is used to obtain the video information of the unmanned plane of state to be loaded, and described image processing unit passes through acquisition
Video information carry out the identification of unmanned plane medicine-chest input port and the output of docking location coordinate, docking unit foundation image
The position coordinates of processing unit output control the output channel and are docked with the input port of unmanned plane medicine-chest.Output channel
End is provided with the sensor for detecting the horizontal position of pesticide in unmanned plane medicine-chest, extracts in pesticide filling Man Houxiang pesticide
Device sends signal, stops the filling of the pesticide into unmanned plane medicine-chest.
It should also be noted that, although unmanned plane plant protection management system as shown in Figure 2 physically only includes three services
Device, the physical structure are the exemplary illustration carried out to management system of the invention, are not intended to limit protection scope of the present invention.
It will be readily appreciated by those skilled in the art that server can be combined and split in technical solution of the present invention, for example,
Can distributed function of the setting multiple servers to realize management system of the present invention, or by two or three servers
It combines, become a server and is provided simultaneously with multiple functions of management system of the invention.Similarly, although Fig. 1
Shown in unmanned plane plant protection management system functionally only include three modules, this diagram is only exemplary, this field skill
Art personnel, which can according to need, to be split or combines to these modules, to provide more or fewer modules.These are not
Deviate basic principle of the invention, therefore will fall within the scope of protection of the present invention.
Fig. 3 is the flow chart of unmanned plane plant protection method Internet-based of the invention.Appoint as shown in figure 3, carrying out plant protection
When business, first since cloud network data transports control platform.Specifically, the plant protection contract provision that the is stored in database profession indentured period
The number of interior pesticide spraying and approximate time, system provides prompt when close to the plant protection date, is confirmed by system manager, so
Task is matched to plant protection operation small component by cloud network data fortune control platform afterwards, while flight course planning is carried out to plant protection region, will be advised
The course line pulled is stored in database server.Plant protection operation group passes through earth station system from cloud netting index before executing job task
According to the planning course line of fortune control platform downloading unmanned plane, when executing job task, the unmanned plane planning course line of downloading is sent to winged
Control system, the planning course line of flight control system satellite receiver system transmission simultaneously control unmanned plane along planning airline operation.Unmanned plane
In flight course, flight control system sends unmanned aerial vehicle flight path point to earth station system in real time, and earth station system receives flight control system
The unmanned aerial vehicle flight path point data of transmission, and cloud network data fortune control platform is sent the data to, cloud network data fortune control platform receives
Earth station system send track point data, at this time on the map of farmland real-time display unmanned plane position, thus realize to nothing
The monitoring of man-machine flight path.In addition, plant protection operation file is sent cloud network data by earth station system after the completion of plant protection operation
Fortune control platform, the plant protection operation file of cloud network data fortune control platform satellite receiver system transmission are simultaneously stored.
In conclusion cloud network data fortune control platform is established in internet and cloud platform environment, it is capable of providing the ground of magnanimity
Location information data is managed to support unmanned plane flight course planning, while being capable of providing powerful computing capability and guaranteeing flight course planning
Efficiency.When large area protects operation, cloud network data fortune control platform, which can be realized, carries out task distribution and flight to a large amount of unmanned planes
Monitoring.Be convenient for being communicated with official unmanned machine management system in addition, transporting control platform by cloud network data, including to official nobody
Machine management system provides real-time monitoring unmanned information, and obtains real-time no-fly zone letter by the unmanned machine management system of official
Breath, improves the controllability and safety of unmanned machine operation.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (5)
1. a kind of unmanned plane plant protection management system Internet-based, including earth station system and flight control system, which is characterized in that
The management system further includes cloud network data fortune control platform, and the cloud network data fortune control platform includes:
Task allocating module is used to carry out task to each unmanned plane plant protection operation group according to the location information in plant protection region
Distribution；
Flight course planning module, the course line for being used to carry out unmanned plane to the plant protection region according to the terrain information in plant protection region are advised
It draws；
Flight monitoring module is used to monitor in real time the flight path of unmanned plane and can store the flight path information of unmanned plane
With unmanned plane job information,
Wherein, the earth station system can transport control platform with the cloud network data and the flight control system carries out information exchange；
Wherein, the task allocating module carries out farmland map inquiry according to plant protection contract information, obtains target area farmland
Location information carries out the fractionation of mission area according to location information, farmland is divided into the mission area being of moderate size, then according to current
The quantity of unmanned machine operation group carries out task distribution；
The management system further includes pesticide proportion module and automatic load system, and the pesticide proportion module includes pesticide storage
Unit, pesticide select control unit, pesticide dilution unit；The pesticide storage unit is used for the various pesticides of classification storage, the list
Member includes the sealed storage case of Multiple Pesticides；The pesticide dilution unit is the liquid oscillating uniform device of sealing, which includes close
Envelope mixed liquid shake up cabinet, the cabinet respectively by with electrically operated valve pipeline and storage pesticide the sealed storage case and
External water source is connected, and the Electric Actuator of the electrically operated valve is connected with pesticide selection control unit；The mixed liquid
It shakes up the bottom of box and is provided with the pipeline with electrically operated valve for raffinate discharge；The pesticide selects control unit from the cloud
Network data fortune control platform obtains the pesticide information for currently needing to prepare, and controls corresponding electrically operated valve and opens and be closed, will need
Pesticide and the pesticide information conveyance to the mixed liquid prepared as required of dilution water source shake up cabinet and carry out mixing and shake up；
The automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；The pesticide draw-out device is used for
The pesticide and output that box drawing mixes are shaken up from the mixed liquid, which includes water pump, the extraction tube that is connected with water pump
Road and output channel；The unmanned plane medicine-chest docking facilities position of the input port of unmanned plane medicine-chest and will be described defeated for identification
Pipeline and the unmanned plane medicine-chest carry out the filling that pesticide is realized in docking out, which includes image acquisition units, image procossing
Unit, docking unit, described image acquisition unit is used to obtain the video information of the unmanned plane of state to be loaded, at described image
Reason unit by acquisition the video information carry out unmanned plane medicine-chest input port identification and docking location coordinate it is defeated
Out, the docking unit controls the output channel and the nothing according to the position coordinates of described image processing unit output
It is docked the input port of man-machine medicine-chest.
2. unmanned plane plant protection management system according to claim 1, which is characterized in that the flight course planning module is in operation
It before group executes job task, is inquired by farmland map inquiry and barrier, obtains the location information and barrier in target plot
Hinder object information, then calls the algorithm of flight course planning to calculate reasonable course line, and the course line planned is stored to certain table
In, it downloads and uses for earth station system.
3. unmanned plane plant protection management system according to claim 2, which is characterized in that the flight monitoring module is in farmland
On the basis of map denotation, the unmanned plane track that satellite receiver system is sent, the real-time display unmanned plane present bit on map
Set and state, and receive and store at the end of operation earth station system transmission including unmanned plane trace information and unmanned plane
The job file of job information.
4. unmanned plane plant protection management system according to claim 3, which is characterized in that the flight monitoring module passes through
The unmanned plane track that Transmission Control Protocol port satellite receiver system is sent by mobile communications network and internet.
5. unmanned plane plant protection management system according to any one of claim 1 to 4, which is characterized in that the winged control system
System is arranged on unmanned plane.
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