CN106197423A - A kind of unmanned plane automatic dispenser track recording device - Google Patents
A kind of unmanned plane automatic dispenser track recording device Download PDFInfo
- Publication number
- CN106197423A CN106197423A CN201610486880.7A CN201610486880A CN106197423A CN 106197423 A CN106197423 A CN 106197423A CN 201610486880 A CN201610486880 A CN 201610486880A CN 106197423 A CN106197423 A CN 106197423A
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- Prior art keywords
- unmanned plane
- module
- recording device
- track recording
- dispenser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of unmanned plane automatic dispenser track recording device, for being connected with unmanned plane black box, including interface module, locating module and computing module, described interface module and described locating module are all connected with described computing module, wherein, described interface module, for being connected with unmanned plane black box；Described locating module, for obtaining flight path route the record of unmanned plane；Described computing module, for spraying area and the task amount of the flight path route calculation unmanned plane according to unmanned plane.The present invention obtains unmanned aerial vehicle flight path route record by locating module, by interface module, flight path route is sent to unmanned plane black box, facilitate staff according to the calculating of the task amount of flight path route calculation unmanned plane in black box and to treat the region of dispenser, also optionally by computing module, spraying area and the task amount of the unmanned plane of calculating are prompted the user with simultaneously.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, in particular to a kind of unmanned plane automatic dispenser track recording device.
Background technology
Along with China's plant protection unmanned plane develop rapidly, increasing specialty plant protection unmanned plane flies anti-service team
Beginning setting up, under the huge market space, plant protection Fei Fang troop is also developing rapidly, pesticide spraying, it is desirable to be accurate height
Effect, but, the flight of unmanned plane is entirely by flying what hands controlled voluntarily.Meanwhile, pesticide spraying needs after a certain time could
Enough see effect, have no idea to evaluate timely, how to judge operation effectiveness, be puzzlement user and unmanned plane all the time
The a great problem of Team Management person.
Summary of the invention
Cannot observe and the technological deficiency of that section, the present invention cannot be clapped in dispenser region for solving existing unmanned plane dispenser process
Realize record unmanned plane dispenser flight path by a kind of unmanned plane automatic dispenser track recording device, and flight path is sent to black box
Record for unmanned plane and measure.
The invention provides a kind of unmanned plane automatic dispenser track recording device, for being connected, bag with unmanned plane black box
Include interface module, locating module and computing module, described interface module and described locating module to be all connected with described computing module,
Wherein,
Described interface module, for being connected with unmanned plane black box；
Described locating module, for obtaining flight path route the record of unmanned plane；
Described computing module, for spraying area and the task amount of the flight path route calculation unmanned plane according to unmanned plane.
Further, described unmanned plane automatic dispenser track recording device also includes
Interactive module, for obtaining the unmanned plane dispenser region of user's input and showing；
Described computing module also includes
According to the unmanned plane of user's input, instruction submodule, for treating that the area in dispenser region, root are treated in the calculating of dispenser region
According to treating the area in dispenser region and the poorest calculating of spraying area non-dispenser region, according to non-dispenser region to described interactive module
Send unmanned plane directional command.
Further, described interactive module includes
Voice submodule, for the unmanned plane directional command received is carried out voice conversion and play, or gathers user
Voice messaging go forward side by side lang sound conversion.
Further, described unmanned plane automatic dispenser track recording device also includes
Communication module, sends to mobile device for the spraying area calculated by described computing module and task amount.
Further, during communication module includes 433 modules, bluetooth module, wifi module, zigbee module, lora module
At least one.
Further, the power module powered for described unmanned plane automatic dispenser track recording device is also included.
Further, power module includes interconnective AC/DC change-over circuit, protection circuit, set of cells.
To sum up, the present invention obtains unmanned aerial vehicle flight path route record by locating module, by interface module by flight path road
Line sends to unmanned plane black box, facilitates staff according to the calculating of the task amount of flight path route calculation unmanned plane in black box
And treat the region of dispenser, simultaneously the most optional by computing module by the spraying area of unmanned plane calculated and task amount to
User points out.
Accompanying drawing explanation
Fig. 1 is the frame structure signal of unmanned plane of the present invention automatic dispenser one embodiment of track recording device
Figure；
Fig. 2 is the frame structure signal of unmanned plane of the present invention automatic dispenser track recording another embodiment of device
Figure.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing the present invention is described in further detail.
As it is shown in figure 1, the invention provides a kind of unmanned plane automatic dispenser track recording device, it is used for and unmanned plane black box
Son connects, the equal and institute including interface module 10, locating module 20 and computing module 30, described interface module and described locating module
State computing module to connect.
Wherein,
Described interface module, for being connected with unmanned plane black box；
Described locating module, for obtaining flight path route the record of unmanned plane；
Described computing module, for spraying area and the task amount of the flight path route calculation unmanned plane according to unmanned plane.
Compared with the technological deficiency that traditional unmanned plane dispenser cannot add up spraying area and dispenser region, the present invention is led to
Cross location technology and obtain the flight path route of unmanned plane, unmanned aerial vehicle flight path route is shown on map；Simultaneously by unmanned plane
Flight path route sends to unmanned plane black box, after obtaining black box information for staff, calculates nothing according to black box information
The area in the region of man-machine dispenser and task amount.
Unmanned plane of the present invention automatic dispenser track recording device is realized and unmanned plane black box by interface module
Connection.When being embodied as, interface module optionally includes the serial ports such as USB interface, RS23 interface, RS485 interface, power interface
Interface, user utilizes data wire to be directly realized by and the connection of unmanned plane black box.The automatic dispenser of unmanned plane of the present invention is navigated
Mark recording equipment purpose is the position signalling utilizing locating module to obtain unmanned plane, and unmanned by computing module programming count
The flight mu number of machine, the reduction aircraft overall track in flight course, map loads out, it is simple to judge operating personnel
In operation process, if reach requirement.
Locating module utilizes GPS navigation to realize the dynamic location of unmanned plane.Locating module optionally includes being connected with each other GPS
Aerodiscone antenna and GPS.The position signalling of unmanned plane is obtained by locating module.In the present embodiment, computing module is optional
Become one with locating module, it is possible to the separation of choosing.When computing module becomes one with locating module, computing module
The position signalling directly obtained locating module processes, and the reduction aircraft overall track in flight course, on map
Load out, it is simple to judge that operating personnel judges whether to reach requirement in operation process；And when computing module and locating module
During separation, computing module is optional to be arranged on terrestrial reference station.Reduce aircraft at flight course by the process at terrestrial reference station
In overall track, and on map load.When computing module is arranged on terrestrial reference station, utilize the GPS at terrestrial reference station
The real time position recording this unmanned plane combined by receiver, and then loads the movement locus of unmanned plane on map.The key of navigation
It is to determine the instantaneous position of aircraft.Determine that there are visual fix, dead reckoning and three kinds of methods of geometry location in unmanned plane position.On
Stating three kinds of routine techniques means that computational methods are those skilled in the art determining Aircraft Instantaneous seat, the present invention does not enters at this
Row describes in detail.
When being embodied as, computing module is optionally the computer at terrestrial reference station and/or becomes one with locating module,
Optional processor or the controller etc. being to have computing capability.Computing module device optionally uses central processing unit or embedded
Processor, wherein, flush bonding processor the most optionally uses embedded microprocessor, embedded microcontroller or DSP embedded
Processor.In order to reduce cost and the volume of unmanned plane of the present invention automatic dispenser track recording device, and do not changing
On the premise of existing unmanned plane flies control, the present invention optionally utilizes that volume is little, the employing embedded microcontroller of low cost.Micro-control
The maximum feature of device processed is singualtion, and volume is greatly reduced, so that power consumption and cost decline, reliability improves.Microcontroller
It it is the main flow of current embedded system industry.The On-Chip peripheral resource of microcontroller is typically relatively abundanter, is suitable for controlling, therefore
Claim microcontroller.Due to the price that MCU is cheap, excellent function, so the kind having and quantity are most, the most representative
Include 8051, MCS-251, MCS-96/196/296, P51XA, C166/167,68K series and MCU8XC930/931,
C540, C541, and have support I2C, CAN-Bus, LCD and numerous special MCU and compatible family.
In the present embodiment, locating module, interface module and computing module become one.By integrated reduction institute of the present invention
The cost of the unmanned plane automatic dispenser track recording device stated and volume.The multiple power source interface simultaneously utilizing unmanned plane supplies
Electricity, in aircraft flight, can record the flight path of aircraft and store；Or it is connected transmission with black box by data wire
Flight path data.
Further, as in figure 2 it is shown, described unmanned plane automatic dispenser track recording device also includes
Interactive module 40, for obtaining the unmanned plane dispenser region of user's input and showing；
Described computing module also includes
Instruction submodule 301, for treating that the area in dispenser region is treated in the calculating of dispenser region according to the unmanned plane of user's input,
Difference according to the area with spraying area for the treatment of dispenser region calculates non-dispenser region, according to non-dispenser region to described mutual mould
Block sends unmanned plane directional command.
Unmanned plane of the present invention automatic dispenser track recording device is used for unmanned plane, in order to improve its application model
Enclosing, the present invention shows unmanned plane (or manned aircraft such as other aircraft, helicopters etc.) flight path route by interactive module, and calculates it
Dispenser mu number (i.e. scope), for pilot or measurement personal observations, thus navigates automatic for unmanned plane of the present invention dispenser
On the aircraft that the application of mark recording equipment is controlled by pilot.
Further, described interactive module includes
Voice submodule, for the unmanned plane directional command received is carried out voice conversion and play, or gathers user
Voice messaging go forward side by side lang sound conversion.
In order to improve the interactive function of unmanned plane of the present invention automatic dispenser track recording device, the present invention passes through language
Phone module realizes voice broadcast, the result that computing module calculates being thought, pilot plays out, it is achieved pilot need not check
Interactive module i.e. understands the purpose of dispenser situation.When being embodied as, interactive module is the most optionally HUD display screen, by flight
Member sight line front HUD shows flight track and the dispenser scope thereof of unmanned plane to pilot, it is achieved pilot operator aircraft is (i.e.
Aircraft) while, need not bow and just see the purpose of flight track, be appreciated that dispenser region in time, reach to treat dispenser region
The purpose of comprehensive spraying pesticide.
Further, described unmanned plane automatic dispenser track recording device also includes
Communication module 50, sends to mobile device for the spraying area calculated by described computing module and task amount.Enter
One step, communication module includes at least one in 433 modules, bluetooth module, wifi module, zigbee module, lora module.
The data that the setting of communication module achieves computing module, locating module obtain transmit the mesh to mobile device
, in order to user utilizes mobile device to understand the details of unmanned plane dispenser in time.Meanwhile, nobody is understood in time for ground staff
The machine dispenser data present invention is the most optional utilizes aviation wave band to carry out data transmission.When being embodied as, optionally utilize pattern-band aviation
Radio station realizes the data communication of unmanned plane and ground base station.
Further, the power module 60 powered for described unmanned plane automatic dispenser track recording device is also included.The present invention
Described unmanned plane automatic dispenser track recording device utilizes unmanned plane to carry out power supply supply, and this allows for nothing of the present invention
Man-machine automatic dispenser track recording device is high to the dependency of unmanned plane power supply, optionally increases to solve this problem present invention
Power up module and realize the self-powered of unmanned plane of the present invention automatic dispenser track recording device, in order to be of the present invention
Unmanned plane automatic dispenser track recording device be applied to according to actual needs on many equipment, cause electricity when aircraft breaks down
When source lacks, utilize unmanned plane of the present invention automatic dispenser track recording device to meet an urgent need and power to unmanned plane, in order to outgoing
Send rescue signal.
Further, power module includes interconnective AC/DC change-over circuit, protection circuit, set of cells.It is embodied as
Time, set of cells is optionally set to lithium battery.Protection circuit protects set of cells by predetermined voltage threshold, when battery voltage is less than
During threshold value, stop power supply and prompt the user with.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (7)
1. a unmanned plane automatic dispenser track recording device, for being connected with unmanned plane black box, it is characterised in that include connecing
Mouth die block, locating module and computing module, described interface module and described locating module are all connected with described computing module, its
In,
Described interface module, for being connected with unmanned plane black box；
Described locating module, for obtaining flight path route the record of unmanned plane；
Described computing module, for spraying area and the task amount of the flight path route calculation unmanned plane according to unmanned plane.
Unmanned plane the most according to claim 1 automatic dispenser track recording device, it is characterised in that described unmanned plane is automatic
Dispenser track recording device also includes
Interactive module, for obtaining the unmanned plane dispenser region of user's input and showing；
Described computing module also includes
According to the unmanned plane of user's input, instruction submodule, for treating that the area in dispenser region is treated in the calculating of dispenser region, according to treating
The area in dispenser region calculates non-dispenser region with the difference of spraying area, sends to described interactive module according to non-dispenser region
Unmanned plane directional command.
Unmanned plane the most according to claim 2 automatic dispenser track recording device, it is characterised in that described interactive module bag
Include
Voice submodule, for the unmanned plane directional command received is carried out voice conversion and play, or gathers the language of user
Message ceases lang sound conversion of going forward side by side.
Unmanned plane the most according to claim 1 automatic dispenser track recording device, it is characterised in that described unmanned plane is automatic
Dispenser track recording device also includes
Communication module, sends to mobile device for the spraying area calculated by described computing module and task amount.
Unmanned plane the most according to claim 4 automatic dispenser track recording device, it is characterised in that communication module includes
In 433 modules, bluetooth module, wifi module, zigbee module, lora module at least one.
Unmanned plane the most according to claim 1 automatic dispenser track recording device, it is characterised in that also include for described nothing
The power module that man-machine automatic dispenser track recording device is powered.
Unmanned plane the most according to claim 6 automatic dispenser track recording device, it is characterised in that power module includes phase
The AC/DC change-over circuit that connects, protection circuit, set of cells.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610486880.7A CN106197423A (en) | 2016-06-28 | 2016-06-28 | A kind of unmanned plane automatic dispenser track recording device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610486880.7A CN106197423A (en) | 2016-06-28 | 2016-06-28 | A kind of unmanned plane automatic dispenser track recording device |
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| CN106197423A true CN106197423A (en) | 2016-12-07 |
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| CN201610486880.7A Pending CN106197423A (en) | 2016-06-28 | 2016-06-28 | A kind of unmanned plane automatic dispenser track recording device |
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| CN108700883A (en) * | 2017-06-12 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method and unmanned plane |
| CN109829632A (en) * | 2019-01-15 | 2019-05-31 | 北京林业大学 | Forest based on flight track data flies anti-Supervision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107102640A (en) * | 2017-04-26 | 2017-08-29 | 安阳全丰航空植保科技股份有限公司 | A kind of agricultural unmanned plane dispenser safety control system |
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| CN109829632A (en) * | 2019-01-15 | 2019-05-31 | 北京林业大学 | Forest based on flight track data flies anti-Supervision |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |