CN106292698A - Accurate operation method and system for plant protection unmanned aerial vehicle - Google Patents
Accurate operation method and system for plant protection unmanned aerial vehicle Download PDFInfo
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- CN106292698A CN106292698A CN201610621199.9A CN201610621199A CN106292698A CN 106292698 A CN106292698 A CN 106292698A CN 201610621199 A CN201610621199 A CN 201610621199A CN 106292698 A CN106292698 A CN 106292698A
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- unmanned plane
- plant protection
- differential gps
- control point
- aerial vehicle
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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 unmanned aerial vehicles, and particularly relates to a precise operation method and system of a plant protection unmanned aerial vehicle. The invention aims to solve the problems that the existing plant protection operation can not give consideration to accurate operation, cost saving and simplified operation. To this end, the invention provides a method comprising: planning an unmanned aerial vehicle route; erecting a differential GPS base station to a control point; configuring coordinates of the differential GPS base station; connecting the differential GPS base station with a differential GPS mobile station on the unmanned aerial vehicle in a pairing manner; and the unmanned aerial vehicle carries out plant protection operation according to the unmanned aerial vehicle route, and is characterized in that the step of planning the unmanned aerial vehicle route comprises planning the unmanned aerial vehicle route through unmanned aerial vehicle aerial survey. Replace artifical survey and drawing through unmanned aerial vehicle aerial survey, not only improved the precision, improved work efficiency simultaneously. On the other hand, in the process of aerial survey of the unmanned aerial vehicle, the control points are marked while the image control points are measured, so that the positioning precision is improved, and the workload and the cost are saved.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, be specifically related to accurate operational method and the system of a kind of plant protection unmanned plane.
Background technology
The unmanned plane plant protection in past is all to fly hands to control unmanned plane operation, do so by visually judging and handling remote controller
Problem be drain spray often to occur, respray and misses spray, be difficult to accomplish accurate operation, therefore, accurate operation is unmanned plane plant protection
One key issue.Unmanned plane plant protection allows for obtaining the accurate location information in plant protection farmland and obstacle information, and
Accurately obtain unmanned plane location information during plant protection operation, control unmanned plane during flying track, the most just can reach accurate plant protection
The target of operation.
In order to obtain positional information and the obstacle information in plant protection farmland, the most typical processing method mainly has two kinds:
First method is the map datums such as the Baidu's map by publishing, Google Maps, obtains the positional information of target area,
The defect of this method is that the Up-to-date state of data is not strong, and precision is the highest, it will usually has the error of tens meters, and lacks barrier
Information；Second method is after signing plant protection contract, sends field operation mapping group band high-precision difference GPS on-the-spot to plant protection farmland
Measuring, it is thus achieved that high-precision positional information and obstacle information, the shortcoming of this method is that mapping operations amount is big, and operation is imitated
Rate is low, and operating cost is high.Therefore, rational technological approaches is used to obtain the positional information in plant protection farmland and obstacle information very
Crucial.
In order to accurately obtain the location information of unmanned plane, control the flight path of unmanned plane, generally install on unmanned plane
GPS device.Two kinds of GPS device is generally had to use at present: a kind of is common GPS, and its positioning precision is relatively
Low, generally there is the error of about 5 meters；One is high-precision differential GPS devices, needs to set up a differential GPS base during operation
Stand, if this base station be erected at known coordinate control point (control point be mapping term, refer to for measuring other position coordinate
Known reference point) on, the absolute fix precision of the differential GPS movement station on unmanned plane can reach Centimeter Level, but if poor
Point GPS Base Station does not has the control point of known coordinate to use, and the positioning precision of the movement station on unmanned plane can reach li
Meter level, but the error of absolute fix is still at about 5 meters.But, on-the-spot in plant protection farmland, we are often difficult to obtain known seat
Target control point, if by CORS (CORS system, this system provides satellite fix service) service acquisition control
Point coordinates processed, adds again operating cost and operation easier.
Therefore, this area needs a kind of new method to solve the problems referred to above present in existing plant protection operation process, with
Make to ensure that in plant protection operation operation is accurate, simultaneously again can be cost-effective, simplify operation.
Summary of the invention
In order to solve the problems referred to above of the prior art, be the existing plant protection operation of solution can not take into account accurate operation,
Cost savings and the problem of simplification operation, the invention provides the accurate operational method of a kind of plant protection unmanned plane.The method includes
The following step: planning unmanned plane course line；Differential GPS base station is set up to control point；Configure the coordinate of described differential GPS base station；
Described differential GPS base station is matched with the differential GPS movement station on unmanned plane and is connected；And unmanned plane navigates according to described unmanned plane
Line carries out plant protection operation, it is characterised in that the step in described planning unmanned plane course line includes by aerial survey of unmanned aerial vehicle planning unmanned
Machine course line.
In the accurate operational method of above-mentioned plant protection unmanned plane, the described step by aerial survey of unmanned aerial vehicle planning unmanned plane course line
Suddenly farther include: while measuring photo control point, marking of control point；Storehouse, control point is set up at the control point utilizing labelling；Pass through
Aerial survey of unmanned aerial vehicle obtains flight course planning data；The flight course planning data obtained are processed；And according to the course line rule processed
Draw data and carry out unmanned plane flight course planning.
Further, the described step that differential GPS base station sets up control point includes differential GPS base station is set up institute
State a control point in storehouse, control point.
In the accurate operational method of above-mentioned plant protection unmanned plane, described obtain flight course planning data by aerial survey of unmanned aerial vehicle
Step farther includes to obtain digital line picture DLG, digital complex demodulation and the obstacle information in plant protection region.
Present invention also offers the accurate operating system of a kind of plant protection unmanned plane, including: plant protection unmanned plane；It is arranged on plant protection
Differential GPS movement station on unmanned plane；Differential GPS base station；And with described differential GPS movement station and described differential GPS base station
The earth station system of communication, it is characterised in that described accurate operating system also includes the aerial survey communicated with described earth station system
Unmanned plane, described earth station system from described aerial survey unmanned plane receive aerophotogrammetry data and according to described aerophotogrammetry data planning plant protection without
Man-machine course line.
In the accurate operating system of above-mentioned plant protection unmanned plane, described earth station system includes: communication module, and it makes described
Earth station system can be with described differential GPS base station, described differential GPS movement station and described aerial survey UAV Communication；Course line is advised
Drawing module, it is according to the course line of plant protection unmanned plane described in the data schema received from described aerial survey unmanned plane；And storehouse, control point,
It includes multiple control point of labelling while measuring photo control point.
In the accurate operating system of above-mentioned plant protection unmanned plane, described aerophotogrammetry data includes that the digital line in plant protection region is drawn
DLG, digital complex demodulation and obstacle information.
In the inventive solutions, replace artificial mapping by aerial survey of unmanned aerial vehicle, improve work efficiency.The opposing party
Face, during aerial survey of unmanned aerial vehicle, marking of control point while measuring photo control point, thus not only increase positioning precision,
But also save workload and cost.Sum it up, the flight course planning data that the method is obtained by aerial survey of unmanned aerial vehicle are carried out
Flight course planning, then control unmanned plane during flying by differential GPS, and set up storehouse, control point during aerial survey of unmanned aerial vehicle, really simultaneously
Protect the precision of unmanned plane operation.Compared with prior art, there is obviously technological progress.
Accompanying drawing explanation
Fig. 1 is the structural representation of the accurate operating system of the plant protection unmanned plane of the present invention；
Fig. 2 is the flow chart of the accurate operational method of the plant protection unmanned plane of the present invention.
Detailed description of the invention
The preferred embodiment of the present invention is 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 the know-why of the present invention, it is not intended that limit the scope of the invention.
When unmanned plane carries out plant protection operation, need the course line of unmanned plane is planned, and to realize accurate operation, one
Aspect to have high-precision farmland Fundamental Geographic Information Data, on the other hand wants to obtain during unmanned plane during flying nobody
The accurate location information of machine, thus control the flight path of unmanned plane.Owing to background technology indicating in existing plant protection operation
The problem existed, in conjunction with above-mentioned both sides demand, it is accurate that the present invention realizes unmanned plane by the technological means of aerial survey of unmanned aerial vehicle
Operation.
Fig. 1 is the structural representation of the accurate operating system of the plant protection unmanned plane of the present invention.As it is shown in figure 1, the present invention
The accurate operating system of plant protection unmanned plane includes plant protection unmanned plane, be arranged on plant protection unmanned plane differential GPS movement station, difference
GPS Base Station and earth station system, wherein earth station system can communicate with differential GPS movement station and differential GPS base station.This system
Also include aerial survey unmanned plane, earth station system can with this aerial survey UAV Communication the aerophotogrammetry data receiving aerial survey unmanned plane,
Then according to the course line of this aerophotogrammetry data planning plant protection unmanned plane.Specifically, earth station system includes communication module, course line rule
Draw module and storehouse, control point.Wherein, communication module is moved with differential GPS base station, plant protection unmanned plane differential GPS for earth station system
Dynamic station and aerial survey UAV Communication；Flight course planning module according to the aerophotogrammetry data that receives from aerial survey unmanned plane plan described plant protection without
Man-machine course line, described aerophotogrammetry data includes the digital line picture DLG (Digital Line Graphic) in plant protection region, numeral
Elevation model DEM (Digital Elevation Model) and obstacle information.It addition, before carrying out aerial survey of unmanned aerial vehicle, need
Wanting field operation to measure the one group of photo control point obtained in aerial survey region, now, while measuring photo control point, the present invention is according to difference
The demand of GPS Base Station, labelling also measures a number of control point, such as can be every 4 kilometers of labellings and measure a control
Point, control point library storage is set up in earth station system in the control point measured by utilization.
Referring next to Fig. 2, the accurate operational method of the plant protection unmanned plane of the present invention comprises the following steps: to pass through unmanned plane
Air-mapping planning unmanned plane course line；Differential GPS base station is set up to control point；Configure the coordinate of described differential GPS base station；By described
Differential GPS base station is matched with the differential GPS movement station on unmanned plane and is connected；And unmanned plane is carried out according to described unmanned plane course line
Plant protection operation.Farther included by the step in aerial survey of unmanned aerial vehicle planning unmanned plane course line: while measuring photo control point, labelling
Control point；Storehouse, control point is set up at control point according to labelling；Flight course planning data are obtained by aerial survey of unmanned aerial vehicle；To the boat obtained
Line layout data processes；And carry out unmanned plane flight course planning according to the flight course planning data processed.Specifically, Fig. 2
It it is the flow chart of the accurate operational method of the plant protection unmanned plane of the present invention.As in figure 2 it is shown, before aerial survey of unmanned aerial vehicle firstly the need of
Measure the photo control point in plant protection region, simultaneously labelling measure a number of control point, and utilize described control point to set up to control
Point storehouse, then by digital line picture DLG, digital complex demodulation and the plant protection in aerial survey of unmanned aerial vehicle technical limit spacing plant protection region
The obstacle information in region, according to above-mentioned acquisition and treated plant protection zone digit line drawing figure DLG, digital elevation model
The obstacle information in DEM and plant protection region carries out the flight course planning of unmanned plane.After unmanned plane course line completes, by differential GPS
Base station sets up on a control point in storehouse, control point, and the coordinate at this control point is configured to this differential GPS base station, will be poor
Divide GPS Base Station to match with the differential GPS movement station on unmanned plane to be connected, after everything in readiness, proceed by plant protection operation.
Earth station system uses the course line planned and differential GPS to control the flight path of unmanned plane.By differential GPS pair
When unmanned plane positions, need to set up on known control point differential GPS base station, and input the known coordinate at control point
To this differential GPS base station, due in the storehouse, control point that the known coordinate at control point is set up in aerial survey unmanned plane operation process, and
The planning in course line simultaneously is also to make on the basis of the flight course planning data that aerial survey unmanned plane obtains, and therefore passes through differential mode
When formula control unmanned plane carries out flight according to the course line planned, it can be ensured that the precision of unmanned plane operation.
In sum, aerial survey of unmanned aerial vehicle technology is incorporated in plant protection field by the present invention, is obtained by aerial survey of unmanned aerial vehicle
Plant protection region landform is more accurate than manual measurement but also in hgher efficiency, and meanwhile, the measurement at photo control point and control point can be
One-stop operation completes, has both saved workload and cost, again aerial survey of unmanned aerial vehicle has been combined closely with unmanned plane differential GPS location
Get up.
So far, describe technical scheme already in connection with preferred implementation shown in the drawings, but, this area
Skill will readily appreciate that, protection scope of the present invention is expressly not limited to these detailed description of the invention.Without departing from this
On the premise of the principle of invention, correlation technique feature can be made change or the replacement of equivalent by those skilled in the art, these
Within technical scheme after changing or replacing it falls within protection scope of the present invention.Such as, although Fig. 2 showing several
Specific step, but, the invention is not limited in these concrete steps, without departing from the ultimate principle of the present invention, this
Skilled person can be as desired to combine or any one step shown in broken away view 2.Such as, " photo control point and control are measured
System point also sets up storehouse, control point " step can be split as " marking of control point while measuring photo control point " and " utilize and mark
Storehouse, control point is set up at the control point of note ".The most such as, " aerial survey of unmanned aerial vehicle and data process " step can be split as " by nothing
Man-machine aerial survey obtains the terrain data in plant protection farmland " and " terrain data obtained is processed ".These fractionations do not change
Become the ultimate principle of the present invention, therefore, within the technical scheme after fractionation falls within protection scope of the present invention.
Claims (7)
1. an accurate operational method for plant protection unmanned plane, comprises the following steps:
Planning unmanned plane course line；
Differential GPS base station is set up to control point；
Configure the coordinate of described differential GPS base station；
Described differential GPS base station is matched with the differential GPS movement station on unmanned plane and is connected；And
Unmanned plane carries out plant protection operation according to described unmanned plane course line,
It is characterized in that, the step in described planning unmanned plane course line includes planning unmanned plane course line by aerial survey of unmanned aerial vehicle.
The accurate operational method of plant protection unmanned plane the most according to claim 1, it is characterised in that described navigated by unmanned plane
Gauge is drawn the step in unmanned plane course line and is farther included:
While measuring photo control point, marking of control point；
Storehouse, control point is set up at the control point utilizing labelling；
Flight course planning data are obtained by aerial survey of unmanned aerial vehicle；
The flight course planning data obtained are processed；And
Flight course planning data according to processing carry out unmanned plane flight course planning.
The accurate operational method of plant protection unmanned plane the most according to claim 2, it is characterised in that described by differential GPS base
Station rack is set to the control point that the step at control point includes being set up differential GPS base station in storehouse, described control point.
The accurate operational method of plant protection unmanned plane the most according to claim 3, it is characterised in that described navigated by unmanned plane
The step surveying acquisition flight course planning data farther includes to obtain the digital line picture DLG in plant protection region, digital complex demodulation
And obstacle information.
5. an accurate operating system for plant protection unmanned plane, including:
Plant protection unmanned plane；
The differential GPS movement station being arranged on plant protection unmanned plane；
Differential GPS base station；And
The earth station system communicated with described differential GPS movement station and described differential GPS base station,
It is characterized in that, described accurate operating system also includes the aerial survey unmanned plane communicated with described earth station system, describedly
Station, face system receives aerophotogrammetry data the course line according to described aerophotogrammetry data planning plant protection unmanned plane from described aerial survey unmanned plane.
The accurate operating system of plant protection unmanned plane the most according to claim 5, it is characterised in that described earth station system bag
Include:
Communication module, it enables described earth station system and described differential GPS base station, described differential GPS movement station and described
Aerial survey UAV Communication；
Flight course planning module, it is according to the course line of plant protection unmanned plane described in the data schema received from described aerial survey unmanned plane；With
And
Storehouse, control point, it includes multiple control point of labelling while measuring photo control point.
7. according to the accurate operating system of the plant protection unmanned plane described in claim 5 or 6, it is characterised in that described aerophotogrammetry data
Digital line picture DLG, digital complex demodulation and obstacle information including plant protection region.
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Cited By (10)
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| CN106772508A (en) * | 2017-01-19 | 2017-05-31 | 广州南方无人机技术有限公司 | Difference aerial survey module after unmanned plane |
| CN107966709A (en) * | 2017-11-15 | 2018-04-27 | 成都天麒科技有限公司 | A kind of plant protection operation method based on laser radar mapping |
| CN108489467A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | A kind of bulilt-up area domain aerial survey unmanned plane photo control point coordinate measuring method |
| CN108489466A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | A kind of mountain area aerial survey unmanned plane photo control point coordinate measuring method |
| 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 |
| 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 |
| CN110018693A (en) * | 2019-03-31 | 2019-07-16 | 四川极云智飞科技有限公司 | The accurate forest planting method of unmanned plane and its system based on RTK technology |
| WO2020093497A1 (en) * | 2018-11-06 | 2020-05-14 | 深圳市翔农创新科技有限公司 | Precision operation system and method for plant protection unmanned aerial vehicle, and computer-readable storage medium |
| CN111723599A (en) * | 2019-03-18 | 2020-09-29 | 华东师范大学 | System and method for automatically extracting plant positioning information based on unmanned aerial vehicle image |
| 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 |
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| CN106772508A (en) * | 2017-01-19 | 2017-05-31 | 广州南方无人机技术有限公司 | Difference aerial survey module after unmanned plane |
| 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 |
| CN107966709A (en) * | 2017-11-15 | 2018-04-27 | 成都天麒科技有限公司 | A kind of plant protection operation method based on laser radar mapping |
| CN108489467A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | A kind of bulilt-up area domain aerial survey unmanned plane photo control point coordinate measuring method |
| CN108489466A (en) * | 2018-03-07 | 2018-09-04 | 华北水利水电大学 | A kind of mountain area aerial survey unmanned plane photo control point coordinate measuring method |
| CN108489466B (en) * | 2018-03-07 | 2019-10-18 | 华北水利水电大学 | A kind of mountain area aerial survey unmanned plane photo control point coordinate measuring 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 |
| WO2020093497A1 (en) * | 2018-11-06 | 2020-05-14 | 深圳市翔农创新科技有限公司 | Precision operation system and method for plant protection unmanned aerial vehicle, and computer-readable storage medium |
| CN111723599A (en) * | 2019-03-18 | 2020-09-29 | 华东师范大学 | System and method for automatically extracting plant positioning information based on unmanned aerial vehicle image |
| CN110018693A (en) * | 2019-03-31 | 2019-07-16 | 四川极云智飞科技有限公司 | The accurate forest planting method of unmanned plane and its system based on RTK technology |
| 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 |
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