CN106502262A - A kind of agricultural unmanned plane during flying platform and its control system and control method - Google Patents
A kind of agricultural unmanned plane during flying platform and its control system and control method Download PDFInfo
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- CN106502262A CN106502262A CN201510566668.7A CN201510566668A CN106502262A CN 106502262 A CN106502262 A CN 106502262A CN 201510566668 A CN201510566668 A CN 201510566668A CN 106502262 A CN106502262 A CN 106502262A
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Abstract
A kind of agricultural unmanned plane during flying platform and its control system and control method, the control system include GPS base station, ground control station and agricultural unmanned plane during flying platform, and the agricultural unmanned plane during flying platform includes：Fuselage and flight controller mounted thereto, wind resistance rotor and the multi-functional wing, the multi-functional wing is respectively provided with fixed-wing offline mode and many rotor flying patterns relative to the fuselage, each multi-functional wing includes fixed-wing and many rotors being disposed thereon, the axis of the fixed-wing is arranged perpendicular to the axis of fuselage and is connected with the steering wheel on fuselage, and the flight controller controls the steering wheel and drives the fixed-wing rotation to switch fixed-wing offline mode and many rotor flying patterns；And by adjust the wind resistance rotor direction of rotation and speed balancing the flight attitude with stabilized flight platform.The invention also discloses the control method of the flying platform.
Description
Technical field
The present invention relates to agricultural unmanned plane during flying technology, particularly a kind of many tiltwing agricultures with wind resistance rotor
With unmanned plane during flying platform and its control system and control method.
Background technology
Currently, unmanned plane is mainly used in pesticide spraying and low-altitude remote sensing operation in agriculture field.Wherein, agriculture
Medicine sprinkling be plant protection work important measures, with operations number many, workload is big, harmfulness is strong the characteristics of.
Agricultural aviation is the development and extension of mechanization of agriculture, compared with ground machine farm work, is entered with unmanned plane
Row pesticide spraying operation is not restricted by geographic factor, is had reduction operating cost, is improved operating efficiency, mitigates labor
Fatigue resistance, will not leave behind rut print and damage crops the characteristics of；Unmanned plane low-altitude remote sensing operation is mainly used in agriculture
Crop area statistics, growing way detection and pest and disease damage early warning etc..
In prior art, unmanned plane is broadly divided into two kinds of types of fixed-wing and gyroplane, and both types are each
There are pluses and minuses：
1) fixed-wing unmanned plane has endurance strong, the fast advantage of cruising speed, but landing needs to rely on
Long range runway, is not suitable for the farm environment of complexity；
2) gyroplane can be more suitable for using in field, but the cruise time be shorter with VTOL.
Agricultural unmanned plane plant protection operation has moved towards practical stage, and multi-rotor unmanned aerial vehicle is because manipulation letter
Single, the low advantage of fault rate has obtained promoting on a large scale in agricultural plant protection field.But its endurance is relatively low,
Frequent landing is needed when actually used, has a strong impact on operating efficiency；Battery charges frequently, and service life is low,
Directly result in operating cost increase；Automatically big by gust influence during flight, easily deviate default course line；Adopt more
With flying manually, operation element task is heavy.Therefore, improve the automatic flight precision of unmanned plane, extend continuation of the journey
Time is this area problem demanding prompt solution.
Content of the invention
The technical problem to be solved is the drawbacks described above for prior art, there is provided a kind of with anti-
The agricultural unmanned plane during flying platform of many tiltwing flying platforms of wind rotor and its control system and control method,
To solve, agricultural unmanned plane during flying platform cruising time is short, wind resistance is poor and the low problem of precision of cruising.
To achieve these goals, the invention provides a kind of agricultural unmanned plane during flying platform, wherein, including：
Fuselage；
Flight controller, on the fuselage；
At least one wind resistance rotor, on the fuselage；And
Multiple multi-functional wings, on the fuselage, the multi-functional wing has respectively relative to the fuselage
There are a fixed-wing offline mode and rotor flying pattern more than, each described multi-functional wing includes fixed-wing and many
Rotor, the axis of the fixed-wing arrange perpendicular to the axis of the fuselage and with the fuselage
Steering wheel connects, and the steering wheel drives the fixed-wing rotation to control the fixed-wing offline mode and many rotors
The switching of offline mode, many rotors are arranged on the fixed-wing；
Direction of rotation and speed of the flight controller by the adjustment wind resistance rotor, and the fixation
The switching of wing offline mode and many rotor flying patterns is balancing and stablize the agricultural unmanned plane during flying platform
Flight attitude.
Above-mentioned agricultural unmanned plane during flying platform, wherein, many rotors include brshless DC motor and many rotations
Wing blade, the brshless DC motor installed in the fixed-wing middle part, many rotor blades with described
Brshless DC motor connects, the axis of the rotation axis of many rotor blades perpendicular to the fixed-wing.
Above-mentioned agricultural unmanned plane during flying platform, wherein, the flight controller includes：
GPS (GNSS) rover station, on the fuselage, for detecting and exporting
The current longitude and latitude of the fuselage and altitude info ination；
Attitude transducer (AHRS), for detecting and exporting the three-dimensional acceleration of the fuselage, three dimensional angular speed
Degree, attitude angle and magnetic direction data；
Laser and ultrasonic sensor, for detecting and exporting the relative altitude information of the fuselage and ground；
Barometertic altimeter, for detecting and exporting the altitude info ination of the fuselage；
Data radio station module, for satellite receiver control information, satellite base station differential data, and returns institute
State flying platform critical fligh parameter；And
Data processing and control module, for gathering each sensing data, control unmanned plane during flying attitude, with
And the control steering wheel drives the fixed-wing rotation to realize fixed-wing offline mode and many rotor flying patterns
Switching, to adapt to different mission phases.Above-mentioned agricultural unmanned plane during flying platform, wherein, the data
Process and control module adopts DSP as control chip, the DSP control chips are gathered by ADC interface
The voltage or current signal of ultrasonic sensor, barometer or laser sensor on the fuselage,
The unmanned plane during flying altitude information is exported after calculating through data anastomosing algorithm.
Above-mentioned agricultural unmanned plane during flying platform, wherein, the GPS rover station is GPS
The rover station or GPS rover station compatible with the Big Dipper.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of agricultural unmanned aerial vehicle control system, its
In, including：
GPS base station, for providing differential signal for GPS rover station；
Ground control station, is connected with the GPS base station by cable, for monitoring flight
Data, plan aircraft working path, and the number by being built in the GPS base station
The platform that conducts electricity sends control instruction to the unmanned plane during flying platform；
Agricultural unmanned plane during flying platform, is above-mentioned agricultural unmanned plane during flying platform, is controlled by the flight
Wireless digital broadcasting station module in device is communicated wirelessly with the control system, the global positioning satellite system
System rover station receives the GPS base station using by same wireless digital broadcasting station module
Differential signal, real-time position information of the flight controller according to the GPS rover station
With ground control station working path set in advance, according to geometric algorithm estimated track deviation and control is exported
Instruction processed carries out course-line deviation correction.
Above-mentioned agricultural unmanned aerial vehicle control system, wherein, the ground control station according to arrange working width,
Operating area, operation height and operating speed parameter generate working path planning chart, and by wireless data sending electricity
The destination data of the working path planning chart are uploaded to flight controller by platform.
Above-mentioned agricultural unmanned aerial vehicle control system, wherein, the wireless digital broadcasting station is arranged on the whole world and defends
In star positioning system base station, it is wireless that the GPS base station shares this with the ground control station
Data radio station, the wireless digital broadcasting station send the GPS base by serial communication mode
The RTK differential signals that stands and the control signal of the ground control station.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of agricultural unmanned aerial vehicle (UAV) control method, its
In, using above-mentioned agricultural unmanned aerial vehicle control system, comprise the steps：
S1, course line are preset, and ground control station planning working path is simultaneously uploaded to agricultural unmanned plane during flying platform；
S2, many rotors take off, and the agricultural unmanned plane during flying platform receives sign on, many work(of servos control
Energy wing action switches to many rotor flying patterns, and the agricultural unmanned plane during flying platform is with many rotor flying patterns
Flight；
S3, fixed-wing cruise, the agricultural unmanned plane during flying platform is with many rotor flying mode flights to default
Course line original position simultaneously switches to fixed-wing offline mode, according to default course line and speed cruise；
S4, flight precision control, flight controller is according to the rotation side for calculating deviation real-time adjustment wind resistance rotor
To and rotary speed, with ensure cruise during the agricultural unmanned plane during flying platform flight balance and navigation essence
Degree；
S5, landing are shut down, and the agricultural unmanned plane during flying platform receives task END instruction, the steering wheel control
Making the multi-functional wing and many rotor flying patterns being switched to from fixed-wing offline mode, the agricultural unmanned plane flies
Row platform lands in specified level point and shuts down.
The method have technical effect that：
The present invention adopt offline mode handoff technique, self-navigation control technology, real time dynamic differential technology,
Wind resistance rotor deviation correcting technology solve that agricultural unmanned plane cruising time is shorter, cruise deviation is larger and stability compared with
Difference problem, lifts agricultural unmanned plane during flying platform operations efficiency and operation quality.Compared with prior art, originally
Tiltwing unmanned plane is applied to agriculture field by invention, is improve the cruising time of agricultural unmanned plane and is flown by row
Row precision, enhances flight stability；Automated job mode contributes to mitigating operator's labour intensity, drop
Low use difficulty；Solving agricultural unmanned plane during flying platform in prior art needs frequent landing to change electricity
Pond, the relatively low problem of operating efficiency contribute to agricultural unmanned plane and are promoted on a large scale.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as to the present invention's
Limit.
Description of the drawings
Agricultural unmanned aerial vehicle control system schematic diagrames of the Fig. 1 for one embodiment of the invention；
Flying platform structural representations of the Fig. 2 for one embodiment of the invention；
Many rotor flying pattern diagrams of Fig. 3 A for the flying platform of one embodiment of the invention；
Fixed-wing offline mode schematic diagrames of Fig. 3 B for the flying platform of one embodiment of the invention；
Multi Role Aircraft wing structure schematic diagrames of the Fig. 4 for one embodiment of the invention；
UAV Flight Control device structured flowcharts of the Fig. 5 for one embodiment of the invention；
Unmanned aerial vehicle (UAV) control method flow diagrams of the Fig. 6 for one embodiment of the invention.
Wherein, reference
1 agricultural unmanned plane during flying platform
11 fuselages
12 flight controllers
121 data processings and control module
122 digital transmission modules
123 attitude transducers
124 PWM drive circuits
125 ADC interfaces
13 GPS rover stations
14 wind resistance rotors
The 15 multi-functional wings
151 fixed-wings
Rotor more than 152
1521 brshless DC motors
Rotor blade more than 1522
16 steering wheels
17 ultrasonic sensors
18 laser sensors
19 barometers
2 ground control stations
3 GPS base stations
Specific embodiment
Below in conjunction with the accompanying drawings the structural principle and operation principle of the present invention are described in detail：
Referring to Fig. 1, agricultural UAS schematic diagrames of the Fig. 1 for one embodiment of the invention.The agriculture of the present invention
With unmanned aerial vehicle control system, including：GPS (GNSS) base station；Ground control station 2,
It is connected with the GPS base station 3 by cable, for monitoring flying quality, planning flight
Device working path, and send control instruction；And agricultural unmanned plane during flying platform 1, mould is passed by the number
Block 122 is communicated with the ground control station 2, the airborne Global Satellite of agricultural unmanned plane during flying platform 1
Alignment system rover station 13 receives the GPS base station also by the digital transmission module 122
3 differential datas for providing, the flight controller 12 is according to the GPS rover station 13
2 working path set in advance of real-time position information and the ground control station, according to conventional several where
Simultaneously output control instruction carries out course-line deviation correction to method estimated track deviation.
It is three dimensions that the motion of unmanned plane is interval, will completely describe the state that unmanned plane is put, way point at certain
Need the speed v information comprising space coordinates p (x, y, z) and the point, thus here with Point (p (x, y,
Z), a complete way point v) is represented.In the present embodiment, the ground control station 2 is according to setting
Working width and operating area in two dimensional surface (x, y) generate geometry according to the most short principle of flying distance and fly
Walking along the street footpath, generates multiple three-dimensional flights points p (x, y, z) in conjunction with operation height parameter z, finally according to
Each point operating speed parameter v of operating personnel manual editing generate complete way point Point (p (x, y,
Z), v), all of way point constitutes working path planning chart, and passes through wireless digital broadcasting station by the operation
Path planning figure is uploaded to flight controller 12.
The wireless digital broadcasting station is arranged in the GPS base station 3, the Global Satellite
Positioning system base station 3 shares the wireless digital broadcasting station, the wireless digital broadcasting station with the ground control station 2
RTK differential signals of the GPS base station 3 and described are sent by serial communication mode
The control signal of face control station 2.Because of the ground control station 2 and RTK GPSs base station 3
Composition, operation principle etc. be more ripe prior art, therefore will not be described here, below to the present invention
Agricultural unmanned plane during flying platform 1 structure and its operation principle be described in detail.
Referring to Fig. 2, flying platform structural representations of the Fig. 2 for one embodiment of the invention.The present invention's is agricultural
Unmanned plane during flying platform 1, including：Fuselage 11；Flight controller 12, on the fuselage 11,
For completing the control of agricultural 1 offline mode of unmanned plane during flying platform and flight attitude；At least one wind resistance revolves
The wing 14, on the fuselage 11；And multiple multi-functional wings 15, on the fuselage 11,
The multi-functional wing 15 is respectively provided with a fixed-wing offline mode relative to the fuselage 11 and rotor more than flies
Row mode (referring to Fig. 3 A and Fig. 3 B).
Referring to Fig. 4, Multi Role Aircraft wing structure schematic diagrames of the Fig. 4 for one embodiment of the invention.In the present embodiment,
Each described multi-functional wing 15 includes fixed-wing 151 and many rotors 152, the axis of the fixed-wing 151
Arrange perpendicular to the axis of the fuselage 11 and be connected with the steering wheel 16 on the fuselage 11, institute
Stating steering wheel 16 drives the fixed-wing 151 to do 90 ° of rotations around its axis to control the fixed-wing flight mould
Formula and the switching of many rotor flying patterns, many rotors 152 are arranged on the fixed-wing 151.Wherein,
Many rotors 152 include brshless DC motor 1521 and many rotor blades 1522, the brushless dc
Machine 1521 is installed in the middle part of the fixed-wing 151, many rotor blades 1522 and the brushless direct-current
Motor 1521 connects, the axle of the rotation axis of many rotor blades 1522 perpendicular to the fixed-wing 151
Line.Direction of rotation and speed of the flight controller 12 by the adjustment wind resistance rotor 14, and right
The switching of the fixed-wing offline mode and many rotor flying patterns flies to balance and stablize the agricultural unmanned plane
The flight attitude of row platform 1.
Referring to Fig. 5, UAV Flight Control device structured flowcharts of the Fig. 5 for one embodiment of the invention.Described winged
Line control unit 12 includes：Data processing and control module 121 are high for calculating and exporting unmanned plane during flying
Degrees of data, and control the steering wheel 16 and drive the rotation of the fixed-wing 151 to realize fixed-wing offline mode
With the switching of many rotor flying patterns, to adapt to different mission phases；GPS rover station
13, on the fuselage 11, for detecting and exporting 11 current longitude and latitude of the fuselage and height above sea level
Degree information, to agricultural 1 navigator fix of unmanned plane during flying platform；Digital transmission module 122, preferred wireless number are passed
Radio station, for receiving the RTK signals of the related control information and GNSS base stations of ground control station 2,
And flying quality is returned, the relevant parameter of aircraft is sent to ground control station 2；And attitude transducer
(AHRS) 123, for detecting and exporting three-dimensional acceleration, three-dimensional angular velocity and the magnetic field of the fuselage 11
Bearing data, to obtain the attitude information of agricultural unmanned plane during flying platform 1；Laser and ultrasonic sensor,
For detecting and exporting the relative altitude information of the fuselage 11 and ground；Barometertic altimeter, for detecting
And export the altitude info ination of the fuselage 11.
Wherein, the data processing and control module 121 are preferably DSP (digital signal processor) controls
Chip, ultrasound of the DSP control chips by the collection of ADC interface 125 on the fuselage 11
The voltage or current signal of wave sensor 17, barometertic altimeter 19 or laser sensor 18 etc., DSP according to
Each sensor height calculates each altitude information with electric signal corresponding relation, enters line number according to D-S evidence theory
According to exporting the unmanned plane during flying altitude information after fusion.DSP control chips can pass through PWM (pulse widths
Modulation) the control steering wheel 16 of drive circuit 124 rotated switching 151 direction of fixed-wing, change of flight pattern.
The GPS rover station 13 is preferably GPS rover stations or Big Dipper rover station.
Referring to Fig. 6, unmanned aerial vehicle (UAV) control method flow diagrams of the Fig. 6 for one embodiment of the invention.The agriculture of the present invention
With unmanned plane during flying platform courses method, using above-mentioned agricultural unmanned aerial vehicle control system, comprise the steps：
Step S1, course line are preset, and ground control station 2 is planned working path and is uploaded to agricultural unmanned plane and flies
Row platform 1, arranges the parameters such as working width, operating area, operation height, operating speed in earth station,
System automatically generates working path planning chart, and destination data are uploaded to flight control by wireless digital broadcasting station
System processed；
Step S2, many rotors take off, and the agricultural unmanned plane during flying platform 1 receives ground control station 2
After flying instruction, steering wheel 16 controls 15 action of the multi-functional wing and switches to many rotor flying Mode normals to take off, institute
Agricultural unmanned plane during flying platform 1 is stated with many rotor flying mode flights, using each airborne sensor (GNSS
Rover station, attitude transducer and height sensor etc.) fuselage positions, course and height letter described in real-time detection
Breath, and the fuselage 11 is adjusted to the starting in default course line by the rotary speed for controlling rotor more than four
Position, original heading and height；
Step S3, fixed-wing cruise, the agricultural unmanned plane during flying platform 1 are flown with many rotor flying patterns
Row to default course line original position and switches to fixed-wing offline mode, and steering wheel 16 is by rotating fixed-wing
Rotor 152 more than four is automatically adjusted to heading by 151, is cruised according to default course line and pre-set velocity；
Step S4, flight precision control, reality of the flight controller 12 according to agricultural unmanned plane during flying platform 1
When positional information and working path set in advance, estimated track deviation, it is inclined that output control instruction carries out flight path
Difference is corrected, and flight controller 12 is according to the direction of rotation and rotation for calculating deviation real-time adjustment wind resistance rotor 14
Speed, also can switch the offline mode of the multi-functional wing 15 if necessary simultaneously, to ensure the agriculture during cruising
Flight balance and navigation accuracy with unmanned plane during flying platform 1；
Step S5, landing are shut down, and the agricultural unmanned plane during flying platform 1 receives task END instruction, institute
State flight controller 12 the multi-functional wing 15 is controlled by steering wheel 16 and switch to from fixed-wing offline mode
Many rotor flying patterns, the agricultural unmanned plane during flying platform 1 are landed in specified level point and are shut down.
In practical work process, agricultural 1 operation of the unmanned plane during flying platform ginseng of 12 Real-time Collection of flight controller
The multi-sensor informations such as number, position, extrapolate 1 operation course-line deviation of agricultural unmanned plane during flying platform, output
Control strategy, carries out the manipulation tasks such as tracking of rectifying a deviation, navigate to agricultural 1 flight path of unmanned plane during flying platform.?
During takeoff and landing, flight configuration is switched to many rotor flyings by controlling steering wheel 16 by flight controller 12
Pattern, as shown in Figure 3A, under the offline mode, agricultural unmanned plane during flying platform 1 has good landing
Can, it is suitable for working in complex field conditions；During cruising flight, flight controller 12 is certainly
Move and switch to fixed-wing offline mode, as shown in Figure 3 B, agricultural unmanned plane during flying platform 1 flies in fixed-wing
Can effectively lengthen working hours under row mode and keep higher cruising speed；When agricultural unmanned plane during flying is put down
When platform 1 or will have deviated from advertised route, flight controller 12 is by control centre wind resistance rotor 14
With 15 co-operating of the multi-functional wing, quickly agricultural unmanned plane during flying platform 1 is adjusted to specified location.If
After determining guidance path, agricultural unmanned plane during flying platform 1 is taken off with many rotor flying patterns, is flown to cruise road
Fixed-wing offline mode is switched to cruise during the starting point of footpath, aircraft switches to many again after the completion of cruise task
Rotor flying pattern is landed, and different phase of such unmanned plane in aerial mission, automatically in many rotor flying moulds
Between formula and fixed-wing offline mode, switching flight, improves the performance of unmanned plane.Ground control station 2
The several functions such as integrated flight program, flight monitoring, flying quality analysis, information communication.Ground control station
RTK differential signals and control signal are merged by 2 according to predetermined communications protocol, are sent out by data radio station
Deliver to agricultural unmanned plane during flying platform 1.
It is long that 15 structure of the multi-functional wing of the present invention makes aircraft be provided simultaneously with fixed-wing unmanned plane cruising time
With the advantage of multi-rotor unmanned aerial vehicle VTOL, and attitude, position deviation can be detected automatically, be revolved using wind resistance
The wing 14 makes unmanned plane be easier to keep posture balancing, wind resistance rotor 14 provide and institute's wind-engaging to unmanned plane
The contrary power of force direction, is favorably improved flight stability, lifts aircraft wind resistance.Using carrier wave phase
Position dynamic real-time difference method (RTK technology), provides differential corrections number using the GPS Base Station of above ground portion
According to, make Airborne GPS location data be promoted to Centimeter Level, this technique improves the navigation accuracy of agricultural unmanned plane,
Contribute to lifting operation quality；RTK differential signals and ground control signal are received using same data radio station
Send out, it is possible to reduce one group of wireless communication module, be conducive to mitigating flying platform weight, reduce UAS
Cost.
The present invention improves control accuracy of the agricultural unmanned plane according to default course line autonomous flight, it is achieved that automatically
Navigation, the mobility and stability of unmanned plane can be improved, solve agricultural unmanned plane cruising time short and
The low problem of navigation accuracy, the hi-Fix of the present invention and the means of communication, can not increase differential communication radio station
In the case of, the RTK differential signals of GNSS base stations and ground station control are believed using ground control station 2
Number merge, data radio station sends RTK differential signals and control signal to agriculture by serial communication mode
With unmanned plane during flying platform 1, the positioning precision of GNSS rover stations Centimeter Level is brought up to.
Certainly, the present invention can also have other various embodiments, without departing substantially from the spiritual and its substantive feelings of the present invention
Under condition, those of ordinary skill in the art work as and can make various corresponding changes and deformation according to the present invention, but
These corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (9)
1. a kind of agricultural unmanned plane during flying platform, it is characterised in that include：
Fuselage；
Flight controller, on the fuselage；
At least one wind resistance rotor, on the fuselage；And
Multiple multi-functional wings, on the fuselage, the multi-functional wing has respectively relative to the fuselage
There are a fixed-wing offline mode and rotor flying pattern more than, each described multi-functional wing includes fixed-wing and many
Rotor, the axis of the fixed-wing arrange perpendicular to the axis of the fuselage and with the fuselage
Steering wheel connects, and the steering wheel drives the fixed-wing rotation to control the fixed-wing offline mode and many rotors
The switching of offline mode, many rotors are arranged on the fixed-wing；
Direction of rotation and speed of the flight controller by the adjustment wind resistance rotor, and the fixation
The switching of wing offline mode and many rotor flying patterns is balancing and stablize the agricultural unmanned plane during flying platform
Flight attitude.
2. agricultural unmanned plane during flying platform as claimed in claim 1, it is characterised in that many rotors
Including brshless DC motor and many rotor blades, the brshless DC motor is in the fixed-wing
Portion, many rotor blades are connected with the brshless DC motor, and the rotation axis of many rotor blades hangs down
Directly in the axis of the fixed-wing.
3. agricultural unmanned plane during flying platform as claimed in claim 1 or 2, it is characterised in that described fly
Line control unit includes：
GPS rover station, on the fuselage, for detecting and exporting the fuselage
Current longitude and latitude and altitude info ination；
Attitude transducer, for detecting and exporting the three-dimensional acceleration of the fuselage, three-dimensional angular velocity, attitude
Angle and magnetic direction data；
Laser and ultrasonic sensor, for detecting and exporting the relative altitude information of the fuselage and ground；
Barometertic altimeter, for detecting and exporting the altitude info ination of the fuselage；
Digital transmission module, for satellite receiver control information, satellite base station differential data, and returns described flying
Row platform critical fligh parameter；And
Data processing and control module, for gathering each sensing data, control unmanned plane during flying attitude, with
And the control steering wheel drives the fixed-wing rotation to realize fixed-wing offline mode and many rotor flying patterns
Switching, to adapt to different mission phases.
4. agricultural unmanned plane during flying platform as claimed in claim 3,
Characterized in that, the data processing and control module adopt DSP as control chip, the DSP controls
Ultrasonic sensor of the chip by ADC interface collection on the fuselage, barometer or laser sensing
The voltage or current signal of device, exports the unmanned plane during flying altitude information after calculating through data anastomosing algorithm.
5. the agricultural unmanned plane during flying platform as described in claim 1,2 or 4, it is characterised in that described
GPS rover station is the GPS rover stations or GPS rover station compatible with the Big Dipper.
6. a kind of agricultural unmanned aerial vehicle control system, it is characterised in that include：
GPS base station, flows for the GPS in for flight control system
Stand and differential signal is provided；
Ground control station, is connected with the GPS base station, for monitoring flying quality, rule
Aircraft working path is drawn, and sends control instruction；
Agricultural unmanned plane during flying platform, is the agricultural unmanned plane in the claims 1-5 described in any one
Flying platform, is connected with the ground control station by the flight controller, the global positioning satellite system
System rover station is connected with the GPS base station, and the flight controller is defended according to the whole world
The real-time position information of star alignment system rover station and ground control station working path set in advance, push away
Calculate course-line deviation and output control instruction carries out course-line deviation correction.
7. agricultural unmanned aerial vehicle control system as claimed in claim 6, it is characterised in that the ground control
System station generates working path according to the working width, operating area, operation height and the operating speed parameter that arrange
Planning chart, and the destination data of the working path planning chart are uploaded to by flight control by wireless digital broadcasting station
Device processed.
8. agricultural unmanned aerial vehicle control system as claimed in claim 7, it is characterised in that described without line number
The platform that conducts electricity is arranged in the GPS base station, the GPS base station and institute
State ground control station and share the wireless digital broadcasting station, the wireless digital broadcasting station is sent by serial communication mode
The control signal of the RTK differential signals and the ground control station of the GPS base station.
9. a kind of agricultural unmanned aerial vehicle (UAV) control method, it is characterised in that appoint using in the claims 6-8
Agricultural unmanned aerial vehicle control system described in meaning one, comprises the steps：
S1, course line are preset, and ground control station planning working path is simultaneously uploaded to agricultural unmanned plane during flying platform；
S2, many rotors take off, and the agricultural unmanned plane during flying platform receives sign on, many work(of servos control
Energy wing action switches to many rotor flying patterns, and the agricultural unmanned plane during flying platform is with many rotor flying patterns
Flight；
S3, fixed-wing cruise, the agricultural unmanned plane during flying platform is with many rotor flying mode flights to default
Course line original position simultaneously switches to fixed-wing offline mode, according to default course line and speed cruise；
S4, flight precision control, flight controller is according to the rotation side for calculating deviation real-time adjustment wind resistance rotor
To and rotary speed, with ensure cruise during the agricultural unmanned plane during flying platform flight balance and navigation essence
Degree；
S5, landing are shut down, and the agricultural unmanned plane during flying platform receives task END instruction, the steering wheel control
Making the multi-functional wing and many rotor flying patterns being switched to from fixed-wing offline mode, the agricultural unmanned plane flies
Row platform lands in specified level point and shuts down.
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107031830A (en) * | 2017-05-12 | 2017-08-11 | 西华酷农无人机产业园运营有限公司 | It is a kind of can be according to the unmanned plane of wind direction self-adjusting balance |
| CN107145157A (en) * | 2017-05-17 | 2017-09-08 | 深圳洲际通航投资控股有限公司 | Unmanned aerial vehicle (UAV) control method and system |
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