CN106502264A - The operating system of plant protection unmanned plane - Google Patents
The operating system of plant protection unmanned plane Download PDFInfo
- Publication number
- CN106502264A CN106502264A CN201610951692.7A CN201610951692A CN106502264A CN 106502264 A CN106502264 A CN 106502264A CN 201610951692 A CN201610951692 A CN 201610951692A CN 106502264 A CN106502264 A CN 106502264A
- Authority
- CN
- China
- Prior art keywords
- course line
- line
- boundary
- information
- plant protection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000013507 mapping Methods 0.000 claims abstract description 21
- 241000196324 Embryophyta Species 0.000 description 49
- 238000000034 method Methods 0.000 description 29
- 230000008569 process Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 13
- 238000004590 computer program Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present application provides a kind of operating system of plant protection unmanned plane, including：Mapping equipment, for obtaining the boundary information in operation plot, for the boundary information, generates with reference to operation course line, sends to server by the boundary information and with reference to operation course line；Unmanned aerial vehicle (UAV) control terminal, for obtaining the boundary information from server and referring to operation course line, according to selection and the reference operation course line of user, generates practical flight course line, and the practical flight course line is uploaded to plant protection unmanned plane by earth station；Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal execute plant protection operation such that it is able to generate the matched line of flight for different plot, improve the efficiency of operation, it is ensured that the safety of operation.
Description
Technical field
The application is related to unmanned plane plant protection technology field, more particularly to a kind of operating system of plant protection unmanned plane.
Background technology
UAV, abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV), is that one kind utilizes nothing
The not manned aircraft that line electrical remote control equipment and the presetting apparatus that provides for oneself are manipulated.Unmanned plane of many uses, be often employed
In industries such as agricultural plant protection, city management, geology, meteorology, electric power, rescue and relief work, video captures.
With the development of unmanned plane plant protection technology, and unmanned plane plant protection have little, pesticide utilization rate is damaged to crop
High the features such as, increasing peasant household or farmer start to carry out plant protection operation using unmanned plane, in particular with plant protection nobody
Machine carries out pesticide spraying and chemical fertilizer sprinkling etc..
Generally, plant protection unmanned plane is all to carry out operation according to the set line of flight when plant protection operation is carried out, generally, but
It is how to obtain the accurate line of flight, is not but a nothing the matter.
Content of the invention
In view of the above problems, it is proposed that the embodiment of the present application overcomes the problems referred to above or at least in part to provide one kind
A kind of operating system of the plant protection unmanned plane for solving the above problems.
In order to solve the above problems, the embodiment of the present application discloses a kind of operating system of plant protection unmanned plane, including：
Mapping equipment, for obtaining the boundary information in operation plot, for the boundary information, generates and navigates with reference to operation
Line, sends to server by the boundary information and with reference to operation course line；
Unmanned aerial vehicle (UAV) control terminal, for obtaining the boundary information from server and referring to operation course line, according to user's
Select and the reference operation course line, generate practical flight course line, earth station by the practical flight course line be uploaded to plant protection without
Man-machine；
Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal execute plant protection operation.
Alternatively, the mapping equipment includes RTK base stations, geography information acquisition device and drawing apparatus；
The RTK base stations, for outwards broadcast positioning difference information；
The geography information acquisition device, for receiving the positioning difference information, obtains the boundary information in operation plot；
The drawing apparatus, for for the boundary information, generating and referring to operation course line, by the boundary information and ginseng
Examine operation course line to send to server.
Alternatively, the RTK base stations are additionally operable to：
The positioning difference information that preset fixed base stations send is received, is positioned using the positioning difference information.
Alternatively, the RTK base stations are additionally operable to：
The current global position system GPS coordinate of collection, is positioned using the gps coordinate.
Alternatively, the geography information acquisition device includes boundary point locating module and boundary information generation module；
The boundary point locating module, for receiving the positioning difference information, calculates the elements of a fix of boundary point；
The boundary information generation module, for the elements of a fix for the boundary point, generates the border in operation plot
Information.
Alternatively, the drawing apparatus include receiver module and with reference to operation airline generation module；
The receiver module, for the operation initial boundary that receive user determines；
The reference operation airline generation module, for believing according to the border of the operation initial boundary and operation plot
Breath, generates and refers to operation course line.
Alternatively, the unmanned aerial vehicle (UAV) control terminal includes course line acquisition device, user instruction reception device and flight boat
Line generating means；
The course line acquisition device, for obtaining the boundary information from server and referring to operation course line；
User instruction reception device, for the operation original position that receive user is selected on the reference operation course line；
Line of flight generating means, for the operation original position as starting point, connecting the reference along preset direction
Operation course line, generates actual job course line；The current location of connection unmanned plane and the operation original position, generate pre- flight boat
Line；According to the actual job course line and the pre- line of flight, practical flight course line is generated.
Compared with background technology, the embodiment of the present application includes advantages below：
Then the embodiment of the present application, the boundary information for obtaining operation plot by mapping equipment are directed to the boundary information,
Generate and refer to operation course line, and the reference operation course line is sent to server；Obtained from server by unmanned aerial vehicle (UAV) control terminal
Take the boundary information and with reference to operation course line, according to selection and the reference operation course line of user, generate practical flight boat
The practical flight course line is uploaded to plant protection unmanned plane by line, earth station；Then by plant protection unmanned plane according to the practical flight
Course line executes plant protection operation such that it is able to generate the matched line of flight for different plot, and then adopting
Practical flight course line is stated, when executing plant protection operation, it is possible to increase the efficiency of operation, it is ensured that the safety of operation.
Description of the drawings
Fig. 1 is a kind of structured flowchart of the operating system embodiment of plant protection unmanned plane of the application；
The step of Fig. 2 is a kind of operational method embodiment of plant protection unmanned plane of the application flow chart；
Fig. 3 is a kind of schematic diagram in operation plot of the application；
Fig. 4 is a kind of schematic diagram in practical flight course line of the application；
Specific embodiment
Understandable for enabling the above-mentioned purpose of the application, feature and advantage to become apparent from, below in conjunction with the accompanying drawings and concrete real
Apply mode to be described in further detail the application.
With reference to Fig. 1, a kind of structured flowchart of the operating system embodiment of plant protection unmanned plane of the application is shown, specifically may be used
To include following part：
Mapping equipment, can be used for the boundary information for obtaining operation plot, for the boundary information, generates and refer to operation
Course line, sends to server by the boundary information and with reference to operation course line；
Unmanned aerial vehicle (UAV) control terminal, can be used for obtaining the boundary information and with reference to operation course line from server, according to use
The selection at family and the reference operation course line, generate practical flight course line, and the practical flight course line is uploaded to plant by earth station
Protect unmanned plane；
Plant protection unmanned plane, the practical flight course line that can be used for being uploaded using unmanned aerial vehicle (UAV) control terminal execute plant protection work
Industry.
In the embodiment of the present application, the mapping equipment specifically can include RTK base stations, geography information acquisition device and
Drawing apparatus.
Generally, before the boundary information for obtaining operation plot, it is necessary first to configure RTK base stations.RTK(Real-time
Kinematic it is) a kind of carrier phase difference technology, is the difference side of two measuring station carrier phase observed quantities of real-time processing
Method, issues receiver user by the carrier phase for gathering base station, carries out asking difference to resolve coordinate.RTK is a kind of new normal
GPS measuring methods, static state in the past, rapid static, kinetic measurement are required for carrying out afterwards resolving obtaining Centimeter Level
Precision, and RTK is the measuring method that can obtain centimeter-level positioning precision in the wild in real time, and it employs carrier phase dynamic
Real time differential method, is widely used in the fields such as engineering setting out, topographic mapping, drastically increases field operation working performance.
In implementing, default configuration information can be sent to the RTK base stations by operating personnel first, the RTK bases
Stand in after receiving above-mentioned configuration information, voluntarily can complete to configure.
In the embodiment of the present application, RTK base stations are after configuration, in addition it is also necessary to current position can be positioned.
Used as a kind of example of the application, RTK base stations can be positioned in the following way：
The positioning difference information that preset fixed base stations send is received, is positioned using the positioning difference information.
Generally, fixed base stations can be used for accurately positioning a certain coordinate points on geographical position, by analyzing a certain position
Put and the relative position between the fixed base stations such that it is able to obtain the coordinate points of the position exactly, using fixed base stations side
Determined by formula, positional information can be normally reached Centimeter Level, with higher precision.
In implementing, fixed base stations can pass through broadcast or CORS (Continuously Operating
Reference Stations, CORS) network is sent out difference RTCM (Radio Technical
Commission for Maritime services, international ocean shipping cause radiotechnics committee) signal, in the fixed base
RTK base stations in coverage of standing can receive above-mentioned RTCM signals, then using the RTCM signals, calculate and current determine
Position coordinate.
Used as another kind of example of the application, RTK base stations can also be positioned in the following way：
The current global position system GPS coordinate of collection, is positioned using the gps coordinate.
When the RTK base stations for being set up not in the coverage of certain fixed base stations when, can pass through RTK base stations complete
Ball position system GPS obtains the current elements of a fix.
It should be noted that the precision of the elements of a fix obtained using GPS is relatively low, if adopt this method to carry out determining
Position, it usually needs complete plant protection operation within the specified time, to avoid due to overlong time, and the shadow caused by location data
Ring.
Certainly, those skilled in the art can also select other modes to generate the elements of a fix of RTK base stations, for example, pass through
Coordinate of constant mark thing (pile body for for example setting up) etc., the embodiment of the present application is not construed as limiting to this.
When the erection for completing RTK base stations and with postponing, positioning difference information just can outwards be broadcasted in the RTK base stations
RTCM.
In the embodiment of the present application, the geography information acquisition device can be used for receiving the positioning difference information, obtain
It is taken as the boundary information in industry plot.Further, the geography information acquisition device can include boundary point locating module and side
Boundary's information generating module.The boundary point locating module can be used for receiving the positioning difference information, calculate determining for boundary point
Position coordinate；The boundary information generation module is used against the elements of a fix of the boundary point, generates the side in operation plot
Boundary's information.
In implementing, when operating personnel is got ready along the border in operation plot, boundary point locating module can
With the positioning difference information of real-time reception to RTK base station broadcasts, when operating personnel needs to be got ready in certain boundary point, can
Using the positioning difference information, to calculate the elements of a fix of the boundary point.When operating personnel completes beating for whole operation plot
After point, boundary information generation module can generate the border in the operation plot for the elements of a fix of the boundary point that has got ready
Information.
In the embodiment of the present application, after the boundary information in operation plot is got, plotting board just can be according to described
Boundary information, generates and refers to operation course line.
In the embodiment of the present application, plotting board may further include receiver module and with reference to operation airline generation mould
Block, the receiver module can be used for the operation initial boundary of receive user determination, and the reference operation airline generation module can
For the boundary information according to the operation initial boundary and operation plot, generate and refer to operation course line.
In implementing, an envelope can be obtained with borderline multiple boundary points that has got ready in connection operation plot
The operating area that closes, then the size of the job area according to unmanned plane in flight course, generates nothing in the operating area
Man-machine a plurality of reference flight path, and using the reference flight path as with reference to operation course line.Generally, the reference of unmanned plane is made
Industry course line can be one group of parallel lines parallel with a certain bar border in operation plot.
Then, mapping equipment can be sent to server by boundary information and with reference to operation course line, for unmanned aerial vehicle (UAV) control end
Download and use in end.
In the embodiment of the present application, unmanned aerial vehicle (UAV) control terminal can be navigated from boundary information described in service acquisition and with reference to operation
Line, and the selection according to user, generate practical flight course line.
In the embodiment of the present application, the unmanned aerial vehicle (UAV) control terminal can include that course line acquisition device, user instruction are received
Device and line of flight generating means；The course line acquisition device can be used for obtaining the boundary information and ginseng from server
Examine operation course line；The user instruction reception device can be used for the operation that receive user is selected on the reference operation course line
Original position；The line of flight generating means can be used for the operation original position as starting point, connect along preset direction
The reference operation course line, generates actual job course line；The current location of connection unmanned plane and the operation original position, generate
The pre- line of flight；According to the actual job course line and the pre- line of flight, practical flight course line is generated.
It is then possible to the practical flight course line is uploaded to plant protection unmanned plane, by the plant protection unmanned plane according on
The practical flight course line of biography executes plant protection operation.
In the embodiment of the present application, the boundary information in operation plot is obtained by mapping equipment, is then directed to the border
Information, generates and refers to operation course line, and the reference operation course line is sent to server；By unmanned aerial vehicle (UAV) control terminal from service
Device obtains the boundary information and refers to operation course line, according to selection and the reference operation course line of user, generates actual flying
The practical flight course line is uploaded to plant protection unmanned plane by row course line, earth station；Then by plant protection unmanned plane according to the reality
The line of flight executes plant protection operation such that it is able to generates the matched line of flight for different plot, and then is adopting
With the practical flight course line, when executing plant protection operation, it is possible to increase the efficiency of operation, it is ensured that the safety of operation.
In order to make it easy to understand, below with a complete example, the work to the operating system of the plant protection unmanned plane of the application
Industry process makes a presentation.
With reference to Fig. 2, show the application a kind of plant protection unmanned plane operational method embodiment the step of flow chart, specifically
May include steps of：
Step 201, default configuration information is sent to RTK base stations, and the RTK base stations are used for according to the configuration information
Configured；
Generally, before plant protection operation being carried out using unmanned plane, need first to set up RTK base stations, and the RTK base stations are carried out
Configuration.
In the embodiment of the present application, multiple operation APP can be included, is respectively used to operate unmanned plane to execute in plant protection work
The detailed process in each stage in industry.For example, base station arranges APP, surveys and draws APP and plant protection operation APP, and wherein, base station arranges APP
Can be used for setting up before starting to execute operation in the various processes in RTK base station stages, mapping APP can be used for operation plot
Mapping process, and plant protection operation APP then can be used for according to the line of flight, indicate that unmanned plane executes specific plant protection operation.
In the embodiment of the present application, when starting to set up RTK base stations, RTK base stations can be placed on operation plot first
Neighbouring a certain position, then by base station setting APP is attached with the RTK base stations, will be pre- so as to arrange APP by base station
If configuration information be sent to mobile base station, RTK base stations after above-mentioned configuration information is received voluntarily can complete to configure.
The elements of a fix of itself during being configured can also be sent to base station and arrange APP by RTK base stations, with
Enable the base station that the particular location that APP knows RTK base stations exactly is set.
Generally, RTK base stations can pass through to receive RTCM signals fixed base stations broadcast or that CORS networks send, then root
According to the GPS location coordinate of itself, hi-Fix coordinate is calculated, and the hi-Fix coordinate is issued base station setting APP
Used as reference coordinate, there is the reference coordinate higher precision, its precision can be normally reached Centimeter Level.
Certainly, RTK base stations only the GPS One-Point Locations coordinate for receiving can also be issued base station arrange APP as
Reference coordinate, or by RTK base stations to be erected at the constant mark thing (stake for for example setting up with known positional information
Body) on, using the coordinate of the constant mark thing as reference coordinate, the embodiment of the present application is not construed as limiting to this.
After configuration, the broadcasting channel that can be selected by user outwards broadcasts positioning difference information for RTK base stations
RTCM.
Step 202, receives the positioning difference information, calculates the elements of a fix of boundary point；
In the embodiment of the present application, operating personnel can be got ready along the border in operation plot with hand-held surveying instrument, and
The elements of a fix of each characteristic point of record are sent to mapping APP.
In embodiments herein, the channel of surveying instrument can be transferred to the channel same with RTK base stations by operating personnel
On, so that the surveying instrument can receive the RTCM signals of RTK base stations transmission, then, surveying instrument can adopt the RTCM letters
Number, the positional information of multiple characteristic points is calculated, the accurately elements of a fix are exported.
In implementing, operating personnel can be after mapping APP be communicatively coupled with surveying instrument, the hand-held mapping
Instrument is got ready along the border in operation plot, to obtain the elements of a fix of multiple characteristic points on border.Specifically, operating personnel
Can be got ready according to mode at a certain distance, and by pressing the record button on surveying instrument, obtained individual features
The elements of a fix of point, and the elements of a fix are sent to mapping APP.
Step 203, for the elements of a fix of the boundary point, generates the boundary information in operation plot；
After the completion of mapping, mapping APP can generate the operation ground according to the elements of a fix of the multiple characteristic points for receiving
The boundary information of block.As shown in figure 3, being a kind of schematic diagram in operation plot of the application, wherein, the operation plot is by border
AB, BC, CD, DA are surrounded.
Step 204, the operation initial boundary that receive user determines；
In implementing, operation initial boundary can be specifically selected by operating personnel, such as Fig. 3 in operation ground
Block, it is believed that the plot is made up of four edges circle, operating personnel specifically can select wherein any one according to actual needs
As operation initial boundary.
Step 205, according to the operation initial boundary and the boundary information in operation plot, generates and refers to operation course line；
For example, for Fig. 3 in operation plot, when user select border AB as operation initial boundary after, mapping APP can
According to the operation initial boundary, to generate a plurality of reference operation course line parallel with it, that is, refer to operation course line EF, GH, IJ, KL
And MN.
It is then possible to will send to server with reference to operation course line.
Step 206, obtains the boundary information from server and refers to operation course line, according to selection and the ginseng of user
Operation course line is examined, practical flight course line is generated；
After mapping APP generates the reference operation course line in operation plot and sends to server, unmanned aerial vehicle (UAV) control terminal can
To get this with reference to operation course line from the server, it is possible to according to constraint bars such as the battery electric quantities and dose of unmanned plane
Part, after related arrange parameter is selected, you can generate practical flight course line.
In a preferred embodiment of the present application, described from the server acquisition boundary information and with reference to operation boat
The step of line, the selection of foundation user and the reference operation course line, generation practical flight course line, can specifically include following son
Step：
S11, obtains the boundary information from server and refers to operation course line；
S12, the operation original position that receive user is selected on the reference operation course line；
As shown in figure 4, being a kind of schematic diagram in practical flight course line of the application.In implementing, a plurality of when generating
After with reference to operation course line, operating personnel can select any one with reference to certain position in operation course line as operation start bit
Put, the operation original position is the actual starting position for executing plant protection operation of unmanned plane.Generally, can select and refer to operation
Then an end in the operation starting course line is selected as operation starting course line in a certain bar operation course line in course line in outermost
Point is used as operation original position.For example, in the diagram, can be with Chosen Point E as operation original position.
S13, with the operation original position as starting point, navigates with reference to operation along preset direction connection described one or more
Line, generates actual job course line；
In implementing, after operating personnel selectes operation original position, can be from the beginning of the operation original position, edge
A plurality of reference operation course line is coupled together by preset direction, forms actual job course line.For example, in the diagram, can open from point E
Begin, along course line EF directions, be sequentially connected FG, HI, JK and LM, form an actual job course line.
S14, connects the current location of unmanned plane and the operation original position, generates the pre- line of flight；
In the embodiment of the present application, the current location of the unmanned plane may be considered the actual position that takes off of unmanned plane,
Then unmanned plane can be started to execute plant protection operation by the current location flight value operation original position.
In implementing, directly the current location of unmanned plane can be attached with operation original position, with the company
Used as the pre- line of flight, the pre- line of flight is unmanned plane practical flight, but does not carry out one section of plant protection operation for wiring
Course line.
For example, by taking operation plot in Fig. 4 as an example, if point O is the current location of unmanned plane, can be by point O and operation starting
Point A connections at position, form a pre- line of flight OA.
S15, according to the actual job course line and the pre- line of flight, generates practical flight course line.
It should be noted that practical flight course line also includes course back, i.e., after the end of job, by the position of end
Fly to unmanned plane set out place position course line, in the diagram, plant protection operation ends at point N, therefore, between point N and point O
Line NO is course back.
In implementing, can will include whole course lines in actual job course line and the pre- line of flight, as unmanned plane
Practical flight course line.Practical flight course line is from point O as shown in Figure 4, is flown to point A, from point A is started to hold
Row plant protection operation, and terminate plant protection operation at point N, and make a return voyage to a complete line of flight of point O from point N.
Step 207, the practical flight course line uploaded using unmanned aerial vehicle (UAV) control terminal execute plant protection operation.
After practical flight course line is generated, the practical flight course line can be sent to unmanned plane, be pressed by the unmanned plane
Plant protection operation is executed according to the practical flight course line.
It should be noted that for embodiment of the method, in order to be briefly described, therefore which to be all expressed as a series of action group
Close, but those skilled in the art should know, the embodiment of the present application is not limited by described sequence of movement, because according to
According to the embodiment of the present application, some steps can be carried out using other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action not necessarily the application is implemented
Example is necessary.
Each embodiment in this specification is described by the way of going forward one by one, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present application can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present application can adopt complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.And, the embodiment of the present application can adopt one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) of program code
The form of the computer program of enforcement.
The embodiment of the present application is with reference to the method according to the embodiment of the present application, terminal unit (system) and computer program
The flow chart and/or block diagram of product is describing.It should be understood that can be by computer program instructions flowchart and/or block diagram
In each flow process and/or square frame and flow chart and/or the flow process in block diagram and/or square frame combination.These can be provided
Computer program instructions are set to general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is producing a machine so that held by the processor of computer or other programmable data processing terminal equipments
Capable instruction is produced for realization in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames
The device of the function of specifying.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminal equipments
In the computer-readable memory for working in a specific way so that the instruction being stored in the computer-readable memory produces bag
The manufacture of command device is included, the command device is realized in one side of one flow process of flow chart or multiple flow processs and/or block diagram
The function of specifying in frame or multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing terminal equipments so that
On computer or other programmable terminal equipments execute series of operation steps to produce computer implemented process, so as to
The instruction executed on computer or other programmable terminal equipments is provided for realization in one flow process of flow chart or multiple flow processs
And/or specify in one square frame of block diagram or multiple square frames function the step of.
Although having been described for the preferred embodiment of the embodiment of the present application, those skilled in the art once know base
This creative concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to
Including preferred embodiment and fall into the had altered of the embodiment of the present application scope and change.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation are made a distinction with another entity or operation, and are not necessarily required or implied these entities or operation
Between exist any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that a series of process, method, article or terminal unit including key elements is not only wrapped
Those key elements, but also other key elements including being not expressly set out are included, or is also included for this process, method, article
Or the key element that terminal unit is intrinsic.In the absence of more restrictions, by wanting that sentence "including a ..." is limited
Element, it is not excluded that also there is other identical element in process, method, article or the terminal unit for including the key element.
Operating system to a kind of plant protection unmanned plane provided herein, is described in detail above, herein should
The principle of the application and embodiment are set forth with specific case, the explanation of above example is only intended to help and manages
Solution the present processes and its core concept；Simultaneously for one of ordinary skill in the art, according to the thought of the application,
Will change in specific embodiment and range of application, in sum, this specification content is should not be construed as to this Shen
Restriction please.
Claims (7)
1. a kind of operating system of plant protection unmanned plane, it is characterised in that include：
Mapping equipment, for obtaining the boundary information in operation plot, for the boundary information, generates with reference to operation course line, will
The boundary information and send to server with reference to operation course line；
Unmanned aerial vehicle (UAV) control terminal, for obtaining the boundary information from server and referring to operation course line, according to the selection of user
With the reference operation course line, practical flight course line is generated, the practical flight course line is uploaded to plant protection unmanned plane by earth station；
Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal execute plant protection operation.
2. system according to claim 1, it is characterised in that the mapping equipment includes that RTK base stations, geography information obtain
Device and drawing apparatus；
The RTK base stations, for outwards broadcast positioning difference information；
The geography information acquisition device, for receiving the positioning difference information, obtains the boundary information in operation plot；
The drawing apparatus, for for the boundary information, generating and referring to operation course line, by the boundary information and with reference to work
Industry course line is sent to server.
3. system according to claim 2, it is characterised in that the RTK base stations are additionally operable to：
The positioning difference information that preset fixed base stations send is received, is positioned using the positioning difference information.
4. system according to claim 2, it is characterised in that the RTK base stations are additionally operable to：
The current global position system GPS coordinate of collection, is positioned using the gps coordinate.
5. system according to claim 2, it is characterised in that the geography information acquisition device includes border point location mould
Block and boundary information generation module；
The boundary point locating module, for receiving the positioning difference information, calculates the elements of a fix of boundary point；
The boundary information generation module, for the elements of a fix for the boundary point, generates the boundary information in operation plot.
6. system according to claim 2, it is characterised in that the drawing apparatus include receiver module and navigate with reference to operation
Line generation module；
The receiver module, for the operation initial boundary that receive user determines；
The reference operation airline generation module, for the boundary information according to the operation initial boundary and operation plot, raw
Into with reference to operation course line.
7. system according to claim 1, it is characterised in that the unmanned aerial vehicle (UAV) control terminal include course line acquisition device,
User instruction reception device and line of flight generating means；
The course line acquisition device, for obtaining the boundary information from server and referring to operation course line；
The user instruction reception device, for the operation original position that receive user is selected on the reference operation course line；
The line of flight generating means, for the operation original position as starting point, connecting the reference along preset direction
Operation course line, generates actual job course line；The current location of connection unmanned plane and the operation original position, generate pre- flight boat
Line；According to the actual job course line and the pre- line of flight, practical flight course line is generated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951692.7A CN106502264B (en) | 2016-10-26 | 2016-10-26 | The operating system of plant protection unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610951692.7A CN106502264B (en) | 2016-10-26 | 2016-10-26 | The operating system of plant protection unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106502264A true CN106502264A (en) | 2017-03-15 |
| CN106502264B CN106502264B (en) | 2018-05-01 |
Family
ID=58321259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610951692.7A Active CN106502264B (en) | 2016-10-26 | 2016-10-26 | The operating system of plant protection unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106502264B (en) |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843277A (en) * | 2017-04-13 | 2017-06-13 | 珠海市双捷科技有限公司 | Unmanned plane mapping, spray and monitoring integration of operation method and system |
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN107289950A (en) * | 2017-07-28 | 2017-10-24 | 上海拓攻机器人有限公司 | The unmanned machine operation flight course planning method of plant protection and plant protection unmanned plane |
| CN107289944A (en) * | 2017-06-21 | 2017-10-24 | 上海拓攻机器人有限公司 | A kind of method and device of control unmanned plane plant protection operation |
| CN107390709A (en) * | 2017-08-25 | 2017-11-24 | 上海拓攻机器人有限公司 | A kind of plant protection unmanned plane multi-machine collaborative operational method and system |
| CN107437250A (en) * | 2017-06-30 | 2017-12-05 | 上海拓攻机器人有限公司 | A kind of charge book generation method and device based on unmanned machine operation |
| CN107515415A (en) * | 2017-07-06 | 2017-12-26 | 深圳高科新农技术有限公司 | The fruit tree of unmanned plane sprays implementation method |
| CN107808550A (en) * | 2017-10-30 | 2018-03-16 | 北京博鹰通航科技有限公司 | A kind of unmanned machine management system of plant protection |
| CN107860387A (en) * | 2017-10-19 | 2018-03-30 | 上海拓攻机器人有限公司 | The unmanned machine operation flight course planning method of plant protection and plant protection 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 |
| CN108008735A (en) * | 2017-11-07 | 2018-05-08 | 深圳常锋信息技术有限公司 | Plant protection operation control method, system and the terminal device of unmanned plane |
| CN108036774A (en) * | 2017-11-09 | 2018-05-15 | 深圳常锋信息技术有限公司 | A kind of mapping method, system and terminal device |
| CN108151748A (en) * | 2017-11-09 | 2018-06-12 | 广州极飞科技有限公司 | Flight instruments survey and draw operation flight course planning method, apparatus and terminal |
| CN108196571A (en) * | 2017-12-27 | 2018-06-22 | 深圳常锋信息技术有限公司 | A kind of flight control system, unmanned plane and UAV system |
| CN108318040A (en) * | 2018-02-06 | 2018-07-24 | 贵州电网有限责任公司 | A kind of more rotor trajectory planning system and method for transmission line-oriented inspection |
| CN108388268A (en) * | 2018-01-31 | 2018-08-10 | 南京奇蛙智能科技有限公司 | A kind of unmanned plane route planning method based on high in the clouds |
| CN108445912A (en) * | 2018-06-04 | 2018-08-24 | 成都天麒科技有限公司 | A kind of plant protection drone flight control system |
| CN108513624A (en) * | 2017-04-27 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Control terminal, the control method of unmanned plane, control terminal, unmanned plane and system |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN108762290A (en) * | 2018-08-07 | 2018-11-06 | 濉溪淮匠机械设备有限责任公司 | Unmanned plane plant protection operation system and method |
| CN108873934A (en) * | 2018-07-04 | 2018-11-23 | 溧阳汉和智能装备科技有限公司 | A kind of flight course planning of unmanned plane and calibration method and flight course control system |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN109074100A (en) * | 2017-07-31 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The paths planning method and device and control equipment of loose impediment |
| CN109085594A (en) * | 2018-06-01 | 2018-12-25 | 北京农业智能装备技术研究中心 | A kind of unmanned aerial vehicle onboard system and application guidance system for being administered guiding |
| CN109196440A (en) * | 2017-11-06 | 2019-01-11 | 深圳市大疆创新科技有限公司 | Distribution method, server, terminal device, the control equipment and system in course line |
| WO2019023859A1 (en) * | 2017-07-31 | 2019-02-07 | 深圳市大疆创新科技有限公司 | Method for processing out-of-synchronization of unmanned aerial vehicle, unmanned aerial vehicle, and unmanned aerial vehicle system |
| CN109407706A (en) * | 2018-12-24 | 2019-03-01 | 杭州瓦屋科技有限公司 | Unmanned aerial vehicle (UAV) control method and apparatus |
| CN109426273A (en) * | 2017-08-29 | 2019-03-05 | 深圳市道通智能航空技术有限公司 | A kind of flying vehicles control method and device |
| CN109511443A (en) * | 2018-11-15 | 2019-03-26 | 山东理工大学 | The aviation of cotton defoliation medicament sprays operational method under one film, three row cultivation mode |
| CN109542118A (en) * | 2018-11-28 | 2019-03-29 | 无锡飞天侠科技有限公司 | A kind of multimachine plant protection ground station control method |
| CN109633620A (en) * | 2018-12-13 | 2019-04-16 | 广州极飞科技有限公司 | The recognition methods of target object and device, operating equipment |
| CN109752379A (en) * | 2017-11-08 | 2019-05-14 | 广州极飞科技有限公司 | Optical device and its detection method, photographic device, flight instruments |
| WO2019119200A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Job task allocation method for unmanned aerial vehicle, relevant device and storage medium |
| CN110081873A (en) * | 2019-03-11 | 2019-08-02 | 丰疆智能科技研究院(常州)有限公司 | Recognition methods is got in region ready and agricultural machinery gets identifying system ready |
| CN110164110A (en) * | 2019-04-23 | 2019-08-23 | 天津航天中为数据系统科技有限公司 | A kind of data processing method for plant protection drone AT9S remote controler |
| CN110622088A (en) * | 2017-04-20 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Flight path determining method, information processing device, program, and recording medium |
| CN110749323A (en) * | 2019-10-22 | 2020-02-04 | 广州极飞科技有限公司 | Method and device for determining operation route |
| CN110879067A (en) * | 2018-09-06 | 2020-03-13 | 江苏荣耀天翃航空科技有限公司 | Full-automatic track acquisition method and device based on big data and ground station |
| CN110968110A (en) * | 2018-09-29 | 2020-04-07 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| WO2020087646A1 (en) * | 2018-10-30 | 2020-05-07 | 深圳市翔农创新科技有限公司 | Uav plant protection operation control method, device and computer readable storage medium |
| 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 |
| WO2020103022A1 (en) * | 2018-11-21 | 2020-05-28 | 广州极飞科技有限公司 | Surveying and mapping system, surveying and mapping method and apparatus, device and medium |
| WO2020124509A1 (en) * | 2018-12-20 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Method, apparatus and system for dotting-based positioning, and computer storage medium |
| CN111504297A (en) * | 2019-06-03 | 2020-08-07 | 苏州极目机器人科技有限公司 | Road-free network navigation operation method and device and navigation equipment |
| CN112866083A (en) * | 2020-12-31 | 2021-05-28 | 广州极飞科技股份有限公司 | Message sending method, electronic equipment and communication system |
| CN113826054A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Air route planning method and equipment |
| CN113985764A (en) * | 2018-07-13 | 2022-01-28 | 广州极飞科技股份有限公司 | Operation control method, control terminal, operation server and operation system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017753A (en) * | 2012-11-01 | 2013-04-03 | 中国兵器科学研究院 | Unmanned aerial vehicle route planning method and device |
| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| EP3043226A1 (en) * | 2014-12-05 | 2016-07-13 | The Boeing Company | Coordinating sensor platforms performing persistent surveillance |
| CN105843250A (en) * | 2016-03-28 | 2016-08-10 | 深圳高科新农技术有限公司 | Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system |
-
2016
- 2016-10-26 CN CN201610951692.7A patent/CN106502264B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017753A (en) * | 2012-11-01 | 2013-04-03 | 中国兵器科学研究院 | Unmanned aerial vehicle route planning method and device |
| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| EP3043226A1 (en) * | 2014-12-05 | 2016-07-13 | The Boeing Company | Coordinating sensor platforms performing persistent surveillance |
| CN105843250A (en) * | 2016-03-28 | 2016-08-10 | 深圳高科新农技术有限公司 | Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system |
Cited By (59)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843277A (en) * | 2017-04-13 | 2017-06-13 | 珠海市双捷科技有限公司 | Unmanned plane mapping, spray and monitoring integration of operation method and system |
| CN106843277B (en) * | 2017-04-13 | 2020-08-07 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle surveying and mapping, pesticide spraying and monitoring combined operation method and system |
| US11334095B2 (en) | 2017-04-20 | 2022-05-17 | SZ DJI Technology Co., Ltd. | Flight path determination method, information processing device, program, and storage medium |
| CN110622088B (en) * | 2017-04-20 | 2023-05-16 | 深圳市大疆创新科技有限公司 | Flight path determination method, information processing device, program, and recording medium |
| CN110622088A (en) * | 2017-04-20 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Flight path determining method, information processing device, program, and recording medium |
| CN108513624A (en) * | 2017-04-27 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Control terminal, the control method of unmanned plane, control terminal, unmanned plane and system |
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN107289944A (en) * | 2017-06-21 | 2017-10-24 | 上海拓攻机器人有限公司 | A kind of method and device of control unmanned plane plant protection operation |
| CN107437250A (en) * | 2017-06-30 | 2017-12-05 | 上海拓攻机器人有限公司 | A kind of charge book generation method and device based on unmanned machine operation |
| CN107437250B (en) * | 2017-06-30 | 2020-11-10 | 上海拓攻机器人有限公司 | Operation record generation method and device based on unmanned aerial vehicle operation |
| CN107515415A (en) * | 2017-07-06 | 2017-12-26 | 深圳高科新农技术有限公司 | The fruit tree of unmanned plane sprays implementation method |
| CN107289950B (en) * | 2017-07-28 | 2019-01-04 | 上海拓攻机器人有限公司 | Plant protection drone operation flight course planning method and plant protection drone |
| CN107289950A (en) * | 2017-07-28 | 2017-10-24 | 上海拓攻机器人有限公司 | The unmanned machine operation flight course planning method of plant protection and plant protection unmanned plane |
| CN109074100A (en) * | 2017-07-31 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The paths planning method and device and control equipment of loose impediment |
| WO2019023859A1 (en) * | 2017-07-31 | 2019-02-07 | 深圳市大疆创新科技有限公司 | Method for processing out-of-synchronization of unmanned aerial vehicle, unmanned aerial vehicle, and unmanned aerial vehicle system |
| CN107390709A (en) * | 2017-08-25 | 2017-11-24 | 上海拓攻机器人有限公司 | A kind of plant protection unmanned plane multi-machine collaborative operational method and system |
| CN109426273A (en) * | 2017-08-29 | 2019-03-05 | 深圳市道通智能航空技术有限公司 | A kind of flying vehicles control method and device |
| CN107860387B (en) * | 2017-10-19 | 2018-12-07 | 上海拓攻机器人有限公司 | Plant protection drone operation flight course planning method and plant protection drone |
| CN107860387A (en) * | 2017-10-19 | 2018-03-30 | 上海拓攻机器人有限公司 | The unmanned machine operation flight course planning method of plant protection and plant protection unmanned plane |
| CN107808550B (en) * | 2017-10-30 | 2021-08-20 | 北京博鹰通航科技有限公司 | Plant protection unmanned aerial vehicle management system |
| CN107808550A (en) * | 2017-10-30 | 2018-03-16 | 北京博鹰通航科技有限公司 | A kind of unmanned machine management system of plant protection |
| CN109196440A (en) * | 2017-11-06 | 2019-01-11 | 深圳市大疆创新科技有限公司 | Distribution method, server, terminal device, the control equipment and system in course line |
| CN108008735A (en) * | 2017-11-07 | 2018-05-08 | 深圳常锋信息技术有限公司 | Plant protection operation control method, system and the terminal device of unmanned plane |
| CN109752379A (en) * | 2017-11-08 | 2019-05-14 | 广州极飞科技有限公司 | Optical device and its detection method, photographic device, flight instruments |
| CN109752379B (en) * | 2017-11-08 | 2022-06-21 | 广州极飞科技股份有限公司 | Optical device, detection method thereof, image pickup device and flight device |
| CN108036774A (en) * | 2017-11-09 | 2018-05-15 | 深圳常锋信息技术有限公司 | A kind of mapping method, system and terminal device |
| CN108151748A (en) * | 2017-11-09 | 2018-06-12 | 广州极飞科技有限公司 | Flight instruments survey and draw operation flight course planning method, apparatus and terminal |
| CN108151748B (en) * | 2017-11-09 | 2021-04-06 | 广州极飞科技有限公司 | Flight device surveying and mapping operation route planning method and device and terminal |
| 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 |
| WO2019119200A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Job task allocation method for unmanned aerial vehicle, relevant device and storage medium |
| CN108196571A (en) * | 2017-12-27 | 2018-06-22 | 深圳常锋信息技术有限公司 | A kind of flight control system, unmanned plane and UAV system |
| CN108388268A (en) * | 2018-01-31 | 2018-08-10 | 南京奇蛙智能科技有限公司 | A kind of unmanned plane route planning method based on high in the clouds |
| CN108318040A (en) * | 2018-02-06 | 2018-07-24 | 贵州电网有限责任公司 | A kind of more rotor trajectory planning system and method for transmission line-oriented inspection |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN109085594A (en) * | 2018-06-01 | 2018-12-25 | 北京农业智能装备技术研究中心 | A kind of unmanned aerial vehicle onboard system and application guidance system for being administered guiding |
| CN108445912A (en) * | 2018-06-04 | 2018-08-24 | 成都天麒科技有限公司 | A kind of plant protection drone flight control system |
| CN108873934A (en) * | 2018-07-04 | 2018-11-23 | 溧阳汉和智能装备科技有限公司 | A kind of flight course planning of unmanned plane and calibration method and flight course control system |
| CN113985764A (en) * | 2018-07-13 | 2022-01-28 | 广州极飞科技股份有限公司 | Operation control method, control terminal, operation server and operation system |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN108762290A (en) * | 2018-08-07 | 2018-11-06 | 濉溪淮匠机械设备有限责任公司 | Unmanned plane plant protection operation system and method |
| CN110879067A (en) * | 2018-09-06 | 2020-03-13 | 江苏荣耀天翃航空科技有限公司 | Full-automatic track acquisition method and device based on big data and ground station |
| CN110968110B (en) * | 2018-09-29 | 2021-04-06 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| CN110968110A (en) * | 2018-09-29 | 2020-04-07 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| WO2020087646A1 (en) * | 2018-10-30 | 2020-05-07 | 深圳市翔农创新科技有限公司 | Uav plant protection operation control method, device and computer readable storage medium |
| 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 |
| CN109511443A (en) * | 2018-11-15 | 2019-03-26 | 山东理工大学 | The aviation of cotton defoliation medicament sprays operational method under one film, three row cultivation mode |
| WO2020103022A1 (en) * | 2018-11-21 | 2020-05-28 | 广州极飞科技有限公司 | Surveying and mapping system, surveying and mapping method and apparatus, device and medium |
| CN109542118A (en) * | 2018-11-28 | 2019-03-29 | 无锡飞天侠科技有限公司 | A kind of multimachine plant protection ground station control method |
| CN109633620A (en) * | 2018-12-13 | 2019-04-16 | 广州极飞科技有限公司 | The recognition methods of target object and device, operating equipment |
| WO2020124509A1 (en) * | 2018-12-20 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Method, apparatus and system for dotting-based positioning, and computer storage medium |
| CN109407706A (en) * | 2018-12-24 | 2019-03-01 | 杭州瓦屋科技有限公司 | Unmanned aerial vehicle (UAV) control method and apparatus |
| CN110081873A (en) * | 2019-03-11 | 2019-08-02 | 丰疆智能科技研究院(常州)有限公司 | Recognition methods is got in region ready and agricultural machinery gets identifying system ready |
| CN110164110A (en) * | 2019-04-23 | 2019-08-23 | 天津航天中为数据系统科技有限公司 | A kind of data processing method for plant protection drone AT9S remote controler |
| CN111504297A (en) * | 2019-06-03 | 2020-08-07 | 苏州极目机器人科技有限公司 | Road-free network navigation operation method and device and navigation equipment |
| CN111504297B (en) * | 2019-06-03 | 2023-08-11 | 极目(海南)智能育种装备有限公司 | Road network-free navigation operation method and device and navigation equipment |
| CN110749323A (en) * | 2019-10-22 | 2020-02-04 | 广州极飞科技有限公司 | Method and device for determining operation route |
| CN110749323B (en) * | 2019-10-22 | 2022-03-18 | 广州极飞科技股份有限公司 | Method and device for determining operation route |
| CN113826054A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Air route planning method and equipment |
| CN112866083A (en) * | 2020-12-31 | 2021-05-28 | 广州极飞科技股份有限公司 | Message sending method, electronic equipment and communication system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106502264B (en) | 2018-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106502264B (en) | The operating system of plant protection unmanned plane | |
| CN108205326B (en) | The method and device of unmanned machine operation | |
| CN106292698B (en) | Accurate operation method and system for plant protection unmanned aerial vehicle | |
| CN114706933A (en) | Spraying area determining method and device based on unmanned aerial vehicle operation | |
| CN106054917A (en) | Unmanned aerial vehicle flight control method and device, and remote controller | |
| CN106483975B (en) | Determine the method and device in unmanned plane course line | |
| CN107426695A (en) | Gridding differential data broadcasting method, server and storage medium based on broadcast | |
| CN107950506A (en) | Mobile device, the sprinkling control method and device based on mobile device | |
| CN103353601A (en) | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology | |
| CN106455046B (en) | satellite-WiFi flight time combined positioning system and method thereof | |
| CN108253969A (en) | A kind of computational methods of unmanned plane during flying line of sight link coverage area | |
| CN106371457A (en) | Operation method and device for plant protection unmanned aerial vehicle | |
| CN111275757B (en) | Pseudo-satellite field simulation layout method based on DEM data processing | |
| CN109612432A (en) | A kind of method of quick obtaining complicated landform contour | |
| CN107843260A (en) | A kind of low-altitude unmanned vehicle positioning navigation method based on electromagnetism finger print information | |
| CN103617254A (en) | Method, system and device for constructing geographic position coordinate information base | |
| Moore et al. | UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016 | |
| CN103616665A (en) | Passive location system using universal irradiation source of unmanned plane | |
| CN109948484A (en) | The system and method for plant height is extracted based on unmanned plane image DSM | |
| CN109660303B (en) | Short wave antenna performance evaluation system | |
| CN109238224B (en) | Unmanned aerial vehicle flying height difference eliminating method, device and system and intelligent terminal | |
| CN112468588B (en) | Unmanned aerial vehicle parameter setting method and device, user terminal and storage medium | |
| Fauzi et al. | Tropical forest tree positioning accuracy: A comparison of low cost GNSS-enabled devices | |
| CN109309522B (en) | Method, device and system for signal transmission and unmanned aerial vehicle positioning | |
| CN111076707B (en) | Antenna attitude measurement method, device and system and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Patentee after: XAG Co., Ltd. Address before: No.3a01, No.1 Sicheng Road, Gaotang Software Park, Tianhe District, Guangzhou, Guangdong 510000 Patentee before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address |