CN106502264B - The operating system of plant protection unmanned plane - Google Patents
The operating system of plant protection unmanned plane Download PDFInfo
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- CN106502264B CN106502264B CN201610951692.7A CN201610951692A CN106502264B CN 106502264 B CN106502264 B CN 106502264B CN 201610951692 A CN201610951692 A CN 201610951692A CN 106502264 B CN106502264 B CN 106502264B
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- course line
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
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, generation refers to operation course line, is sent by the boundary information and with reference to operation course line to server；Unmanned aerial vehicle (UAV) control terminal, for obtaining the boundary information and with reference to operation course line from server, the practical flight course line is uploaded to plant protection unmanned plane by selection and the reference operation course line, generation practical flight course line, earth station according to user；Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal perform plant protection operation, so as to generate the matched line of flight for different plot, improve the efficiency of operation, ensure the security of operation.
Description
Technical field
This application involves 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 provided for oneself manipulate.Unmanned plane it is widely used, 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, the pesticide utilization rate small to crop damage that unmanned plane plant protection has
The features such as high, more and more peasant households or farmer start using unmanned plane carry out plant protection operation, in particular with plant protection nobody
Machine carries out pesticide spraying and chemical fertilizer sprinkling etc..
In general, plant protection unmanned plane when carrying out plant protection operation, is usually all to carry out operation according to the set line of flight, but
It is how to obtain the accurate line of flight, is not but a nothing the matter.
The content of the invention
In view of the above problems, it is proposed that the embodiment of the present application overcomes the above problem or at least in part in order to provide one kind
A kind of operating system of the plant protection unmanned plane to solve the above problems.
To solve the above-mentioned 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, generation is navigated 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 and with reference to operation course line from server, according to user's
Selection and described with reference to operation course line, generation practical flight course line, earth station by the practical flight course line be uploaded to plant protection without
It is man-machine；
Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal perform plant protection operation.
Alternatively, the mapping equipment includes RTK base stations, geography information acquisition device and drawing apparatus；
The RTK base stations, for outwards broadcasting 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, generation to refer to operation course line, by the boundary information and ginseng
Operation course line is examined to send to server.
Alternatively, the RTK base stations are additionally operable to：
The positioning difference information that preset fixed base stations are sent is received, is positioned using the positioning difference information.
Alternatively, the RTK base stations are additionally operable to：
Current global position system GPS coordinate is gathered, 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, the border in generation operation plot
Information.
Alternatively, the drawing apparatus includes receiving module and refers to operation airline generation module；
The receiving module, the operation initial boundary determined for receiving user；
It is described to refer to operation airline generation module, for being believed according to the border of the operation initial boundary and operation plot
Breath, generation refer 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 and with reference to operation course line from server；
User instruction reception device, for receiving user described with reference to the operation initial position selected on operation course line；
Line of flight generating means, for using the operation initial position as starting point, the reference to be connected along preset direction
Operation course line, generation actual job course line；The current location of unmanned plane and the operation initial position are connected, generates pre- flight boat
Line；According to the actual job course line and the pre- line of flight, generation practical flight course line.
Compared with background technology, the embodiment of the present application includes advantages below：
The embodiment of the present application, the boundary information in operation plot is obtained by mapping equipment, then for the boundary information,
Generation refers to operation course line, and is sent described with reference to operation course line to server；Obtained by unmanned aerial vehicle (UAV) control terminal from server
Take the boundary information and with reference to operation course line, selection and the reference operation course line according to user, generation 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 performs plant protection operation, so as to generate the matched line of flight for different plot, and then using institute
Practical flight course line is stated, when performing plant protection operation, it is possible to increase the efficiency of operation, ensures the security of operation.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of the operating system embodiment of plant protection unmanned plane of the application；
Fig. 2 is a kind of step flow chart of the operational method embodiment of plant protection unmanned plane of the application；
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；
Embodiment
It is below in conjunction with the accompanying drawings and specific real to enable the above-mentioned purpose of the application, feature and advantage more obvious understandable
Mode is applied to be described in further detail the application.
With reference to Fig. 1, show a kind of structure diagram of the operating system embodiment of plant protection unmanned plane of the application, specifically may be used
With including such as lower part：
Mapping equipment, can be used for the boundary information for obtaining operation plot, for the boundary information, generation refers 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 practical flight course line is uploaded to plant by the selection at family and the reference operation course line, generation practical flight course line, 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 are performed plant protection and made
Industry.
In the embodiment of the present application, the mapping equipment specifically can include RTK base stations, geography information acquisition device and
Drawing apparatus.
In general, before the boundary information in operation plot is obtained, 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, receiver user is issued 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, pervious static state, rapid static, dynamic measurement are required for carrying out resolving afterwards that Centimeter Level could be obtained
Precision, and RTK is the measuring method that can obtain centimeter-level positioning precision in real time in the wild, 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 operating efficiency.
In the concrete realization, default configuration information can be sent to the RTK base stations by operating personnel first, the RTK bases
Stand after above-mentioned configuration information is received, can voluntarily complete to configure.
In the embodiment of the present application, RTK base stations are after configuration, it is also necessary to current position can be positioned.
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 are sent is received, is positioned using the positioning difference information.
In general, fixed base stations can be used for accurately positioning a certain coordinate points on geographical location, by analyzing a certain position
Put with the relative position between the fixed base stations, so as to obtain the coordinate points of the position exactly, using fixed base stations side
Positional information can be normally reached Centimeter Level determined by formula, have higher precision.
In the concrete realization, fixed base stations can pass through broadcast or CORS (Continuously Operating
Reference Stations, continuous operation of the reference station) network is sent out difference RTCM (Radio Technical
Commission for Maritime services, the international ocean shipping cause radiotechnics committee) signal, in the fixation 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.
As another example of the application, RTK base stations can also be positioned in the following way：
Current global position system GPS coordinate is gathered, is positioned using the gps coordinate.
When the RTK base stations set up are not in the coverage of some fixed base stations, the complete of RTK base stations can be passed through
Ball position system GPS obtains the current elements of a fix.
It should be noted that it is relatively low using the precision of the GPS elements of a fix obtained, determined if adopted this method
Position, it usually needs interior completion plant protection operation at the appointed time, to avoid due to overlong time, and the shadow caused by location data
Ring.
Certainly, those skilled in the art are also an option that the elements of a fix of other modes generation RTK base stations, for example, passing through
Coordinate of constant mark thing (such as pile body of erection) etc., the embodiment of the present application is not construed as limiting this.
When the erection for completing RTK base stations and with postponing, the RTK base stations can outwards broadcast positioning difference information
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 can be used for the elements of a fix for the boundary point, the side in generation operation plot
Boundary's information.
In the concrete realization, when the border in operating personnel along operation plot is got ready, boundary point locating module can
, can when operating personnel needs to be got ready in some boundary point with the positioning difference information of real-time reception to RTK base station broadcasts
To use the positioning difference information, the elements of a fix of the boundary point are calculated.When operating personnel completes beating for whole operation plot
After point, boundary information generation module can be directed to the elements of a fix for the boundary point got ready, generate the border in the operation plot
Information.
In the embodiment of the present application, after the boundary information in operation plot is got, plotting board can be according to described
Boundary information, generation refer to operation course line.
In the embodiment of the present application, plotting board may further include receiving module and refer to operation airline generation mould
Block, the receiving module can be used for receiving the operation initial boundary that user determines, the reference operation airline generation module can
For the boundary information according to the operation initial boundary and operation plot, generation refers to operation course line.
In the concrete realization, an envelope can be obtained with borderline multiple boundary points got ready in connection operation plot
The size of the operating area closed, the then job area according to unmanned plane in flight course, nothing is generated in the operating area
Man-machine a plurality of reference flight path, and using the reference flight path as referring to operation course line.In general, the reference of unmanned plane is made
Industry course line can be the one group 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, whole for unmanned aerial vehicle (UAV) control
End, which is downloaded, to be used.
In the embodiment of the present application, unmanned aerial vehicle (UAV) control terminal can navigate from boundary information described in service acquisition and with reference to operation
Line, and according to the selection of user, generation practical flight course line.
In the embodiment of the present application, the unmanned aerial vehicle (UAV) control terminal can include course line acquisition device, user instruction receives
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 receiving user described with reference to the operation selected on operation course line
Initial position；The line of flight generating means can be used for, using the operation initial position as starting point, connecting along preset direction
The reference operation course line, generation actual job course line；Connect the current location of unmanned plane and the operation initial position, generation
The pre- line of flight；According to the actual job course line and the pre- line of flight, generation practical flight course line.
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 performs plant protection operation.
In the embodiment of the present application, the boundary information in operation plot is obtained by mapping equipment, then for the border
Information, generation refers to operation course line, and is sent described with reference to operation course line to server；By unmanned aerial vehicle (UAV) control terminal from service
Device obtains the boundary information and with reference to operation course line, and selection and the reference operation course line according to user, generate actual fly
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 performs plant protection operation, so as to generate the matched line of flight for different plot, and then is adopting
With the practical flight course line, when performing plant protection operation, it is possible to increase the efficiency of operation, ensures the security of operation.
In order to make it easy to understand, below with a complete example, the work of the operating system of the plant protection unmanned plane to the application
Industry process makes a presentation.
Reference Fig. 2, shows a kind of step flow chart of the operational method embodiment of plant protection unmanned plane of the application, specifically
It may include steps of：
Step 201, default configuration information is sent to RTK base stations, the RTK base stations and be used for according to the configuration information
Configured；
In general, it is necessary to first set up a RTK base stations before plant protection operation is carried out using unmanned plane, and the RTK base stations are carried out
Configuration.
In the embodiment of the present application, multiple operation APP can be included, operation unmanned plane is respectively used to and performs in plant protection work
The detailed process in each stage in industry.For example, base station sets APP, APP and plant protection operation APP is surveyed and drawn, wherein, base station sets APP
It can be used for starting to perform before operation in the various processes in erection 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, and instruction unmanned plane performs 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 the way that base station setting APP is attached with the RTK base stations, so as to set APP pre- by base station
If configuration information be sent to mobile base station, RTK base stations can voluntarily complete to configure after above-mentioned configuration information is received.
The elements of a fix of itself can also be sent to base station and set APP by RTK base stations during being configured, with
The specific location for enabling the base station to set APP to know RTK base stations exactly.
In general, the RTCM signals that RTK base stations can be sent by receiving fixed base stations are broadcasted or CORS networks, then root
According to the GPS positioning coordinate of itself, high accuracy positioning coordinate is calculated, and the high accuracy positioning coordinate is issued into base station APP is set
There is higher precision as with reference to coordinate, the reference coordinate, its precision can be normally reached Centimeter Level.
Certainly, RTK base stations can also only using the GPS One-Point Locations coordinate received issue base station set APP as
Reference coordinate, or by the way that RTK base stations to be erected to constant mark thing (such as the stake of erection with known positional information
Body) on, this is not construed as limiting using the coordinate of the constant mark thing as coordinate, the embodiment of the present application is referred to.
RTK base stations after configuration, can outwards broadcast positioning difference information by the broadcasting channel that user selectes
RTCM。
Step 202, the positioning difference information is received, calculates the elements of a fix of boundary point；
In the embodiment of the present application, operating personnel can hold surveying instrument and be got ready along the border in operation plot, 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 use the RTCM to believe
Number, the positional information of multiple characteristic points is calculated, exports the accurately elements of a fix.
In the concrete realization, operating personnel can hold the mapping after mapping APP is communicatively coupled with surveying instrument
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
It can be got ready in the way of at a certain distance, and by pressing the record button on surveying instrument, obtain 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, the boundary information in generation operation plot；
After the completion of mapping, mapping APP can be according to the elements of a fix of the multiple characteristic points received, with generating the operation
The boundary information of block.As shown in figure 3, be 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 user determines is received；
In the concrete realization, operation initial boundary can specifically be selected by operating personnel, such as the operation in Fig. 3
Block, it is believed that the plot is made of four edges circle, and operating personnel can be specific wherein any one selected according to being actually needed
As operation initial boundary.
Step 205, operation course line is referred to according to the operation initial boundary and the boundary information in operation plot, generation；
For example, for the operation plot in Fig. 3, after user selectes border AB as operation initial boundary, mapping APP can
According to the operation initial boundary, to generate a plurality of reference operation course line parallel with it, i.e., with reference to operation course line EF, GH, IJ, KL
And MN.
It is then possible to it will be sent with reference to operation course line to server.
Step 206, the boundary information is obtained and with reference to operation course line from server, selection and the ginseng according to user
Examine operation course line, generation practical flight course line；
After the reference operation course line and transmission for surveying and drawing APP generation operations plot are to server, unmanned aerial vehicle (UAV) control terminal can
Operation course line is referred to get this from the server, and bar can be constrained according to the battery capacity of unmanned plane and dose etc.
Part, after relevant arrange parameter is selected, you can generation practical flight course line.
It is described to obtain the boundary information from server and navigate with reference to operation in a preferred embodiment of the present application
The step of line, selection and the reference operation course line according to user, generation practical flight course line, can specifically include following son
Step：
S11, the boundary information is obtained and with reference to operation course line from server；
S12, receives user described with reference to the operation initial position selected on operation course line；
As shown in figure 4, it is a kind of schematic diagram in practical flight course line of the application.In the concrete realization, it is a plurality of when generating
Behind operation course line, operating personnel can select any one with reference to some position in operation course line as operation start bit
Put, the operation initial position is the actual starting position for performing plant protection operation of unmanned plane.In general, it can select with reference to operation
A certain bar operation course line in course line in outermost originates course line as operation, then selectes an end in operation starting course line
Point is used as operation initial position.For example, in Fig. 4, can be using Chosen Point E as operation initial position.
S13, using the operation initial position as starting point, navigates along preset direction connection described one or more with reference to operation
Line, generation actual job course line；
In the concrete realization, can be since the operation initial position after operating personnel selectes operation initial position, edge
Preset direction is connected a plurality of with reference to operation course line, forms actual job course line.For example, in Fig. 4, it can be opened 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 initial 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 taken off of unmanned plane,
Then unmanned plane can be started to perform plant protection operation by the current location flight value operation initial position.
In the concrete realization, directly the current location of unmanned plane and operation initial position can be attached, with the company
Wiring is unmanned plane practical flight as the pre- line of flight, the pre- line of flight, but and without one section of plant protection operation
Course line.
For example, by taking operation plot in Fig. 4 as an example, if point O is the current location of unmanned plane, point O and operation can be originated
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, generation practical flight course line.
It should be noted that practical flight course line further 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 Fig. 4, plant protection operation ends at point N, therefore, between point N and point O
Line NO is course back.
In the concrete realization, whole course lines in actual job course line and the pre- line of flight will can be included, as unmanned plane
Practical flight course line.Practical flight course line as shown in Figure 4 be from point O, flight to point A, at the point A hold
Row plant protection operation, and terminate plant protection operation at point N, and make a return voyage from point N to a complete line of flight of point O.
Step 207, the practical flight course line uploaded using unmanned aerial vehicle (UAV) control terminal performs plant protection operation.
After practical flight course line is generated, which can be sent to unmanned plane, be pressed by the unmanned plane
Plant protection operation is performed according to the practical flight course line.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as to a series of action group
Close, but those skilled in the art should know, the embodiment of the present application and from the limitation of described sequence of movement, because according to
According to the embodiment of the present application, some steps can use other orders or be carried out at the same time.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, and involved action not necessarily the application is implemented
Necessary to example.
Each embodiment in this specification is described by the way of progressive, what each embodiment stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present application can be provided as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present application can use complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can use one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is with reference to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that it can realize flowchart and/or the block diagram by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in flow and/or square frame combination.These can be provided
Computer program instructions are set to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to produce a machine so that is held by the processor of computer or other programmable data processing terminal equipments
Capable instruction is produced and is used for realization in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
The device for the function of specifying.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing terminal equipments
In the computer-readable memory to work in a specific way so that the instruction being stored in the computer-readable memory produces bag
The manufacture of command device is included, which realizes in one flow of flow chart or multiple flows and/or one side of block diagram
The function of being specified in frame or multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that
Series of operation steps is performed on computer or other programmable terminal equipments to produce computer implemented processing, so that
The instruction performed on computer or other programmable terminal equipments is provided and is used for realization in one flow of flow chart or multiple flows
And/or specified 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 these embodiments other change and modification.So appended claims are intended to be construed to
Including preferred embodiment and fall into all change and modification of the embodiment of the present application scope.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements are not only wrapped
Those key elements are included, but also including other elements that are not explicitly listed, or further include as this process, method, article
Or the key element that terminal device is intrinsic.In the absence of more restrictions, wanted by what sentence "including a ..." limited
Element, it is not excluded that also there are other identical element in the process including the key element, method, article or terminal device.
Above to a kind of operating system of plant protection unmanned plane provided herein, it is described in detail, herein should
The principle and embodiment of the application are set forth with specific case, the explanation of above example is only intended to help to manage
Solve the present processes and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the application,
There will be changes in embodiment and application range, in conclusion this specification content should not be construed as to this Shen
Limitation please.
Claims (7)
- A kind of 1. operating system of plant protection unmanned plane, it is characterised in that including：Mapping equipment, for obtaining the boundary information in operation plot by fixed base stations and/or global positioning system, for described The operation initial boundary that boundary information and user determine, generation refer to operation course line, navigate by the boundary information and with reference to operation Line is sent to server；Unmanned aerial vehicle (UAV) control terminal, for obtaining the boundary information and with reference to operation course line from server, the selection according to user The practical flight course line is uploaded to plant protection unmanned plane with reference to operation course line, generation practical flight course line, earth station with described；Plant protection unmanned plane, the practical flight course line for being uploaded using unmanned aerial vehicle (UAV) control terminal perform plant protection operation.
- 2. system according to claim 1, it is characterised in that the mapping equipment includes RTK base stations, geography information obtains Device and drawing apparatus；The RTK base stations, for outwards broadcasting 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 referring to operation course line for the boundary information, generation, 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 are sent 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：Current global position system GPS coordinate is gathered, is positioned using the gps coordinate.
- 5. system according to claim 2, it is characterised in that the geography information acquisition device includes boundary point positioning 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, the boundary information in generation operation plot.
- 6. system according to claim 2, it is characterised in that the drawing apparatus includes receiving module and navigates with reference to operation Line generation module；The receiving module, the operation initial boundary determined for receiving user；It is described to refer to operation airline generation module, it is raw for the boundary information according to the operation initial boundary and operation plot 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 and with reference to operation course line from server；The user instruction reception device, for receiving user described with reference to the operation initial position selected on operation course line；The line of flight generating means, for using the operation initial position as starting point, the reference to be connected along preset direction Operation course line, generation actual job course line；The current location of unmanned plane and the operation initial position are connected, generates pre- flight boat Line；According to the actual job course line and the pre- line of flight, generation practical flight course line.
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