CN106970632A - A kind of accurate operational method of rotor wing unmanned aerial vehicle based on the canopy vortex stable state of motion - Google Patents
A kind of accurate operational method of rotor wing unmanned aerial vehicle based on the canopy vortex stable state of motion Download PDFInfo
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- CN106970632A CN106970632A CN201710300449.3A CN201710300449A CN106970632A CN 106970632 A CN106970632 A CN 106970632A CN 201710300449 A CN201710300449 A CN 201710300449A CN 106970632 A CN106970632 A CN 106970632A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention discloses a kind of accurate operational method of rotor wing unmanned aerial vehicle based on the canopy vortex stable state of motion, and required crop canopies vortex diameter K and crop canopies vortex depth D is first preset in onboard flight control unit；Onboard image shooting unit and onboard image processing unit are clapped in real time in operation process takes and analyzes crop canopies vortex image, obtains crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D '；Contrasted respectively with default crop canopies vortex diameter K and crop canopies vortex depth D according to crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D ', the flight attitude parameter of unmanned plane is adjusted, crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D ' is reached unanimity respectively with default crop canopies vortex diameter K and crop canopies vortex depth D.The operational method ensure that canopy is vortexed in operation process all the time in stable optimum state, obtain optimal operation effectiveness.
Description
Technical field
The present invention relates to a kind of plant protection unmanned plane in the method for the accurate operation in field, more particularly to it is vortexed based on canopy steady
The accurate operational method of rotor wing unmanned aerial vehicle of state motion.
Background technology
Agricultural plant protection unmanned plane, as a kind of emerging mechanization of agriculture product, is reflection China's agricultural modernization level
One of important symbol, therefore its operation quality and speed are of great interest, it is right at present in the agricultural aviation application of China
The research of the accurate operational method of agricultural plant protection unmanned plane is also in starting even blank stage, and development potentiality is huge.China
Following demand of agricultural aviation concentrates on accurate work, and extreme low-altitude to spray operation, large area Agricultural resource data is obtained and other are special
In terms of kind operation.
With reference to the characteristics of Chinese agricultural development, we it is contemplated that, the development of Science in Future in China agricultural aviation, it should be to walk reality
Thing Seeking Truth, suits measures to local conditions, heterogenous, the road for development of many operating types.Therefore, it is following for the main of Chinese agriculture Aeronautical Service
Machine should be the type united applications such as someone/unpiloted fixed wing aircraft, heligyro, and dynamic-delta-wing
Scene.
It is different from fixed wing aircraft, rotor wing unmanned aerial vehicle due to there is rotor, so can exist in operation it is a kind of special
Parameter --- rotor wind field, due to agricultural unmanned plane in farm work it is highly low, so this parameter can be applied directly to work
On thing canopy, interacted with crop cauline leaf, so that the vortex of similar centrum is produced, because the form of the vortex represents rotor wind
To the action effect of effect, therefore also directly influence the operation effectiveness of unmanned plane, however, in the prior art also not over
The form of vortex is controlled to improve the related art scheme of operation effectiveness.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art there is provided one kind based on the canopy vortex stable state of motion
The accurate operational method of rotor wing unmanned aerial vehicle, the operational method ensure that canopy is vortexed in operation process all the time in stable
Optimum state, so as to improve operating efficiency and the degree of accuracy, obtains optimal operation effectiveness.
The present invention solve above-mentioned technical problem technical scheme be：
A kind of accurate operational method of rotor wing unmanned aerial vehicle based on the canopy vortex stable state of motion, comprises the following steps：
Step 1: by earth station preset in onboard flight control unit needed for crop canopies vortex diameter K,
The operation course line of crop canopies vortex depth D and unmanned plane in field；
Step 2: unmanned plane takes off, fly to operation departure point, and according to operation course line set in advance, start
Operation；
Step 3: in operation process, onboard image shooting unit and onboard image processing unit are clapped and take and analyze in real time
Crop canopies vortex image below unmanned plane, obtains crop canopies vortex actual diameter K ' and crop canopies vortex actual grade
D′；
Step 4: onboard flight control unit is vortexed according to the crop canopies vortex actual diameter K ' and crop canopies of feedback
Actual grade D ' is contrasted with default crop canopies vortex diameter K and crop canopies vortex depth D respectively, and according to comparing result
Corresponding control signal is exported, the flight attitude parameter of unmanned plane is adjusted, crop canopies vortex actual diameter K ' and crop is preced with
Layer vortex actual grade D ' reaches unanimity with default crop canopies vortex diameter K and crop canopies vortex depth D respectively；
Step 5: before the completion of unmanned machine operation, repeat step two, step 3, step 4.
Further, the step 3 specifically includes following steps：
(1) when unmanned plane is according to predetermined operation airline operation operation, the image taking on unmanned plane body
Crop canopies vortex image below unit captured in real-time unmanned plane；
(2) image for arriving captured in real-time carries out Mathematical treatment by onboard image processing unit, after Mathematical treatment,
Obtain crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D '；
(3) graphics processing unit feeds back crop canopies vortex actual diameter K ' and crop canopies to onboard flight control unit
Vortex actual grade D '.
Further, the step 4 specifically includes following steps：
(1) onboard flight control unit receives the actual vortex diameter K ' of crop canopies of graphics processing unit feedback and made
After thing canopy vortex actual grade D ', with crop canopies vortex diameter K set in advance before operation and crop canopies vortex depth D
Contrasted, calculate the difference DELTA of actual vortex diameter and pre- determine vortex diameterKWith actual vortex depth D ' and pre- determine vortex
Depth D difference DELTAD；
(2) onboard flight control unit is by crop canopies vortex difference in diameter ΔKWith crop canopies vortex depth difference DELTAD
The posture knots modification of unmanned plane is converted into by difference transfer algorithm；
(3) onboard flight control unit changes the attitude parameter of unmanned plane by gesture stability algorithm, so as to change crop
The vortex size of canopy.
Further, in step 4, the targeted attitude parameter of unmanned plane is T (X, Y, Z, α, beta, gamma), wherein, X, Y, Z points
Not Wei longitude of the unmanned plane in three-dimensional space position, latitude, relative altitude, α, beta, gamma is respectively the roll angle of unmanned plane, is bowed
The elevation angle, yaw angle.
In the step of step 4 (2), onboard flight control unit is preced with according to crop canopies vortex actual diameter K ' and crop
Layer vortex diameter K difference DELTAKWith the actual vortex depth D ' of crop canopies and default vortex depth D difference DELTAD, pass through difference
Transfer algorithm fusion obtains UAV Attitude knots modification ΔT(X, Y, Z, α, beta, gamma)=M* ΔsK+N*ΔD, M, N is normal more than zero
Amount；
In the step of step 4 (3), onboard flight control unit is according to UAV Attitude parameter change amount ΔT(X, Y, Z,
α, beta, gamma), on the basis of current pose parameter T ' (X, Y, Z, α, beta, gamma), corresponding control is sent according to gesture stability algorithm and believed
Number, change UAV Attitude parameter to targeted attitude parameter T (X, Y, Z, α, beta, gamma)=T ' (X, Y, Z, α, beta, gamma)+ΔT(X, Y,
Z, α, beta, gamma), so as to control crop canopies vortex diameter and the depth below unmanned plane.
The present invention has following beneficial effect compared with prior art：
1st, the present invention is using the vortex phenomenon produced during rotor wing unmanned aerial vehicle low latitude operation in crop canopies, and explores vortex
There is the rule of optimal operation effectiveness under specific form, and then allow vortex to be in stable optimal shape in operation process
State, so as to obtain optimal operation effectiveness, improves the Efficiency and accuracy during operation of unmanned plane low latitude, be it is a kind of precisely, can
The accurate operating type of agricultural unmanned plane lean on, innovated.
2nd, the present invention obtains the crop canopies vortex form of current work position by image recognition technology in real time, with vortex
Diameter K and depth D as vortex form target control parameter, and by correcting the attitude parameter of unmanned plane come stable objects
Control parameter, so as to accurately ensure that vortex is in optimal form all the time.
3rd, collect and analyze by the unmanned plane during flying parameter to vortex in optimal morphology, enrich unmanned plane low latitude work
The selection mode of basic parameter during industry.
Brief description of the drawings
Fig. 1 is the implementing procedure signal of the unmanned plane operational method based on the crop canopies vortex stable state of motion of the present invention
Figure.
Embodiment
Embodiments of the invention are described in further detail below, but this example is not intended to limit the invention, it is every
Similarity method and its similar change using the present invention, all should be included in protection scope of the present invention.
The unmanned plane operational method based on the crop canopies vortex stable state of motion of this example with to paddy rice carry out spray operation
Exemplified by, comprise the following steps that：
Step 1: before operation, required agricultural unmanned plane is preset in onboard flight control unit by earth station
Parameters needed for farm work：Including crop canopies vortex diameter K, crop canopies vortex depth D, unmanned plane in field
Operation course line S (including departure point P, flight path, unmanned plane make a return voyage point P ') and elemental operation height H；Wherein, crop is preced with
Layer vortex diameter K and crop canopies vortex depth D can be obtained according to actual experiment result or empirical value or theoretical calculation；
Step 2: unmanned plane takes off, elemental operation height H is risen to and with this altitude to predetermined operation course line S
Starting point P, start operation；
Step 3: in operation process, onboard image shooting unit and onboard image processing unit difference captured in real-time and
Analyze the crop canopies vortex image below unmanned plane, drawn after analysis below unmanned plane crop canopies vortex actual diameter K ' and
Crop canopies vortex actual grade D ', specifically includes following steps：
(1) when unmanned plane is according to predetermined operation course line S flight operations, the image taking on unmanned plane body
The vortex image of crop canopies below unit captured in real-time unmanned plane；
(2) the vortex image for arriving captured in real-time is by onboard image processing unit, and onboard image processing unit is received
After the crop canopies vortex image shot by onboard image shooting unit, by Mathematical treatment and analysis, crop canopies whirlpool is obtained
Revolve actual diameter K ' and crop canopies vortex actual grade D '；
(3) graphics processing unit feeds back crop canopies vortex actual diameter K ' and crop canopies to onboard flight control unit
Vortex actual grade D '.
Step 4: onboard flight control unit is vortexed according to the crop canopies vortex actual diameter K ' and crop canopies of feedback
Actual grade D ' is contrasted with default crop canopies vortex diameter K and crop canopies vortex depth D respectively, and according to comparing result
Corresponding control signal is exported, control unmanned plane reaches that (X, Y, Z are respectively nobody to targeted attitude parameter T (X, Y, Z, α, beta, gamma)
Longitude of the machine in three-dimensional space position, latitude, relative altitude, α, beta, gamma is respectively the roll angle of unmanned plane, the angle of pitch, driftage
Angle), crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D ' is vortexed respectively with default crop canopies
Diameter K and crop canopies vortex depth D reach unanimity；Specifically include following steps：
(1) onboard flight control unit receives the actual vortex diameter K ' of crop canopies of graphics processing unit feedback and made
After thing canopy vortex actual grade D ', with crop canopies vortex diameter K set in advance before operation and crop canopies vortex depth D
Contrasted, calculate the difference DELTA of actual vortex diameter and pre- determine vortex diameterKWith actual vortex depth D ' and pre- determine vortex
Depth D difference DELTAD；
(2) onboard flight control unit is according to crop canopies vortex actual diameter K ' and crop canopies vortex diameter K difference
It is worth ΔKWith the actual vortex depth D ' of crop canopies and default vortex depth D difference DELTAD, obtained by the fusion of difference transfer algorithm
UAV Attitude knots modification ΔT(X, Y, Z, α, beta, gamma)=M* ΔsK+N*ΔD, M, N is the constant more than zero, is to ensure that aircraft
The parameter of stabilized flight, the relating to parameters of height, stem hardness and aircraft with crop, generally by testing the warp obtained
Value is tested to determine；
(3) onboard flight control unit is according to UAV Attitude parameter change amount ΔT(X, Y, Z, α, beta, gamma), with current appearance
On the basis of state parameter T ' (X, Y, Z, α, beta, gamma), corresponding control signal is sent according to gesture stability algorithm, changes UAV Attitude
Parameter is to targeted attitude parameter T (X, Y, Z, α, beta, gamma)=T ' (X, Y, Z, α, beta, gamma)+ΔT(X, Y, Z, α, beta, gamma), so as to control
Crop canopies vortex diameter and depth below unmanned plane processed.
Step 5: to the end of job, repeat step three to four, after the end of job, with elemental operation height H since operation
Fly to point P ' landing of making a return voyage.
In the present invention, solving the technical concept of problem is, for once specific operation process (such as spray, pollinate),
The change in shape of vortex can directly influence operation effectiveness, and the vortex described in operation process necessarily has a kind of and optimal work
The corresponding specific modality of industry effect, thus unmanned plane in operation process if ensure that the vortex all the time in optimal
Form, then whole operation process will have optimal effect.Based on the design, invention is obtained in real time by image recognition technology
The crop canopies vortex form of current work position is taken, is joined using the diameter K and depth D of vortex as the target control of vortex form
Number, and by correcting the attitude parameter of unmanned plane come stable objects control parameter, so as to accurately ensure vortex all the time in most
Good form.
It is above-mentioned that but embodiments of the present invention are not limited by the above for the present invention preferably embodiment, its
He it is any without departing from Spirit Essence and the change made under principle of the present invention, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (5)
1. a kind of accurate operational method of rotor wing unmanned aerial vehicle based on the canopy vortex stable state of motion, it is characterised in that including following step
Suddenly：
Step 1: crop canopies vortex diameter K, crop needed for being preset by earth station in onboard flight control unit
The operation course line of canopy vortex depth D and unmanned plane in field；
Step 2: unmanned plane takes off, fly to operation departure point, and according to operation course line set in advance, start operation；
Step 3: in operation process, onboard image shooting unit and onboard image processing unit are clapped and take and analyze nobody in real time
Crop canopies vortex image below machine, obtains crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D '；
Step 4: onboard flight control unit is actual according to crop canopies vortex actual diameter K ' and the crop canopies vortex of feedback
Depth D ' is contrasted with default crop canopies vortex diameter K and crop canopies vortex depth D respectively, and is exported according to comparing result
Corresponding control signal, adjusts the flight attitude parameter of unmanned plane, makes crop canopies vortex actual diameter K ' and crop canopies whirlpool
Rotation actual grade D ' reaches unanimity with default crop canopies vortex diameter K and crop canopies vortex depth D respectively；
Step 5: before the completion of unmanned machine operation, repeat step two, step 3, step 4.
2. the rotor wing unmanned aerial vehicle accurate operational method according to claim 1 based on the canopy vortex stable state of motion, its feature
It is, the step 3 specifically includes following steps：
(1) when unmanned plane is according to predetermined operation airline operation operation, the image capturing unit on unmanned plane body
Crop canopies vortex image below captured in real-time unmanned plane；
(2) image for arriving captured in real-time carries out Mathematical treatment by onboard image processing unit, after Mathematical treatment, obtains
Crop canopies vortex actual diameter K ' and crop canopies vortex actual grade D '；
(3) graphics processing unit feeds back crop canopies vortex actual diameter K ' to onboard flight control unit and crop canopies is vortexed
Actual grade D '.
3. the rotor wing unmanned aerial vehicle accurate operational method according to claim 1 or 2 based on the canopy vortex stable state of motion, it is special
Levy and be, the step 4 specifically includes following steps：
(1) onboard flight control unit receives the actual vortex diameter K ' of crop canopies of graphics processing unit feedback and crop is preced with
After layer vortex actual grade D ', carried out with crop canopies vortex diameter K set in advance before operation and crop canopies vortex depth D
Contrast, calculates the difference DELTA of actual vortex diameter and pre- determine vortex diameterKWith actual vortex depth D ' and pre- determine vortex depth D
Difference DELTAD；
(2) onboard flight control unit is by crop canopies vortex difference in diameter ΔKWith crop canopies vortex depth difference DELTADPass through
Difference transfer algorithm is converted into the posture knots modification of unmanned plane；
(3) onboard flight control unit changes the attitude parameter of unmanned plane by gesture stability algorithm, so as to change crop canopies
Vortex size.
4. the rotor wing unmanned aerial vehicle accurate operational method according to claim 3 based on the canopy vortex stable state of motion, its feature
It is, in step 4, the targeted attitude parameter of unmanned plane is T (X, Y, Z, α, beta, gamma), wherein, X, Y, Z is respectively that unmanned plane exists
Longitude in three-dimensional space position, latitude, relative altitude, α, beta, gamma is respectively the roll angle of unmanned plane, the angle of pitch, yaw angle.
5. the rotor wing unmanned aerial vehicle accurate operational method according to claim 4 based on the canopy vortex stable state of motion, its feature
It is, the step of step 4 in (2), onboard flight control unit is according to crop canopies vortex actual diameter K ' and crop canopies whirlpool
Revolve diameter K difference DELTAKWith the actual vortex depth D ' of crop canopies and default vortex depth D difference DELTAD, changed by difference
Algorithm fusion obtains UAV Attitude knots modification ΔT(X, Y, Z, α, beta, gamma)=M* ΔsK+N*ΔD, wherein, M, N is more than zero
Constant；
In the step of step 4 (3), onboard flight control unit is according to UAV Attitude parameter change amount ΔT(X, Y, Z, α, β,
γ), on the basis of with current pose parameter T ' (X, Y, Z, α, beta, gamma), corresponding control signal is sent according to gesture stability algorithm, changed
Become UAV Attitude parameter to targeted attitude parameter T (X, Y, Z, α, beta, gamma)=T ' (X, Y, Z, α, beta, gamma)+ΔT(X, Y, Z, α,
Beta, gamma), so as to control crop canopies vortex diameter and the depth below unmanned plane.
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| CN109247324A (en) * | 2018-11-15 | 2019-01-22 | 山东理工大学 | The aviation of cotton defoliation medicament sprays operational method under one film, six row cultivation mode |
| CN109765931A (en) * | 2019-01-31 | 2019-05-17 | 交通运输部天津水运工程科学研究所 | A kind of near-infrared video automatic navigation method suitable for the patrol unmanned machine of breakwater |
| CN111307150A (en) * | 2020-02-27 | 2020-06-19 | 华南农业大学 | Flexible plant airflow characterization physical parameter extraction device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106970632B (en) | 2019-05-07 |
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