CN107632300A - A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar - Google Patents
A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar Download PDFInfo
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- CN107632300A CN107632300A CN201711045383.4A CN201711045383A CN107632300A CN 107632300 A CN107632300 A CN 107632300A CN 201711045383 A CN201711045383 A CN 201711045383A CN 107632300 A CN107632300 A CN 107632300A
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Abstract
The invention discloses a kind of plant protection unmanned plane height-finding system based on millimetre-wave radar, and it includes unmanned plane and millimeter wave range radar；Millimeter wave range radar is sent to unmanned plane by data are detected, and carries out data transmission with unmanned plane；Unmanned plane includes unmanned plane body and control device；Control device and millimeter wave range radar are installed on unmanned plane body；Control device includes microprocessor, memory, signal transmitting and receiving module and power module；Microprocessor is connected with each other with memory and signal transmitting and receiving module；The output end of power module and the energization input of microprocessor connect；Signal transmitting and receiving module is connected with each other with millimeter wave range radar to be carried out data transmission.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of plant protection unmanned plane based on millimetre-wave radar to survey high system
System.
Background technology
Plant protection unmanned plane, as the term suggests be for agriculture and forestry plant protection operation UAV, the type unmanned aerial vehicle
By flying platform, navigation fly control, spraying mechanism three parts form, control is flown by ground remote control or navigation, to realize spraying operation,
Medicament, seed, pulvis etc. can be sprayed.
And plant protection unmanned plane often has an optimum height when realizing the sprinkling of medicament, seed and pulvis etc., Er Qiezhen
The optimum height sprayed for different crops or different medicament, seed and pulvis etc. is also different, and
And plant protection unmanned plane will be in the suitable safety that highly just can guarantee that as itself flight；Therefore how to detect in real time plant protection without
Man-machine flying height, to meet that different crops are existing ranks to spraying the different optimum heights of medicament and the safety of itself flight
Section needs to solve the problems, such as.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of plant protection unmanned plane based on millimetre-wave radar
Height-finding system, detection in real time can be carried out to the flying height of plant protection unmanned plane to meet different crops to sprinkling medicament not
With the requirement of optimum height.
The purpose of the present invention is achieved through the following technical solutions：A kind of plant protection unmanned plane based on millimetre-wave radar
Height-finding system, it includes unmanned plane and millimeter wave range radar；Millimeter wave range radar is sent to unmanned plane by data are detected, and
Carry out data transmission with unmanned plane；Unmanned plane includes unmanned plane body and control device；Control device and millimeter wave range radar
It is installed on unmanned plane body；Control device includes microprocessor, memory, signal transmitting and receiving module and power module；Micro- place
Device is managed to be connected with each other with memory and signal transmitting and receiving module；The output end of power module and the energization input of microprocessor connect
Connect；Signal transmitting and receiving module is connected with each other with millimeter wave range radar to be carried out data transmission.
Millimeter wave range radar includes signal processing module, display module, power module, rf integration module, transmitting day
Line and reception antenna；The signal output part of signal processing module is connected with the signal input part of rf integration module；Signal transacting
The data processing output end of module and the input of display module connect；The output that the signal output part of rf integration module is sent
Signal is connected with transmitting antenna；The echo-signal that reception antenna receives is connected with the signal input part of rf integration module；Power supply
Feeder ear of the module respectively with signal processing module, rf integration module and display module is connected.
It is (automatic to increase that signal processing module includes clock circuit, FPGA unit, DSP unit, ADC, DAC, filter unit, AGC
Benefit control) unit and the first power amplification unit；The output end of clock circuit and the clock signal input terminal of FPGA unit connect；
The signal output part of FPGA unit is connected with the signal input part of the DSP unit；The signal output part of described DSP unit with
The signal input part connection of the DAC；Described DAC signal output part and the signal input part of the rf integration module connect
Connect；The signal output part of first power amplification unit and the signal input part of AGC unit connect；The signal output part of AGC unit
It is connected with the signal input part of filter unit；The signal output part of filter unit and ADC signal input part connect；ADC letter
The signal input part of number output end and FPGA unit connects.
Rf integration module include VCO (voltage controlled oscillator) unit, the second power amplification unit, low noise amplification unit and
Beat processing unit；The signal output part of VCO unit is connected with the signal input part of the second power amplification unit；Second power is put
The signal output part of big unit is connected with transmitting antenna；Reception antenna is connected with the signal input part of low noise amplification unit；It is low
The signal output part of noise amplification unit is connected with the signal input part of beat processing unit；The signal of second power amplification unit
Signal input part of the output end also with beat processing unit is connected；The signal output of beat processing unit in rf integration module
End is connected with the signal input part of the first power amplification unit in signal processing module.
The beneficial effects of the invention are as follows：A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar, by being operated in
The millimeter wave range radar of millimeter wave frequency band, plant protection unmanned plane can be detected in real time relative to the height of crops, from
And meet to be directed to different crops to the different optimum heights of medicament flight of sprinkling and itself ensure relative to the height of crops
The safety of flight.
Brief description of the drawings
Fig. 1 is the structured flowchart of system；
Fig. 2 is the structure chart of millimeter wave range radar；
Fig. 3 is the video schematic diagram of triangular signal beat processing.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in figure 1, a kind of plant protection unmanned plane height-finding system based on millimetre-wave radar, it includes unmanned plane and millimeter wave
Range radar；Millimeter wave range radar is sent to unmanned plane by data are detected, and carries out data transmission with unmanned plane；Unmanned plane bag
Include unmanned plane body and control device；Control device and millimeter wave range radar are installed on unmanned plane body；Control device
Including microprocessor, memory, signal transmitting and receiving module and power module；Microprocessor and memory and signal transmitting and receiving module are mutual
Connection；The output end of power module and the energization input of microprocessor connect；Signal transmitting and receiving module and millimeter wave range radar
Interconnection carries out data transmission.
Preferably, as shown in Fig. 2 millimeter wave range radar includes signal processing module, display module, power module, penetrated
Frequency integration module, transmitting antenna and reception antenna；The signal output part of signal processing module and the signal of rf integration module are defeated
Enter end connection；The data processing output end of signal processing module and the input of display module connect；The letter of rf integration module
The output signal that number output end is sent is connected with transmitting antenna；The letter of the echo-signal that reception antenna receives and rf integration module
The connection of number input；Feeder ear of the power module respectively with signal processing module, rf integration module and display module is connected.
Preferably, signal processing module includes clock circuit, FPGA unit, DSP unit, ADC, DAC, filter unit, AGC
Unit and the first power amplification unit；The output end of clock circuit and the clock signal input terminal of FPGA unit connect；FPGA is mono-
The signal output part of member is connected with the signal input part of the DSP unit；The signal output part of described DSP unit with it is described
DAC signal input part connection；Described DAC signal output part is connected with the signal input part of the rf integration module；
The signal output part of first power amplification unit and the signal input part of AGC unit connect；The signal output part of AGC unit and filter
The signal input part connection of ripple unit；The signal output part of filter unit and ADC signal input part connect；ADC signal is defeated
Go out end to be connected with the signal input part of FPGA unit.
Preferably, rf integration module includes VCO unit, the second power amplification unit, low noise amplification unit and beat
Processing unit；The signal output part of VCO unit is connected with the signal input part of the second power amplification unit；Second power amplification list
The signal output part of member is connected with transmitting antenna；Reception antenna is connected with the signal input part of low noise amplification unit；Low noise
The signal output part of amplifying unit is connected with the signal input part of beat processing unit；The signal output of second power amplification unit
The signal input part also with beat processing unit is held to be connected；The signal output part of beat processing unit in rf integration module with
The signal input part connection of the first power amplification unit in signal processing module.
Preferably, the workflow of system ranging is：After minimizing radar system power-up, when crystal oscillator provides benchmark for FPGA
Clock signal, clock signal is divided by FPGA, then after carrying out signal transacting by DSP, deliver to ADC and DAC respectively, and by
FPGA produces discrete Serial No. and send DAC, is converted to analog control signal, controls the VCO in rf integration unit, and output needs
The triangular modulation signal wanted, and amplified, antennas transmitting.Reception antenna receives target echo signal, in rf integration
After carrying out low noise amplification in unit, beat processing is done with transmission signal, output beat intermediate-freuqncy signal send signal processing unit, according to
It is secondary be amplified, filter and ADC sampling processings after, send FPGA extract and FFT processing, estimate the frequency of beat intermediate-freuqncy signal
Rate, the distance of target can be calculated using the frequency values.
Preferably, millimeter wave range radar passes through target echo and transmission signal using transmitting continuous wave signal (FMCW)
Beat processing, obtain the single-carrier signal related to target range, frequency values and the target range value of single-carrier signal are formed
Mapping relations one by one.Launch FMCW signal for ease of system, complete target distance measurement, while can also realize that target velocity is surveyed
Amount, the FMCW signal of miniaturization radar system transmitting are intended using triangular wave patterns.
As shown in figure 3, Δ F is the bandwidth of triangle arm signal in figure, T represents the cycle of triangle arm signal, and τ is
The time delay of echo-signal, then beat signal frequency fbIt is with delay time relation：
Delay time τ=2R/c is substituted into above equation, the accounting equation that can obtain target range R is：
It was found from from above equation, the range measurement of target is directly proportional to the cycle of triangular signal, beat signal frequency,
It is inversely proportional with signal bandwidth, after being determined with bandwidth in the cycle of triangular signal, distance is more remote, then beat signal frequency is got over
It is high.
Millimeter wave range radar will meet the transmitting of the object ranging requirement, first millimeter wave range radar to certain distance
Power needs to meet radar equation, i.e.,
In formula, PtFor the transmission power of millimeter wave range radar, GtAnd GrIt is the increasing of transmitting antenna and reception antenna respectively
Benefit, σ are the radar scattering areas of target, and λ is the wavelength for launching triangular signal, the bandwidth of operation of B receivers, K be Bohr hereby
Graceful constant, T0It is noise temperature, NF is the noise coefficient of radar, (S/N)minIt is the minimum detectable signal-to-noise ratio of radar.
Described above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, the exclusion to other embodiment is not to be taken as, and can be used for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change does not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention
It is interior.
Claims (4)
- A kind of 1. plant protection unmanned plane height-finding system based on millimetre-wave radar, it is characterised in that：It includes unmanned plane and millimeter wave Range radar；Described millimeter wave range radar is sent to unmanned plane by data are detected, and carries out data transmission with unmanned plane；Institute The unmanned plane stated includes unmanned plane body and control device；Described control device and millimeter wave range radar is installed in described On unmanned plane body；Described control device includes microprocessor, memory, signal transmitting and receiving module and power module；Described Microprocessor is connected with each other with the memory and the signal transmitting and receiving module；The output end of described power module with it is described micro- The energization input connection of processor；Described signal transmitting and receiving module is connected with each other with the millimeter wave range radar and carries out data Transmission.
- A kind of 2. plant protection unmanned plane height-finding system based on millimetre-wave radar according to claim 1, it is characterised in that：Institute The millimeter wave range radar stated include signal processing module, display module, power module, rf integration module, transmitting antenna and Reception antenna；The signal output part of described signal processing module is connected with the signal input part of the rf integration module；Institute The data processing output end for the signal processing module stated is connected with the input of the display module；Described rf integration module The output signal that sends of signal output part be connected with the transmitting antenna；The echo-signal and institute that described reception antenna receives State the signal input part connection of rf integration module；Described power module respectively with the signal processing module, the radio frequency Integration module connects with the feeder ear of the display module.
- A kind of 3. plant protection unmanned plane height-finding system based on millimetre-wave radar according to claim 2, it is characterised in that：Institute The signal processing module stated includes clock circuit, FPGA unit, DSP unit, ADC, DAC, filter unit, AGC unit and first Power amplification unit；The output end of described clock circuit is connected with the clock signal input terminal of the FPGA unit；Described The signal output part of FPGA unit is connected with the signal input part of the DSP unit；The signal output part of described DSP unit with The signal input part connection of the DAC；Described DAC signal output part and the signal input part of the rf integration module connect Connect；The signal output part of the first described power amplification unit is connected with the signal input part of the AGC unit；Described AGC The signal output part of unit is connected with the signal input part of the filter unit；The signal output part of described filter unit and institute State ADC signal input part connection；Described ADC signal output part is connected with the signal input part of the FPGA unit.
- A kind of 4. plant protection unmanned plane height-finding system based on millimetre-wave radar according to claim 3, it is characterised in that：Institute The rf integration module stated includes VCO unit, the second power amplification unit, low noise amplification unit and beat processing unit；Institute The signal output part for the VCO unit stated is connected with the signal input part of second power amplification unit；The second described power The signal output part of amplifying unit is connected with the transmitting antenna；The letter of described reception antenna and the low noise amplification unit The connection of number input；The signal input part of the signal output part of described low noise amplification unit and the beat processing unit connects Connect；Signal input part of the signal output part of the second described power amplification unit also with the beat processing unit is connected；Institute The signal output part of beat processing unit in the rf integration module stated is put with the first power in the signal processing module The signal input part connection of big unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045383.4A CN107632300A (en) | 2017-10-31 | 2017-10-31 | A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045383.4A CN107632300A (en) | 2017-10-31 | 2017-10-31 | A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar |
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| CN201711045383.4A Withdrawn CN107632300A (en) | 2017-10-31 | 2017-10-31 | A kind of plant protection unmanned plane height-finding system based on millimetre-wave radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110402788A (en) * | 2018-04-26 | 2019-11-05 | 北京林业大学 | A kind of accurate watering, fertilizing of unmanned plane forest spills medicine device and technology |
| CN111366929A (en) * | 2020-03-06 | 2020-07-03 | 华东师范大学 | Unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar |
| CN111812651A (en) * | 2020-07-17 | 2020-10-23 | 华东师范大学 | FPGA-based FMCW millimeter wave radar ranging chip system |
-
2017
- 2017-10-31 CN CN201711045383.4A patent/CN107632300A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110402788A (en) * | 2018-04-26 | 2019-11-05 | 北京林业大学 | A kind of accurate watering, fertilizing of unmanned plane forest spills medicine device and technology |
| CN111366929A (en) * | 2020-03-06 | 2020-07-03 | 华东师范大学 | Unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar |
| CN111812651A (en) * | 2020-07-17 | 2020-10-23 | 华东师范大学 | FPGA-based FMCW millimeter wave radar ranging chip system |
| CN111812651B (en) * | 2020-07-17 | 2023-06-23 | 华东师范大学 | FMCW millimeter wave radar ranging system on chip based on FPGA |
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