CN107808550A - A kind of unmanned machine management system of plant protection - Google Patents
A kind of unmanned machine management system of plant protection Download PDFInfo
- Publication number
- CN107808550A CN107808550A CN201711030784.2A CN201711030784A CN107808550A CN 107808550 A CN107808550 A CN 107808550A CN 201711030784 A CN201711030784 A CN 201711030784A CN 107808550 A CN107808550 A CN 107808550A
- Authority
- CN
- China
- Prior art keywords
- plant protection
- aircraft
- job
- user
- information
- 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 description 8
- 238000009472 formulation Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 230000009849 deactivation Effects 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- 238000006116 polymerization reaction Methods 0.000 claims description 2
- 239000003973 paint Substances 0.000 claims 1
- 238000007726 management method Methods 0.000 description 23
- 238000004891 communication Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Accounting & Taxation (AREA)
- Finance (AREA)
- Economics (AREA)
- Marketing (AREA)
- Strategic Management (AREA)
- General Business, Economics & Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Development Economics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Animal Husbandry (AREA)
- Marine Sciences & Fisheries (AREA)
- Mining & Mineral Resources (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Primary Health Care (AREA)
- Tourism & Hospitality (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of unmanned machine management system of plant protection, including master controller, earth station equipment and cloud net, it is characterised in that：Earth station equipment is crossed internet with cloud Netcom and is connected, and cloud net includes resource management module, operation module and order taking responsibility module, and resource management module includes user management, aircraft management and plot management；Operation module includes：Operation map, the job list, Job Filter and operation details, keeper, plant protection team and winged hand user can be checked operation geographical distribution by operation module, check the job list, check operation details；Order taking responsibility module is used to generate and manage order.
Description
Technical field
The present invention relates to management system, especially a kind of unmanned machine management system of plant protection.
Background technology
China is used as large agricultural country, 1,800,000,000 mu of basic farmlands, needs substantial amounts of agricultural plant protection operation every year, and small-sized rotation
Wing unmanned plane have it is highly low, drift is few, can hovering, without special landing airport, downdraught caused by rotor helps
Penetrability in increase spray to crop, prevention effect is high, and spraying operation personnel avoid the danger exposed to agricultural chemicals, improves
Many advantages, such as spraying operation security.And the function and performance of system for flight control computer rise certainly to unmanned plane work capacity
Qualitative effect.
Lack at present to unmanned plane remote control administrative system, lack real-time monitoring, and operation allocation function be present not
The problems such as improving
The content of the invention
The present invention is in order to overcome the shortcomings of prior art, there is provided a kind of technology of the unmanned machine management system of plant protection
Scheme.
To achieve these goals, the technical scheme is that：A kind of unmanned machine management system of plant protection, including master control
Device, earth station equipment and cloud net processed, it is characterised in that：Earth station equipment is crossed internet with cloud Netcom and is connected, and cloud net includes money
Source control module, operation module and order taking responsibility module, resource management module include user management, aircraft management and ground
Block management；Operation module includes：Operation map, the job list, Job Filter and operation details, keeper, plant protection team and
Operation geographical distribution can all be checked by operation module, check the job list, check that operation details (have been completed to make by flying hand user
Operation in industry/progress)；Order taking responsibility module is used to generate and manage order, and it includes plant protection team order and winged hand task.
The present invention has the beneficial effect that with prior art：
1st, the present invention can effectively realize the internet of things functional in unmanned plane field；
2nd, the present invention realizes the customization of user's distance flight task；
3rd, the present invention realizes unmanned plane, unmanned plane task, operation plot and the overall management of personnel, is used for plant protection
Family provides detailed real-time data supporting.
Brief description of the drawings
Fig. 1 is the plant protection UAS schematic diagram of the present invention；
Fig. 2 is connection diagram of the plant protection UAS with cloud net of the present invention；
The cloud net that Fig. 3 is the present invention forms schematic diagram；
Embodiment
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
As Figure 1-3,
A kind of unmanned machine management system of plant protection, including master controller, executing agency, communication apparatus, earth station equipment and
Cloud net,
Master controller includes data acquisition module, data processing module, communication module, by changing in master controller
Portion's program and peripheral circuit realize the flight control and flight management functional requirement of different model unmanned plane,
The measurement signal of each sensor of data collecting module collected, measurement signal it include gyro signal, course signal,
Angle of rudder reflection signal, liquid level signal and fixed high radar signal, and it is uploaded to data processing module；
Communication module receives the control command sent by earth station equipment up channel of communication apparatus transmission, simultaneously will
The attitude data of unmanned plane and the working status parameter of executing agency are real-time transmitted to earth station equipment by communication apparatus；
Data processing module, state of flight, attitude parameter and the flight parameter of unmanned plane are generated according to measurement signal,
With reference to control command, it is computed handling, output switch amount signal, analog signal and pwm pulse signal are realized to executing agency
To the control of various model of flight in unmanned plane and management and control to executing agency；
Executing agency includes motor electric-regulating device and flusher；
Communication apparatus includes receiver module, data set carries end, number passes ground surface end, satellite navigation module, number are passed in bluetooth
After box；
Earth station equipment includes remote control, PC earth stations, mobile phone earth station, and flight prison is carried out by radio data channels
Control；
It is characterized in that：Earth station equipment is crossed internet with cloud Netcom and is connected, and cloud net includes resource management module, operation
Module and order taking responsibility module,
Resource management module includes user management, aircraft management and plot management；Operation module include operation map,
The job list, Job Filter and operation details, keeper, plant protection team and winged hand user can check work by operation module
Industry geographical distribution, check the job list, check operation details (operation in having fulfiled assignment/having carried out)；Order taking responsibility module is used for
Generate and manage order, it includes plant protection team order and winged hand task.
Wherein,
Operation to all users is realized by user management, including：Log in, exit, change user profile, modification it is close
Code, include being divided into winged hand user, administrator and plant protection team user according to authority user, administrator can be to pipe
Reason person user and plant protection team user are operated, including：It is newly-built, check, change, enable and disable, plant protection team user can
To be operated to flying hand user, including：It is newly-built, check, change, enable and disable；User profile includes user name, account
Family type, name of contact person, more cell-phone number, new person.
The aircraft in team can be managed by aircraft management plant protection team user, including：Registered aircraft, aircraft list is checked,
Aircraft details are checked, edit aircraft, disable/enable aircraft, registered aircraft is to operate to complete in earth station equipment, plant protection team
User can check registered aircraft.
Often row represents an aircraft in aircraft list, and the page lists the shorthand information of aircraft, including：Title, fly control-register
Number, job state, add up working area, enable/disabled status.
Plant protection team user can edit airplane information and disable/enable aircraft, and after disabling, aircraft can not upload operation number
According to.
Operation to operating area, including plot category information and plot management, plot category information are realized by plot management
For showing the essential information in plot, including plot title, the workspace that forms of block number, address, border and barrier zone
Domain, mapping area, mapping mode ,/disabled status, successor and reference information on uplink time is enabled, wherein, survey and draw mode
A mapping is taken using RTK, common mapping or screen；Fly hand user by plot manage realize ground block message upload and under
Carry, plant protection team user checks plot list, plot distribution, plot details by plot management and plot is deleted or opened
With/deactivation operation.
Wherein,
Operation map, operation is illustrated in map according to geographical position, scales precision according to the map, auto-polymerization faces
Near operation, there is provided conditional filtering, quickly to search operation, can be switched between satellite mode or map mode.With map
Form show whole plant protection teams on the day of job information, all job information on the day of winged hand, operations on the day of current winged hand
Information, by the aircraft identification clicked in map show the operation include job title, plant protection team, formulation rate, operation
Area, operation distance, the information of flight duration.
The job list, all its job information on the day of whole plant protection teams are shown in the form of map, the work on the day of winged hand
Job information on the day of industry information, current winged hand, the job information in list can export.
Job Filter, support to screen job information in two modules of operation map and the job list, different angles
The screening conditions of color (keeper/plant protection team/fly hand) are different.Screening conditions are as follows：
1) keeper can screen：Plant protection team, homework type, job state, time；
2) plant protection team can screen：Fly hand, aircraft, homework type, job state, time；
3) flying hand can screen：Homework type, job state, time.
Operation details, user can check operation essential information, operation real time data and aircraft flight path.Operation point
For：Real time job and fulfil assignment.Real time job can only check current work and flight path；Having fulfiled assignment to check
Whole operation and flight path, support are played, suspended, stopping operation；By real time job, user can check that operation is believed substantially
Breath, operation real time data and aircraft flight path；User has been fulfiled assignment by playback, can check completed operation letter
Breath, including：Operation essential information, operation real time data and aircraft flight path video, support to play, suspend, stop behaviour
Make.
Job information include job title, address, job number, aircraft title, the hand title of flying, job state (in real time or
Person has completed), affiliated task, the GPS time starteds, the GPS end times, affiliated plant protection team, the accumulative letter of log and operation
Breath,
Wherein, log include flight, offline mode (kept by posture, GNSS, position holding, AUTONOMOUS TASK, height
Degree is kept, hovering is waited and formed), attitude information flight path (including pitching, rolling, driftage), spatial information is (including with operation
The flight path of information coordinate point, flying speed, radar altitude, pressure altitude), the flight moment, sensor information (including spraying swath,
Water pump valve, flowmeter, throttle amount, cell voltage, decoction liquid level, gyroscope, remote control, accelerometer, magnetic compass, vibration,
GNSS data)；
Wherein, operation cumulative information include total formulation rate, unit formulation rate, flight duration, flying distance, operation distance,
Working area, the flow velocity * operation times of total formulation rate=flowmeter measurement, unit formulation rate=total formulation rate/working area.
Earth station equipment according to the data that cloud net provides to multiple no-manned plane carry out trajectory planning, form into columns and isomery more nobody
Machine collaborative planning, master controller realize that unmanned plane flies the control of control, highly reliable faults-tolerant control and automatic obstacle avoiding imitatively,
Comprise the following steps that：
Step 1, operation prescription map, three-dimensional mima type microrelief are established；
Step 2, trajectory planning is carried out based on operation prescription map, three-dimensional mima type microrelief；
Specially：Earth station equipment carries out autonomous trajectory planning according to operation prescription map and three-dimensional mima type microrelief, uses
The planning unmanned plane plant protection of Delaunay figures method, Warshall-Floyd algorithms and hybrid particle swarm genetic algorithm on multiple populations is made
Industry optimal path；
Step 3, multiple no-manned plane is formed into columns, earth station equipment control multiple UAVs, raw in real time according to concurrent job process
Into the flight track of every frame unmanned plane, and it is uploaded to unmanned aerial vehicle operation；
Specially：Three-dimensional mima type microrelief and operation prescription map of the earth station equipment according to step 1, are calculated based on sparse A-Star
The multimachine of method and master-slave model coordinate trajectory planning, establish energy most save, distance most short goal constraint under farmland operation from
Dynamic programme and a station multi-machine collaborative control program, control multiple UAVs, which are taken off while reached by identical place, does not advise
Then farmland edge assembly area position, then with desired flight pattern plant protection operation.
With it, automatic planning and a station multi-machine collaborative control function for farmland operation energy loaded matching is realized,
Farmland operation operating efficiency and traversal coverage rate are improved, reaches and avoid the requirement mutually touched while realizing between each unmanned plane.
Step 4, isomery multiple no-manned plane collaborative planning；
Specially：Earth station equipment isomery multiple no-manned plane collaborative planning, it includes CDMA system, dynamic random connects
Enter the Control on Communication with dynamic restructuring technology, earth station equipment shares a mesh communication network, unmanned function with unmanned aerial vehicle group
Enough dynamic randoms, which log in, to be added and exits the communication network, is possessed chain circuit function dynamic restructuring function, is realized different address code
Unmanned plane interconnects；The complaint message that cooperative information transmission detects any unit between multiple no-manned plane can be transferred through mesh
Communication network passes to other unmanned planes and earth station equipment；
So as to substantially increase the security of whole unmanned aerial vehicle group.
Step 5, control unmanned plane flies imitatively；
Master controller determines the distance on unmanned plane and ground by surely high radar signal, and by being set with the line of flight
Meter heights of roofs, which is compared, draws elemental height, measures vertical acceleration amendment elemental height by the meter of acceleration, and use
Barometric surveying current altitude is as height in hand.
This programme employs multiple sensors and is fitted application, both ensure that the accuracy of nap of the earth flight, has also ensured that
Some complex situations (such as in have hollow place, deep Gansu Province etc.) get off the plane can realize it is fast rise slow drop (accelerometer amendment), may be used also
To ensure to carry out safe flight protection with barometric information when radar altitude fails.
Step 6, based on self-adapted tolerance to the highly reliable faults-tolerant control of unmanned plane；
Master controller realizes the highly reliable appearance of unmanned plane using the Model-reference adaptive inverse control algorithm based on neutral net
Mistake control, its controller part of Neural Network Model Reference Adaptive Inversion system is made up of neutral net, adjusted using error
Nerve network controller parameter, while add inversion model and realize linearisation and decoupling, inversion model is compensated by neutral net,
So that system reaches satisfied dynamic characteristic.
The highly reliable fault-tolerant control of unmanned plane is realized by using the Model-reference adaptive inverse control algorithm based on neutral net
System, the target of model reference self-adapting control is tracking error is converged on zero, and system reality output and reference model are exported
Between deviation signal be input to adaptive mechanism, parameter in control law is adjusted with this.
Step 7, unmanned plane avoidance is controlled；
Specially：During autonomous flight, temporarily by manual flight cut-through point, while unmanned plane remembers next target
Position is put, unmanned plane continues executing with sprinkling action after cut-through point；
This method can effectively avoid the barriers such as trees, the electric pole often occurred in agricultural plots, ensure that plant protection is made
Industry process safety is carried out.
Wherein, plant protection team order includes essential information, the amount of money, contact person, activity duration, system record, operation plot letter
Cease (including ground block address, crop title, plant height), pharmacy type, live assistance, clearing foundation.
Embodiment described above only expresses one embodiment of the present invention, but therefore can not be interpreted as pair
The limitation of the scope of the invention.It should be pointed out that for the person of ordinary skill of the art, present inventive concept is not being departed from
Under the premise of, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (10)
1. a kind of unmanned machine management system of plant protection, including master controller, earth station equipment and cloud net, it is characterised in that：Ground
Station equipment is crossed internet with cloud Netcom and is connected, and cloud net includes resource management module, operation module and order taking responsibility module, resource
Management module includes user management, aircraft management and plot management；Operation module includes：Operation map, the job list, operation
Screening and operation details, keeper, plant protection team and winged hand user can be checked operation geographical distribution by operation module, checked
The job list, check operation details；Order taking responsibility module is used to generate and manage order.
A kind of 2. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Pass through user management realization pair
The operation of all users, including：Log in, exit, changing user profile, Modify password, including being divided into winged hand according to authority user
User, administrator and plant protection team user, administrator can operate to administrator and plant protection team user,
Including：It is newly-built, check, change, enable and disable, plant protection team user can to fly hand user operate, including：Newly-built,
Check, change, enable and disable；User profile includes user name, Account Type, name of contact person, more cell-phone number, new person.
A kind of 3. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Plant protection team is managed by aircraft
User can manage the aircraft in team, including：Registered aircraft, aircraft list is checked, check aircraft details, edit aircraft, disable/
Aircraft is enabled, registered aircraft is to operate to complete in earth station equipment, and plant protection team user can check registered aircraft.
A kind of 4. unmanned machine management system of plant protection according to claim 3, it is characterised in that：Often row represents in aircraft list
One aircraft, the shorthand information of aircraft is listed, including：Title, fly control-register number, job state, add up working area, enable/
Disabled status；Plant protection team user can edit airplane information and disable/enable aircraft, and after disabling, aircraft can not upload operation number
According to.
A kind of 5. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Pass through plot management realization pair
The operation of operating area, including plot category information and plot management, plot category information are used for the essential information for showing plot, including
Plot title, block number, address, border and barrier zone form working region, mapping area, mapping mode, enable/prohibit
With successor and reference information on state, uplink time, wherein, mapping mode is taken using RTK, common mapping or screen and surveyed
Paint；Fly hand user and the upload and download for realizing ground block message are managed by plot, plant protection team user checks ground by plot management
/ deactivation operation is deleted plot or enabled to block list, plot distribution, plot details simultaneously.
A kind of 6. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Operation map, operation is pressed
It is illustrated according to geographical position in map, scales precision, the operation that auto-polymerization closes on according to the map, there is provided conditional filtering, with fast
Operation is looked in quick checking, can be switched between satellite mode or map mode.On the day of whole plant protection teams being shown in the form of map
The job information on the day of job information, current winged hand on the day of job information, whole winged hands, by clicking on the aircraft mark in map
The knowledge displaying operation includes job title, plant protection team, formulation rate, working area, operation distance, the information of flight duration.
A kind of 7. unmanned machine management system of plant protection according to claim 1, it is characterised in that：The job list is with the shape of map
The job information on the day of job information, whole winged hands, the job information on the day of current winged hand on the day of the whole plant protection teams of formula displaying,
Job information in list can export.
A kind of 8. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Job Filter is in operation
Figure and two modules of the job list are supported to screen job information, the sieve of different role (keeper/plant protection team/fly hand)
Select condition different.Screening conditions are as follows：
1) keeper can screen：Plant protection team, homework type, job state, time；
2) plant protection team can screen：Fly hand, aircraft, homework type, job state, time；
3) flying hand can screen：Homework type, job state, time.
A kind of 9. unmanned machine management system of plant protection according to claim 1, it is characterised in that：In operation details, Yong Huke
Check operation essential information, operation real time data and aircraft flight path.Operation is divided into：Real time job and fulfil assignment.
Real time job can only check current work and flight path；Whole operation and flight path can be checked by having fulfiled assignment, and support to broadcast
Put, suspend, stop operation；By real time job, user can check operation essential information, operation real time data and aircraft flight
Track；User has been fulfiled assignment by playback, can check completed job information, including：Operation essential information, operation are real-time
Data and aircraft flight path video, support to playing, suspending, stopping operation.
A kind of 10. unmanned machine management system of plant protection according to claim 1, it is characterised in that：Job information includes operation
Title, address, job number, aircraft title, the hand title that flies, job state (in real time or having completed), affiliated task, GPS are opened
Begin time, GPS end times, affiliated plant protection team, log and operation cumulative information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711030784.2A CN107808550B (en) | 2017-10-30 | 2017-10-30 | Plant protection unmanned aerial vehicle management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711030784.2A CN107808550B (en) | 2017-10-30 | 2017-10-30 | Plant protection unmanned aerial vehicle management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107808550A true CN107808550A (en) | 2018-03-16 |
| CN107808550B CN107808550B (en) | 2021-08-20 |
Family
ID=61582292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711030784.2A Active CN107808550B (en) | 2017-10-30 | 2017-10-30 | Plant protection unmanned aerial vehicle management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107808550B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459621A (en) * | 2018-06-19 | 2018-08-28 | 北京天龙智控科技有限公司 | Dispenser system based on unmanned plane |
| CN109062171A (en) * | 2018-10-30 | 2018-12-21 | 深圳市翔农创新科技有限公司 | Unmanned plane plant protection operation control method, system, device and storage medium |
| CN109343567A (en) * | 2018-11-06 | 2019-02-15 | 深圳市翔农创新科技有限公司 | The accurate operating system of plant protection drone and method |
| CN109857137A (en) * | 2018-12-28 | 2019-06-07 | 一飞智控(天津)科技有限公司 | Plant protection drone, operation control terminal, information processing centre and cooperative control method, system |
| CN109978417A (en) * | 2019-04-19 | 2019-07-05 | 北方天途航空技术发展（北京）有限公司 | Plant protection Team Management method and system |
| CN110058558A (en) * | 2019-05-20 | 2019-07-26 | 四川飞防农业科技有限公司 | A kind of work data statistical system of plant protection drone |
| CN110070417A (en) * | 2019-04-19 | 2019-07-30 | 北方天途航空技术发展（北京）有限公司 | Agricultural plant protection unmanned plane job management system and method |
| CN110414686A (en) * | 2019-06-10 | 2019-11-05 | 湖南大狗科技有限公司 | A kind of control unmanned plane acquisition image/video quantum of information software |
| CN112783188A (en) * | 2020-12-30 | 2021-05-11 | 甘肃建投矿业有限公司 | Unmanned aerial vehicle remote inspection flight control system and method based on 5G technology |
| CN114077476A (en) * | 2020-08-14 | 2022-02-22 | 上海交通大学 | Multi-platform elastic aerial electronic system cloud system and method |
| CN117148865A (en) * | 2023-10-09 | 2023-12-01 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster performance supervision method, system and storage medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368863A (en) * | 2011-10-24 | 2012-03-07 | 中国人民解放军理工大学 | Wireless ad-hoc emergency communication network based on network cluster and message ferrying |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| CN106125762A (en) * | 2016-08-01 | 2016-11-16 | 北京艾森博航空科技股份有限公司 | Internet-based unmanned aerial vehicle plant protection management system and method |
| US20160381596A1 (en) * | 2015-06-25 | 2016-12-29 | The Board Of Trustees Of The University Of Alabama | Intelligent multi-beam medium access control in ku-band for mission-oriented mobile mesh networks |
| CN106502264A (en) * | 2016-10-26 | 2017-03-15 | 广州极飞科技有限公司 | The operating system of plant protection unmanned plane |
| CN106502265A (en) * | 2016-10-26 | 2017-03-15 | 广州极飞科技有限公司 | A kind of airline generation method and apparatus of unmanned vehicle |
| CN106774409A (en) * | 2016-12-31 | 2017-05-31 | 内蒙古博鹰通航科技有限公司 | The semi-autonomous imitative ground flight system and its control method of a kind of unmanned plane |
| CN106774376A (en) * | 2017-01-25 | 2017-05-31 | 上海拓攻机器人有限公司 | A kind of unmanned plane imitative ground flight control method and system |
| CN106779597A (en) * | 2016-12-09 | 2017-05-31 | 武汉中瀚科技有限公司 | A kind of network general office information processing system and method |
| CN106919178A (en) * | 2017-04-14 | 2017-07-04 | 南京信息工程大学 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method |
| CN107021225A (en) * | 2016-01-29 | 2017-08-08 | 广东飞翔达科技有限公司 | A kind of agriculture unmanned plane automatic spraying method and agriculture unmanned plane |
| WO2017133719A1 (en) * | 2016-02-05 | 2017-08-10 | Thomas Wünsche | System and method for locally precise application of solids and liquids and mixtures thereof in agriculture and forestry |
| US20170237612A1 (en) * | 2015-10-02 | 2017-08-17 | Delta Energy & Communications, Inc. | Supplemental and alternative digital data delivery and receipt mesh network realized through the placement of enhanced transformer mounted monitoring devices |
-
2017
- 2017-10-30 CN CN201711030784.2A patent/CN107808550B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368863A (en) * | 2011-10-24 | 2012-03-07 | 中国人民解放军理工大学 | Wireless ad-hoc emergency communication network based on network cluster and message ferrying |
| US20160381596A1 (en) * | 2015-06-25 | 2016-12-29 | The Board Of Trustees Of The University Of Alabama | Intelligent multi-beam medium access control in ku-band for mission-oriented mobile mesh networks |
| CN105116913A (en) * | 2015-08-12 | 2015-12-02 | 北京农业智能装备技术研究中心 | Plant protection UAV operation route planning method and device |
| US20170237612A1 (en) * | 2015-10-02 | 2017-08-17 | Delta Energy & Communications, Inc. | Supplemental and alternative digital data delivery and receipt mesh network realized through the placement of enhanced transformer mounted monitoring devices |
| CN107021225A (en) * | 2016-01-29 | 2017-08-08 | 广东飞翔达科技有限公司 | A kind of agriculture unmanned plane automatic spraying method and agriculture unmanned plane |
| WO2017133719A1 (en) * | 2016-02-05 | 2017-08-10 | Thomas Wünsche | System and method for locally precise application of solids and liquids and mixtures thereof in agriculture and forestry |
| CN106125762A (en) * | 2016-08-01 | 2016-11-16 | 北京艾森博航空科技股份有限公司 | Internet-based unmanned aerial vehicle plant protection management system and method |
| CN106502264A (en) * | 2016-10-26 | 2017-03-15 | 广州极飞科技有限公司 | The operating system of plant protection unmanned plane |
| CN106502265A (en) * | 2016-10-26 | 2017-03-15 | 广州极飞科技有限公司 | A kind of airline generation method and apparatus of unmanned vehicle |
| CN106779597A (en) * | 2016-12-09 | 2017-05-31 | 武汉中瀚科技有限公司 | A kind of network general office information processing system and method |
| CN106774409A (en) * | 2016-12-31 | 2017-05-31 | 内蒙古博鹰通航科技有限公司 | The semi-autonomous imitative ground flight system and its control method of a kind of unmanned plane |
| CN106774376A (en) * | 2017-01-25 | 2017-05-31 | 上海拓攻机器人有限公司 | A kind of unmanned plane imitative ground flight control method and system |
| CN106919178A (en) * | 2017-04-14 | 2017-07-04 | 南京信息工程大学 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method |
Non-Patent Citations (5)
| Title |
|---|
| ZHA NU K S等: "Research on Air Combat Formation Optimization Based on Uenetic Simulated Annealing Algorithm", 《JOURNAL OF NORTHWESTERN POLYTECHNICAL UNIVERSITY》 * |
| 张潇潇: "无人机编队组网中基于事件驱动的QoS保障机制研究", 《中国优秀硕士学位论文全文数据库（电子期刊）》 * |
| 林坚等: "基于神经网络的模型参考自适应逆飞行控制", 《科学技术与工程》 * |
| 田峰等: "基于Mesh技术的网络融合与协同", 《中兴通讯技术》 * |
| 黄华园: "无人机一站多机数据链技术", 《电讯技术》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459621A (en) * | 2018-06-19 | 2018-08-28 | 北京天龙智控科技有限公司 | Dispenser system based on unmanned plane |
| CN109062171A (en) * | 2018-10-30 | 2018-12-21 | 深圳市翔农创新科技有限公司 | Unmanned plane plant protection operation control method, system, device and storage medium |
| CN109343567A (en) * | 2018-11-06 | 2019-02-15 | 深圳市翔农创新科技有限公司 | The accurate operating system of plant protection drone and method |
| CN109857137A (en) * | 2018-12-28 | 2019-06-07 | 一飞智控(天津)科技有限公司 | Plant protection drone, operation control terminal, information processing centre and cooperative control method, system |
| CN109978417A (en) * | 2019-04-19 | 2019-07-05 | 北方天途航空技术发展（北京）有限公司 | Plant protection Team Management method and system |
| CN110070417A (en) * | 2019-04-19 | 2019-07-30 | 北方天途航空技术发展（北京）有限公司 | Agricultural plant protection unmanned plane job management system and method |
| CN110058558A (en) * | 2019-05-20 | 2019-07-26 | 四川飞防农业科技有限公司 | A kind of work data statistical system of plant protection drone |
| CN110414686A (en) * | 2019-06-10 | 2019-11-05 | 湖南大狗科技有限公司 | A kind of control unmanned plane acquisition image/video quantum of information software |
| CN114077476A (en) * | 2020-08-14 | 2022-02-22 | 上海交通大学 | Multi-platform elastic aerial electronic system cloud system and method |
| CN114077476B (en) * | 2020-08-14 | 2024-05-28 | 上海交通大学 | Multi-platform elastic avionics system cloud system and method |
| CN112783188A (en) * | 2020-12-30 | 2021-05-11 | 甘肃建投矿业有限公司 | Unmanned aerial vehicle remote inspection flight control system and method based on 5G technology |
| CN117148865A (en) * | 2023-10-09 | 2023-12-01 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster performance supervision method, system and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107808550B (en) | 2021-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107808550A (en) | A kind of unmanned machine management system of plant protection | |
| CN107728642A (en) | A kind of UAV Flight Control System and its method | |
| CN108519775A (en) | A kind of UAV system and its control method precisely sprayed | |
| CN107688354A (en) | The UAS and its control method of a kind of autonomous flight | |
| US11144059B2 (en) | Unmanned aerial vehicle operating method and device | |
| CN106873631B (en) | Unmanned aerial vehicle control method, plant protection operation method, unmanned aerial vehicle and ground station | |
| CN106125762B (en) | Internet-based unmanned aerial vehicle plant protection management system and method | |
| CN207096463U (en) | A kind of agricultural Big Dipper difference direction finding navigation control system | |
| CN105159319B (en) | The spray method and unmanned plane of a kind of unmanned plane | |
| CN104407586B (en) | Drive decoupled plant protection unmanned aerial vehicle control system and control method | |
| Budiharto et al. | A review and progress of research on autonomous drone in agriculture, delivering items and geographical information systems (GIS) | |
| CN106716288A (en) | Agricultural unmanned aerial vehicle control method, ground control terminal and storage medium | |
| CN103770943A (en) | Intelligent pesticide delivery unmanned helicopter | |
| CN107608371A (en) | Four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas | |
| US20160048132A1 (en) | Tail-sitter flight management system | |
| CN109283937A (en) | A kind of plant protection based on unmanned plane sprays the method and system of operation | |
| CN106406336A (en) | Unmanned aerial vehicle used for fruit tree spraying | |
| CN106647795A (en) | Plant protection unmanned plane flight control system | |
| CN110333737A (en) | A kind of high unmanned aerial vehicle control system of spraying efficiency for pesticide spraying and method | |
| CN108681328A (en) | Plant protection drone imitative ground flying method and device | |
| Priandana et al. | Development of autonomous UAV quadcopters using pixhawk controller and its flight data acquisition | |
| DE112018007180T5 (en) | LOCATION ESTIMATION DEVICE, MOVING OBJECT, LOCATION ESTIMATION METHOD AND PROGRAM | |
| Uche et al. | UAV for agrochemical application: a review | |
| CN205273877U (en) | A aerial jettison system of unmanned aerial vehicle for spray insecticide | |
| Smith et al. | An outdoor scientific data drone ground truthing test site |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |