CN108196567A - A kind of unmanned plane tree crown tracing system - Google Patents
A kind of unmanned plane tree crown tracing system Download PDFInfo
- Publication number
- CN108196567A CN108196567A CN201711203611.6A CN201711203611A CN108196567A CN 108196567 A CN108196567 A CN 108196567A CN 201711203611 A CN201711203611 A CN 201711203611A CN 108196567 A CN108196567 A CN 108196567A
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- China
- Prior art keywords
- unmanned plane
- laser sensor
- quadrotor unmanned
- quadrotor
- data
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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 invention discloses a kind of unmanned plane tree crown tracing system, including quadrotor unmanned plane and the laser sensor unit, Inertial Measurement Unit and the data processing unit that are arranged on the quadrotor unmanned plane, wherein：The quadrotor unmanned plane includes rack and propeller, motor, power supply and flight control modules in the rack, the propeller are connected with the motor, and the motor is connected with the power supply；The propeller, motor and power supply are connected respectively with the flight control modules；The flight control modules control the flight operation of the quadrotor unmanned plane；Reasonable design of the present invention; reduce the cost that the prior art is tracked tree crown; it solves the problems, such as at present not being widely applied the technology that tree crown is tracked; reduce the waste to drug during unmanned plane sprays; improve spray efficiency; vast resources has been saved, has been also beneficial to environmental protection.
Description
Technical field
The present invention relates to agricultural unmanned air vehicle technique fields, and in particular to a kind of unmanned plane tree crown tracing system.
Background technology
Pest and disease damage is one of serious an important factor for restricting agricultural sustainable development, and current, chemical prevention is still one
Important means of prevention.Dispenser is carried out as a kind of means of novel pest control using unmanned plane, is applied compared to traditional ground
Medicine and manned dispenser have its unique advantage, so, become agricultural machinery industry research instantly to the research of agricultural unmanned plane
Hot spot.But when agriculture unmanned plane is used to spray fruit tree woods, since there are one between fruit tree individual in fruit tree woods
Vacancy of the amount of area without spray is determined, if not screened to these vacancy and implementing the gross area indifference such as rice formula
Spray, it will the vacancy between fruit tree individual and fruit tree individual wastes a large amount of pesticide, and to realize unmanned plane to fruit tree tree
The tracking of hat still relies on manpower and is controlled at present, inefficiency, wasting manpower and material resources；In view of the above-mentioned problems, the prior art
Existing correlative study, such as Lu Ze duckweeds et al.《Tree crown three-dimensional reconstruction based on unmanned plane image》, Liu Zujin etc.《Base
In the unmanned plane image crown extracting method of ICA algorithm and dimensional optimization》Deng there is correlative study, still, these researchs are all deposited
Equipment is complicated, sensor usage amount is more, it is of high cost and complicated for operation, be unfavorable for promoting the problems such as.
Invention content
The shortcomings that it is an object of the invention to overcome the prior art and deficiency, provide a kind of unmanned plane tree crown tracing system,
The system operatio is simple, can solve the problems, such as that currently available technology can not be widely applied, and reduces unmanned plane spray process medicine
The waste of object improves spray efficiency, has saved vast resources.
The purpose of the present invention is achieved through the following technical solutions：
A kind of unmanned plane tree crown tracing system including quadrotor unmanned plane and is arranged on the quadrotor unmanned plane
Laser sensor unit, Inertial Measurement Unit and data processing unit, wherein：
The quadrotor unmanned plane includes rack and propeller, motor, power supply and flight in the rack
Control module, the propeller are connected with the motor, and the motor is connected with the power supply；The propeller, motor
It is connected respectively with the flight control modules with power supply；The flight control modules control the flight of the quadrotor unmanned plane
Operation；
The laser sensor unit includes mounting bracket and laser sensor, and the whole T-shaped structure of the mounting bracket is described
Mounting bracket is equipped with mounting hole position, and the mounting bracket is connected by the mounting hole position with the rack of the quadrotor unmanned plane
It connects；There are four the laser sensor is set, wherein first laser sensor, second laser sensor and third laser sensor are equal
Even to be distributed on the crossbeam of the mounting bracket, the 4th laser sensor is arranged on the bottom of the mounting bracket vertical beam, and described first
Laser sensor, second laser sensor and third laser sensor are located at the forepart of the quadrotor unmanned plane, and the described 4th
Laser sensor is located at the rear portion of the quadrotor unmanned plane, and four laser sensors form array and in same level
Face operation simultaneously, four laser sensors obtain the distance of quadrotor unmanned plane and tree crown, and transfer data to simultaneously
The data processing unit is handled；
The Inertial Measurement Unit passes through the data processing unit and the flight control modules of the quadrotor unmanned plane
It is connected, so as to control the flight operation of the quadrotor unmanned plane, when laser sensor unit no data returns or occurs
During abnormal data, flight control modules ensure that quadrotor unmanned plane maintains existing flight path by the Inertial Measurement Unit
With heading；
The data processing unit includes microcontroller, and the microcontroller is by filtering algorithm to four laser sensors
The data transmitted are handled, and carry out comparison judgement to the data of gained after removing abnormal data, microcontroller passes through utilization
Data control quadrotor unmanned plane after comparison judges carries out operation；The microcontroller respectively with the laser sensor unit and
Inertial Measurement Unit is bi-directionally connected；The microcontroller is unidirectionally connect with the flight control modules of the quadrotor unmanned plane, described
Microcontroller passes through quadrotor unmanned plane described in the flight control modules indirect control.
The operation principle of the present invention：
During work, after quadrotor unmanned plane takes off, microcontroller sends out instruction, and four laser sensors are started to work, and hold
Continue and return data to microcontroller, other each units on quadrotor unmanned plane also start simultaneously at work, and Inertial Measurement Unit is used for
The velocity information of quadrotor unmanned plane during flying is sent to microcontroller, microcontroller is by controlling the flight of quadrotor unmanned plane to control
Module is so as to control the flight operation of quadrotor unmanned plane；When the first laser sensing positioned at quadrotor unmanned plane forepart
The data that device, second laser sensor and third laser sensor are obtained occur being mutated and be mutated after numerical difference away from place
When practical zone of reasonableness, it may determine that quadrotor unmanned plane is located in the range of loblolly tree to be painted hat at this time, then microcontroller starts to hold
Row data processor simultaneously controls quadrotor unmanned plane to carry out spray drug operation；After spray drug operation terminates, microcontroller is not held temporarily
Row data processor, and quadrotor unmanned plane flight forward is controlled, when the first laser sensor in forepart, second laser
The numerical value that sensor and third laser sensor are obtained occur being mutated and be mutated after numerical difference away from it is practical rationally
During range, may determine that quadrotor unmanned plane has been moved off having sprayed in the range of tree crown at this time, then microcontroller control quadrotor without
Man-machine continuation flight forward is found next fruit tree and its tree crown is positioned, such cycle operation, can cross fruit tree
Vacancy between body is so as to reduce the waste during spray to drug.
The present invention has following advantageous effect compared with prior art：
Reasonable design of the present invention reduces the cost that the prior art is tracked tree crown, solves at present to carry out tree crown
The problem of technology of tracking can not be widely applied reduces the waste to drug during unmanned plane sprays, improves spray
Efficiency has saved vast resources, is also beneficial to environmental protection.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure diagram of laser sensor unit of the present invention；
Fig. 3 is the job state figure of the present invention.
Reference numeral is in figure：1st, first laser sensor；2nd, second laser sensor；3rd, third laser sensor；4、
4th laser sensor；5th, mounting bracket；6th, quadrotor unmanned plane；7th, mounting hole position；8th, tree crown.
Specific embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
As shown in Figures 1 to 3, a kind of unmanned plane tree crown tracing system including quadrotor unmanned plane 6 and is arranged on described
Laser sensor unit, Inertial Measurement Unit and data processing unit on quadrotor unmanned plane 6, wherein：
The quadrotor unmanned plane 6 includes rack and propeller in the rack, motor, power supply and flies
Row control module, the propeller are connected with the motor, and the motor is connected with the power supply；The propeller, electricity
Machine and power supply are connected respectively with the flight control modules；The flight control modules control the quadrotor unmanned plane 6
Flight operation.
The laser sensor unit includes mounting bracket 5 and laser sensor, the whole T-shaped structure of mounting bracket 5, institute
Mounting bracket 5 is stated equipped with mounting hole position 7, the mounting bracket 5 passes through the mounting hole position 7 and the machine of the quadrotor unmanned plane 6
Frame is connected；There are four the laser sensor is set, wherein first laser sensor 1, second laser sensor 2 and third laser
Sensor 3 is evenly distributed on the crossbeam of the mounting bracket 5, and the 4th laser sensor 4 is arranged on the bottom of 5 vertical beam of mounting bracket
Portion, the first laser sensor 1, second laser sensor 2 and third laser sensor 3 are located at the quadrotor unmanned plane 6
Forepart, the 4th laser sensor 4 is located at the rear portion of the quadrotor unmanned plane 6, and four laser sensors are formed
Array and in same level operation simultaneously, four laser sensors obtain quadrotor unmanned plane 6 and tree crown 8 simultaneously
Distance, and transfer data to the data processing unit and handled；The laser sensor also can be by ultrasonic sensor
Or the element that infrared ray sensor etc. has distance measurement function is replaced, and can also make the function of the realization present invention.
The Inertial Measurement Unit passes through the data processing unit and the flight control modules of the quadrotor unmanned plane 6
It is connected, so as to control the flight operation of the quadrotor unmanned plane 6, when laser sensor unit no data returns or occurs
During abnormal data, flight control modules ensure that quadrotor unmanned plane 6 maintains existing flight road by the Inertial Measurement Unit
Diameter and heading, it is ensured that the stability of unmanned plane during flying and safety.
The data processing unit includes microcontroller, and the microcontroller is by filtering algorithm to four laser sensors
The data transmitted are handled, and carry out comparison judgement to the data of gained after removing abnormal data, microcontroller passes through utilization
Data control quadrotor unmanned plane 6 after comparison judges carries out operation；The microcontroller respectively with the laser sensor unit
It is bi-directionally connected with Inertial Measurement Unit；The microcontroller is unidirectionally connect with the flight control modules of the quadrotor unmanned plane 6, institute
It states microcontroller and passes through quadrotor unmanned plane 6 described in the flight control modules indirect control.
During work, after quadrotor unmanned plane 6 takes off, microcontroller sends out instruction, and four laser sensors are started to work, and hold
Continue and return data to microcontroller, other each units on quadrotor unmanned plane 6 also start simultaneously at work, and Inertial Measurement Unit is used for
The velocity information that quadrotor unmanned plane 6 flies is sent to microcontroller, microcontroller is by controlling the flight control of quadrotor unmanned plane 6
Molding block is so as to control the flight operation of quadrotor unmanned plane 6；When the first laser biography positioned at 6 forepart of quadrotor unmanned plane
The data that sensor 1, second laser sensor 2 and third laser sensor 3 are obtained occur being mutated and be mutated after numerical value
When gap is in practical zone of reasonableness, it may determine that quadrotor unmanned plane 6 is located in the range of loblolly tree to be painted hat 8 at this time, then monolithic
Machine starts to perform data processor and quadrotor unmanned plane 6 is controlled to carry out spray drug operation；
Wherein, the detailed process of the microcontroller execution data processing is：
After microcontroller obtains the data that four laser sensor transmission come, first each laser sensor is transmitted to come
Data be filtered, you can the data to be tallied with the actual situation, wherein, filter process is specially：Because of blade
Between there are gap, it is unmanned plane that light that laser sensor is sent out, which may pass through gap and fall the numerical value for, causing to measure on the ground,
The point is to the height on ground, if there is such case, this data is by much larger than the data of other laser sensors, as extremely
Data remove the abnormal data, and obtained data are the data to tally with the actual situation；If first laser sensor 1 and tree
The distance of hat 8 is L1, and the distance of the second mechanism sensor and tree crown 8 is L2, and third laser sensor 3 and the distance of tree crown 8 are
The distance of L3, the 4th laser sensor 4 and tree crown 8 is L4；The same time is by obtained four of four laser sensors later
Numerical value L1, L2, L3 and L4 carry out comparison judgement for one group：1. if L1 is more than L3, microcontroller control quadrotor unmanned plane 6 to
Left, if L3 is more than L1, microcontroller control quadrotor unmanned plane 6 is to right translation, until the difference of the numerical value of L1 and L3 is small
In 5 to 10 centimetres, this numerical value can flexible transformation according to different fruit trees；2. if L2 is more than L4, four rotation of microcontroller control
Wing unmanned plane 6 translates forward, if L4 is more than L2, microcontroller control unmanned plane translates backward, until two sensings of L2 and L4
The difference of the numerical value of device is less than 5 to 10 centimetres, this numerical value can flexible transformation according to different fruit trees；1. 2. two steps are carried out at the same time,
By above-mentioned adjustment, quadrotor unmanned plane 6 is just in the top position of tree crown 8, performs spray drug operation again at this time, can reduce medicine
The waste of object；
After spray drug operation terminates, microcontroller does not perform data processor temporarily, and controls quadrotor unmanned plane 6 forward
Flight, when the numerical value that the first laser sensor 1 in forepart, second laser sensor 2 and third laser sensor 3 are obtained
When there is the numerical difference after being mutated and being mutated away from practical zone of reasonableness, quadrotor unmanned plane 6 may determine that at this time
Through leaving in the range of the tree crown 8 that sprayed, then microcontroller control quadrotor unmanned plane 6 continues flight forward, finds next fruit tree
And its tree crown 8 is positioned, such cycle operation, during the vacancy between fruit tree individual can be crossed so as to reduce spray
Waste to drug.
Reasonable design of the present invention reduces the cost that the prior art is tracked tree crown, solves at present to carry out tree crown
The problem of technology of tracking can not be widely applied reduces the waste to drug during unmanned plane sprays, improves spray
Efficiency has saved vast resources, is also beneficial to environmental protection.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the above,
He it is any without departing from the present invention Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (1)
1. a kind of unmanned plane tree crown tracing system, which is characterized in that including quadrotor unmanned plane and be arranged on the quadrotor
Laser sensor unit, Inertial Measurement Unit and data processing unit on unmanned plane, wherein：
The quadrotor unmanned plane includes rack and propeller, motor, power supply and flight control in the rack
Module, the propeller are connected with the motor, and the motor is connected with the power supply；The propeller, motor and electricity
Source is connected respectively with the flight control modules；The flight control modules control the flight of the quadrotor unmanned plane to make
Industry；
The laser sensor unit includes mounting bracket and laser sensor, the whole T-shaped structure of the mounting bracket, the installation
Frame is equipped with mounting hole position, and the mounting bracket is connected by the mounting hole position with the rack of the quadrotor unmanned plane；Institute
It states there are four laser sensor sets, wherein first laser sensor, second laser sensor and third laser sensor uniformly divide
For cloth on the crossbeam of the mounting bracket, the 4th laser sensor is arranged on the bottom of the mounting bracket vertical beam, the first laser
Sensor, second laser sensor and third laser sensor are located at the forepart of the quadrotor unmanned plane, the 4th laser
Sensor is located at the rear portion of the quadrotor unmanned plane, and four laser sensors form array and same in same level
Shi Zuoye, four laser sensors obtain the distance of quadrotor unmanned plane and tree crown simultaneously, and transfer data to described
Data processing unit is handled；
The Inertial Measurement Unit is connected by the data processing unit with the flight control modules of the quadrotor unmanned plane
It connects, so as to control the flight operation of the quadrotor unmanned plane, when laser sensor unit no data returns or occurs abnormal
During data, flight control modules ensure that quadrotor unmanned plane maintains existing flight path with flying by the Inertial Measurement Unit
Line direction；
The data processing unit includes microcontroller, and the microcontroller transmits four laser sensors by filtering algorithm
The data to come over are handled, and the data of gained are carried out with comparison judgement after removing abnormal data, microcontroller passes through with comparison
Data control quadrotor unmanned plane after judgement carries out operation；The microcontroller respectively with the laser sensor unit and inertia
Measuring unit is bi-directionally connected；The microcontroller is unidirectionally connect with the flight control modules of the quadrotor unmanned plane, the monolithic
Machine passes through quadrotor unmanned plane described in the flight control modules indirect control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711203611.6A CN108196567A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane tree crown tracing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711203611.6A CN108196567A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane tree crown tracing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108196567A true CN108196567A (en) | 2018-06-22 |
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ID=62573102
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711203611.6A Pending CN108196567A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane tree crown tracing system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016137982A1 (en) * | 2015-02-24 | 2016-09-01 | Airogistic, L.L.C. | Methods and apparatus for unmanned aerial vehicle landing and launch |
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN205958994U (en) * | 2016-08-12 | 2017-02-15 | 南京士龙智能科技有限公司 | Well unmanned aerial vehicle flight control device |
| CN106969730A (en) * | 2017-05-19 | 2017-07-21 | 中国农业大学 | A kind of top fruit sprayer volume measuring method based on unmanned plane Detection Techniques |
| CN106970651A (en) * | 2017-06-06 | 2017-07-21 | 南京理工大学泰州科技学院 | A kind of the autonomous flight system and control method of four rotor wing unmanned aerial vehicles of view-based access control model navigation |
-
2017
- 2017-11-27 CN CN201711203611.6A patent/CN108196567A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016137982A1 (en) * | 2015-02-24 | 2016-09-01 | Airogistic, L.L.C. | Methods and apparatus for unmanned aerial vehicle landing and launch |
| CN205958994U (en) * | 2016-08-12 | 2017-02-15 | 南京士龙智能科技有限公司 | Well unmanned aerial vehicle flight control device |
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN106969730A (en) * | 2017-05-19 | 2017-07-21 | 中国农业大学 | A kind of top fruit sprayer volume measuring method based on unmanned plane Detection Techniques |
| CN106970651A (en) * | 2017-06-06 | 2017-07-21 | 南京理工大学泰州科技学院 | A kind of the autonomous flight system and control method of four rotor wing unmanned aerial vehicles of view-based access control model navigation |
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| PB01 | Publication | ||
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Application publication date: 20180622 |