CN108664034A - Imitative ground flying method and device of the plant protection drone in tea place - Google Patents
Imitative ground flying method and device of the plant protection drone in tea place Download PDFInfo
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- CN108664034A CN108664034A CN201810445531.XA CN201810445531A CN108664034A CN 108664034 A CN108664034 A CN 108664034A CN 201810445531 A CN201810445531 A CN 201810445531A CN 108664034 A CN108664034 A CN 108664034A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
Imitative ground flying method and device the present invention provides plant protection drone in tea place, are related to unmanned aerial vehicle (UAV) control technical field, wherein imitative ground flying method of the plant protection drone in tea place include：First, judge whether the corresponding area of flight range is tea tree gap, it is above-mentioned be judged as NO in the case of, obtain the real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, it flies according to real-time altitude signal, need to illustrate is, millimetre-wave radar is mounted on the fuselage bottom of plant protection drone over the ground, it is above-mentioned be judged as YES in the case of, obtain preset tea tree altitude signal, and, it flies according to difference signal, wherein, the real-time altitude signal of difference signal and tea tree altitude signal are made difference and are obtained, pass through above-mentioned processing, enable plant protection drone above tea tree gap and tea tree when fly according to different mode, and it can flexibly switch flight above tea tree gap and tea tree, it is improved in the imitative stability flown of ground in tea place.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to plant protection drones in the imitative ground flying method in tea place and
Device.
Background technology
Plant protection drone has big advantage compared to other farm machineries, is widely used in recent years, but
In practical applications, the technical barrier that plant protection drone still has some in the urgent need to address.Domestic common plant protection operation region,
Hills and tea place hypsography are changeable, if plant protection drone height adjustment does not catch up with hypsography, can not just ensure to plant
Protect safety and the spray effect of unmanned plane.
When spraying insecticide, plant protection drone between plant at a distance from determine the effect of sprinkling, if plant protection without
Man-machine excessively high with a distance from plant, then the drug after atomization is difficult uniformly to be sprayed onto plant surface；If plant protection drone
With it is too low at a distance from plant, then can influence the operating efficiency of plant protection drone.Moreover, from safety considerations, plant protection drone
When the distance between plant is too low, flight safety coefficient is relatively low.Therefore, in order to promote the effect of plant protection drone pesticide spraying
The operating efficiency of fruit and plant protection drone promotes the flight safety of plant protection drone, and plant protection drone is in operation process
A constant distance must be kept with plant, that is, realize the flying imitatively of plant protection drone (fly also referred to as terrain following imitatively,
Refer to that the flight operation height of plant protection drone change as hypsography changes, plant protection drone and ground remain perseverance
Fixed height).
Currently, plant protection drone operation height-lock control mostly uses greatly GPS (Global Positioning System, the whole world
Positioning system), alternatively, manually controlling to control the height of plant protection drone, alternatively, utilizing single ranging vertically downward
Sensor, for example, ultrasonic sensor, laser sensor etc., and then realize and simply fly imitatively.But due in tea place
In, tea tree is typically in zonal distribution, and there are gaps between for every tea tree, for providing passing lead to pick the worker of tealeaves
Road.In operation process, plant protection drone needs constantly shuttle above tea tree between tea tree gap, fly above tea tree
When need with tea tree keep constant height, above gap when flight need with ground keep constant height, this requires plant protection
Unmanned plane needs constantly switching flying height, and therefore, plant protection drone, which changes in hypsography in the environment such as tea place greatly, to be adapted to
Property is poor.
To sum up, the problem of being difficult to the imitative ground flight stablized in the big tea place of fluctuations about plant protection drone at present,
It there is no effective solution method.
Invention content
In view of this, the embodiment of the present invention be designed to provide plant protection drone in the imitative ground flying method in tea place and
Device, by the way that different offline mode are arranged above tea tree gap and tea tree for plant protection drone, and then improve plant protection nobody
Machine is in the imitative stability flown of ground in tea place.
In a first aspect, the imitative ground flying method an embodiment of the present invention provides plant protection drone in tea place, including：
Judge whether the corresponding area of flight range is tea tree gap；
It is no, obtains the real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, according to the real-time altitude signal
It flies, wherein the millimetre-wave radar over the ground is mounted on the fuselage bottom of plant protection drone；
It is yes, obtains preset tea tree altitude signal, and, it flies according to difference signal, wherein the difference signal
The real-time altitude signal and the tea tree altitude signal are made difference and are obtained.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein institute
It states and judges whether the corresponding area of flight range is tea tree gap, including：
The reference altitude signal that millimetre-wave radar last moment acquires over the ground described in obtaining；
Calculate the height difference signal between the real-time altitude signal and the reference altitude signal；
Judge whether the height difference signal is more than or equal to the tea tree altitude signal；
It is yes, judges the corresponding area of flight range for tea tree gap；
It is no, judges the corresponding area of flight range for above tea tree.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein institute
The real-time altitude signal for obtaining that millimetre-wave radar currently acquires over the ground is stated, and, it flies according to the real-time altitude signal,
In, the millimetre-wave radar over the ground is mounted on the fuselage bottom of plant protection drone, further includes：
Judge whether the heading state of plant protection drone is forward travel state；
It is yes, obtains the preposition altitude signal of preposition millimetre-wave radar acquisition, wherein the preposition millimetre-wave radar setting
On the head of plant protection drone；
It is no, obtains the postposition altitude signal of postposition millimetre-wave radar acquisition, wherein the postposition millimetre-wave radar setting
On the tail of plant protection drone.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiments of first aspect, wherein institute
State the preposition altitude signal for obtaining the acquisition of preposition millimetre-wave radar, wherein the preposition millimetre-wave radar setting plant protection nobody
After on the head of machine, further include：
Preposition grade signal is calculated according to the real-time altitude signal and the preposition altitude signal；
Control plant protection drone is flown according to the preposition grade signal.
The third possible embodiment with reference to first aspect, an embodiment of the present invention provides the 4th kind of first aspect
Possible embodiment, wherein the postposition altitude signal for obtaining the acquisition of postposition millimetre-wave radar, wherein the postposition milli
After metre wave radar is arranged on the tail of plant protection drone, further include：
Postposition grade signal is calculated according to the real-time altitude signal and the postposition altitude signal；
Control plant protection drone is flown according to the postposition grade signal.
The 4th kind of possible embodiment with reference to first aspect, an embodiment of the present invention provides the 5th kind of first aspect
Possible embodiment, wherein the preset tea tree altitude signal of acquisition, and, it flies according to difference signal, wherein
The difference signal real-time altitude signal and the tea tree altitude signal are made difference and are obtained, and further include：
Obtain the preposition grade signal closed on the current flight moment or the postposition grade signal；
Pregap grade signal is generated according to the difference signal and the preposition grade signal；
Alternatively, generating postgap grade signal according to the difference signal and the postposition grade signal；
Control plant protection drone is flown according to the pregap grade signal or the postgap grade signal
Row.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein institute
It states height difference signal and is more than error threshold, wherein the error threshold is more than plant protection drone in the smooth flight of tea tree gap
The first error amount and above tea tree smooth flight the second error amount.
Second aspect, the imitative ground flight instruments an embodiment of the present invention provides plant protection drone in tea place, including：
Gap judgment module, for judging whether the corresponding area of flight range is tea tree gap；
Negate execution module, for being no, the acquisition real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, it presses
It flies according to the real-time altitude signal, wherein the millimetre-wave radar over the ground is mounted on the fuselage bottom of plant protection drone；
Certainly execution module obtains preset tea tree altitude signal for being yes, and, it flies according to difference signal,
Wherein, the difference signal real-time altitude signal and the tea tree altitude signal make poor obtain.
The third aspect, the embodiment of the present invention also provide a kind of unmanned plane, including：Unmanned aerial vehicle body and the radar being attached thereto
Group；
And plant protection drone imitative ground flight instruments described above.
Fourth aspect, the embodiment of the present invention also provide a kind of terminal, including memory and processor, and memory is for depositing
Storage supports that processor executes the program of the imitative ground flying method of plant protection drone that above-mentioned aspect provides in tea place, processor by with
It is set to for executing the program stored in memory.
5th aspect, the embodiment of the present invention are also provided on a kind of computer readable storage medium computer readable storage medium
The step of being stored with computer program, the method for any of the above-described executed when computer program is run by processor.
Imitative ground flying method and device of the plant protection drone provided in an embodiment of the present invention in tea place, wherein the plant protection without
The man-machine imitative ground flying method in tea place includes：First, judge flight range pair in the flight course of tea place in plant protection drone
Whether the area answered is tea tree gap, in the case of above-mentioned be judged as NO, obtains the reality that millimetre-wave radar currently acquires over the ground
When altitude signal, also, fly according to real-time altitude signal, need to illustrate, millimetre-wave radar is installed over the ground
Plant protection drone fuselage bottom it is above-mentioned be judged as YES in the case of, obtain preset tea tree altitude signal, also, according to
Difference signal flies, wherein the real-time altitude signal of difference signal and tea tree altitude signal are made difference and are obtained, i.e., plant protection without
Man-machine to fly according to certain height above tea tree, by above-mentioned processing procedure, respectively plant protection drone is in tea tree
It is provided with different offline mode above gap and tea tree, is flown with fixed mode in tea place so as to avoid plant protection drone
Flying height can be caused with the difference in above tea tree and tea tree gap and situation that frequent switching is flown unstable occurs, passed through
The setting of different offline mode improves the stability that plant protection drone is flown imitatively in tea place.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 show plant protection drone that the embodiment of the present invention is provided the imitative ground flying method in tea place first pass
Figure；
Second procedure of the plant protection drone provided Fig. 2 shows the embodiment of the present invention in the imitative ground flying method in tea place
Figure；
Fig. 3 show plant protection drone that the embodiment of the present invention is provided the imitative ground flying method in tea place third flow
Figure；
Fig. 4 shows that the plant protection drone that the embodiment of the present invention is provided is connected in the structure of the imitative ground flight instruments in tea place
Figure.
Icon：The gaps 1- judgment module；2- negates execution module；3- affirms execution module.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
The application of plant protection drone is more and more extensive, in its flight course, mostly by GPS, alternatively, manually controlling
The mode of system controls the flying height of plant protection drone, alternatively, realizing letter using single distance measuring sensor vertically downward
Single flies imitatively.But when using plant protection drone in tea place, tea tree is usually in zonal distribution, between every tea tree band there are
Gap, for providing passing channel for the worker of picking tealeaves.In operation process, plant protection drone needs constantly on tea tree
It shuttles between side and tea tree gap, needs to keep constant highly, above gap when flight with tea tree when flight above tea tree
Need with ground keep constant height, this requires plant protection drone need constantly switching flying height, cause current plant protection without
It is man-machine that in hypsography to change adaptability in the environment such as tea place greatly poor.Especially when tea place, floor space is larger, a tea
When including level land tea place and sloping fields tea garden simultaneously in garden, plant protection drone is even more to be difficult to adapt to.
Based on this, imitative ground flying method and device an embodiment of the present invention provides plant protection drone in tea place lead to below
Embodiment is crossed to be described.
Embodiment 1
Referring to Fig. 1, Fig. 2 and Fig. 3, imitative ground flying method of the plant protection drone in tea place that the present embodiment proposes specifically includes
Following steps：
Step S101：Judge whether the corresponding area of flight range is tea tree gap；
Step S102：It is no, obtains the real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, according to real-time height
Degree signal flies, wherein millimetre-wave radar is mounted on the fuselage bottom of plant protection drone over the ground；
Step S103：It is yes, obtains preset tea tree altitude signal, and, it flies according to difference signal, wherein poor
The real-time altitude signal of value signal and tea tree altitude signal are made difference and are obtained.
Above-mentioned each step is described in detail below, in the present embodiment, the form in tea place is carried out first specific
It divides, i.e., entire tea place is divided into tea tree region and tea tree gap area, secondly, the gradient situation in comprehensive consideration tea place exists
It divides further above-mentioned tea tree region and tea tree gap area to burn sth to the ground on the basis of region and locate with two kinds of hillside fields
Reason.
Above-mentioned steps S101：Judge whether the corresponding area of flight range is tea tree gap, is specifically included：
Step S1011：Flight processor obtains the reference altitude signal of millimetre-wave radar last moment acquisition over the ground.
It first to be illustrated, millimetre-wave radar is a kind of novel unmanned plane altimeter, and working frequency is high, can be with
The measurement accuracy and resolution capability of distance and speed are improved using big signal bandwidth, and can accurately analyze target signature；Together
When, millimetre-wave radar has the interference of stronger anti-clutter and anti-electronic jamming capability, has the characteristics that elevation carrection reliability is high；
Strong environmental adaptability, either greasy weather, the water surface, glass surface, meadow can well adapt to.In view of these of millimetre-wave radar
Advantage installs millimetre-wave radar additional in plant protection drone in the present embodiment.It is compared with other kinds of distance measuring sensor, millimeter
Wave radar has advantage very outstanding, it can help unmanned plane under various complicated landform environment, especially unmanned plane plant protection
Play great effect in field.
Above-mentioned flight processor is provided in the device with processing function inside plant protection drone, common, flight service
It includes the CPU such as microcontroller to manage device, is carried out to plant protection drone flying height by the analyzing processing to collected data
Further control.
The installation of millimetre-wave radar is first carried out before specific implementation, millimetre-wave radar is mounted on the fuselage of plant protection drone over the ground
Bottom.Preposition millimetre-wave radar is arranged on the head of plant protection drone.Postposition millimetre-wave radar is arranged in plant protection drone
On tail.During its flight forward, the fluctuating change for the perception landform that taken the lead in by the preposition millimetre-wave radar of Handpiece Location setting
Change, linkage is arranged the millimetre-wave radar over the ground in fuselage bottom and continues to adjust according to the fluctuations of landform the appearance of flight
State；Correspondingly, in its backward flight course, the fluctuating change for the perception landform that taken the lead in by the postposition millimetre-wave radar of tail setting
Change, linkage later is arranged the millimetre-wave radar over the ground in fuselage bottom and continues to adjust according to the fluctuations of landform the appearance of flight
State.When the number more than three of millimetre-wave radar, can be again configured with external position except head, tail and fuselage bottom,
Specific installation position can be flexibly arranged according to specifically used scene.
In tea place imitative ground flight course, the reference altitude signal of millimetre-wave radar last moment acquisition over the ground is first obtained.
Here, last moment is that the previous data for current acquire the moment.The reference altitude acquired by last moment
The comparison of signal and current real-time altitude signal judges specific location of the plant protection drone in tea place.
Step S1012：Calculate the height difference signal between real-time altitude signal and reference altitude signal.
In implementation process, subtracts reference altitude signal with real-time altitude signal and obtain height difference signal.It needs to carry out
Illustrate, height difference signal is more than error threshold, wherein error threshold steadily flies more than plant protection drone in tea tree gap
Capable the first error amount and above tea tree smooth flight the second error amount.Here the first error amount and the second error amount be
Acquire and be calculated in advance according to the specific environment in tea place, for example, the first error amount be plant protection drone in ground level
The error amount for the permitted flying height of tea tree gap smooth flight being slightly different, the second error amount are plant protection drone in tea
The error amount of the permitted flying height of smooth flight above the different tea tree of height of tree.Above-mentioned height difference signal is set
Limitation more than error threshold is to exclude the flight error caused by surface relief in flight course etc..
Step S1013：Whether decision height difference signal is more than or equal to tea tree altitude signal.
In order to clearly mark off the difference of tea tree height and tea tree gap, also, excluding caused by surface relief etc.
After flight error, decision height difference signal whether be more than or equal to tea tree altitude signal, can effectively detect plant protection nobody
Whether machine has flown to above tea tree.
Step S1014：It is yes, judges the corresponding area of flight range for above tea tree.
Specifically when plant protection drone is flown to by ground or tea tree gap above tea tree, height difference signal at least with
Tea tree altitude signal is equal.I.e. it is above-mentioned be judged as YES in the case of, the corresponding area of judgement flight range is above tea tree.At this
In the case of kind, plant protection drone can be normally carried out the operations such as pesticide spraying.
Step S1015：It is no, judges the corresponding area of flight range for tea tree gap.
Specifically when plant protection drone above tea tree by flying to tea tree gap, height difference signal is at least negative.I.e.
It is above-mentioned be judged as NO in the case of, the corresponding area of judgement flight range is tea tree gap.In this case, plant protection drone
Stopping is normally carried out the operations such as pesticide spraying, needs that after flying over the tea tree gap operations such as normal pesticide spraying could be carried out.
Step S102：The real-time altitude signal that millimetre-wave radar currently acquires over the ground is obtained, and, according to real-time altitude signal
It flies, wherein millimetre-wave radar is mounted on the fuselage bottom of plant protection drone over the ground, further includes：
Even judgement plant protection drone above tea tree when flight, due to, the gradient of tea tree band is variant, plant protection nobody
Machine needs to enable different millimetre-wave radars according to heading state in flight course.
Step S1021：Judge whether the heading state of plant protection drone is forward travel state.
In general, the heading state of plant protection drone includes forward travel state and fallback state.Therefore, sentenced by the step
Whether the heading state of disconnected plant protection drone is heading state that forward travel state carrys out clear plant protection drone.
Step S1022：It is yes, obtains the preposition altitude signal of preposition millimetre-wave radar acquisition, wherein preposition millimeter wave thunder
Up to being arranged on the head of plant protection drone.
I.e. judgement plant protection drone heading state for forward travel state when, it is acquired by preposition millimetre-wave radar
Preposition altitude signal, during judging whether plant protection drone is in upward slope by preposition altitude signal.
Step S1023：It is no, obtains the postposition altitude signal of postposition millimetre-wave radar acquisition, wherein postposition millimeter wave thunder
Up to being arranged on the tail of plant protection drone.
I.e. judgement plant protection drone heading state for fallback state when, it is acquired by postposition millimetre-wave radar
Postposition altitude signal, during judging whether plant protection drone is in descending by postposition altitude signal.
Above-mentioned steps S1022：Obtain the preposition altitude signal of preposition millimetre-wave radar acquisition, wherein preposition millimeter wave thunder
Up to after being arranged on the head of plant protection drone, further include：
(1) preposition grade signal is calculated according to real-time altitude signal and preposition altitude signal.
Flight processor judge plant protection drone heading state for forward travel state when, by preposition millimetre-wave radar
Millimetre-wave radar carrys out co- controlling it flies over the ground, i.e., flight processor is believed according to real-time altitude signal and preposition height
Number preposition grade signal is calculated, the angle that raises up of flight is specifically determined according to real-time altitude signal and preposition altitude signal,
Obtain preposition grade signal.
(2) control plant protection drone is flown according to preposition grade signal.
Later, flight processor is gone forward side by side according to above-mentioned preposition grade signal to control the adjustment of plant protection drone progress height
Row flight.
Above-mentioned steps S1023：Obtain the postposition altitude signal of postposition millimetre-wave radar acquisition, wherein postposition millimeter wave thunder
Up to after being arranged on the tail of plant protection drone, further include：
(1) postposition grade signal is calculated according to real-time altitude signal and postposition altitude signal.
Similarly, flight processor judge plant protection drone heading state for fallback state when, by postposition millimeter
Wave radar and over the ground millimetre-wave radar carry out co- controlling it fly, i.e., flight processor is according to real-time altitude signal and postposition
Altitude signal calculates preposition grade signal, and the decline of flight is specifically determined according to real-time altitude signal and postposition altitude signal
Angle is to get to postposition grade signal.
(2) control plant protection drone is flown according to postposition grade signal.
Later, flight processor is gone forward side by side according to above-mentioned postposition grade signal to control the adjustment of plant protection drone progress height
Row flight.
Step S103：Preset tea tree altitude signal is obtained, and, it flies according to difference signal, wherein difference signal
Real-time altitude signal and tea tree altitude signal are made difference and are obtained, and further include：
Even judgement plant protection drone is in the flight of tea tree gap, since the gradient of tea tree gap mesorelief also has difference
Different, plant protection drone needs to enable different millimetre-wave radars according to heading state in flight course, is planted to allow
It protects unmanned plane preferably to fly in the slope in tea tree gap, when specific implementation includes the following steps：
(1) the preposition grade signal closed on the current flight moment or postposition grade signal are obtained.
Since usual tea tree and tea tree gap are disposed adjacent, in this way, the gradient situation of adjacent tea tree and tea tree gap
Also approximately the same, when plant protection drone is in the flight of tea tree gap, " gradient mnemonics " can be used to carry out flying for tea tree gap
Row.When it is implemented, needing first to obtain the preposition grade signal closed on the current flight moment or postposition grade signal.Work as
In forward travel state, the preposition grade signal closed on the current flight moment is obtained；In fallback state, obtains and fly with current
The postposition grade signal that the row moment closes on.
(2) pregap grade signal is generated according to difference signal and preposition grade signal.
That is flight processor after calculating altitude signal i.e. difference signal of the plant protection drone in the flight of tea tree gap when,
In summary preposition grade signal generates pregap grade signal according to difference signal and preposition grade signal later, to
Determine the control signal to match with the forward travel state in tea tree gap.
Alternatively, generating postgap grade signal according to difference signal and postposition grade signal.
That is flight processor after calculating altitude signal i.e. difference signal of the plant protection drone in the flight of tea tree gap when,
In summary postposition grade signal generates postgap grade signal according to difference signal and postposition grade signal later, to
Determine the control signal to match with the fallback state in tea tree gap.
(4) control plant protection drone is flown according to pregap grade signal or postgap grade signal.
After i.e. flight processor gets the control signal to match, control plant protection drone is believed according to the pregap gradient
Number carry out to carry out the flight of forward travel state in tea tree gap, alternatively, control plant protection drone is come according to postgap grade signal
The flight of fallback state is carried out in tea tree gap.
In addition, it is necessary to illustrate, in the present invention, when unmanned plane is in floating state, data fusion module
The number obtained according to millimetre-wave radar over the ground (the second real-time altitude signal obtained by millimetre-wave radar over the ground) and differential GPS
According to generating hovering height control signal, and the flight attitude for adjusting plant protection drone by the hovering height control signal.
In conclusion imitative ground flying method of the plant protection drone provided in this embodiment in tea place includes：First, it is determined that flying
Whether the corresponding area in row region is tea tree gap, it is above-mentioned be judged as NO in the case of, that is, judge plant protection drone on tea tree
When Fang Feihang, the real-time altitude signal that millimetre-wave radar currently acquires over the ground is obtained, also, flown according to real-time altitude signal
Row, needs to illustrate, and millimetre-wave radar is mounted on the fuselage bottom of plant protection drone, the above-mentioned feelings being judged as YES over the ground
Under condition, that is, judge that plant protection drone in the flight of tea tree gap, obtains preset tea tree altitude signal, also, believe according to difference
It number flies, wherein the real-time altitude signal of difference signal and tea tree altitude signal are made difference and are obtained, by above-mentioned processing,
It is respectively provided with different offline mode according to difference of the plant protection drone above tea tree gap and tea tree, so as to avoid plant
Unmanned plane being protected in tea place can cause flying height with above tea tree and the difference in tea tree gap and frequency with fixed mode flight
Fly unstable situation of numerous switching occurs, and ensure that operating efficiency of the plant protection drone in tea place, improve plant protection nobody
The stability that machine flies imitatively in tea place.
Embodiment 2
Referring to Fig. 4, present embodiments providing imitative ground flight instruments of the plant protection drone in tea place includes：
Gap judgment module 1, for judging whether the corresponding area of flight range is tea tree gap；
Negate execution module 2, for being no, the acquisition real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, it presses
Altitude signal is flown when according to the facts, wherein millimetre-wave radar is mounted on the fuselage bottom of plant protection drone over the ground；
Certainly execution module 3 obtains preset tea tree altitude signal for being yes, and, flown according to difference signal
Row, wherein the real-time altitude signal of difference signal and tea tree altitude signal are made difference and obtained.
Plant protection drone provided in an embodiment of the present invention is in the imitative ground flight instruments in tea place, the plant provided with above-described embodiment
Imitative ground flying method having the same technical characteristic of the unmanned plane in tea place is protected to reach so can also solve identical technical problem
To identical technique effect.
The embodiment of the present invention also provides a kind of unmanned plane, including：Unmanned aerial vehicle body and the radar group being attached thereto；
And plant protection drone imitative ground flight instruments described above.
An embodiment of the present invention provides a kind of terminal, including memory and processor, memory is for storing at support
The program that device executes above-described embodiment method is managed, processor is configurable for executing the program stored in memory.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, when computer program is run by processor the step of the method for execution any of the above-described.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
The plant protection drone that the embodiment of the present invention is provided is in imitative ground flying method, device and the unmanned plane in tea place, realization principle
And the technique effect generated is identical with preceding method embodiment, to briefly describe, device embodiment part does not refer to place, can join
Corresponding contents in embodiment of the method are stated before examination.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module or unit in each embodiment of the present invention can integrate and to form an independence
Part, can also be modules individualism, can also two or more modules be integrated to form an independent portion
Point.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence, can not be interpreted as indicating or implying relative importance.Moreover, term " packet
Include ", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion so that including the mistake of a series of elements
Journey, method, article or equipment include not only those elements, but also include other elements that are not explicitly listed, either
Further include for elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence
The element that "including a ..." limits, it is not excluded that also deposit in the process, method, article or apparatus that includes the element
In other identical element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. plant protection drone is in the imitative ground flying method in tea place, which is characterized in that including：
Judge whether the corresponding area of flight range is tea tree gap；
It is no, obtains the real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, it is carried out according to the real-time altitude signal
Flight, wherein the millimetre-wave radar over the ground is mounted on the fuselage bottom of plant protection drone；
It is yes, obtains preset tea tree altitude signal, and, it flies according to difference signal, wherein the difference signal is institute
It states real-time altitude signal and the tea tree altitude signal makees what difference obtained.
2. plant protection drone according to claim 1 is in the imitative ground flying method in tea place, which is characterized in that described to judge to fly
Whether the corresponding area in row region is tea tree gap, including：
The reference altitude signal that millimetre-wave radar last moment acquires over the ground described in obtaining；
Calculate the height difference signal between the real-time altitude signal and the reference altitude signal；
Judge whether the height difference signal is more than or equal to the tea tree altitude signal；
It is yes, judges the corresponding area of flight range for tea tree gap；
It is no, judges the corresponding area of flight range for above tea tree.
3. plant protection drone according to claim 1 is in the imitative ground flying method in tea place, which is characterized in that the acquisition pair
The real-time altitude signal that ground millimetre-wave radar currently acquires, and, it flies according to the real-time altitude signal, wherein described
Millimetre-wave radar is mounted on the fuselage bottom of plant protection drone over the ground, further includes：
Judge whether the heading state of plant protection drone is forward travel state；
It is yes, obtains the preposition altitude signal of preposition millimetre-wave radar acquisition, wherein the preposition millimetre-wave radar setting is being planted
It protects on the head of unmanned plane；
It is no, obtains the postposition altitude signal of postposition millimetre-wave radar acquisition, wherein the postposition millimetre-wave radar setting is being planted
It protects on the tail of unmanned plane.
4. plant protection drone according to claim 1 is in the imitative ground flying method in tea place, which is characterized in that before the acquisition
Set the preposition altitude signal of millimetre-wave radar acquisition, wherein the head in plant protection drone is arranged in the preposition millimetre-wave radar
After upper, further include：
Preposition grade signal is calculated according to the real-time altitude signal and the preposition altitude signal；
Control plant protection drone is flown according to the preposition grade signal.
5. plant protection drone according to claim 4 is in the imitative ground flying method in tea place, which is characterized in that after the acquisition
Set the postposition altitude signal of millimetre-wave radar acquisition, wherein the tail in plant protection drone is arranged in the postposition millimetre-wave radar
After upper, further include：
Postposition grade signal is calculated according to the real-time altitude signal and the postposition altitude signal；
Control plant protection drone is flown according to the postposition grade signal.
6. plant protection drone according to claim 5 is in the imitative ground flying method in tea place, which is characterized in that described to obtain in advance
If tea tree altitude signal, and, fly according to difference signal, wherein the difference signal be the real-time altitude signal
Make what difference obtained with the tea tree altitude signal, further includes：
Obtain the preposition grade signal closed on the current flight moment or the postposition grade signal；
Pregap grade signal is generated according to the difference signal and the preposition grade signal；
Alternatively, generating postgap grade signal according to the difference signal and the postposition grade signal；
Control plant protection drone is flown according to the pregap grade signal or the postgap grade signal.
7. plant protection drone according to claim 1 is in the imitative ground flying method in tea place, which is characterized in that the difference in height
Value signal is more than error threshold, wherein the error threshold is more than plant protection drone to be missed the first of the smooth flight of tea tree gap
Difference and above tea tree smooth flight the second error amount.
8. plant protection drone is in the imitative ground flight instruments in tea place, which is characterized in that including：
Gap judgment module, for judging whether the corresponding area of flight range is tea tree gap；
Negate execution module, for being no, the acquisition real-time altitude signal that millimetre-wave radar currently acquires over the ground, and, according to institute
It states real-time altitude signal to fly, wherein the millimetre-wave radar over the ground is mounted on the fuselage bottom of plant protection drone；
Certainly execution module obtains preset tea tree altitude signal for being yes, and, it flies according to difference signal,
In, the difference signal real-time altitude signal and the tea tree altitude signal are made difference and are obtained.
9. a kind of unmanned plane, which is characterized in that including：
Unmanned aerial vehicle body and the radar group being attached thereto；
And plant protection drone according to any one of claims 8 imitative ground flight instruments.
10. a kind of computer readable storage medium, it is stored with computer program on computer readable storage medium, feature exists
In when computer program is run by processor the step of any one of execution the claims 1 to 7 the method.
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| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109644749A (en) * | 2018-12-29 | 2019-04-19 | 浙江威尔达化工有限公司 | A kind of method of air-spraying prevention and treatment Pests of Tea-Plants |
| CN110559653A (en) * | 2019-09-12 | 2019-12-13 | 腾讯科技（深圳）有限公司 | control method, device, terminal and storage medium of virtual aircraft |
| CN111123958A (en) * | 2020-01-09 | 2020-05-08 | 厦门精益远达智能科技有限公司 | Plant protection unmanned aerial vehicle, flight height control method and device thereof, and storage medium |
| WO2020108015A1 (en) * | 2018-11-27 | 2020-06-04 | 山东理工大学 | Single arm fence type vineyard aerial drug delivery operation method based on agricultural machinery and agronomy integration |
| CN111239788A (en) * | 2019-04-01 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle autonomous positioning system and method for bridge detection |
| CN112799031A (en) * | 2021-03-31 | 2021-05-14 | 长沙莫之比智能科技有限公司 | Clutter suppression method for millimeter wave ground-like radar data |
| CN112904332A (en) * | 2021-01-21 | 2021-06-04 | 长沙莫之比智能科技有限公司 | Gradient detection algorithm of millimeter wave radar altimeter |
| CN114138013A (en) * | 2021-11-19 | 2022-03-04 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle fixed-height flight method, device, equipment and storage medium |
| CN115443845A (en) * | 2022-09-29 | 2022-12-09 | 贵州师范学院 | Tea garden tea tree lesion and growth monitoring method based on unmanned aerial vehicle |
| CN118534928A (en) * | 2024-07-25 | 2024-08-23 | 西华大学 | Picking unmanned aerial vehicle applicable to terrains with different gradients and control method thereof |
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| CN109511443A (en) * | 2018-11-15 | 2019-03-26 | 山东理工大学 | The aviation of cotton defoliation medicament sprays operational method under one film, three row cultivation mode |
| WO2020108015A1 (en) * | 2018-11-27 | 2020-06-04 | 山东理工大学 | Single arm fence type vineyard aerial drug delivery operation method based on agricultural machinery and agronomy integration |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109644749A (en) * | 2018-12-29 | 2019-04-19 | 浙江威尔达化工有限公司 | A kind of method of air-spraying prevention and treatment Pests of Tea-Plants |
| CN111239788A (en) * | 2019-04-01 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle autonomous positioning system and method for bridge detection |
| CN110559653A (en) * | 2019-09-12 | 2019-12-13 | 腾讯科技（深圳）有限公司 | control method, device, terminal and storage medium of virtual aircraft |
| CN111123958A (en) * | 2020-01-09 | 2020-05-08 | 厦门精益远达智能科技有限公司 | Plant protection unmanned aerial vehicle, flight height control method and device thereof, and storage medium |
| CN112904332A (en) * | 2021-01-21 | 2021-06-04 | 长沙莫之比智能科技有限公司 | Gradient detection algorithm of millimeter wave radar altimeter |
| CN112799031A (en) * | 2021-03-31 | 2021-05-14 | 长沙莫之比智能科技有限公司 | Clutter suppression method for millimeter wave ground-like radar data |
| CN114138013A (en) * | 2021-11-19 | 2022-03-04 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle fixed-height flight method, device, equipment and storage medium |
| CN115443845A (en) * | 2022-09-29 | 2022-12-09 | 贵州师范学院 | Tea garden tea tree lesion and growth monitoring method based on unmanned aerial vehicle |
| CN115443845B (en) * | 2022-09-29 | 2023-09-01 | 贵州师范学院 | Tea garden tea tree lesion and growth condition monitoring method based on unmanned aerial vehicle |
| CN118534928A (en) * | 2024-07-25 | 2024-08-23 | 西华大学 | Picking unmanned aerial vehicle applicable to terrains with different gradients and control method thereof |
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