CN109213186A - The method, apparatus and unmanned plane of unmanned plane spraying operation - Google Patents
The method, apparatus and unmanned plane of unmanned plane spraying operation Download PDFInfo
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- CN109213186A CN109213186A CN201710516648.8A CN201710516648A CN109213186A CN 109213186 A CN109213186 A CN 109213186A CN 201710516648 A CN201710516648 A CN 201710516648A CN 109213186 A CN109213186 A CN 109213186A
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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
The embodiment of the invention provides the method, apparatus and unmanned plane of a kind of unmanned plane spraying operation, which comprises obtains the operation track information to manipulating object；Determine the rotation control amount to manipulating object；During the control unmanned plane is navigated by water according to the operation track information, the unmanned plane is controlled using the rotation control amount and is scanned spraying operation；Through the embodiment of the present invention, it realizes while unmanned plane carries out spraying operation according to course line and is rotated, enable medical fluid when spraying operation to reach the active component to manipulating object, achieve the purpose that effective plant protection.
Description
Technical field
The present invention relates to unmanned plane fields, spray more particularly to a kind of method of unmanned plane spraying operation, a kind of unmanned plane
Spill the device and a kind of unmanned plane of operation.
Background technique
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, UAV) is a kind of using radio
The not manned aircraft of remote control equipment and the presetting apparatus provided for oneself manipulation.Unmanned plane it is widely used, be often applied to city
The industries such as city's management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.For example, unmanned plane can be applied to agricultural
In, it sprays insecticide for agricultural product, fertilizer etc..
Specifically, the flusher for spraying insecticide can be installed on unmanned plane, then according to region (example to be sprayed
Such as, the farmland for needing to spray insecticide) position and size be the unmanned plane plan flight path, by the nothing of installation flusher
The man-machine flight path according to planning is flown in overlying regions to be sprayed, is sprayed insecticide for the crops in region to be sprayed.
And spraying operation can be scanned to crop in the prior art, in work opportunity head direction against course-and-bearing,
But such scanning spraying operation mode is only capable of being sprayed onto the upper surface of crops, and in crops, leaflike following table
But it sprays less than can not achieve comprehensive, the accurately spraying operation to crops at the covered position such as face.
Summary of the invention
In view of the above problems, the embodiment of the present invention is proposed in order to provide overcoming the above problem or at least being partially solved
The device and a kind of unmanned plane of the method for unmanned plane spraying operation of the above problem a kind of, a kind of unmanned plane spraying operation.
To solve the above-mentioned problems, the embodiment of the invention discloses a kind of method of unmanned plane spraying operation, the methods
Include:
Obtain the operation track information to manipulating object；
Determine the rotation control amount to manipulating object；
During the control unmanned plane is navigated by water according to the operation track information, using the rotation control amount control
It makes the unmanned plane and is scanned spraying operation.
Preferably, the unmanned plane has multiple rotors, and the rotation control amount includes first object revolving speed, described to control
During the unmanned plane is made according to operation track information navigation, the unmanned plane is controlled using the rotation control amount
The step of being scanned spraying operation include:
During the control unmanned plane is navigated by water according to the operation track information, the real-time of the unmanned plane is obtained
Revolving speed；
Based on real-time revolving speed and the first object revolving speed, the rotor revolving speed of each rotor is adjusted, so that the unmanned plane
It is rotated during scanning spraying operation using the first object revolving speed.
Preferably, the rotation control amount further includes target direction of rotation, described to be based on real-time revolving speed and first mesh
Revolving speed is marked, the step of adjusting the rotor revolving speed of each rotor includes:
Determine the speed difference of real-time revolving speed and the first object revolving speed；
Determine adjustment amplitude corresponding with the speed difference；
Determine positive rotor corresponding with the target direction of rotation and reverse rotor；Wherein, the positive rotor is
The rotor rotated using the direction opposite with the target direction of rotation, the reverse rotor are to use and the target rotation side
The rotor rotated to identical direction；
According to the adjustment amplitude, increases the rotor revolving speed of the positive rotor and/or reduce the rotation of the reverse rotor
Wing revolving speed, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
Preferably, the unmanned plane has single rotor and empennage, and the rotation control amount includes the second rotating speed of target, institute
It states during the control unmanned plane is navigated by water according to the operation track information, using described in rotation control amount control
Unmanned plane is scanned the step of spraying operation and includes:
During the control unmanned plane is navigated by water according to the operation track information, the real-time of the unmanned plane is obtained
Revolving speed；
Based on real-time revolving speed and second rotating speed of target, the empennage revolving speed of the empennage is adjusted, so that the unmanned plane
It is rotated during scanning spraying operation using second rotating speed of target.
Preferably, the step of rotation control amount described in the determination to manipulating object includes:
Determine the type to manipulating object；
The type is searched from preset relation table, obtains rotation control amount corresponding with the type；Wherein, described
Relation table includes the corresponding relationship of multiple types and rotation control amount.
Preferably, the unmanned plane is controlled in the following way to navigate by water according to the operation track information:
Coordinate points are obtained from the operation track information；
Determine the first coordinate speed of navigation to the coordinate points；Wherein, first coordinate speed is the unmanned plane
Speed relative to terrestrial coordinate system；
First coordinate speed is converted into the second coordinate speed；Wherein, second coordinate speed be it is described nobody
Speed of the machine relative to body coordinate system；
It is flown using second coordinate speed to the coordinate points.
The embodiment of the invention also discloses a kind of device of unmanned plane spraying operation, described device includes:
Operation track data obtaining module, for obtaining the operation track information to manipulating object；
Control amount determining module is rotated, for determining the rotation control amount to manipulating object；
Operation module is controlled, for adopting during the control unmanned plane is navigated by water according to the operation track information
The unmanned plane, which is controlled, with the rotation control amount is scanned spraying operation.
Preferably, the unmanned plane has multiple rotors, and the rotation control amount includes first object revolving speed, the control
Operation module includes:
First real-time revolving speed acquisition submodule, for controlling what the unmanned plane was navigated by water according to the operation track information
In the process, the real-time revolving speed of the unmanned plane is obtained；
Rotor revolving speed adjusting submodule adjusts each rotor for being based on real-time revolving speed and the first object revolving speed
Rotor revolving speed, so that the unmanned plane is rotated during scanning spraying operation using the first object revolving speed.
Preferably, the rotation control amount further includes target direction of rotation, and the rotor revolving speed adjusting submodule includes:
Speed difference determination unit, for determining the speed difference of real-time revolving speed and the first object revolving speed；
Adjustment amplitude determination unit, for determining adjustment amplitude corresponding with the speed difference；
Rotor determination unit, for determining positive rotor corresponding with the target direction of rotation and reverse rotor；Its
In, the forward direction rotor is the rotor rotated using the direction opposite with the target direction of rotation, and the reverse rotor is to adopt
The rotor rotated with direction identical with the target direction of rotation；
Rotor revolving speed increases reduction unit, for increasing the rotor revolving speed of the positive rotor according to the adjustment amplitude
And/or reduce the rotor revolving speed of the reverse rotor, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
Preferably, the unmanned plane has single rotor and empennage, and the rotation control amount includes the second rotating speed of target, institute
Stating control operation module includes:
Second real-time revolving speed acquisition submodule, for controlling what the unmanned plane was navigated by water according to the operation track information
In the process, the real-time revolving speed of the unmanned plane is obtained；
Empennage revolving speed adjusting submodule adjusts the empennage for being based on real-time revolving speed and second rotating speed of target
Empennage revolving speed, so that the unmanned plane is rotated during scanning spraying operation using second rotating speed of target.
Preferably, the rotation control amount determining module includes:
Type determination module, for determining the type to manipulating object；
Control amount acquisition submodule is rotated, for searching the type from preset relation table, is obtained and the type
Corresponding rotation control amount；Wherein, the relation table includes the corresponding relationship of multiple types and rotation control amount.
Preferably, the unmanned plane is controlled in the following way to navigate by water according to the operation track information:
Coordinate points are obtained from the operation track information；
Determine the first coordinate speed of navigation to the coordinate points；Wherein, first coordinate speed is the unmanned plane
Speed relative to terrestrial coordinate system；
First coordinate speed is converted into the second coordinate speed；Wherein, second coordinate speed be it is described nobody
Speed of the machine relative to body coordinate system；
It is flown using second coordinate speed to the coordinate points.
The embodiment of the invention also discloses a kind of unmanned plane, including controller, rotor, flusher,
The controller includes storage medium, and the storage medium is for storing program, for as above when described program is run
The step of the method；
The flusher is used to after receiving the sprinkling instruction that the controller is sent open, and to described to operation
Object is sprayed；
The rotor is used to adjust rotor revolving speed based on the rotation control amount, so that the unmanned plane is made in scanning sprinkling
It is rotated during industry.
The embodiment of the invention also discloses a kind of aircraft, including memory, processor and storage are on a memory and can
The step of computer program run on a processor, the processor realizes method as described above when executing described program.
The embodiment of the invention also discloses a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step of method as described above is realized when sequence is executed by processor.
The embodiment of the present invention includes following advantages:
In embodiments of the present invention, it by obtaining the operation track information to manipulating object, then determines to manipulating object
Rotation control amount, control unmanned plane according to operation track information navigate by water during, using rotation control amount control nobody
Machine is scanned spraying operation, realizes while unmanned plane carries out spraying operation according to course line and is rotated, so that sprinkling is made
Medical fluid can reach the active component to manipulating object when industry, achieve the purpose that effective plant protection.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of step flow chart of the method for unmanned plane spraying operation of the embodiment of the present invention；
Fig. 2 is a kind of structural block diagram of the device of unmanned plane spraying operation of the embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.Obviously, described embodiments are some of the embodiments of the present invention, without
It is whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
During unmanned plane plant protection operation, it can be completed by flight control system (referred to as flying control) control unmanned plane
Fly, airflight, execute job task and the entire flight course such as make a return voyage, flies control and driver is equivalent to for having for unmanned plane
Man-machine effect is most crucial one of the technology of unmanned plane.
The flight control system may include earth station, and earth station can be communicated by communication module with unmanned plane,
In the implementation, which can be hand-held earth station, wherein can built-in high-precision GPS, support irregularly block boundary
Quickly mapping, when using the earth station, without connecting computer, can directly adjust unmanned plane during flying parameter.The earth station has
Intelligent flight course planning function supports spray point switch default, can effectively avoid in operation process and occurs respraying or drain spray phenomenon.?
During sprinkling, user can also be flown by earth station's real-time monitoring and spray state, make sprinkling more accurate, efficient.
The embodiment of the present invention can obtain the job configuration information to manipulating object by earth station, and be matched based on the operation
Confidence breath generates operation track information and is sent to unmanned plane, and unmanned plane is for each of the operation track information to operation pair
As being scanned spraying operation using rotation control amount control unmanned plane, realizing unmanned plane according to course line and carry out spraying operation
While rotated, enable medical fluid when spraying operation to reach the active component to manipulating object, reach the mesh of effective plant protection
's.
The embodiment of the present invention is described in detail below.
Referring to Fig.1, a kind of step flow chart of the method for unmanned plane spraying operation of the embodiment of the present invention is shown, specifically
It may include steps of:
Step 101, the operation track information to manipulating object is obtained；
It is to be interrupted and discontinuous, if tree to manipulating object, operation track information can in an embodiment of the present invention
To include but is not limited to: to manipulating object mark, the sequence of operation, the operation for identifying corresponding manipulating object to manipulating object
Position, flying height, sprinkling duration, spray radius and sprinkling dosage of unit time etc..
Specifically, flying height refers to the height of unmanned plane accessible flight safely.In practice, which can be with
For height and preset spraying altitude the sum of of the top apart from datum level of manipulating object, datum level can be sea level.
Spraying altitude refer to the height on top of the unmanned plane apart from manipulating object herein height when, unmanned plane can reach
Optimal spray effect.The value can rule of thumb be preset by operator or developer, for example, it is set as 2m,
Optimal spray effect is obtained when then indicating unmanned plane apart from manipulating object top 2m.
It should be noted that the spraying altitude of each manipulating object can be identical, it can also be according to the growth of manipulating object
Attribute and growing environment are set separately, and the embodiment of the present invention is not construed as limiting this.
Job position can be the central point longitude and latitude of manipulating object, for example, if manipulating object is fruit tree, manipulating object
Central point can be tree trunk or set vertical plane under region center.
Spray radius can be outermost layer leaf from tree trunk with a distance from or above-mentioned zone radius, in spraying operation,
Sprinkling is all needed in place in spray radius.
Sprinkling duration refers to the duration that unmanned plane sprays single manipulating object, can be developer or behaviour
Make the empirical value of personnel setting, or be the default value of system, the embodiment of the present invention is not construed as limiting this.
The sprinkling dosage of unit time can be according to the spray of the area and preset unit area in the region of above-mentioned projection
It spills dosage and sprinkling duration calculation obtains.
Manipulating object mark is the number for the mark manipulating object that operator is inputted by earth station；
To the job order of each manipulating object when the sequence of operation can execute operation for unmanned plane, which can be with
It is that earth station automatically generates according to the topography situation between manipulating object, the operation that can also be inputted in earth station with operator
Order.
It should be noted that operator can also adjust on demand the work by earth station during unmanned machine operation
Industry sequence.
It in another embodiment, is continuously into whole a piece of operating area to manipulating object, operating area can
To be rectangle or trapezoidal etc., such as wheat, rice, operating area may be belt-like zone, such as the shrub zone on road side, tea place
It may include: continuous operation track, flying height, sprinkling duration, the sprinkling dosage of unit time Deng, operation track information
Deng.For different to manipulating object, different operation track information can be planned by mapping.
In the concrete realization, the controller in unmanned plane can by establishing data link with earth station, then from
Earth station obtains the operation track information to manipulating object.
Wherein, operation track information can also include multiple coordinate points, and coordinate points can be staff to operation
The location point positioned in job position, operation track information can constitute an estimated road to connect a series of coordinate points
Line can be used to indicate the navigation route that aircraft is formed or followed in space, can be curve or straight line.
Step 102, the rotation control amount to manipulating object is determined；
As an example, rotation control amount may include rotating speed of target, target direction of rotation etc..
Due to the different height to manipulating object, the difference of the width etc. of leaf, it is different can to manipulating object
With preset different rotation control amount, the embodiment of the present invention can determine the rotation control amount to manipulating object, so as to control
Unmanned plane processed carries out different degrees of rotation.
In a kind of preferred embodiment of the present invention, step 102 may include following sub-step:
Sub-step S11 determines the type to manipulating object；
It is determining after manipulating object, the embodiment of the present invention can determine the type to manipulating object, such as arbor class, shrub
Class, ground cover plant etc., the multiple types for another example divided according to the width of the leaf of plant.
Sub-step S12 searches the type from preset relation table, obtains rotation control corresponding with the type
Amount；
In embodiments of the present invention, for different types to manipulating object, its corresponding rotation control can be determined
Amount, and production Methods table, relation table may include the corresponding relationship of multiple types and rotation control amount.
It is determining after the type of manipulating object, the embodiment of the present invention can search type from preset relation table, so
Rotation control amount corresponding with type is obtained afterwards.
Step 103, during the control unmanned plane is navigated by water according to the operation track information, using the rotation
Control amount controls the unmanned plane and is scanned spraying operation.
In embodiments of the present invention, it can control unmanned plane to be rotated while scanning spraying operation, unmanned plane
Airflow direction when fuselage rotates below aircraft is more random when more motionless than heading, and the air-flow of upset can turn over the leaf of crop
It turns over, then sprinkling medicine can be dripped each position for taking crop to, achieve the purpose that precisely to spray.
In a kind of preferred embodiment of the present invention, unmanned plane can be Multi-axis aircraft, can specific multiple rotors, rotation
Control amount may include first object revolving speed, and the angular speed that first object revolving speed can be rotated up to for control unmanned plane then walks
Rapid 103 may include following sub-step:
Sub-step S21 obtains the nothing during control unmanned plane is navigated by water according to the operation track information
Man-machine real-time revolving speed；
Wherein, real-time revolving speed can be real-time angular speed of the unmanned plane when being rotated, such as when unmanned plane does not rotate,
Real-time revolving speed is 0.
During controlling unmanned plane according to the navigation of operation track information, the embodiment of the present invention can be by unmanned plane
Sensor obtain the real-time revolving speed of unmanned plane such as IMU (Inertial Measurement Unit, Inertial Measurement Unit).
Sub-step S22 is based on real-time revolving speed and the first object revolving speed, adjusts the rotor revolving speed of each rotor, so that
The unmanned plane is rotated during scanning spraying operation using the first object revolving speed.
After obtaining real-time revolving speed and first object revolving speed, the available real-time revolving speed of the embodiment of the present invention and first object
Then difference between revolving speed can adjust the rotor revolving speed in each rotor, such as PID using feedback control algorithm
(Proportion Integral Differential) algorithm revolves unmanned plane using first object revolving speed
Turn.
It should be noted that the process that the rotor revolving speed of each rotor is adjusted in the embodiment of the present invention can be it is dynamic,
Real-time revolving speed can be obtained according to prefixed time interval, then the continuous tune based on real-time revolving speed and first object speed dynamic
The rotor revolving speed of whole each rotor.
In one preferred embodiment of the invention, rotation control amount can also include target direction of rotation, target rotation
Direction can be for counterclockwise and clockwise, then sub-step S22 may include following sub-step:
Sub-step S221 determines the speed difference of real-time revolving speed and the first object revolving speed；
After real-time revolving speed and first object revolving speed are calculated, the embodiment of the present invention can determine real-time revolving speed and
The speed difference of first object revolving speed.
Sub-step S222 determines adjustment amplitude corresponding with the speed difference；
It in embodiments of the present invention, can be with the corresponding relationship of preset speed difference and adjustment amplitude, for different speed differences
Different adjustment amplitudes can be used, larger adjustment amplitude is used when such as speed difference being 100, using compared with ditty when speed difference is 10
Whole picture degree.
Sub-step S223 determines positive rotor corresponding with the target direction of rotation and reverse rotor；
After determining target direction of rotation, the embodiment of the present invention can be determined and be corresponded to according to the direction of rotation of each rotor
Positive rotor and reverse rotor.
Wherein, positive rotor can be the rotor rotated using the direction opposite with target direction of rotation, positive rotor
Rotation can generate thrust identical with target direction of rotation, as target direction of rotation be clockwise direction when, positive rotor be it is inverse
The rotor of hour hands rotation.
Reverse rotor can be the rotor rotated using direction identical with target direction of rotation, the rotation meeting of reverse rotor
The thrust opposite with target direction of rotation is generated, when such as target direction of rotation being clockwise direction, reverse rotor is to revolve clockwise
The rotor turned.
Sub-step S224 increases the rotor revolving speed of the positive rotor and/or reduces described inverse according to the adjustment amplitude
To the rotor revolving speed of rotor, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
Since there are speed differences between real-time revolving speed and first object revolving speed, usually real-time revolving speed turns less than first object
Speed, the embodiment of the present invention can increase the rotor revolving speed of positive rotor and/or reduce the rotor of reverse rotor according to adjustment amplitude
Revolving speed, to constantly increase the real-time revolving speed of unmanned plane, turns so that unmanned plane generates rotation torque until reaching first object
Speed.
For example, target direction of rotation is clockwise, positive rotor is the rotor rotated counterclockwise, positive rotor wing rotation
When can produce clockwise thrust, reverse rotor is the rotor rotated clockwise, and when reverse rotor wing rotation can produce
Anticlockwise thrust.
When reducing the rotor revolving speed of reverse rotor, then anticlockwise thrust is reduced, when the positive rotor of increase
When rotor revolving speed, then clockwise thrust is increased, due to increasing clockwise thrust, while reducing the inverse time
The thrust in needle direction, so unmanned plane will increase the speed rotated clockwise, so that revolving speed constantly increases in real time, until
Reach first object revolving speed.
Certainly, when real-time revolving speed is greater than first object revolving speed, the embodiment of the present invention can also reduce just according to adjustment amplitude
To the rotor revolving speed of rotor and/or the rotor revolving speed of the reverse rotor of increase, so that the real-time revolving speed of unmanned plane reaches described first
Rotating speed of target.
In another preferred embodiment of the invention, unmanned plane can be uniaxial aircraft, can have single rotor
And empennage, rotation control amount may include the second rotating speed of target, and the second rotating speed of target can control unmanned plane and be rotated up to
Angular speed, then step 103 may include following sub-step:
Sub-step S31 obtains the nothing during control unmanned plane is navigated by water according to the operation track information
Man-machine real-time revolving speed；
During controlling unmanned plane according to the navigation of operation track information, the embodiment of the present invention can be by unmanned plane
Sensor obtain unmanned plane real-time revolving speed.
Sub-step S32 is based on real-time revolving speed and second rotating speed of target, adjusts the empennage revolving speed of the empennage, so that
The unmanned plane is rotated during scanning spraying operation using second rotating speed of target.
After obtaining real-time revolving speed and the second rotating speed of target, the available real-time revolving speed of the embodiment of the present invention and the second target
Then difference between revolving speed can allow unmanned plane to use using the empennage revolving speed of feedback control algorithm adjustment empennage
Second rotating speed of target is rotated.
It should be noted that the screw pitch of unmanned plane can also be changed using adjustment tail vane for uniaxial aircraft
Mode rotate unmanned plane using the second rotating speed of target, those skilled in the art can also be adjusted using other modes
Tail vane, as long as unmanned plane can be made to be rotated using the second rotating speed of target.
In a kind of preferred embodiment of the present invention, unmanned plane can be controlled in the following way and is navigated according to operation track information
Row:
Coordinate points are obtained from the operation track information；Determine the first coordinate speed of navigation to the coordinate points；It will
First coordinate speed is converted to the second coordinate speed；It is flown using second coordinate speed to the coordinate points.
Wherein, the first coordinate speed can be speed of the unmanned plane relative to terrestrial coordinate system, such as east northeast coordinate system, second
Coordinate speed can be speed of the unmanned plane relative to body coordinate system, such as relative to the body coordinate system of heading.
After obtaining coordinate points in operation track information, navigation can be determined by calculation to needed for the coordinate points the
Then first coordinate speed is converted to the second coordinate speed relative to body coordinate system by one coordinate speed, unmanned plane can be with
By controlling the rotation speed of rotor, entire unmanned plane is made to fly using the second coordinate speed to coordinate points.
In the concrete realization, the present speed v and the corresponding deflection y of operation track information of unmanned plane can be first obtained,
And unmanned plane itself is obtained by position sensors such as GPS (Global Positioning System, global positioning systems)
Position coordinates determine the offset l of unmanned plane in conjunction with the corresponding coordinate points of operation track information of acquisition.
For example, when the linear type course line of formation, leading to after operation track information is the both ends coordinate points set by earth station
Offset l can be obtained in the distance for crossing position coordinates to the straight line of calculating unmanned plane itself, can actually be by by unmanned plane
The position coordinates of itself draw a vertical line to the corresponding straight line of track information, and vector representated by vertical line is exactly offset l.
After obtaining present speed v, deflection y, offset l, it can be obtained by calculation relative to terrestrial coordinate system
First coordinate speed, if terrestrial coordinate system uses east northeast coordinate system, then the first coordinate speed may include the speed of north orientation, east orientation
Degree, respectively vn、ve, it can specifically be calculated using following formula:
vn=cos (y) * v-sin (y) * l*k；ve=sin (y) * v+cos (y) * l*k
Wherein, k is correction ratio, is expressed as the sensitivity of feedback control, can be flown by programmer according to practical
Row device is debugged to obtain.
After obtaining the first coordinate speed, the course angle a of the head of unmanned plane can be determined, then by the first coordinate speed
It is converted into the second coordinate speed of the body coordinate system of opposite heading, the second coordinate speed may include heading, the right side
To speed, respectively vx、vy, it can specifically be calculated using following formula:
vx=cos (a) * vn+sin(a)*ve；vy=-sin (a) * vn+cos(a)*ve
The second coordinate speed is being obtained, unmanned plane can be adjusted to the second coordinate speed by the embodiment of the present invention, control nothing
It is man-machine to be navigated by water using corresponding flight attitude, during navigating by water according to operation track information, it can control unmanned plane
Spray head is opened, manipulating object is treated and is scanned spraying operation.
In embodiments of the present invention, it by obtaining the operation track information to manipulating object, then determines to manipulating object
Rotation control amount, control unmanned plane according to operation track information navigate by water during, using rotation control amount control nobody
Machine is scanned spraying operation, realizes while unmanned plane carries out spraying operation according to course line and is rotated, so that sprinkling is made
Medical fluid can reach the active component to manipulating object when industry, achieve the purpose that effective plant protection.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method
It closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according to
According to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implemented
Necessary to example.
Referring to Fig. 2, a kind of structural block diagram of the device of unmanned plane spraying operation of the embodiment of the present invention is shown, specifically may be used
To include following module:
Operation track data obtaining module 201, for obtaining the operation track information to manipulating object；
Control amount determining module 202 is rotated, for determining the rotation control amount to manipulating object；
Operation module 203 is controlled, is used for during the control unmanned plane is navigated by water according to the operation track information,
The unmanned plane is controlled using the rotation control amount and is scanned spraying operation.
In a kind of preferred embodiment of the present invention, the unmanned plane has multiple rotors, and the rotation control amount includes the
One rotating speed of target, the control operation module 203 include:
First real-time revolving speed acquisition submodule, for controlling what the unmanned plane was navigated by water according to the operation track information
In the process, the real-time revolving speed of the unmanned plane is obtained；
Rotor revolving speed adjusting submodule adjusts each rotor for being based on real-time revolving speed and the first object revolving speed
Rotor revolving speed, so that the unmanned plane is rotated during scanning spraying operation using the first object revolving speed.
In a kind of preferred embodiment of the present invention, the rotation control amount further includes target direction of rotation, and the rotor turns
Fast adjusting submodule includes:
Speed difference determination unit, for determining the speed difference of real-time revolving speed and the first object revolving speed；
Adjustment amplitude determination unit, for determining adjustment amplitude corresponding with the speed difference；
Rotor determination unit, for determining positive rotor corresponding with the target direction of rotation and reverse rotor；Its
In, the forward direction rotor is the rotor rotated using the direction opposite with the target direction of rotation, and the reverse rotor is to adopt
The rotor rotated with direction identical with the target direction of rotation；
Rotor revolving speed increases reduction unit, for increasing the rotor revolving speed of the positive rotor according to the adjustment amplitude
And/or reduce the rotor revolving speed of the reverse rotor, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
In a kind of preferred embodiment of the present invention, the unmanned plane has single rotor and empennage, the rotation control amount
Including the second rotating speed of target, the control operation module 203 includes:
Second real-time revolving speed acquisition submodule, for controlling what the unmanned plane was navigated by water according to the operation track information
In the process, the real-time revolving speed of the unmanned plane is obtained；
Empennage revolving speed adjusting submodule adjusts the empennage for being based on real-time revolving speed and second rotating speed of target
Empennage revolving speed, so that the unmanned plane is rotated during scanning spraying operation using second rotating speed of target.
In a kind of preferred embodiment of the present invention, the rotation control amount determining module 202 includes:
Type determination module, for determining the type to manipulating object；
Control amount acquisition submodule is rotated, for searching the type from preset relation table, is obtained and the type
Corresponding rotation control amount；Wherein, the relation table includes the corresponding relationship of multiple types and rotation control amount.
In a kind of preferred embodiment of the present invention, the unmanned plane is controlled in the following way and is believed according to the operation track
Breath navigation:
Coordinate points are obtained from the operation track information；
Determine the first coordinate speed of navigation to the coordinate points；Wherein, first coordinate speed is the unmanned plane
Speed relative to terrestrial coordinate system；
First coordinate speed is converted into the second coordinate speed；Wherein, second coordinate speed be it is described nobody
Speed of the machine relative to body coordinate system；
It is flown using second coordinate speed to the coordinate points.
In embodiments of the present invention, it by obtaining the operation track information to manipulating object, then determines to manipulating object
Rotation control amount, control unmanned plane according to operation track information navigate by water during, using rotation control amount control nobody
Machine is scanned spraying operation, realizes while unmanned plane carries out spraying operation according to course line and is rotated, so that sprinkling is made
Medical fluid can reach the active component to manipulating object when industry, achieve the purpose that effective plant protection.
The embodiment of the invention also discloses a kind of unmanned plane, including controller, rotor, flusher, the controller packet
Storage medium is included, the storage medium is for storing program, for the step of executing Fig. 1 the method when described program is run；Institute
The controller stated can be the flight controller of unmanned plane；
The flusher is used to after receiving the sprinkling instruction that the controller is sent open, and to described to operation
Object is sprayed；
The rotor is used to adjust rotor revolving speed based on the rotation control amount, so that the unmanned plane is made in scanning sprinkling
It is rotated during industry.
The embodiment of the invention also discloses a kind of aircraft, including memory, processor and storage are on a memory and can
The step of computer program run on a processor, the processor realizes Fig. 1 the method when executing described program.
The embodiment of the invention also discloses a kind of computer readable storage mediums, are stored thereon with computer program, special
The step of sign is, which realizes Fig. 1 the method when being executed by processor.
For device, unmanned plane, aircraft and computer readable storage medium embodiment, due to itself and method reality
It is substantially similar to apply example, so being described relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of method of unmanned plane spraying operation provided by the present invention, a kind of device of unmanned plane spraying operation
And a kind of unmanned plane, be described in detail, specific case used herein to the principle of the present invention and embodiment into
Elaboration is gone, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this
The those skilled in the art in field, according to the thought of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (15)
1. a kind of method of unmanned plane spraying operation, which is characterized in that the described method includes:
Obtain the operation track information to manipulating object；
Determine the rotation control amount to manipulating object；
During the control unmanned plane is navigated by water according to the operation track information, institute is controlled using the rotation control amount
It states unmanned plane and is scanned spraying operation.
2. the method according to claim 1, wherein the unmanned plane has multiple rotors, the rotation control
Amount includes first object revolving speed, described during the control unmanned plane is navigated by water according to the operation track information, is used
The rotation control amount controls the step of unmanned plane is scanned spraying operation and includes:
During the control unmanned plane is navigated by water according to the operation track information, turning in real time for the unmanned plane is obtained
Speed；
Based on real-time revolving speed and the first object revolving speed, the rotor revolving speed of each rotor is adjusted, so that the unmanned plane is being swept
It is rotated during retouching spraying operation using the first object revolving speed.
3. according to the method described in claim 2, it is characterized in that, the rotation control amount further includes target direction of rotation, institute
The step of stating based on real-time revolving speed and the first object revolving speed, adjusting the rotor revolving speed of each rotor include:
Determine the speed difference of real-time revolving speed and the first object revolving speed；
Determine adjustment amplitude corresponding with the speed difference；
Determine positive rotor corresponding with the target direction of rotation and reverse rotor；Wherein, the positive rotor is to use
The rotor that the direction opposite with the target direction of rotation rotates, the reverse rotor are to use and target direction of rotation phase
The rotor that same direction rotates；
According to the adjustment amplitude, the rotor revolving speed for increasing the positive rotor and/or the rotor for reducing the reverse rotor turn
Speed, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
4. the method according to claim 1, wherein the unmanned plane has single rotor and empennage, the rotation
Turning control amount includes the second rotating speed of target, the process navigated by water in the control unmanned plane according to the operation track information
In, controlling the step of unmanned plane is scanned spraying operation using the rotation control amount includes:
During the control unmanned plane is navigated by water according to the operation track information, turning in real time for the unmanned plane is obtained
Speed；
Based on real-time revolving speed and second rotating speed of target, the empennage revolving speed of the empennage is adjusted, so that the unmanned plane is being swept
It is rotated during retouching spraying operation using second rotating speed of target.
5. method according to claim 1 or 2 or 3 or 4, which is characterized in that the rotation of manipulating object described in the determination
The step of turning control amount include:
Determine the type to manipulating object；
The type is searched from preset relation table, obtains rotation control amount corresponding with the type；Wherein, the relationship
Table includes the corresponding relationship of multiple types and rotation control amount.
6. the method according to claim 1, wherein controlling the unmanned plane in the following way according to the work
The navigation of industry track information:
Coordinate points are obtained from the operation track information；
Determine the first coordinate speed of navigation to the coordinate points；Wherein, first coordinate speed is that the unmanned plane is opposite
In the speed of terrestrial coordinate system；
First coordinate speed is converted into the second coordinate speed；Wherein, second coordinate speed is the unmanned plane phase
For the speed of body coordinate system；
It is flown using second coordinate speed to the coordinate points.
7. a kind of device of unmanned plane spraying operation, which is characterized in that described device includes:
Operation track data obtaining module, for obtaining the operation track information to manipulating object；
Control amount determining module is rotated, for determining the rotation control amount to manipulating object；
Operation module is controlled, is used for during the control unmanned plane is navigated by water according to the operation track information, using institute
It states the rotation control amount control unmanned plane and is scanned spraying operation.
8. device according to claim 7, which is characterized in that the unmanned plane has multiple rotors, the rotation control
Amount includes first object revolving speed, and the control operation module includes:
First real-time revolving speed acquisition submodule, the process for being navigated by water in the control unmanned plane according to the operation track information
In, obtain the real-time revolving speed of the unmanned plane；
Rotor revolving speed adjusting submodule adjusts the rotor of each rotor for being based on real-time revolving speed and the first object revolving speed
Revolving speed, so that the unmanned plane is rotated during scanning spraying operation using the first object revolving speed.
9. device according to claim 8, which is characterized in that the rotation control amount further includes target direction of rotation, institute
Stating rotor revolving speed adjusting submodule includes:
Speed difference determination unit, for determining the speed difference of real-time revolving speed and the first object revolving speed；
Adjustment amplitude determination unit, for determining adjustment amplitude corresponding with the speed difference；
Rotor determination unit, for determining positive rotor corresponding with the target direction of rotation and reverse rotor；Wherein, institute
Stating positive rotor is the rotor that the use direction opposite with the target direction of rotation rotates, and the reverse rotor is use and institute
State the rotor that the identical direction in target direction of rotation rotates；
Rotor revolving speed increases reduction unit, for according to the adjustment amplitude, increase the positive rotor rotor revolving speed and/or
Reduce the rotor revolving speed of the reverse rotor, so that the real-time revolving speed of the unmanned plane reaches the first object revolving speed.
10. device according to claim 7, which is characterized in that the unmanned plane has single rotor and empennage, the rotation
Turning control amount includes the second rotating speed of target, and the control operation module includes:
Second real-time revolving speed acquisition submodule, the process for being navigated by water in the control unmanned plane according to the operation track information
In, obtain the real-time revolving speed of the unmanned plane；
Empennage revolving speed adjusting submodule adjusts the empennage of the empennage for being based on real-time revolving speed and second rotating speed of target
Revolving speed, so that the unmanned plane is rotated during scanning spraying operation using second rotating speed of target.
11. according to device described in claim 7 or 8 or 9 or 10, which is characterized in that the rotation control amount determining module packet
It includes:
Type determination module, for determining the type to manipulating object；
Control amount acquisition submodule is rotated, for searching the type from preset relation table, is obtained corresponding with the type
Rotation control amount；Wherein, the relation table includes the corresponding relationship of multiple types and rotation control amount.
12. device according to claim 7, which is characterized in that control the unmanned plane in the following way according to described
The navigation of operation track information:
Coordinate points are obtained from the operation track information；
Determine the first coordinate speed of navigation to the coordinate points；Wherein, first coordinate speed is that the unmanned plane is opposite
In the speed of terrestrial coordinate system；
First coordinate speed is converted into the second coordinate speed；Wherein, second coordinate speed is the unmanned plane phase
For the speed of body coordinate system；
It is flown using second coordinate speed to the coordinate points.
13. a kind of unmanned plane, including controller, rotor, flusher, which is characterized in that
The controller includes storage medium, which is used for perform claim for storing program when described program is run
It is required that the step of any one of 1 to 6 the method；
The flusher is used to after receiving the sprinkling instruction that the controller is sent open, and to described to manipulating object
It is sprayed；
The rotor is used to adjust rotor revolving speed based on the rotation control amount, so that the unmanned plane is in scanning spraying operation
It is rotated in the process.
14. a kind of aircraft including memory, processor and stores the computer that can be run on a memory and on a processor
Program, which is characterized in that the processor realizes the step of any one of claim 1 to 6 the method when executing described program.
15. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claim 1 to 6 the method is realized when execution.
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