CN109270943A - A kind of agricultural unmanned plane operational method - Google Patents
A kind of agricultural unmanned plane operational method Download PDFInfo
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- CN109270943A CN109270943A CN201710584332.2A CN201710584332A CN109270943A CN 109270943 A CN109270943 A CN 109270943A CN 201710584332 A CN201710584332 A CN 201710584332A CN 109270943 A CN109270943 A CN 109270943A
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of agriculture unmanned plane operational methods, belong to air vehicle technique field, include the following steps: formation cluster management；Formation cluster remote control distributor；Formation clustered control；Autonomous control；Formation AUTONOMOUS TASK；Failure is maked a return voyage；It fills vacancies in the proper order failure operating area；Formation cluster makes a return voyage.Current location and flight attitude of the present invention by acquisition unmanned plane, and the flight range of the unmanned plane is determined according to the current location and flight attitude, according to the corresponding flight control strategy in the region, control unmanned plane during flying, improve flight efficiency and flight safety, UAV Formation Flight safety is improved, by UAV Formation Flight, can effectively fill vacancies in the proper order the operation blank of failure unmanned plane.
Description
Technical field
The present invention relates to a kind of agriculture unmanned plane operational methods, belong to air vehicle technique field.
Background technique
, the pesticide utilization rate small to crop damage having with the development and unmanned plane plant protection of unmanned plane plant protection technology
The features such as high, more and more peasant households or farmer start using unmanned plane carry out plant protection operation, in particular with plant protection nobody
Machine carry out pesticide spraying and chemical fertilizer sprinkling etc., in prior art, plant protection drone when carrying out plant protection operation, be usually all by
Operation is carried out according to the set line of flight, and is mostly that operation is carried out by single unmanned plane, when there is operation exception, for example,
When can not continue to execute spraying operation due to the blocking of unmanned plane medicine-chest, needs to suspend current operation process and indicate unmanned plane
Make a return voyage, after failure solution after restart operation, still, if again operation when still use original line of flight, can
It causes the crops to have fulfiled assignment by secondary sprinkling, seriously affects the normal growth of crops, and in unmanned machine operation mistake
Cheng Zhong typically flies according to pre-configured course line automatically, and when automatic flight, can not identify no-fly region in advance and
Avoided, so that causing the working efficiency of unmanned plane reduces, exist simultaneously security risk, in this process, unmanned plane without
Method realizes formation cluster management and is mutually distinguishable judgement, influences unmanned plane formation navigation.
Summary of the invention
The main object of the present invention is to provide for a kind of agriculture unmanned plane operational method, is working for solving unmanned plane
In, it is be easy to cause the secondary sprinkling of crops, seriously affects crops normal growth, unmanned plane formation clustered control can not be carried out,
To cause the working efficiency of unmanned plane to reduce, security risk is existed simultaneously, unmanned plane is caused to cannot achieve formation cluster management
And the problem of being mutually distinguishable judgement, influencing unmanned plane formation navigation.
The purpose of the present invention can reach by using following technical solution:
A kind of agricultural unmanned plane operational method, includes the following steps:
Step S1: formation cluster management
By ground installation and place, daily maintenance and management are carried out to agriculture unmanned plane formation cluster；
Step S2: formation cluster remote control distributor
Control instruction is sent to each unmanned plane by ground remote control device, flies unmanned plane according to the control instruction received
Row；
Step S3: formation clustered control
Unmanned plane formation clustered control is carried out by ground control equipment and unmanned aerial vehicle onboard equipment, unmanned plane is obtained and forms into columns
The posture of the current location of cluster and each unmanned plane；
Step S4: autonomous control
Autonomous control is carried out to each unmanned plane by Airborne Control Unit and ground control equipment, controls single unmanned plane
Posture, position and speed；
Step S5: formation AUTONOMOUS TASK
Each unmanned plane obtains stop position information when last operation, and line of flight when last operation,
The line of flight has operation starting point and operation terminal；The operation that the stop position information of upper subjob is adjusted to lower subjob is risen
Point, and operation terminal is reset, and the operation starting point and operation terminal are set as new course line；
Step S6: failure is maked a return voyage
In operation process, when the communication between earth station and single unmanned plane break down or single unmanned plane occur it is mechanical
When failure, the unmanned plane of failure is back to starting point or designated place according to original route；
Step S7: it fills vacancies in the proper order failure operating area
Failure unmanned plane stop position information setting is new operation starting point by earth station, and by formation with the failure
The adjacent operation unmanned plane of unmanned plane is filled vacancies in the proper order to the operation starting point, other unmanned planes in formation fill vacancies in order of precedence to its adjacent work
Industry region；
Step S8: formation cluster makes a return voyage
After unmanned plane formation cluster fulfils assignment, starting point or designated place are back to according to pre-set route.
Further, in the step S3, unmanned plane formation is carried out by ground control equipment and unmanned aerial vehicle onboard equipment
Clustered control includes the following steps:
Step S31: it is received by unmanned aerial vehicle onboard equipment and calculates unmanned plane mutual distance and relative velocity；
Step S32: current location and the posture of unmanned plane are calculated；
Step S33: unmanned plane mutual distance and relative velocity are received by ground control equipment, obtain the current of unmanned plane
Position and posture；
Step S34: according to unmanned plane mutual distance and relative velocity, judge unmanned plane formation cluster whether normal operation and
Safety；
Step S35: according to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter movement area
Domain or no-fly region；
Step S36: it when unmanned plane will enter restricted area domain or no-fly region, is controlled according to the corresponding flight in the region
Strategy controls unmanned plane during flying.
Further, the unmanned aerial vehicle onboard equipment includes Airborne Camera, and the working method of the Airborne Camera includes:
Step 1: Airborne Camera control instruction is generated according to the winged control parameter of ground control equipment setting；
Step 2: the Airborne Camera judgement flies whether control parameter meets preset trigger condition；
Step 3: if so, instructing at least two Airborne Cameras on control unmanned plane to be shot according to camera control.
Further, the winged control parameter include at least the longitude and latitude of unmanned plane, flying height, flying speed, flight away from
From and the flight time.
Further, in the step S4, ADAPTIVE ROBUST control is all made of in Airborne Control Unit and ground control equipment
Algorithm, mahony algorithm and Fuzzy PID processed.
Further, the mahony algorithm is the data according to accelerometer and magnetometer, is transformed into geographic coordinate system
Afterwards, it carries out seeking error with the gravity vector of corresponding reference and ground magnetic vector, this error is used to correct the output of gyroscope, then
Quaternary number update, reconvert to Eulerian angles are carried out with gyro data.
Further, in the step S4, the Airborne Control Unit includes processor module, formation cluster remote control distributor
Make a return voyage module, formation cluster of module, formation clustered control module, autonomous control module, failure makes a return voyage module, formation cluster management
Module, power module and carry module.
Further, the processor module collects team control with the formation cluster remote control distributor module, the formation respectively
Molding block, the autonomous control module, the formation cluster management module, the power module and the carry module are electrically connected
It connects, the failure makes a return voyage module and the formation cluster makes a return voyage, and module is electrically connected with the autonomous control module, described autonomous
Control module is electrically connected with the formation clustered control module, and the formation clustered control module and formation cluster remote control fly
The electrical connection of row module.
Further, in the step S4, the control device further include: data transmission module, data communication module and
Data memory module, the data transmission module and the data communication module are electrically connected with the formation clustered control module respectively
It connects, the data memory module is electrically connected with the processor module, and the unmanned plane formation cluster is in the remote control of formation cluster
When offline mode, the location information of unmanned plane formation cluster is transferred to earth station by the data transmission module, and is shown in
On the screen of earth station；When the unmanned plane formation cluster is in autonomous control mode, the location information of each unmanned plane passes through
The data communication module is transferred to earth station, and is shown on the screen of earth station.
Advantageous effects of the invention: agricultural unmanned plane operational method according to the invention, agricultural provided by the invention
Unmanned plane operational method solves unmanned plane and be easy to cause the secondary sprinkling of crops at work, it is normal to seriously affect crops
Growth, unmanned plane formation clustered control can not be carried out by solving, so that causing the working efficiency of unmanned plane reduces, exist simultaneously peace
The problem of full hidden danger causes unmanned plane to cannot achieve formation cluster management and is mutually distinguishable judgement, influences unmanned plane formation navigation,
Flying for the unmanned plane is determined by obtaining current location and the flight attitude of unmanned plane, and according to the current location and flight attitude
Row region controls unmanned plane during flying according to the corresponding flight control strategy in the region, improves flight efficiency and flight safety, mentions
High UAV Formation Flight safety, by UAV Formation Flight, can effectively fill vacancies in the proper order the operation blank of failure unmanned plane.
Detailed description of the invention
Fig. 1 is the method flow diagram of a preferred embodiment of agriculture unmanned plane operational method according to the invention；
Fig. 2 is the structural schematic diagram of a preferred embodiment of Airborne Control Unit according to the invention.
In figure: 1- processor module, 2- formation cluster remote control distributor module, 3- formation clustered control module, 4- is from master control
Molding block, 5- failure are maked a return voyage module, and 6- formation cluster makes a return voyage module, 7- data transmission module, 8- data communication module, 9- data
Memory module, 10- formation cluster management module, 11- power module, 12- carry module.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of agriculture unmanned plane operational method provided in this embodiment, includes the following steps:
Step S1: formation cluster management
By ground installation and place, daily maintenance and management are carried out to agriculture unmanned plane formation cluster；
Step S2: formation cluster remote control distributor
Control instruction is sent to each unmanned plane by ground remote control device, flies unmanned plane according to the control instruction received
Row；
Step S3: formation clustered control
Unmanned plane formation clustered control is carried out by ground control equipment and unmanned aerial vehicle onboard equipment, unmanned plane is obtained and forms into columns
The posture of the current location of cluster and each unmanned plane；
Step S4: autonomous control
Autonomous control is carried out to each unmanned plane by Airborne Control Unit and ground control equipment, controls single unmanned plane
Posture, position and speed；
Step S5: formation AUTONOMOUS TASK
Each unmanned plane obtains stop position information when last operation, and line of flight when last operation,
The line of flight has operation starting point and operation terminal；The operation that the stop position information of upper subjob is adjusted to lower subjob is risen
Point, and operation terminal is reset, and the operation starting point and operation terminal are set as new course line；
Step S6: failure is maked a return voyage
In operation process, when the communication between earth station and single unmanned plane break down or single unmanned plane occur it is mechanical
When failure, the unmanned plane of failure is back to starting point or designated place according to original route；
Step S7: it fills vacancies in the proper order failure operating area
Failure unmanned plane stop position information setting is new operation starting point by earth station, and by formation with the failure
The adjacent operation unmanned plane of unmanned plane is filled vacancies in the proper order to the operation starting point, other unmanned planes in formation fill vacancies in order of precedence to its adjacent work
Industry region；
Step S8: formation cluster makes a return voyage
After unmanned plane formation cluster fulfils assignment, starting point or designated place are back to according to pre-set route.
Further, in the present embodiment, in the step S3, by ground control equipment and unmanned aerial vehicle onboard equipment into
Row unmanned plane formation clustered control includes the following steps:
Step S31: it is received by unmanned aerial vehicle onboard equipment and calculates unmanned plane mutual distance and relative velocity；
Step S32: current location and the posture of unmanned plane are calculated；
Step S33: unmanned plane mutual distance and relative velocity are received by ground control equipment, obtain the current of unmanned plane
Position and posture；
Step S34: according to unmanned plane mutual distance and relative velocity, judge unmanned plane formation cluster whether normal operation and
Safety；
Step S35: according to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter movement area
Domain or no-fly region；
Step S36: it when unmanned plane will enter restricted area domain or no-fly region, is controlled according to the corresponding flight in the region
Strategy controls unmanned plane during flying.
Further, in the present embodiment, the unmanned aerial vehicle onboard equipment includes Airborne Camera, the work of the Airborne Camera
Include: as method
Step 1: Airborne Camera control instruction is generated according to the winged control parameter of ground control equipment setting；
Step 2: the Airborne Camera judgement flies whether control parameter meets preset trigger condition；
Step 3: if so, instructing at least two Airborne Cameras on control unmanned plane to be shot according to camera control.
Further, in the present embodiment, the winged control parameter includes at least the longitude and latitude of unmanned plane, flying height, flies
Scanning frequency degree, flying distance and flight time.
Further, in the present embodiment, it in the step S4, is all made of in Airborne Control Unit and ground control equipment
Adaptive robust control algorithm, mahony algorithm and Fuzzy PID, the mahony algorithm be according to accelerometer and
The data of magnetometer after being transformed into geographic coordinate system, carry out seeking error with the gravity vector of corresponding reference and ground magnetic vector, this
Error is used to correct the output of gyroscope, then carries out quaternary number update, reconvert to Eulerian angles with gyro data.
Further, in the present embodiment, as shown in Fig. 2, in the step S4, the Airborne Control Unit includes processing
Device module 1, formation cluster remote control distributor module 2, formation clustered control module 3, autonomous control module 4, failure make a return voyage module 5,
Formation cluster makes a return voyage module 6, formation cluster management module 10, power module 11 and carry module 12, and the processor module 1 divides
Not with the formation cluster remote control distributor module 2, the formation clustered control module 3, the autonomous control module 4, the volume
Team's cluster management module 10, the power module 11 and the carry module 12 electrical connection, the failure are maked a return voyage module 5 and described
Formation cluster module 6 of making a return voyage is electrically connected with the autonomous control module 4, the autonomous control module 4 and the formation cluster
Control module 3 is electrically connected, and the formation clustered control module 3 is electrically connected with the formation cluster remote control distributor module 2.
Further, in the present embodiment, as shown in Fig. 2, in the step S4, the control device further include: data
Transmission module 7, data communication module 8 and data memory module 9, the data transmission module 7 and the data communication module 8 are divided
It is not electrically connected with the formation clustered control module 3, the data memory module 9 is electrically connected with the processor module 1, described
When unmanned plane formation cluster is in formation cluster remote control distributor mode, the location information of unmanned plane formation cluster passes through the data
Transmission module 7 is transferred to earth station, and is shown on the screen of earth station；The unmanned plane formation cluster is in autonomous control mould
When formula, the location information of each unmanned plane is transferred to earth station by the data communication module 8, and is shown in the screen of earth station
On curtain.
In conclusion in the present embodiment, it is provided in this embodiment according to the agriculture unmanned plane operational method of the present embodiment
Agriculture unmanned plane operational method solves unmanned plane and be easy to cause the secondary sprinkling of crops at work, seriously affects crops
Normal growth, unmanned plane formation clustered control can not be carried out by solving, so that causing the working efficiency of unmanned plane reduces, be deposited simultaneously
It in security risk, causes unmanned plane to cannot achieve formation cluster management and is mutually distinguishable judgement, influence unmanned plane formation navigation
Problem determines this nobody by obtaining current location and the flight attitude of unmanned plane, and according to the current location and flight attitude
The flight range of machine controls unmanned plane during flying according to the corresponding flight control strategy in the region, improves flight efficiency and flight peace
Entirely, UAV Formation Flight safety is improved, by UAV Formation Flight, the operation that can effectively fill vacancies in the proper order failure unmanned plane is empty
It is white.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (9)
1. a kind of agricultural unmanned plane operational method, characterized by the following steps:
Step S1: formation cluster management
By ground installation and place, daily maintenance and management are carried out to agriculture unmanned plane formation cluster；
Step S2: formation cluster remote control distributor
Control instruction is sent to each unmanned plane by ground remote control device, unmanned plane is made to fly according to the control instruction received；
Step S3: formation clustered control
Unmanned plane formation clustered control is carried out by ground control equipment and unmanned aerial vehicle onboard equipment, obtains unmanned plane formation cluster
Current location and each unmanned plane posture；
Step S4: autonomous control
Autonomous control is carried out to each unmanned plane by Airborne Control Unit and ground control equipment, controls the appearance of single unmanned plane
State, position and speed；
Step S5: formation AUTONOMOUS TASK
Each unmanned plane obtains stop position information when last operation, and line of flight when last operation, flight
Course line has operation starting point and operation terminal；The stop position information of upper subjob is adjusted to the operation starting point of lower subjob,
And operation terminal is reset, and the operation starting point and operation terminal are set as new course line；
Step S6: failure is maked a return voyage
In operation process, when the communication between earth station and single unmanned plane break down or single unmanned plane there was a mechanical failure
When, the unmanned plane of failure is back to starting point or designated place according to original route；
Step S7: it fills vacancies in the proper order failure operating area
Failure unmanned plane stop position information setting is new operation starting point by earth station, and by formation with the failure nobody
The adjacent operation unmanned plane of machine is filled vacancies in the proper order to the operation starting point, other unmanned planes in formation fill vacancies in order of precedence to its adjacent operation area
Domain；
Step S8: formation cluster makes a return voyage
After unmanned plane formation cluster fulfils assignment, starting point or designated place are back to according to pre-set route.
2. a kind of agriculture unmanned plane operational method according to claim 1, it is characterised in that: in the step S3, pass through
Ground control equipment and unmanned aerial vehicle onboard equipment carry out unmanned plane formation clustered control and include the following steps:
Step S31: it is received by unmanned aerial vehicle onboard equipment and calculates unmanned plane mutual distance and relative velocity；
Step S32: current location and the posture of unmanned plane are calculated；
Step S33: unmanned plane mutual distance and relative velocity are received by ground control equipment, obtain the current location of unmanned plane
And posture；
Step S34: according to unmanned plane mutual distance and relative velocity, judge unmanned plane formation cluster whether normal operation and peace
Entirely；
Step S35: according to the current location of the unmanned plane and posture, judge the unmanned plane whether will enter flight range or
No-fly region；
Step S36: when unmanned plane will enter restricted area domain or no-fly region, plan is controlled according to the corresponding flight in the region
Slightly, unmanned plane during flying is controlled.
3. a kind of agriculture unmanned plane operational method according to claim 2, it is characterised in that: the unmanned aerial vehicle onboard equipment
Including Airborne Camera, the working method of the Airborne Camera includes:
Step 1: Airborne Camera control instruction is generated according to the winged control parameter of ground control equipment setting；
Step 2: the Airborne Camera judgement flies whether control parameter meets preset trigger condition；
Step 3: if so, instructing at least two Airborne Cameras on control unmanned plane to be shot according to camera control.
4. a kind of agriculture unmanned plane operational method according to claim 3, it is characterised in that: the winged control parameter is at least wrapped
Include longitude and latitude, flying height, flying speed, flying distance and the flight time of unmanned plane.
5. a kind of agriculture unmanned plane operational method according to claim 1, it is characterised in that: airborne in the step S4
Adaptive robust control algorithm, mahony algorithm and Fuzzy PID are all made of in control device and ground control equipment.
6. a kind of agriculture unmanned plane operational method according to claim 5, it is characterised in that: the mahony algorithm is root
According to the data of accelerometer and magnetometer, after being transformed into geographic coordinate system, with the gravity vector of corresponding reference and ground magnetic vector into
Row seeks error, this error is used to correct the output of gyroscope, then carries out quaternary number update with gyro data, reconvert arrives
Eulerian angles.
7. a kind of agriculture unmanned plane operational method according to claim 1, it is characterised in that: described in the step S4
Airborne Control Unit include processor module (1), formation cluster remote control distributor module (2), formation clustered control module (3), from
Make a return voyage module (5), formation cluster of main control module (4), failure makes a return voyage module (6), formation cluster management module (10), power supply mould
Block (11) and carry module (12).
8. a kind of agriculture unmanned plane operational method according to claim 7, it is characterised in that: the processor module (1)
Respectively with the formation cluster remote control distributor module (2), the formation clustered control module (3), the autonomous control module
(4), the formation cluster management module (10), the power module (11) and the carry module (12) electrical connection, the event
Barrier makes a return voyage module (5) and the formation cluster makes a return voyage, and module (6) is electrically connected with the autonomous control module (4), it is described independently
Control module (4) is electrically connected with the formation clustered control module (3), the formation clustered control module (3) and the formation
Cluster remote control distributor module (2) electrical connection.
9. a kind of agriculture unmanned plane operational method according to claim 7, it is characterised in that: described in the step S4
Control device further include: data transmission module (7), data communication module (8) and data memory module (9), the data transmission
Module (7) and the data communication module (8) are electrically connected with the formation clustered control module (3) respectively, the data storage
Module (9) is electrically connected with the processor module (1), and the unmanned plane formation cluster is in formation cluster remote control distributor mode
When, the location information of unmanned plane formation cluster is transferred to earth station by the data transmission module (7), and is shown in earth station
Screen on；When the unmanned plane formation cluster is in autonomous control mode, the location information of each unmanned plane passes through the number
It is transferred to earth station according to communication module (8), and is shown on the screen of earth station.
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| CN112788719A (en) * | 2020-12-28 | 2021-05-11 | 电子科技大学 | High-low speed network cooperative transmission system and method |
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