CN109383834A - A kind of monitoring system of agricultural plant protection unmanned plane - Google Patents
A kind of monitoring system of agricultural plant protection unmanned plane Download PDFInfo
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- CN109383834A CN109383834A CN201710658355.3A CN201710658355A CN109383834A CN 109383834 A CN109383834 A CN 109383834A CN 201710658355 A CN201710658355 A CN 201710658355A CN 109383834 A CN109383834 A CN 109383834A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 30
- 230000006698 induction Effects 0.000 claims abstract description 46
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000015556 catabolic process Effects 0.000 claims abstract description 10
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 230000006641 stabilisation Effects 0.000 claims abstract description 3
- 238000011105 stabilization Methods 0.000 claims abstract description 3
- 238000004891 communication Methods 0.000 claims description 20
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 abstract description 4
- 230000007257 malfunction Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 4
- 239000002360 explosive Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
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- H02J7/025—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of monitoring systems of agricultural plant protection unmanned plane, belong to air vehicle technique field, including the power assisting device that takes off and land, control processing unit, it takes off and land driving device and radio induction charging device, it takes off and power assisting device both ends of landing is equipped with and takes off and the stabilizing member that lands, it takes off and power assisting device one end of landing is equipped with station, station is equipped with display and acoustic-optic alarm, it controls and is equipped with processor module in processing unit, remote control distributor device, breakdown judge module, gesture stability module, infrared photography module, imaging spectrometer and cruise control module.The present invention can effectively keep take off balance and the landing stabilization of unmanned plane, radio induction charging is carried out to unmanned plane by radio induction charging device, guarantee the normal electricity consumption of unmanned plane, fault message, agricultural plant protection video and image are shown over the display, malfunction monitoring can be intuitively carried out, avoids image unstable and signal delay.
Description
Technical field
The present invention relates to a kind of monitoring systems to belong to nothing more particularly to a kind of monitoring system of agricultural plant protection unmanned plane
Man-machine technical field.
Background technique
Agricultural plant protection unmanned plane is the unmanned plane for agricultural, forestry plant protection, unmanned plane be by wireless remote control or
The not manned aircraft of self-contained program's control；Agricultural plant protection unmanned plane generally comprise explosive barrel equipped with pesticide and with explosive barrel successively
The jet pipe and spray head of connection；For agricultural plant protection unmanned plane in flight on farmland, the pesticide in explosive barrel passes sequentially through jet pipe and spray head
It is sprayed on the crop in farmland, realizes plant protection.
Defect existing for existing agricultural plant protection unmanned plane has: agricultural plant protection unmanned plane working space is big, if the height of crops
Degree is more than the height of agricultural plant protection unmanned plane operator, and operator and observer can not observe agricultural plant protection unmanned plane
Job state, and it is carried out to command operation accordingly；It is solved the above problems at present using two ways, first is that operator and sight
Personnel station is examined aloft to operate, such as on higher hillside, on roof, on observation platform, but this to be not applied for channel narrow
Crop planting region, and increase operation difficulty, reduce operating flexibility；Second is that pacifying on agricultural plant protection unmanned plane
The monitoring devices such as camera are filled, so that operator is observed agricultural plant protection unmanned plane by display, but on agricultural plant protection unmanned plane
Increasing the monitoring devices such as camera shooting will increase its power consumption, shorten cruise duration, and in flight course easily because agricultural plant protection nobody
Machine vibration, makes that image is unstable, signal delay, and observing effect is limited.
Summary of the invention
The main object of the present invention is to provide for a kind of monitoring system of agricultural plant protection unmanned plane, to solve the prior art
Reliability and stability are low, structure is complicated existing for middle monitoring system and problem at high cost, especially unmanned plane take off and drop
The problem of unmanned plane lateral deviation or failure are easily led to when falling.
The purpose of the present invention can reach by using following technical solution:
A kind of monitoring system of agricultural plant protection unmanned plane, including two symmetrically take off and land power assisting device and setting two
It is described take off and the power assisting device that lands between control processing unit, it is described take off and land power assisting device be halfpace type, two institutes
It states and is additionally provided with take off and land driving device and radio induction charging device between the power assisting device that takes off and land, take off described in two
And the both ends of landing power assisting device are respectively equipped with the stabilizing member that takes off and land, the control processing unit respectively with it is described take off and
Landing stabilizing member and it is described take off and land driving device electrical connection, take off described in two and the one end for the power assisting device that land equipped with grasp
Make platform, the station is equipped with display and acoustic-optic alarm, and the display and the acoustic-optic alarm are and institute
Control processing unit electrical connection is stated, is equipped with processor module, remote control distributor device, breakdown judge mould in the control processing unit
Block, gesture stability module, infrared photography module, imaging spectrometer and cruise control module, the processor module respectively with institute
State remote control distributor device, the breakdown judge module, the gesture stability module, the imaging spectrometer and the cruise control
Module electrical connection, the gesture stability module respectively with the remote control distributor device, the infrared photography module and the cruise
Control module electrical connection, the processor module are used to calculate speed, current location and the posture of unmanned plane；The remote control distributor
Device sends control instruction to unmanned plane by remote controler, and unmanned plane is made to fly according to the control instruction received；The posture
Control module sends to unmanned aerial vehicle onboard equipment and instructs, and carries out the control of unmanned aerial vehicle onboard equipment, and obtain the present bit of unmanned plane
It sets and posture；The cruise control module includes inner loop control module and outer loop control module, is used for unmanned plane cruise control, institute
It states inner loop control module and is used to control position and the speed of unmanned plane for controlling the posture of unmanned plane, the outer loop control module
Degree.
Further, the processor module is electrically connected with radio induction charging battery and memory respectively, the storage
Device is also used to store position, speed and the posture of unmanned plane for storing unmanned plane instruction and flight control system data.
Further, the processor module is also electrically connected with communication antenna, the communication antenna respectively with unmanned plane machine
Carrier communication equipment and control centre's communication connection；The gesture stability module and the cruise control module respectively with telecontrol antenna
Electrical connection, the cruise control module are electrically connected with wireless induction position receiver device, the wireless induction position receiver device
It is connect with unmanned aerial vehicle onboard localizing emission device.
Further, the gesture stability module is electrically connected with data communication module, and the gesture stability module passes through institute
It states data communication module to connect with unmanned plane, carries out unmanned aerial vehicle (UAV) control, receive the distance and velocity information of unmanned plane, obtain nobody
The current location of machine and posture, and according to the distance and velocity information of unmanned plane, judge unmanned plane whether normal operation and safety,
And according to the current location of unmanned plane and posture, the flight range of the unmanned plane is judged.
Further, the gesture stability module is also electrically connected with landing balance control module, the landing balance control
Module for control it is described take off and land stabilizing member and described take off and driving device of landing.
Further, the inner loop control module uses adaptive robust control algorithm and mahony algorithm, the outer ring
Control module uses Fuzzy PID, and the mahony algorithm is the data according to accelerometer and magnetometer, is transformed into
It after geographic coordinate system, carries out seeking error with the gravity vector of corresponding reference and ground magnetic vector, this error is used to correct gyroscope
Output, then carry out quaternary number update, reconvert to Eulerian angles with gyro data.
Further, take off described in two and the power assisting device that lands in be equipped with sliding slot, it is described take off and land stabilizing member with
It is described to take off and driving device connection of landing, it is described take off and driving device of land control described in take off and the stabilizing member that lands is in institute
State sliding in sliding slot；It is described take off and the inside for the stabilizing member that lands be equipped with arc balance element card slot, the arc balance element card slot
By sliding clamping unmanned plane in the sliding slot.
Further, it is described take off and the stabilizing member that lands on be additionally provided with control signal receiving device and wireless induction positioning hair
Injection device, the control signal receiving device and the wireless induction localizing emission device are electrically connected with the processor module
It connects, the control signal receiving device is input to described take off and driving of landing for receiving control instruction, and by control instruction
Device, the wireless induction localizing emission device is for incuding described take off and land the distance between stabilizing member and unmanned plane.
Further, it is described take off and land arc balance element telescopic shaft and arc balance element axis are equipped in stabilizing member,
The arc balance element telescopic shaft is set on the arc balance element axis, and the arc balance element axis is flat in the arc
It weighs and stretches in part telescopic shaft, when the arc balance element card slot clamping unmanned plane, the arc balance element axis and the arc
Balance element telescopic shaft is put in the slide slot of unmanned plane, when unmanned plane takes off, it is described take off and land stabilizing member unclamp unmanned plane.
Further, the unmanned plane is equipped with intelligent radio induction charging interface, and the intelligent radio induction charging connects
Wireless charging, the intelligent radio induction charging interface and the wireless sense are realized between mouth and the radio induction charging device
The electrical connection of inductive charging battery.
Advantageous effects of the invention: the monitoring system of agricultural plant protection unmanned plane according to the invention, the present invention provide
Agricultural plant protection unmanned plane monitoring system, solve reliability existing for monitoring system in the prior art and stability it is low, knot
Structure complexity and problem at high cost easily lead to unmanned plane lateral deviation when especially solving unmanned plane takeoff and landing in the prior art
Or the problem of failure, take off balance and the landing stabilization of unmanned plane can be effectively kept by the power assisting device that takes off and land, and protected
Unmanned plane safety is demonstrate,proved, by radio induction charging device, can effectively ensure that the wireless induction of unmanned plane in the non-use state
Charging, i.e., unmanned plane, which is once drop on the power assisting device that takes off and land, can be realized wireless charging, can effectively ensure that nobody
The normal electricity consumption of machine judges unmanned plane failure by breakdown judge module, and fault message is sent to display and is shown,
Can be conducive to intuitively carry out malfunction monitoring, by infrared photography module and imaging spectrometer directly by agricultural plant protection video and
Image is shown avoids unstable image, signal delay and the limited problem of observing effect over the display.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of a preferred embodiment of the monitoring system of agricultural plant protection unmanned plane according to the invention；
Fig. 2 is the control processing unit of a preferred embodiment of the monitoring system of agricultural plant protection unmanned plane according to the invention
Structural schematic diagram, the embodiment can be embodiment identical with Fig. 1, which is also possible to and the different implementation of Fig. 1
Example.
In figure: 1- takes off and lands power assisting device, 2- sliding slot, and 3- takes off and land stabilizing member, and 4- takes off and land driving
Device, 5- control signal receiving device, 6- arc balance element card slot, 7- arc balance element telescopic shaft, 8- arc balance element axis,
9- radio induction charging device, 10- control processing unit, 11- wireless induction localizing emission device, 12- processor module, 13-
Remote control distributor device, 14- radio induction charging battery, 15- memory, 16- breakdown judge module, 17- gesture stability module,
18- infrared photography module, 19- data communication module, 20- landing balance control module, 21- cruise control module, 22- are remotely controlled day
Line, 23- communication antenna, 24- wireless induction position receiver device, 25- imaging spectrometer, 26- station, 27- display, 28-
Acoustic-optic alarm.
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 depicted in figs. 1 and 2, the monitoring system of a kind of agricultural plant protection unmanned plane provided in this embodiment, including two is symmetrical
Take off and land power assisting device 1 and take off described in being arranged in two and the power assisting device 1 that lands between control processing unit 10, institute
State take off and land power assisting device 1 be halfpace type, take off described in two and the power assisting device 1 that lands between be additionally provided with drive of taking off and land
Dynamic device 4 and radio induction charging device 9, take off described in two and the both ends for the power assisting device 1 that lands are respectively equipped with and take off and land
Stabilizing member 3, the control processing unit 10 respectively with it is described take off and land stabilizing member 3 and described take off and driving device of landing
4 electrical connections, take off described in two and the one end for the power assisting device 1 that lands is equipped with station 26, and the station 26 is equipped with display
27 and acoustic-optic alarm 28, the display 27 and the acoustic-optic alarm 28 be electrically connected with the control processing unit 10
It connects, is equipped with processor module 12, remote control distributor device 13, breakdown judge module 16, posture control in the control processing unit 10
Molding block 17, infrared photography module 18, imaging spectrometer 25 and cruise control module 21, the processor module 12 respectively with institute
State remote control distributor device 13, the breakdown judge module 16, the gesture stability module 17, the imaging spectrometer 25 and described
Cruise control module 21 be electrically connected, the gesture stability module 17 respectively with the remote control distributor device 13, the infrared photography
Module 18 and the cruise control module 21 are electrically connected, and the processor module 12 is used to calculate speed, the present bit of unmanned plane
It sets and posture；The remote control distributor device 13 sends control instruction to unmanned plane by remote controler, makes unmanned plane according to receiving
Control instruction flight；The gesture stability module 17 sends to unmanned aerial vehicle onboard equipment and instructs, and carries out unmanned aerial vehicle onboard equipment
Control, and obtain current location and the posture of unmanned plane；The cruise control module 21 includes inner loop control module and outer ring control
Molding block, is used for unmanned plane cruise control, and the inner loop control module is used to control the posture of unmanned plane, the outer loop control mould
Block is used to control the position and speed of unmanned plane.
Further, in the present embodiment, as shown in Fig. 2, the processor module 12 is electric with radio induction charging respectively
Pond 14 and memory 15 are electrically connected, and the memory 15 is also used to for storing unmanned plane instruction and flight control system data
Store position, speed and the posture of unmanned plane；The processor module 12 is also electrically connected with communication antenna 23, the communication antenna
23 respectively with unmanned aerial vehicle onboard communication apparatus and control centre's communication connection；The gesture stability module 17 and the cruise control
Module 21 is electrically connected with telecontrol antenna 22 respectively, and the cruise control module 21 is electrically connected with wireless induction position receiver device 24
It connects, the wireless induction position receiver device 24 is connect with unmanned aerial vehicle onboard localizing emission device.
Further, in the present embodiment, as shown in Fig. 2, 19 electricity of the gesture stability module 17 and data communication module
Connection, the gesture stability module 17 are connect by the data communication module 19 with unmanned plane, and unmanned aerial vehicle (UAV) control is carried out, and are received
The distance and velocity information of unmanned plane obtain current location and the posture of unmanned plane, and are believed according to the distance of unmanned plane and speed
Breath judges whether normal operation and safety judge flying for the unmanned plane and according to the current location of unmanned plane and posture to unmanned plane
Row region；The gesture stability module 17 is also electrically connected with landing balance control module 20, and the landing balances control module 20
For control it is described take off and land stabilizing member 3 and described take off and driving device 4 of landing.
Further, in the present embodiment, the inner loop control module uses adaptive robust control algorithm and mahony
Algorithm, the outer loop control module use Fuzzy PID, and the mahony algorithm is according to accelerometer and magnetometer
Data, after being transformed into geographic coordinate system, with the gravity vector of corresponding reference and ground magnetic vector carry out seeking error, this error use
The output of gyroscope is corrected, then carries out quaternary number update, reconvert to Eulerian angles with gyro data.
Further, in the present embodiment, as shown in Figure 1, take off described in two and the power assisting device 1 that lands in be equipped with sliding slot
2, it is described to take off and the stabilizing member 3 that lands takes off and driving device 4 of landing is connect with described, it is described to take off and driving device 4 of landing
It takes off described in control and the stabilizing member 3 that lands slides in the sliding slot 2；It is described take off and the inside for the stabilizing member 3 that lands be equipped with arc
Shape balance element card slot 6, the arc balance element card slot 6 in the sliding slot 2 by sliding clamping unmanned plane；It is described to take off and drop
It falls on stabilizing member 3 and is additionally provided with control signal receiving device 5 and wireless induction localizing emission device 11, the control signal receives dress
Set 5 and the wireless induction localizing emission device 11 be electrically connected with the processor module 12, the control signal receives dress
5 are set for receiving control instruction, and control instruction is input to described take off and driving device 4 of land, the wireless induction are determined
Position emitter 11 is for incuding described take off and land the distance between stabilizing member 3 and unmanned plane；It is described to take off and land steady
Determine to be equipped with arc balance element telescopic shaft 7 and arc balance element axis 8 in part 3, the arc balance element telescopic shaft 7 is set in described
On arc balance element axis 8, the arc balance element axis 8 stretches in the arc balance element telescopic shaft 7, and the arc is flat
When weighing apparatus 6 clamping unmanned plane of part card slot, the arc balance element axis 8 and the arc balance element telescopic shaft 7 put in unmanned plane
In slide slot, when unmanned plane takes off, it is described take off and land stabilizing member 3 unclamp unmanned plane.
Further, in the present embodiment, as shown in Fig. 2, the unmanned plane is equipped with intelligent radio induction charging interface,
Wireless charging, the intelligent radio are realized between the intelligent radio induction charging interface and the radio induction charging device 9
Induction charging interface is electrically connected with the radio induction charging battery 14.
In conclusion in the present embodiment, according to the monitoring system of the agricultural plant protection unmanned plane of the present embodiment, the present embodiment
The monitoring system of the agricultural plant protection unmanned plane of offer solves reliability and stability existing for monitoring system in the prior art
It is low, structure is complicated and problem at high cost, easily lead to nobody when especially solving unmanned plane takeoff and landing in the prior art
Pusher side is partially or the problem of failure, by the power assisting device that takes off and land can effectively keep unmanned plane take off balance and landing it is steady
It is fixed, guarantee unmanned plane safety, by radio induction charging device, can effectively ensure that unmanned plane in the non-use state wireless
Induction charging, i.e. unmanned plane, which are once drop on the power assisting device that takes off and land, can be realized wireless charging, can effectively ensure that
The normal electricity consumption of unmanned plane judges unmanned plane failure by breakdown judge module, and fault message is sent to display and is carried out
It has been shown that, can be conducive to intuitively carry out malfunction monitoring, by infrared photography module and imaging spectrometer directly by agricultural plant protection
Video and image are shown avoids unstable image, signal delay and the limited problem of observing effect over the display.
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 (10)
1. a kind of monitoring system of agricultural plant protection unmanned plane, including two symmetrically take off and the power assisting device that land (1) and being arranged exists
Take off described in two and the power assisting device that lands (1) between control processing unit (10), it is characterised in that: it is described take off and land help
Power device (1) be halfpace type, take off described in two and the power assisting device that lands (1) between be additionally provided with take off and land driving device (4)
With radio induction charging device (9), takes off described in two and the both ends of the power assisting device that lands (1) are respectively equipped with stabilization of taking off and land
Part (3), the control processing unit (10) respectively with it is described take off and the stabilizing member that lands (3) and it is described take off and land driving dress
(4) electrical connection is set, takes off described in two and one end of the power assisting device that lands (1) is equipped with station (26), on the station (26)
Equipped with display (27) and acoustic-optic alarm (28), the display (27) and the acoustic-optic alarm (28) with it is described
Processing unit (10) electrical connection is controlled, is equipped with processor module (12), remote control distributor device in the control processing unit (10)
(13), breakdown judge module (16), gesture stability module (17), infrared photography module (18), imaging spectrometer (25) and cruise
Control module (21), the processor module (12) respectively with the remote control distributor device (13), the breakdown judge module
(16), the gesture stability module (17), the imaging spectrometer (25) and the cruise control module (21) electrical connection, it is described
Gesture stability module (17) respectively with the remote control distributor device (13), the infrared photography module (18) and the cruise control
Module (21) electrical connection, the processor module (12) are used to calculate speed, current location and the posture of unmanned plane；The remote control
Flight instruments (13) send control instruction to unmanned plane by remote controler, and unmanned plane is made to fly according to the control instruction received；
The gesture stability module (17) sends to unmanned aerial vehicle onboard equipment and instructs, and carries out the control of unmanned aerial vehicle onboard equipment, and obtain nothing
Man-machine current location and posture；The cruise control module (21) includes inner loop control module and outer loop control module, is used for
Unmanned plane cruise control, the inner loop control module are used to control the posture of unmanned plane, and the outer loop control module is for controlling
The position and speed of unmanned plane.
2. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 1, it is characterised in that: the processor die
Block (12) is electrically connected with radio induction charging battery (14) and memory (15) respectively, and the memory (15) is for storing nobody
Machine instruction and flight control system data, are also used to store position, speed and the posture of unmanned plane.
3. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 2, it is characterised in that: the processor die
Block (12) is also electrically connected with communication antenna (23), and the communication antenna (23) is respectively and in unmanned aerial vehicle onboard communication apparatus and control
Heart communication connection；The gesture stability module (17) and the cruise control module (21) are electrically connected with telecontrol antenna (22) respectively
It connects, the cruise control module (21) is electrically connected with wireless induction position receiver device (24), the wireless induction position receiver
Device (24) is connect with unmanned aerial vehicle onboard localizing emission device.
4. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 2, it is characterised in that: the gesture stability
Module (17) is electrically connected with data communication module (19), and the gesture stability module (17) passes through the data communication module (19)
Connect with unmanned plane, carry out unmanned aerial vehicle (UAV) control, receive the distance and velocity information of unmanned plane, obtain unmanned plane current location and
Posture, and according to the distance and velocity information of unmanned plane, judge unmanned plane whether normal operation and safety, and according to unmanned plane
Current location and posture judge the flight range of the unmanned plane.
5. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 4, it is characterised in that: the gesture stability
Module (17) is also electrically connected with landing balance control module (20), and landing balance control module (20) is for controlling described rise
Fly and landing stabilizing member (3) and described takes off and driving device of landing (4).
6. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 1, it is characterised in that: the inner loop control
Module uses adaptive robust control algorithm and mahony algorithm, and the outer loop control module uses Fuzzy PID, institute
Stating mahony algorithm is the data according to accelerometer and magnetometer, after being transformed into geographic coordinate system, with the gravity of corresponding reference
Vector sum magnetic vector carry out seeking error, this error is used to correct the output of gyroscope, then carries out four with gyro data
First number updates, reconvert to Eulerian angles.
7. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 2, it is characterised in that: take off described in two and
Landing power assisting device (1) in is equipped with sliding slot (2), it is described take off and the stabilizing member that land (3) and it is described take off and land drive fill
Set (4) connection, it is described take off and driving device of land (4) control described in take off and the stabilizing member that lands (3) is interior in the sliding slot (2)
Sliding；It is described take off and the inside of the stabilizing member that lands (3) be equipped with arc balance element card slot (6), the arc balance element card slot (6)
By sliding clamping unmanned plane in the sliding slot (2).
8. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 7, it is characterised in that: described to take off and drop
It falls on stabilizing member (3) and is additionally provided with control signal receiving device (5) and wireless induction localizing emission device (11), the control signal
Reception device (5) and the wireless induction localizing emission device (11) are electrically connected with the processor module (12), the control
Signal receiving device (5) processed is input to described take off and driving device of landing for receiving control instruction, and by control instruction
(4), the wireless induction localizing emission device (11) for incude it is described take off and the stabilizing member that lands (3) and unmanned plane between
Distance.
9. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 8, it is characterised in that: described to take off and drop
It falls and is equipped with arc balance element telescopic shaft (7) and arc balance element axis (8), the arc balance element telescopic shaft in stabilizing member (3)
(7) it is set on the arc balance element axis (8), the arc balance element axis (8) is in the arc balance element telescopic shaft
(7) it stretches in, when arc balance element card slot (6) the clamping unmanned plane, the arc balance element axis (8) and the arc are put down
Weighing apparatus part telescopic shaft (7) put in the slide slot of unmanned plane, when unmanned plane takes off, it is described take off and the stabilizing member that land (3) release nothing
It is man-machine.
10. a kind of monitoring system of agricultural plant protection unmanned plane according to claim 2, it is characterised in that: the unmanned plane
It is equipped with intelligent radio induction charging interface, the intelligent radio induction charging interface and the radio induction charging device (9)
Between realize that wireless charging, the intelligent radio induction charging interface are electrically connected with the radio induction charging battery (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710658355.3A CN109383834A (en) | 2017-08-04 | 2017-08-04 | A kind of monitoring system of agricultural plant protection unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710658355.3A CN109383834A (en) | 2017-08-04 | 2017-08-04 | A kind of monitoring system of agricultural plant protection unmanned plane |
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| CN109383834A true CN109383834A (en) | 2019-02-26 |
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| CN201710658355.3A Pending CN109383834A (en) | 2017-08-04 | 2017-08-04 | A kind of monitoring system of agricultural plant protection unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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