CN109508041A - Plant protection drone group system and plant protection method - Google Patents
Plant protection drone group system and plant protection method Download PDFInfo
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- CN109508041A CN109508041A CN201910054575.4A CN201910054575A CN109508041A CN 109508041 A CN109508041 A CN 109508041A CN 201910054575 A CN201910054575 A CN 201910054575A CN 109508041 A CN109508041 A CN 109508041A
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- 238000000034 method Methods 0.000 title claims description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 52
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 239000007921 spray Substances 0.000 claims description 33
- 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 26
- 239000007788 liquid Substances 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 17
- 239000012530 fluid Substances 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 10
- 238000009472 formulation Methods 0.000 claims description 8
- 239000003814 drug Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 239000003595 mist Substances 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 5
- 230000006855 networking Effects 0.000 claims description 5
- 238000012790 confirmation Methods 0.000 claims description 4
- 238000000889 atomisation Methods 0.000 claims description 3
- 229940079593 drug Drugs 0.000 claims description 3
- 239000000575 pesticide Substances 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 137
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of plant protection drone group systems, comprising: Mission Ground Station, unmanned aerial vehicle station and the plant protection drone cluster being made of N frame plant protection drone；Plant protection drone cluster is connected with Mission Ground Station by ad hoc network module group, is connected by digital transmission module group with unmanned aerial vehicle station, realizes the real-time Transmission of assignment instructions, collaboration instruction and emergency operation instruction.High degree of automation of the present invention, during plant protection task, a series of actions such as Mission Ground Station can be automatically performed mission planning, weight-normality is drawn, cluster takes off, cluster is begun a task with, cluster makes a return voyage are lower to the dependence of operator；Plant protection of the present invention is high-efficient, the concurrent working and real-time monitoring of plant protection drone cluster can be realized by operation task earth station and unmanned aerial vehicle station, personnel's utilization efficiency is high, and multi rack plant protection drone is performed in unison with plant protection task, task time is shortened, task efficiency is greatly improved.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to the higher plant protection drone group system of intelligence degree and
Plant protection method.
Background technique
In recent years, with the rapid development of unmanned plane industry, professional plant protection drone has obtained extensively in farmland operation
General application.Existing plant protection technology is usually to fly the individually operated frame plant protection drone of hand by a plant protection drone to be sprayed
Operation is controlled by automatic mission program in operation process, is flown hand and is only needed in case of emergency to carry out unmanned plane
Emergency operation, personnel's utilization efficiency be not high.
Unmanned plane Clustering is high with degree of intelligence as a kind of emerging Form of Technique, cooperative ability is strong, environment is suitable
The features such as Ying Xingqiang, and the relevant technologies reach its maturity, and can greatly improve plant protection drone behaviour applied to plant protection drone field
Make the utilization rate of personnel, the speed of spraying operation is also available to be substantially improved.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides plant protection drone group system and plant protection method.
The invention discloses a kind of plant protection drone group systems, comprising: Mission Ground Station, unmanned aerial vehicle station and by N
The plant protection drone cluster of frame plant protection drone composition；
The plant protection drone cluster is connected, by digital transmission module group with the Mission Ground Station by ad hoc network module group
It is connected with the unmanned aerial vehicle station, realizes the real-time Transmission of assignment instructions, collaboration instruction and emergency operation instruction.
As a further improvement of the present invention, the Mission Ground Station by the ad hoc network module group to the plant protection without
The program results and the heavy program results during task that man-machine cluster uploads task course line, and receive the plant protection drone
The sensing data of cluster.
As a further improvement of the present invention, the Mission Ground Station loads two-dimensional digital map, advises for plant protection task
Draw and calculate, determine plant protection drone go out moving frame number, the flying speed of sortie and every frame plant protection drone, flying height,
Spraying swath width, mist flow, sprinkling region and the line of flight；Mission Ground Station operator to sprinkling task programme into
Row checks, according to farmland and crops actual conditions, further revises the plant protection drone cluster response pattern；In task mistake
Cheng Zhong, operator carry out real-time monitoring to task execution situation, when occur respraying, drain spray, without medicine, off-drug problem when appointed
Business is planned again.
As a further improvement of the present invention, the unmanned aerial vehicle station by the digital transmission module group to the plant protection without
Man-machine cluster uploads emergency instruction in emergency circumstances, and receives the flight parameter and flight shape of the plant protection drone cluster
State.
As a further improvement of the present invention, the unmanned aerial vehicle station by visualization interface monitor the plant protection nobody
The real-time flight dynamic of machine cluster, makes emergency processing convenient for unmanned aerial vehicle station operator, occurs in plant protection drone tight
When anxious situation, plant protection drone is switched to hovering mode, mode of making a return voyage or manual mould by unmanned aerial vehicle station by operator
Formula avoids dangerous generation.
As a further improvement of the present invention, the ad hoc network module group includes ground surface end ad hoc network module and is mounted on every
Airborne end ad hoc network module in frame plant protection drone, the ground surface end ad hoc network module and all airborne end ad hoc network modules are logical
It crosses Mesh networking to be in communication with each other, group-net communication between all airborne end ad hoc network modules；
The digital transmission module group includes that ground surface end digital transmission module and the airborne end number being mounted in every frame plant protection drone pass
Module, the ground surface end digital transmission module are communicated with airborne end digital transmission module one-to-one correspondence.
As a further improvement of the present invention, the plant protection drone include: flying platform, power device, flight control system,
Task control plate, the airborne end ad hoc network module, the airborne end digital transmission module, sensor group and sprinkling system；
The flying platform is rotor wing unmanned aerial vehicle platform, flat for providing for the other components of the plant protection drone
Platform；
The power device includes the mechanical, electrical tune of electricity, propeller and battery, is provided for the flight for plant protection drone dynamic
Power；
The flight control system includes gyroscope, accelerometer, electronic compass and computing unit, for executing the task control
The flight control instruction that making sheet is sent realizes plant protection drone flight control；
The task control plate, for receiving assignment instructions and the sensor from the airborne end ad hoc network module
The sensing data of group, resolves the assignment instructions and sensing data, obtains the flight control instruction；And hair
It send pwm signal to the sprinkling system, controls the mist flow of pesticide；
The airborne end ad hoc network module, for receiving the task flight course planning and weight-normality stroke that the Mission Ground Station uploads
The transmission of cotasking instruction, all instructions are transmitted to the task control in instruction and the plant protection drone cluster
It is resolved in plate；
The airborne end digital transmission module, the emergency disposal instruction sent for receiving the unmanned aerial vehicle station, and in real time
To the flight parameter and state of flight of unmanned aerial vehicle station transmission plant protection drone；
The sensor group includes that liquid level sensor and radar determine high module, the liquid level sensor real-time measurement medicine-chest
Residual liquid level situation is forwarded to other plant protection drones in the Mission Ground Station and cluster by the ad hoc network module group；
The radar determines the relative altitude of high module real-time measurement plant protection drone and farmland, and is resolved by the task control plate
Realization is flown imitatively；
The sprinkling system includes that medicine-chest, water pump, spray head and electricity are adjusted, and the medicine-chest is used to load the medical fluid of required by task,
The water pump and spray head are used for the atomization and sprinkling of medical fluid, and the electricity, which is adjusted, receives the pwm signal that the task control plate is sent, and use
In the power for controlling the water pump.
As a further improvement of the present invention, when certain frame plant protection drone failure needs to exit task, the plant protection nobody
The remaining unfinished sprinkling task of the machine is issued other plant protection in cluster by ad hoc network module by the task control plate on machine
Unmanned plane, plant protection drone carries out cooperative approach formulation in cluster, and the Mission Ground Station carries out scheme confirmation, assigns other plants
It protects unmanned plane and continues to execute remaining task.
As a further improvement of the present invention, when respraying, filling spray there are certain panel region needs, the plant protection drone collection
Group's internal coordination carries out solution formulation and assessment, after Mission Ground Station operator confirmation, before assigning certain frame plant protection drone
Toward execution is resprayed, fill spray task.
The invention also discloses a kind of plant protection methods of plant protection drone group system, comprising:
S1, the starting Mission Ground Station, carry out task preplanning and calculating according to actual task specifying information, will calculate
As a result the plant protection drone cluster is sent to by the ad hoc network module group；
S2, operator manipulate the plant protection drone cluster by the Mission Ground Station and take off；
After S3, plant protection drone cluster completion are taken off, the Mission Ground Station transmission begins a task with instruction, the plant
Protecting unmanned plane cluster goes to task farmland to execute sprinkling task；
If S4, certain frame plant protection drone complete course line or liquid measure is insufficient, make a return voyage automatically；
S5, the plant protection drone for making a return voyage certainly, if the plant protection drone completes the sprinkling task of all sorties, by appointing
Business earth station operator withdraws the plant protection drone；If carrying out medical fluid addition and electricity there are also the sprinkling task of next sortie
Pond replacement, executes S2；
S6, if it exists certain frame unmanned plane failure or work it is abnormal cause to generate need the region respraying, fill spray, in cluster
Portion is cooperateed with, and cooperative approach formulation is carried out；
S7, a specified frame have the plant protection drone of remaining medical fluid and electricity abundance to fly to after completing the machine sprinkling task
The region completion collaboration sprinkling that needs to respray, fill spray, executes S3；
S8, it assesses whether this sprinkling task is completed: if so, executing S9, otherwise executing S3；
S9, plant protection drone cluster make a return voyage.
Compared with prior art, the invention has the benefit that
1, high degree of automation: during plant protection task, Mission Ground Station can be automatically performed mission planning, weight-normality
It draws, a series of actions such as cluster takes off, cluster is begun a task with, cluster makes a return voyage, it is lower to the dependence of operator；
2, intelligence degree is high: the member in cluster not singly completes respective sprinkling task, but if necessary
It is cooperateed with, entire plant protection task is completed jointly with lower cost and higher efficiency；
3, plant protection is high-efficient: plant protection drone cluster can be realized by operation task earth station and unmanned aerial vehicle station
Concurrent working and real-time monitoring, personnel's utilization efficiency is high, and multi rack plant protection drone is performed in unison with plant protection task, when shortening task
Between, greatly improve task efficiency.
Detailed description of the invention
Fig. 1 is the frame diagram of plant protection drone group system disclosed in an embodiment of the present invention；
Fig. 2 is plant protection drone hardware architecture diagram in Fig. 1；
Fig. 3 is the plant protection method flow diagram of plant protection drone group system disclosed in an embodiment of the present invention.
In figure:
11, Mission Ground Station；12, ground surface end ad hoc network module；21, unmanned aerial vehicle station；22, ground surface end digital transmission module；
30, plant protection drone cluster；31, airborne end ad hoc network module；32, task control plate；33, flight control system；34, airborne end number passes
Module；41, radar determines high module；42, liquid level sensor；51, medicine-chest；52, water pump；53, spray head；54, electricity is adjusted.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, the present invention provides a kind of plant protection drone group system, comprising: Mission Ground Station 11, unmanned plane
Face station 21 and the plant protection drone cluster 30 being made of the plant protection drone that N frame cooperates with；Plant protection drone cluster 30 is by from group
Net module group is connected with Mission Ground Station 11, and plant protection drone cluster 30 passes through digital transmission module group and 21 phase of unmanned aerial vehicle station
Even, to realize assignment instructions between Mission Ground Station 11, unmanned aerial vehicle station 21 and plant protection drone cluster 30, collaboration instruction
With the real-time Transmission of emergency operation instruction.Wherein:
Ad hoc network module group of the invention includes ground surface end ad hoc network module 12 and is mounted in every frame plant protection drone
Airborne end ad hoc network module 31, ground surface end ad hoc network module 12 are mutual by Mesh networking with all airborne end ad hoc network modules 31
It communicates, group-net communication between all airborne end ad hoc network modules 31；
Digital transmission module group of the invention includes ground surface end digital transmission module 22 and is mounted on airborne in every frame plant protection drone
Digital transmission module 34 is held, ground surface end digital transmission module 22 is communicated with airborne end digital transmission module 34 one-to-one correspondence.
It is specific:
Task ground surface end of the invention includes Mission Ground Station 11 and ground surface end ad hoc network module 12:
Mission Ground Station 11 loads two-dimensional digital map, is used for plant protection mission planning and calculating, determines plant protection drone
Moving frame number, the flying speed of sortie and every frame plant protection drone, flying height, spraying swath width, mist flow, sprinkling area out
Domain and the line of flight；Mission Ground Station operator checks the programme of sprinkling task, according to farmland and crops
Actual conditions further revise plant protection drone cluster response pattern；During task, operator is to task execution situation
Carry out real-time monitoring, when occur respraying, drain spray, without the problems such as medicine, off-drug when carry out task and plan again.
The program results in above-mentioned task course line and appoint that ground surface end ad hoc network module 12 is used to formulate Mission Ground Station 11
Weight program results during business are uploaded in plant protection drone cluster 30；Meanwhile receiving what plant protection drone cluster 30 issued
The sensing datas such as Residual liquid.
Unmanned aerial vehicle end of the invention includes unmanned aerial vehicle station 21 and N number of ground surface end digital transmission module 22:
Unmanned aerial vehicle station 21 monitors the real-time flight dynamic of plant protection drone cluster by visualization interface, is convenient for nobody
Machine earth station operator makes emergency processing, and when plant protection drone is in an emergency, operator is by unmanned plane
Plant protection drone is switched to hovering mode, mode of making a return voyage or manual mode by face station, avoids dangerous generation.
N number of ground surface end digital transmission module 22 is corresponded with N number of airborne end digital transmission module 34, and ground surface end digital transmission module 22 is used for
The emergency instruction of unmanned aerial vehicle station 21 in emergency circumstances is uploaded in plant protection drone cluster 30；Meanwhile receive plant protection without
The flight parameter and state of flight that man-machine cluster 30 issues.
As shown in Fig. 2, plant protection drone hardware structure of the invention includes: flying platform (not shown), power dress
It sets (not shown), airborne end ad hoc network module 31, task control plate 32, flight control system 33, airborne end digital transmission module 34, pass
Sensor group and sprinkling system；Wherein:
Flying platform of the invention is rotor wing unmanned aerial vehicle platform, provides platform for the other components of plant protection drone.
Power device of the invention includes the mechanical, electrical tune of electricity, propeller and battery, for providing for the flight of plant protection drone
Power.
Airborne end ad hoc network module 31 of the invention is connected with ground surface end ad hoc network module 12 and task control plate 32 respectively,
Task flight course planning and weight-normality for receiving the upload of Mission Ground Station 11 draw collaboration in instruction and plant protection drone cluster 30
The transmission of assignment instructions, all instructions are transferred in task control plate 32 and are resolved.
Task control plate 32 of the invention respectively with airborne end ad hoc network module 31, flight control system 33, sensor group and spray
It spills system to be connected, for receiving the sensing data of assignment instructions and sensor group from airborne end ad hoc network module 31, appoint
Business control panel 32 is based on algorithm mounted and program and resolves to assignment instructions and sensing data, will resolve flying of obtaining
Row control instruction is sent to the execution of flight control system 33, meanwhile, task control plate 32 sends pwm signal to sprinkling system, controls agriculture
The mist flow of medicine.When certain frame unmanned plane failure needs to exit task, task control plate 32 on the unmanned plane is by from group
The remaining unfinished sprinkling task of the machine is issued other unmanned planes in cluster by net module group, and unmanned plane is cooperateed in cluster
Solution formulation, Mission Ground Station 11 carry out scheme confirmation, other unmanned planes are assigned to continue to execute remaining task.
Flight control system 33 of the invention is connected with task control plate 32 and airborne end digital transmission module 34 respectively, flight control system 33
Including gyroscope, accelerometer, electronic compass and computing unit, the flight control for executing the transmission of task control plate 32 refers to
It enables, realizes plant protection drone flight control.
Airborne end digital transmission module 34 of the invention is connected with flight control system 33 and ground surface end digital transmission module 22 respectively, for connecing
The emergency disposal instruction that unmanned aerial vehicle station 21 is sent is received, and transmits the flight of plant protection drone to unmanned aerial vehicle station 21 in real time
Parameter and state of flight.
Sensor of the invention group includes that liquid level sensor 41 and radar determine high module 42,41 real-time measurement of liquid level sensor
The residual liquid level situation of medicine-chest is forwarded to other plant protection drones in Mission Ground Station and cluster by ad hoc network module group；Thunder
The relative altitude of Da Dinggao module 42 real-time measurement plant protection drone and farmland, and resolve by task control plate and realize imitative ground
Flight.
Sprinkling system of the present invention includes that medicine-chest 51, water pump 52, spray head 53 and electricity adjust 54, and medicine-chest 51 is for loading required by task
Medical fluid, water pump 52 and spray head 53 be used for the atomization and sprinkling of medical fluid, and electricity adjusts 54 to receive the PWM letter that task control plates 32 are sent
Number, for controlling the power of water pump 52.
Based on plant protection drone hardware structure shown in Fig. 2, after completing task preplanning and calculating, by task ground
Operator's operation task of standing earth station 11 is taken off instruction by the transmission of ground surface end ad hoc network module 12, in plant protection drone
Airborne end ad hoc network module 31 receives take off instruction after, resolved by task control plate 32, will take off it is instruction morphing for flight
Control instruction is sent to flight control system 33, and flight control system controls plant protection drone automatic takeoff to specified altitude assignment.After completion is taken off,
Mission Ground Station 11 begins a task with instruction by the transmission of ground surface end ad hoc network module 12, the airborne end ad hoc network in plant protection drone
Module 31 receives take off instruction after, task control plate 32 gives 33 sending mode switching command of flight control system, and flight control system is by plant protection
Unmanned plane during flying pattern switching is course line mode, begins a task with airline operation.Behind the overhead of arrival task farmland, task control plate 32
It sends pwm signal to electricity and adjusts 54, and then control the power of water pump 52, spray head 53 starts to spray insecticide.During task, task control
Making sheet 32 obtains the altitude information that radar determines high module 41 in real time, and the flight for calculating unmanned plane according to the fluctuating of farmland height is high
Degree, and it is sent to the execution of flight control system 33, realize flying imitatively for plant protection drone, it is ensured that pesticide spray flow and spray width
It keeps stablizing.During task, task control plate 32 obtains the liquid level data of liquid level sensor in real time, when liquid level is less than given threshold
When value, medical fluid is insufficient in medicine-chest 51 at this time, and task control plate 32 sends instruction of making a return voyage to flight control system 33, and unmanned plane makes a return voyage.Together
When, Mission Ground Station 11 can obtain liquid level data by ground surface end ad hoc network module 12, and for Mission Ground Station, operator is real-time
Monitor task execution situation.During task, if certain frame unmanned plane failure or work it is abnormal cause generate need respray, fill spray
Region, the plant protection drone in cluster carries out group-net communication by airborne end ad hoc network module 31, and the cooperative information of transmission is logical
It crosses task control plate 32 to be resolved, finally assigns the smallest plant protection drone member of cost in cluster that execution is gone to respray, mend
Spray task.
As shown in figure 3, the present invention provides a kind of plant protection method of plant protection drone group system, comprising:
S1, starting Mission Ground Station, carry out task preplanning and calculating according to actual task specifying information, by calculated result
Plant protection drone cluster is sent to by ad hoc network module group；
S2, operator manipulate plant protection drone cluster by Mission Ground Station and take off；
After S3, the completion of plant protection drone cluster are taken off, Mission Ground Station transmission begins a task with instruction, plant protection drone cluster
Task farmland is gone to execute sprinkling task；
If S4, certain frame plant protection drone complete course line or liquid measure is insufficient, make a return voyage automatically；
S5, the plant protection drone for making a return voyage certainly, if the plant protection drone completes the sprinkling task of all sorties, by appointing
Business earth station operator withdraws the plant protection drone；If carrying out medical fluid addition and electricity there are also the sprinkling task of next sortie
Pond replacement, executes S2；
S6, if it exists certain frame unmanned plane failure or work it is abnormal cause to generate need the region respraying, fill spray, in cluster
Portion is cooperateed with, and cooperative approach formulation is carried out；
S7, a specified frame have the plant protection drone of remaining medical fluid and electricity abundance to fly to after completing the machine sprinkling task
The region completion collaboration sprinkling that needs to respray, fill spray, executes S3；
S8, it assesses whether this sprinkling task is completed: if so, executing S9, otherwise executing S3；
S9, plant protection drone cluster make a return voyage.
It is specific:
The present invention provides a kind of plant protection method of plant protection drone group system, comprising:
Step 1, starting Mission Ground Station, input field boundary point GPS coordinate information, obstacle information and crops letter
Breath, Mission Ground Station determine plant protection drone flying height, flying speed, spraying swath width and spray flow according to crop information
Amount；Sprinkling mission area range is determined according to field boundary point GPS coordinate information；
Step 2, Mission Ground Station are calculated according to sprinkling mission area range and spraying swath width executes sprinkling required by task
Plant protection drone frame number M sets out M frame plant protection drone and executes this time spray if required plant protection drone frame number M is less than or equal to N
Spill task；If required plant protection drone frame number M is greater than N, sets out N frame plant protection drone and execute this sprinkling task, and calculate
The sortie of every frame plant protection drone；
Step 3, Mission Ground Station are that every frame plant protection drone divides mission area, and plans the sprinkling boat of each sortie
The course line planned is sent in the task control plate of every frame plant protection drone by ad hoc network module and is saved by line, with
Just real-time calling during task；
Step 4 fills medical fluid for every frame plant protection drone and installs battery, by plant protection drone after preflight check is errorless
It is placed into spacious region of taking off, keeps certain personal distance between every frame plant protection drone；
Step 5, unmanned aerial vehicle station connect digital transmission module, connect one by one with plant protection drone, it is ensured that each digital transmission module
Normal connection, and real time status information is shown on unmanned aerial vehicle station；
Step 6, Mission Ground Station send a key by ad hoc network module and take off instruction, and plant protection drone cluster rises simultaneously
Fly, after every frame plant protection drone reaches specified altitude assignment, the respective mission area that flies to executes sprinkling task；
Step 7 completes course line or liquid measure insufficient plant protection drone record current breakpoint simultaneously makes a return voyage automatically, if the plant protection without
The sprinkling task of man-machine all sorties of completion, then withdraw the plant protection drone by task ground handling operator；If there are also next framves
Secondary sprinkling task, then carry out medical fluid addition and battery altering, manipulates it by Mission Ground Station after ready and takes off and open
Beginning breakpoint continues spray task；
Step 8, with the presence or absence of certain frame plant protection drone failure or the abnormal region for resulting in the need for respraying, filling spray of work:
If so, cluster internal is cooperateed with, a specified frame has the plant protection drone of remaining medical fluid and electricity abundance, completes the machine spray
After spilling task, the region completion collaboration sprinkling that needs to respray, fill spray of flying to；
Step 9 assesses whether this sprinkling task is completed: if so, step 10 is executed, it is no to then follow the steps 7；
Step 10, all plant protection drones are maked a return voyage.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of plant protection drone group system characterized by comprising Mission Ground Station, unmanned aerial vehicle station and planted by N frame
Protect the plant protection drone cluster of unmanned plane composition；
The plant protection drone cluster is connected, by digital transmission module group and institute with the Mission Ground Station by ad hoc network module group
It states unmanned aerial vehicle station to be connected, realizes the real-time Transmission of assignment instructions, collaboration instruction and emergency operation instruction.
2. plant protection drone group system as described in claim 1, which is characterized in that the Mission Ground Station by it is described from
Networking module group to the plant protection drone cluster upload task course line program results and task during heavy program results,
And receive the sensing data of the plant protection drone cluster.
3. plant protection drone group system as claimed in claim 2, which is characterized in that the Mission Ground Station loads two-dimemsional number
Word map, be used for plant protection mission planning and calculating, determine plant protection drone go out moving frame number, sortie and every frame plant protection nobody
Flying speed, flying height, spraying swath width, mist flow, sprinkling region and the line of flight of machine；Mission Ground Station operator
To sprinkling task programme check, according to farmland and crops actual conditions, further revise the plant protection nobody
Machine cluster response pattern；During task, operator carries out real-time monitoring to task execution situation, when occurring respraying, leak
Spray, without medicine, off-drug problem when carry out task plan again.
4. plant protection drone group system as described in claim 1, which is characterized in that the unmanned aerial vehicle station passes through described
Digital transmission module group uploads emergency instruction in emergency circumstances to the plant protection drone cluster, and receives the plant protection drone
The flight parameter and state of flight of cluster.
5. plant protection drone group system as claimed in claim 4, which is characterized in that the unmanned aerial vehicle station passes through visual
Change the real-time flight dynamic that interface monitors the plant protection drone cluster, is made at emergency convenient for unmanned aerial vehicle station operator
Reason, when plant protection drone is in an emergency, plant protection drone is switched to hovering by unmanned aerial vehicle station by operator
Mode, mode of making a return voyage or manual mode avoid dangerous generation.
6. plant protection drone group system according to any one of claims 1 to 5, which is characterized in that the ad hoc network module
Group includes ground surface end ad hoc network module and the airborne end ad hoc network module being mounted in every frame plant protection drone, and the ground surface end is certainly
Networking module is in communication with each other with all airborne end ad hoc network modules by Mesh networking, all airborne end ad hoc network modules it
Between group-net communication；
The digital transmission module group includes ground surface end digital transmission module and the airborne end digital transmission module that is mounted in every frame plant protection drone,
The ground surface end digital transmission module is communicated with airborne end digital transmission module one-to-one correspondence.
7. plant protection drone group system as claimed in claim 6, which is characterized in that the plant protection drone includes: flight
Platform, flight control system, task control plate, the airborne end ad hoc network module, the airborne end digital transmission module, passes power device
Sensor group and sprinkling system；
The flying platform is rotor wing unmanned aerial vehicle platform, for providing platform for the other components of the plant protection drone；
The power device includes the mechanical, electrical tune of electricity, propeller and battery, for providing power for the flight of plant protection drone；
The flight control system includes gyroscope, accelerometer, electronic compass and computing unit, for executing the task control plate
The flight control instruction of transmission realizes plant protection drone flight control；
The task control plate, for receiving assignment instructions from the airborne end ad hoc network module and the sensor group
Sensing data resolves the assignment instructions and sensing data, obtains the flight control instruction；And it sends
Pwm signal controls the mist flow of pesticide to the sprinkling system；
The airborne end ad hoc network module, for receiving the task flight course planning and weight-normality stroke finger that the Mission Ground Station uploads
The transmission of cotasking instruction, all instructions are transmitted to the task control plate in order and the plant protection drone cluster
In resolved；
The airborne end digital transmission module, the emergency disposal instruction sent for receiving the unmanned aerial vehicle station, and in real time to institute
State the flight parameter and state of flight of unmanned aerial vehicle station transmission plant protection drone；
The sensor group includes that liquid level sensor and radar determine high module, the residue of the liquid level sensor real-time measurement medicine-chest
Level condition is forwarded to other plant protection drones in the Mission Ground Station and cluster by the ad hoc network module group；It is described
Radar determines the relative altitude of high module real-time measurement plant protection drone and farmland, and carries out resolving realization by the task control plate
It flies imitatively；
The sprinkling system includes that medicine-chest, water pump, spray head and electricity are adjusted, and the medicine-chest is used to load the medical fluid of required by task, described
Water pump and spray head are used for the atomization and sprinkling of medical fluid, and the electricity, which is adjusted, receives the pwm signal that the task control plate is sent, for controlling
Make the power of the water pump.
8. plant protection drone group system as claimed in claim 7, which is characterized in that when certain frame plant protection drone failure needs
When exiting task, the task control plate in the plant protection drone is appointed the remaining unfinished sprinkling of the machine by ad hoc network module
Other plant protection drones in cluster are issued in business, and plant protection drone carries out cooperative approach formulation in cluster, the Mission Ground Station into
The confirmation of row scheme, assigns other plant protection drones to continue to execute remaining task.
9. plant protection drone group system as claimed in claim 7, which is characterized in that when there are certain panel region needs respray,
When filling spray, the plant protection drone cluster internal collaboration carries out solution formulation and assessment, and through Mission Ground Station, operator confirms
Afterwards, assign that certain frame plant protection drone goes to execution to respray, fill spray task.
10. a kind of plant protection method of plant protection drone group system as described in claim 1 characterized by comprising
S1, the starting Mission Ground Station, carry out task preplanning and calculating according to actual task specifying information, by calculated result
The plant protection drone cluster is sent to by the ad hoc network module group；
S2, operator manipulate the plant protection drone cluster by the Mission Ground Station and take off；
After S3, plant protection drone cluster completion are taken off, Mission Ground Station transmission begins a task with instruction, the plant protection without
Man-machine cluster goes to task farmland to execute sprinkling task；
If S4, certain frame plant protection drone complete course line or liquid measure is insufficient, make a return voyage automatically；
S5, the plant protection drone for making a return voyage certainly, if the plant protection drone completes the sprinkling task of all sorties, by task
Face station operator withdraws the plant protection drone；If carrying out medical fluid addition and battery more there are also the sprinkling task of next sortie
It changes, executes S2；
S6, if it exists certain frame unmanned plane failure or work it is abnormal cause to generate need the region respraying, fill spray, cluster internal into
Row collaboration, carries out cooperative approach formulation；
S7, a specified frame have the plant protection drone of remaining medical fluid and electricity abundance, and after completing the machine sprinkling task, fly to needs
Collaboration sprinkling is completed in the region respray, to fill spray, executes S3；
S8, it assesses whether this sprinkling task is completed: if so, executing S9, otherwise executing S3；
S9, plant protection drone cluster make a return voyage.
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