CN109541625A - Plant protection drone flight parameter measurement method and system - Google Patents
Plant protection drone flight parameter measurement method and system Download PDFInfo
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- CN109541625A CN109541625A CN201811438081.8A CN201811438081A CN109541625A CN 109541625 A CN109541625 A CN 109541625A CN 201811438081 A CN201811438081 A CN 201811438081A CN 109541625 A CN109541625 A CN 109541625A
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- plant protection
- protection drone
- controller
- laser
- parameter measurement
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The present invention relates to plant protection drone fields, provide a kind of plant protection drone flight parameter measurement method and system.Method includes the following steps: S1, in the laser sensors of the two parallel and symmetrical distributions of column of operating area setting, width direction of the laser sensor along operating area positioned at same row is successively spaced setting；Spacing between S2, two column laser sensors of measurement；S3, all laser sensors of starting；S4, starting plant protection drone；S5, the electric signal that laser pulse generates after plant protection drone reflects is obtained；S6, controller calculate the flying height of plant protection drone according to electric signal；S7, acquisition plant protection drone are flown the flight time used between two column laser sensors；S8, controller calculate the flying speed of plant protection drone according to flight time and pitch information.The present invention not only has a wide range of application, is not limited by plant protection drone type without changing plant protection drone self structure, but also measurement result objective reality.
Description
Technical field
The present invention relates to plant protection drone fields, and in particular to a kind of plant protection drone flight parameter measurement method and is
System.
Background technique
Unmanned plane is the not manned vehicle manipulated by radio robot and self-contained program's control device.Unmanned plane because
The advantages that its landing flexibly, easily manipulates, stability is good is widely used in aerial reconnaissance, monitoring, relaying on-off, rescue, facet
The occasions such as product mapping.Plant protection drone is applied to agriculture unmanned plane, and its flying height and flying speed must in operation process
Particular requirement must be met, otherwise not only will affect operation effectiveness, but also be even also possible to that phytotoxicity influence can be generated.Therefore, it is planting
It protects in unmanned plane operation process and needs to test whether it can carry out flight operation according to specified altitude assignment and speed.
Currently, researcher studies to the measurement method of the flying height of unmanned plane and flying speed for a long period of time
It explores.Wherein, a kind of most common method are as follows: in plant protection drone install pressure sensor, gyroscope, accelerometer or
The sensors such as GPS.But the sensor or above-mentioned using carrying must be installed in plant protection drone when using this method
The plant protection drone of sensor.If directly installing the sensor in plant protection drone, the weight of plant protection drone will increase
Amount, or even also to change the structure of plant protection drone, influence the authenticity of data；According to included the sensor plant protection without
It is man-machine, then error difference can be generated because the included sensor model number of different plant protection drones is different.
Summary of the invention
The plant that the object of the present invention is to provide a kind of without changing plant protection drone self structure, measurement result objective
Protect unmanned plane during flying measurement method of parameters and system.
To achieve the above object, the present invention provides a kind of plant protection drone flight parameter measurement method, this method includes
Following steps:
S1, the laser sensor that parallel and symmetrical distribution is arranged in operating area setting two, positioned at the laser of same row
Width direction of the sensor along the operating area is successively spaced setting, height phase of all laser sensors apart from ground
Together；
Spacing between S2, the two column laser sensor of measurement, and pitch information is sent to controller；
S3, start all laser sensors, so that the laser sensor swashs to transmitting above the operating area
Light pulse；
S4, starting plant protection drone, and make the plant protection drone above the operating area along the operating area
Length direction flight；
S5, the electric signal that the laser pulse generates after plant protection drone reflection is obtained；
S6, the controller calculate the flying height of the plant protection drone according to the electric signal；
S7, the acquisition plant protection drone are flown the flight time used between the two column laser sensors；
S8, the controller calculate the flight speed of the plant protection drone according to the flight time and the pitch information
Degree.
Wherein, the step S6 specifically: the controller is calculated by the following formula the flight of the plant protection drone
Height y:y=f (x)；Wherein, x indicates the electric signal；F (x) is testing machine of the controller by multiple and different shapes
The electric signal that length direction flight with different preset heights above the operating area along the operating area generates one by one
The mathematical model obtained with the preset height fitting operation.
Wherein, further comprising the steps of: S9, the controller are according to the flying height, flight time and described
Pitch information draws the three-dimensional figure of the plant protection drone bottom profile；Wherein, the x-axis of the three-dimensional figure indicates the laser
Number, the y-axis of sensor indicate that time, z-axis indicate height.
Wherein, the electric signal is current signal or voltage signal.
To achieve the above object, a kind of plant protection drone flight parameter measurement system, the system include controller and support
Frame, support frame as described above are equipped with the laser sensors of the two parallel and symmetrical distributions of column, each laser sensor with it is described
Controller electrical connection.
Wherein, the controller includes power module, data acquisition module, data analysis module and divides with the data
Analyse the input module of module connection；The data acquisition module is connect by data transmission module with the data analysis module,
The laser sensor and the power module are connect with the data acquisition module.
Wherein, the controller further includes the visualization model connecting with the data analysis module.
Wherein, support frame as described above includes the sequentially connected first volume folding bar of head and the tail, the first telescopic rod, volume Two folding bar and the
Multiple laser sensors are equipped in two telescopic rods, the first volume folding bar and the volume Two folding bar.
Wherein, the first volume folding bar and the volume Two folding bar are fabricated from a flexible material.
It wherein, further include containing box, the containing box is for storing the controller, support frame as described above and the laser
Sensor.
Operation of the present invention is convenient, is easily achieved, and passes through the laser in the two parallel and symmetrical distribution of column of operating area setting
Sensor, so that it may using controller according to the electric signal of spacing and laser sensor feedback between the two column laser sensors
Calculate the flying height and flying speed of plant protection drone.Due to, the present invention is not necessarily to change plant protection drone self structure, because
This not only has a wide range of application, is not limited by plant protection drone type, but also measurement result objective reality.
Detailed description of the invention
Fig. 1 is the control principle drawing of one of embodiment of the present invention 2 plant protection drone flight parameter measurement system；
Fig. 2 is the structural schematic diagram of one of embodiment of the present invention 2 plant protection drone flight parameter measurement system；
Fig. 3 is the structural schematic diagram of containing box in the embodiment of the present invention 2.
Appended drawing reference:
1, laser sensor；2-1, power module；2-2, data acquisition module；
2-3, wireless data transfer module；2-4, wired data transfer module；
2-5, computer；3-1, first volume folding bar；3-2, the first telescopic rod；
3-3, volume Two folding bar；3-4, the second telescopic rod；4, containing box.
Specific embodiment
To keep the purposes, technical schemes and advantages of invention clearer, below in conjunction with the attached drawing in invention, in invention
Technical solution be explicitly described, it is clear that described embodiment is invention a part of the embodiment, rather than whole realities
Apply example.It is obtained by those of ordinary skill in the art without making creative efforts based on the embodiment in invention
Every other embodiment belongs to the range of invention protection.
In the description of the present invention, unless otherwise indicated, the orientation or positional relationship of the instructions such as term "top", "bottom" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified system or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
It should be noted that unless otherwise clearly defined and limited, term " connection " shall be understood in a broad sense, for example, can
To be to be fixedly connected, may be a detachable connection, or be integrally connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected.For the ordinary skill in the art, tool of the above-mentioned term in invention can be understood with concrete condition
Body meaning.
Embodiment 1
The present invention provides a kind of plant protection drone flight parameter measurement methods, method includes the following steps:
S1, the laser sensor that parallel and symmetrical distribution is arranged in operating area setting two, positioned at the laser sensing of same row
Width direction of the device along operating area is successively spaced setting, and height of all laser sensors apart from ground is identical；
Spacing between S2, two column laser sensors of measurement, and pitch information is sent to controller；
S3, start all laser sensors, so that laser sensor emits laser pulse to operating area top；
S4, starting plant protection drone, and fly length direction of the plant protection drone above operating area along operating area
Row, that is to say, that make plant protection drone perpendicular to two column laser sensors and pass through its top flight；
S5, the electric signal that laser pulse generates after plant protection drone reflects is obtained；When plant protection drone flies through laser
When sensor, the laser pulse of laser transmitter projects can scatter after plant protection drone reflects to all directions, some scattered light
Electric signal is converted to after back to laser sensor, which can be current signal or voltage signal；
S6, controller calculate the flying height of plant protection drone according to electric signal；Specifically: controller passes through following formula
Calculate the flying height y:y=f (x) of plant protection drone；Wherein, x indicates electric signal；F (x) passes through multiple and different for controller
The electricity that length direction flight of the testing machine of shape one by one with different preset heights above operating area along operating area generates
The mathematical model that signal and preset height fitting operation obtain, that is to say, that several variform tests can be prepared before
Then machine first allows length direction flight of one of testing machine every time with different preset heights along operating area multiple；It connects
, repeat the above process remaining testing machine one by one；Due to when plant protection drone is in different height laser pulse through plant protection
The electrical signal intensity generated after unmanned plane reflection is different, therefore controller is according to the telecommunications generated in these testing machine flight courses
Number and corresponding pre-set flight height can fitting operation go out mathematical model f (x).
S7, acquisition plant protection drone are flown the flight time used between two column laser sensors；Specifically, work as control
Device starts timing when receiving the electric signal of first row laser sensor feedback, when controller receives secondary series laser sensor
Timing stops when the electric signal of feedback.
S8, controller calculate the flying speed of plant protection drone according to flight time and pitch information.
S9, controller draw the three-dimensional of plant protection drone bottom profile according to flying height, flight time and pitch information
Figure；Wherein, the x-axis of three-dimensional figure indicates that the number of laser sensor, y axis indicate that time, z-axis indicate height.
From the foregoing, it will be observed that this method operation is convenient, is easily achieved, by the two parallel and symmetrical distribution of column of operating area setting
Laser sensor, so that it may using controller according between two column laser sensors spacing and laser sensor feedback electricity
Signal calculates the flying height and flying speed of plant protection drone.Since this method is without changing plant protection drone itself knot
Structure, therefore not only have a wide range of application, do not limited by plant protection drone type, but also measurement result objective reality.
Embodiment 2
As shown in Figure 1, the system includes control the present invention also provides a kind of plant protection drone flight parameter measurement system
Device and support frame, support frame are equipped with the laser sensors 1 of the two parallel and symmetrical distributions of column, each laser sensor 1 with control
Device electrical connection processed.
Preferably, controller includes power module 2-1, data acquisition module 2-2, data analysis module and divides with data
Analyse the input module of module connection；Data acquisition module 2-2 is connect by data transmission module with data analysis module, laser
Sensor 1 and power module 2-1 are connect with data acquisition module 2-2.Wherein, data transmission module is either wireless data passes
Defeated module 2-3 is also possible to wired data transfer module 2-4.Further, controller further includes connecting with data analysis module
Visualization model.Wherein, data acquisition module 2-2 is used to acquire the electric signal of the feedback of laser sensor 1；Input module is used for
By the pitch information input data analysis module of measurement；Data analysis module is for determining the flight time, being calculated according to electric signal
The flying height of plant protection drone and flying speed is calculated according to flying height and flight time；Visualization model is used for root
The three-dimensional figure of plant protection drone bottom profile is drawn according to flying height, flight time and pitch information.It should be noted that data
The function of analysis module, input module and analysis module can be integrated in the same equipment, which can be computer 2-5.
Preferably, in conjunction with shown in Fig. 2, support frame includes the sequentially connected first volume folding bar 3-1 of head and the tail, the first telescopic rod
3-2, volume Two folding bar 3-3 and the second telescopic rod 3-4, first volume folding bar 3-1 and volume Two folding bar 3-3 are equipped with multiple lasers
Sensor 1.Wherein, first volume folding bar 3-1 and volume Two folding bar 3-3 are fabricated from a flexible material.
It is highly preferred that laser sensor 1 and first volume folding bar 3-1 and volume Two folding bar 3-3 are detachably connected.Specifically,
Multiple mounting holes for being used to plug bolt are offered on first volume folding bar 3-1 and volume Two folding bar 3-3 along its length, it is each
Laser sensor 1 is bolted on first volume folding bar 3-1 or volume Two folding bar 3-3.In actual use, staff passes through
Corresponding mounting hole is selected to carry out fixed laser sensor 1 just adjustable between the two neighboring laser sensor 1 of same row
Distance.
Further, as shown in figure 3, for the ease of carrying management, which further includes containing box 4, and containing box 4 is for receiving
Receive controller, support frame and laser sensor 1.
Staff need to only carry containing box 4 to scene when measuring as a result, by support frame from edge after the taking-up of containing box 4
First volume folding bar 3-1 and volume Two folding bar 3-3 is unfolded in the width direction of operating area.Certainly, staff can also basis
Actual needs changes between two column laser sensors 1 by adjusting the length of the first telescopic rod 3-2 and the second telescopic rod 3-4
Spacing.After being measured, the entire support frame folding with laser sensor 1 need to only be rolled rear and controller one by staff
It is same to be put into containing box 4.
From the foregoing, it will be observed that the system structure is simple, easy to carry, by the two parallel and symmetrical distribution of column of operating area setting
Laser sensor 1, so that it may using controller according between two column laser sensors 1 spacing and laser sensor 1 feed back
Electric signal calculate the flying height and flying speed of plant protection drone.Since the system is without changing plant protection drone certainly
Body structure, therefore not only have a wide range of application, do not limited by plant protection drone type, but also measurement result objective reality.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of invention, rather than its limitations；Although ginseng
Invention is described in detail according to previous embodiment, those skilled in the art should understand that: it still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features；And this
It modifies or replaces, the spirit and scope for each embodiment technical solution of invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of plant protection drone flight parameter measurement method, which comprises the following steps:
S1, the laser sensor that parallel and symmetrical distribution is arranged in operating area setting two, positioned at the laser sensing of same row
Width direction of the device along the operating area is successively spaced setting, and height of all laser sensors apart from ground is identical；
Spacing between S2, the two column laser sensor of measurement, and pitch information is sent to controller；
S3, start all laser sensors, so that the laser sensor emits laser arteries and veins to the operating area top
Punching；
S4, starting plant protection drone, and make length of the plant protection drone above the operating area along the operating area
Spend direction flight；
S5, the electric signal that the laser pulse generates after plant protection drone reflection is obtained；
S6, the controller calculate the flying height of the plant protection drone according to the electric signal；
S7, the acquisition plant protection drone are flown the flight time used between the two column laser sensors；
S8, the controller calculate the flying speed of the plant protection drone according to the flight time and the pitch information.
2. plant protection drone flight parameter measurement method according to claim 1, which is characterized in that the step S6 is specific
Are as follows: the controller is calculated by the following formula the flying height y:y=f (x) of the plant protection drone；
Wherein, x indicates the electric signal；F (x) is that the controller is pre- with difference one by one by the testing machine of multiple and different shapes
If electric signal and the default height that length direction flight of the height above the operating area along the operating area generates
The mathematical model that degree fitting operation obtains.
3. plant protection drone flight parameter measurement method according to claim 1, which is characterized in that further include following step
It is rapid:
S9, the controller according to the flying height, the flight time and the pitch information draw the plant protection nobody
The three-dimensional figure of motor spindle profile；Wherein, the x-axis of the three-dimensional figure indicates that the number of the laser sensor, y-axis indicate time, z
Axis indicates height.
4. plant protection drone flight parameter measurement method according to claim 1, which is characterized in that the electric signal is electricity
Flow signal or voltage signal.
5. a kind of plant protection drone flight parameter measurement system, which is characterized in that including controller and support frame, support frame as described above
It is equipped with the laser sensor of the two parallel and symmetrical distributions of column, each laser sensor is electrically connected with the controller.
6. plant protection drone flight parameter measurement system according to claim 5, which is characterized in that the controller includes
Power module, data acquisition module, data analysis module and the input module being connect with the data analysis module；The number
It is connect by data transmission module with the data analysis module according to acquisition module, the laser sensor and the power module
It is connect with the data acquisition module.
7. plant protection drone flight parameter measurement system according to claim 6, which is characterized in that the controller also wraps
Include the visualization model connecting with the data analysis module.
8. plant protection drone flight parameter measurement system according to claim 5, which is characterized in that support frame as described above includes
Sequentially connected first volume folding bar, the first telescopic rod, volume Two folding bar and the second telescopic rod from beginning to end, the first volume folding bar and institute
It states and is equipped with multiple laser sensors in volume Two folding bar.
9. plant protection drone flight parameter measurement system according to claim 8, which is characterized in that the first volume folding bar
It is fabricated from a flexible material with the volume Two folding bar.
10. plant protection drone flight parameter measurement system according to claim 6, which is characterized in that it further include containing box,
The containing box is for storing the controller, support frame as described above and the laser sensor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308681A (en) * | 2019-06-21 | 2019-10-08 | 中国农业大学 | A kind of plant protection drone job parameter detection method and system |
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