CN109541625B - Method and system for measuring flight parameters of plant protection unmanned aerial vehicle - Google Patents
Method and system for measuring flight parameters of plant protection unmanned aerial vehicle Download PDFInfo
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- CN109541625B CN109541625B CN201811438081.8A CN201811438081A CN109541625B CN 109541625 B CN109541625 B CN 109541625B CN 201811438081 A CN201811438081 A CN 201811438081A CN 109541625 B CN109541625 B CN 109541625B
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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
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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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention relates to the field of plant protection unmanned aerial vehicles, and provides a method and a system for measuring flight parameters of a plant protection unmanned aerial vehicle. The method comprises the following steps: s1, arranging two rows of laser sensors which are parallel and symmetrically distributed in the operation area, wherein the laser sensors in the same row are sequentially arranged at intervals along the width direction of the operation area; s2, measuring the distance between the two rows of laser sensors; s3, starting all laser sensors; s4, starting the plant protection unmanned aerial vehicle; s5, acquiring an electric signal generated after the laser pulse is reflected by the plant protection unmanned aerial vehicle; s6, calculating the flight height of the plant protection unmanned aerial vehicle by the controller according to the electric signal; s7, acquiring the flight time of the plant protection unmanned aerial vehicle flying between the two rows of laser sensors; and S8, the controller calculates the flight speed of the plant protection unmanned aerial vehicle according to the flight time and the distance information. The invention does not need to change the structure of the plant protection unmanned aerial vehicle, has wide application range, is not limited by the type of the plant protection unmanned aerial vehicle, and has objective and real measurement results.
Description
Technical Field
The invention relates to the field of plant protection unmanned aerial vehicles, in particular to a method and a system for measuring flight parameters of a plant protection unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by a radio remote control device and a self-contained program control device. The unmanned aerial vehicle is widely applied to occasions such as aerial reconnaissance, monitoring, relay on-off, rescue, small-area mapping and the like due to the advantages of flexibility in taking off and landing, easiness in control, good stability and the like. Plant protection unmanned aerial vehicle is applied to the unmanned aerial vehicle of agricultural promptly its flying height and flying speed must satisfy specific requirements in the operation process, otherwise not only can influence the operation effect, but also can produce the phytotoxicity influence even. Therefore, whether the plant protection unmanned aerial vehicle can fly at the specified height and speed needs to be tested in the operation process of the plant protection unmanned aerial vehicle.
At present, researchers have conducted long-term research and research on methods for measuring the flying height and flying speed of an unmanned aerial vehicle. Among them, the most commonly used method is: and a pressure sensor, a gyroscope, an accelerometer or a GPS sensor and the like are installed on the plant protection unmanned aerial vehicle. However, when this method is adopted, the sensor must be installed on the plant protection unmanned aerial vehicle or the plant protection unmanned aerial vehicle with the sensor must be adopted. If the sensor is directly installed on the plant protection unmanned aerial vehicle, the weight of the plant protection unmanned aerial vehicle is increased, and even the structure of the plant protection unmanned aerial vehicle is changed to influence the authenticity of data; if adopt from the plant protection unmanned aerial vehicle who takes above-mentioned sensor, then can be because of different plant protection unmanned aerial vehicle from the different error differences that produce of the sensor model of taking.
Disclosure of Invention
The invention aims to provide a method and a system for measuring flight parameters of a plant protection unmanned aerial vehicle, which do not need to change the self structure of the plant protection unmanned aerial vehicle and have real and objective measurement results.
In order to achieve the aim, the invention provides a method for measuring flight parameters of a plant protection unmanned aerial vehicle, which comprises the following steps:
s1, arranging two rows of laser sensors which are parallel and symmetrically distributed in an operation area, wherein the laser sensors in the same row are sequentially arranged at intervals along the width direction of the operation area, and the heights of all the laser sensors from the ground are the same;
s2, measuring the distance between the two rows of laser sensors and sending the distance information to a controller;
s3, starting all the laser sensors to enable the laser sensors to emit laser pulses above the working area;
s4, starting a plant protection unmanned aerial vehicle, and enabling the plant protection unmanned aerial vehicle to fly above the operation area along the length direction of the operation area;
s5, acquiring an electric signal generated after the laser pulse is reflected by the plant protection unmanned aerial vehicle;
s6, the controller calculates the flight height of the plant protection unmanned aerial vehicle according to the electric signal;
s7, acquiring the flight time of the plant protection unmanned aerial vehicle flying between the two rows of laser sensors;
s8, the controller calculates the flight speed of the plant protection unmanned aerial vehicle according to the flight time and the distance information.
Wherein, the step S6 specifically includes: the controller calculates the flight height y of the plant protection unmanned aerial vehicle through the following formula: y ═ f (x); wherein x represents the electrical signal; and f, (x) is a mathematical model obtained by fitting and calculating electric signals generated by the controller through a plurality of testing machines with different shapes flying above the operation area along the length direction of the operation area at different preset heights and the preset heights one by one.
Wherein, still include the following step: s9, drawing a three-dimensional graph of the bottom outline of the plant protection unmanned aerial vehicle by the controller according to the flight height, the flight time and the distance information; wherein the x-axis of the three-dimensional graph represents the number of the laser sensors, the y-axis represents time, and the z-axis represents height.
Wherein the electrical signal is a current signal or a voltage signal.
In order to achieve the purpose, the plant protection unmanned aerial vehicle flight parameter measurement system comprises a controller and a support frame, wherein two rows of laser sensors which are parallel and symmetrically distributed are arranged on the support frame, and each laser sensor is electrically connected with the controller.
The controller comprises a power supply module, a data acquisition module, a data analysis module and an input module connected with the data analysis module; the data acquisition module is connected with the data analysis module through a data transmission module, and the laser sensor and the power supply module are connected with the data acquisition module.
Wherein the controller further comprises a visualization module connected with the data analysis module.
The support frame comprises a first folding strip, a first telescopic rod, a second folding strip and a second telescopic rod which are sequentially connected end to end, and the first folding strip and the second folding strip are provided with a plurality of laser sensors.
Wherein the first and second roll-fold strips are made of a flexible material.
The laser sensor support frame further comprises a containing box, and the containing box is used for containing the controller, the support frame and the laser sensor.
The device is convenient to operate and easy to realize, and by arranging two rows of laser sensors which are parallel and symmetrically distributed in the operation area, the flying height and flying speed of the plant protection unmanned aerial vehicle can be calculated by the controller according to the distance between the two rows of laser sensors and electric signals fed back by the laser sensors. Because the structure of the plant protection unmanned aerial vehicle does not need to be changed, the invention has wide application range, is not limited by the type of the plant protection unmanned aerial vehicle, and has objective and real measurement results.
Drawings
Fig. 1 is a control schematic diagram of a plant protection unmanned aerial vehicle flight parameter measurement system in embodiment 2 of the present invention;
fig. 2 is a schematic structural diagram of a plant protection unmanned aerial vehicle flight parameter measurement system in embodiment 2 of the present invention;
fig. 3 is a schematic structural view of a storage box in embodiment 2 of the present invention.
Reference numerals:
1. a laser sensor; 2-1, a power supply module; 2-2, a data acquisition module;
2-3, a wireless data transmission module; 2-4, a wired data transmission module;
2-5, a computer; 3-1, a first folding strip; 3-2, a first telescopic rod;
3-3, second folding strips; 3-4, a second telescopic rod; 4. a storage box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise specified, the terms "top," "bottom," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the system or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
It is to be understood that, unless otherwise expressly stated or limited, the term "coupled" is used in a generic sense as defined herein, e.g., fixedly attached or removably attached or integrally attached; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
The invention provides a method for measuring flight parameters of a plant protection unmanned aerial vehicle, which comprises the following steps:
s1, arranging two rows of laser sensors which are parallel and symmetrically distributed in the operation area, wherein the laser sensors in the same row are sequentially arranged at intervals along the width direction of the operation area, and the heights of all the laser sensors from the ground are the same;
s2, measuring the distance between the two rows of laser sensors and sending the distance information to the controller;
s3, starting all the laser sensors to enable the laser sensors to emit laser pulses above the working area;
s4, starting the plant protection unmanned aerial vehicle, and enabling the plant protection unmanned aerial vehicle to fly above the operation area along the length direction of the operation area, namely enabling the plant protection unmanned aerial vehicle to be perpendicular to the two rows of laser sensors and to fly across the two rows of laser sensors;
s5, acquiring an electric signal generated after the laser pulse is reflected by the plant protection unmanned aerial vehicle; when the plant protection unmanned aerial vehicle flies through the laser sensor, laser pulses emitted by the laser sensor are scattered in all directions after being reflected by the plant protection unmanned aerial vehicle, and part of scattered light returns to the laser sensor and is converted into an electric signal which can be a current signal or a voltage signal;
s6, calculating the flight height of the plant protection unmanned aerial vehicle by the controller according to the electric signal; the method specifically comprises the following steps: the controller calculates the flight height y of the plant protection unmanned aerial vehicle through the following formula: y ═ f (x); wherein x represents an electrical signal; f (x) is a mathematical model obtained by fitting and calculating electric signals generated by the controller through the electric signal generated by the controller through the plurality of testing machines with different shapes flying above the operation area along the length direction of the operation area at different preset heights and the preset heights, namely, a plurality of testing machines with different shapes can be prepared before use, and then one of the testing machines flies for a plurality of times along the length direction of the operation area at different preset heights; then, the rest of the testing machines repeat the process one by one; because the intensity of the electric signals generated after the laser pulses are reflected by the plant protection unmanned aerial vehicle is different when the plant protection unmanned aerial vehicle is at different heights, the controller can calculate the mathematical model f (x) in a fitting mode according to the electric signals generated in the flying process of the testing machines and the corresponding preset flying height.
S7, acquiring the flight time of the plant protection unmanned aerial vehicle flying between the two rows of laser sensors; specifically, the controller starts timing when receiving the electric signal fed back by the first column of laser sensors, and stops timing when receiving the electric signal fed back by the second column of laser sensors.
And S8, the controller calculates the flight speed of the plant protection unmanned aerial vehicle according to the flight time and the distance information.
S9, drawing a three-dimensional graph of the bottom outline of the plant protection unmanned aerial vehicle by the controller according to the flight height, the flight time and the distance information; in the three-dimensional graph, the x-axis represents the number of laser sensors, the y-axis represents time, and the z-axis represents height.
According to the method, the operation is convenient and fast, the implementation is easy, two rows of laser sensors which are parallel and symmetrically distributed are arranged in the operation area, and the flying height and the flying speed of the plant protection unmanned aerial vehicle can be calculated by the controller according to the distance between the two rows of laser sensors and the electric signals fed back by the laser sensors. Because the structure of the plant protection unmanned aerial vehicle does not need to be changed, the method has the advantages of wide application range, no limitation of the type of the plant protection unmanned aerial vehicle and objective and real measurement result.
Example 2
As shown in fig. 1, the invention also provides a plant protection unmanned aerial vehicle flight parameter measurement system, which comprises a controller and a support frame, wherein two rows of laser sensors 1 which are parallel and symmetrically distributed are arranged on the support frame, and each laser sensor 1 is electrically connected with the controller.
Preferably, the controller comprises a power supply module 2-1, a data acquisition module 2-2, a data analysis module and an input module connected with the data analysis module; the data acquisition module 2-2 is connected with the data analysis module through the data transmission module, and the laser sensor 1 and the power supply module 2-1 are both connected with the data acquisition module 2-2. The data transmission module can be a wireless data transmission module 2-3 or a wired data transmission module 2-4. Further, the controller also includes a visualization module coupled to the data analysis module. The data acquisition module 2-2 is used for acquiring an electric signal fed back by the laser sensor 1; the input module is used for inputting the measured distance information into the data analysis module; the data analysis module is used for determining flight time, calculating the flight height of the plant protection unmanned aerial vehicle according to the electric signal and calculating the flight speed according to the flight height and the flight time; the visualization module is used for drawing a three-dimensional map of the bottom outline of the plant protection unmanned aerial vehicle according to the flight height, the flight time and the distance information. It should be noted that the functions of the data analysis module, the input module and the analysis module can be integrated on the same device, which can be a computer 2-5.
Preferably, as shown in fig. 2, the support frame includes a first folding strip 3-1, a first telescopic rod 3-2, a second folding strip 3-3, and a second telescopic rod 3-4, which are sequentially connected end to end, and a plurality of laser sensors 1 are disposed on the first folding strip 3-1 and the second folding strip 3-3. Wherein the first 3-1 and second 3-3 roll-fold strips are made of a flexible material.
More preferably, the laser sensor 1 is detachably connected to the first folding strip 3-1 and the second folding strip 3-3. Specifically, a plurality of mounting holes for inserting bolts are formed in the first folding strip 3-1 and the second folding strip 3-3 along the length direction of the first folding strip and the second folding strip, and each laser sensor 1 is fixed to the first folding strip 3-1 or the second folding strip 3-3 through a bolt. In actual use, a worker can adjust the distance between two adjacent laser sensors 1 in the same column by selecting the corresponding mounting hole to fix the laser sensors 1.
Further, as shown in fig. 3, in order to facilitate carrying and management, the system further includes a storage box 4, and the storage box 4 is used for storing the controller, the support frame and the laser sensor 1.
Therefore, during measurement, a worker only needs to carry the storage box 4 to the site, take the support frame out of the storage box 4 and then unfold the first folding strip 3-1 and the second folding strip 3-3 along the width direction of the operation area. Of course, the worker can also change the distance between the two rows of laser sensors 1 by adjusting the lengths of the first telescopic rod 3-2 and the second telescopic rod 3-4 according to actual needs. After the measurement is finished, the worker only needs to fold and roll up the whole support frame with the laser sensor 1 and then place the whole support frame and the controller into the storage box 4 together.
By last, this system simple structure, portable through set up two laser sensor 1 that are parallel and symmetric distribution in the operation region, just usable controller calculates plant protection unmanned aerial vehicle's flying height and flying speed according to the interval between two laser sensor 1 and the signal of telecommunication of laser sensor 1 feedback. Because, this system need not to change plant protection unmanned aerial vehicle self structure, consequently not only the range of application is wide, not restricted by plant protection unmanned aerial vehicle type, and the measuring result is objective true moreover.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A plant protection unmanned aerial vehicle flight parameter measurement method is characterized by comprising the following steps:
s1, arranging two rows of laser sensors which are parallel and symmetrically distributed in an operation area, wherein the laser sensors in the same row are sequentially arranged at intervals along the width direction of the operation area, and the heights of all the laser sensors from the ground are the same;
s2, measuring the distance between the two rows of laser sensors and sending the distance information to a controller;
s3, starting all the laser sensors to enable the laser sensors to emit laser pulses above the working area;
s4, starting a plant protection unmanned aerial vehicle, and enabling the plant protection unmanned aerial vehicle to fly above the operation area along the length direction of the operation area;
s5, acquiring an electric signal generated after the laser pulse is reflected by the plant protection unmanned aerial vehicle;
s6, the controller calculates the flight height of the plant protection unmanned aerial vehicle according to the electric signal;
s7, acquiring the flight time of the plant protection unmanned aerial vehicle flying between the two rows of laser sensors;
s8, the controller calculates the flight speed of the plant protection unmanned aerial vehicle according to the flight time and the distance information.
2. The plant protection unmanned aerial vehicle flight parameter measurement method according to claim 1, wherein the step S6 specifically is: the controller calculates the flight height y of the plant protection unmanned aerial vehicle through the following formula: y ═ f (x);
wherein x represents the electrical signal; and f, (x) is a mathematical model obtained by fitting and calculating electric signals generated by the controller through a plurality of testing machines with different shapes flying above the operation area along the length direction of the operation area at different preset heights and the preset heights one by one.
3. The plant protection unmanned aerial vehicle flight parameter measurement method according to claim 1, further comprising the steps of:
s9, drawing a three-dimensional graph of the bottom outline of the plant protection unmanned aerial vehicle by the controller according to the flight height, the flight time and the distance information; wherein the x-axis of the three-dimensional graph represents the number of the laser sensors, the y-axis represents time, and the z-axis represents height.
4. The plant protection unmanned aerial vehicle flight parameter measurement method of claim 1, wherein the electrical signal is a current signal or a voltage signal.
5. The plant protection unmanned aerial vehicle flight parameter measurement system based on the plant protection unmanned aerial vehicle flight parameter measurement method according to claim 1 is characterized by comprising a controller and a support frame, wherein two rows of laser sensors which are distributed in parallel and symmetrically are arranged on the support frame, the laser sensors which are positioned in the same row are sequentially arranged at intervals along the width direction of the support frame, the heights of all the laser sensors from the ground are the same, and each laser sensor is electrically connected with the controller; the controller comprises a power supply module, a data acquisition module, a data analysis module and an input module connected with the data analysis module; the data acquisition module is connected with the data analysis module through a data transmission module, and the laser sensor and the power supply module are both connected with the data acquisition module;
the input module is used for inputting the measured distance information between the two rows of the laser sensors into the data analysis module, and the laser sensors are used for emitting laser pulses to the upper part of the support frame; the data acquisition module is used for acquiring an electric signal generated after a laser pulse emitted by the laser sensor is reflected by the plant protection unmanned aerial vehicle in the process that the plant protection unmanned aerial vehicle flies above the supporting frame along the length direction of the supporting frame; the data analysis module is used for determining flight time according to the electric signals, calculating the flight height of the plant protection unmanned aerial vehicle, and calculating the flight speed of the plant protection unmanned aerial vehicle according to the flight time and the distance information.
6. The plant protection unmanned aerial vehicle flight parameter measurement system of claim 5, wherein the controller further comprises a visualization module connected with the data analysis module.
7. The plant protection unmanned aerial vehicle flight parameter measurement system of claim 5, wherein the support frame comprises a first folding strip, a first telescopic rod, a second folding strip and a second telescopic rod which are sequentially connected end to end, and a plurality of laser sensors are arranged on each of the first folding strip and the second folding strip.
8. The plant protection unmanned aerial vehicle flight parameter measurement system of claim 7, wherein the first roll-fold strip and the second roll-fold strip are made of a flexible material.
9. The plant protection unmanned aerial vehicle flight parameter measurement system of claim 5, further comprising a storage box for storing the controller, the support frame, and the laser sensor.
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