CN109655067A - The flight course planning method and ground control terminal of agriculture unmanned vehicle - Google Patents

The flight course planning method and ground control terminal of agriculture unmanned vehicle Download PDF

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Publication number
CN109655067A
CN109655067A CN201910087260.XA CN201910087260A CN109655067A CN 109655067 A CN109655067 A CN 109655067A CN 201910087260 A CN201910087260 A CN 201910087260A CN 109655067 A CN109655067 A CN 109655067A
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CN
China
Prior art keywords
unmanned vehicle
information
control terminal
ground control
agriculture unmanned
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Granted
Application number
CN201910087260.XA
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Chinese (zh)
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CN109655067B (en
Inventor
钟和立
徐节文
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Priority to CN201910087260.XA priority Critical patent/CN109655067B/en
Publication of CN109655067A publication Critical patent/CN109655067A/en
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Publication of CN109655067B publication Critical patent/CN109655067B/en
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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0202Control of position or course in two dimensions specially adapted to aircraft
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00Measuring angles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/14Receivers specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The embodiment of the present invention provides the flight course planning method and ground control terminal of a kind of agriculture unmanned vehicle, this method comprises: the positioning device carried by ground control terminal (120), obtains the location information of ground control terminal (120) current location;By the input unit (123) of ground control terminal (120), the beacon information of the current location of ground control terminal (120) is obtained;Record the location information and beacon information of the current location of ground control terminal (120).The embodiment of the present invention only needs a tester that the mapping operations to operating area can be completed before agriculture unmanned vehicle operation, and i.e. controllable agriculture unmanned vehicle starts operation after mapping, compared with the prior art, saves human resources.

Description

The flight course planning method and ground control terminal of agriculture unmanned vehicle
Technical field
The present embodiments relate to a kind of flight course planning method of unmanned plane field more particularly to agriculture unmanned vehicle and Ground control terminal.
Background technique
Before agriculture unmanned vehicle executes plant protection operation, need to survey and draw farmland, the prior art is taken by user Band global positioning system (GlobalPositioning System, abbreviation GPS) antenna is walked same along the edge in farmland When, the location of user information is sent to the remote controler of agriculture unmanned vehicle by GPS antenna, by agriculture unmanned vehicle Remote controler, in the location information of different location, determines the shape in the farmland according to user.
Therefore, in field mapping, not only need to carry the tester that GPS antenna surrounds farmland walking, it is also necessary to grasp The manipulator for controlling remote controler, causes to need to consume biggish human resources when field mapping.
Summary of the invention
The embodiment of the present invention provides the flight course planning method and ground control terminal of a kind of agriculture unmanned vehicle, is made with saving Human resources when industry region is surveyed and drawn.
The one aspect of the embodiment of the present invention is to provide a kind of flight course planning method of agriculture unmanned vehicle, comprising:
By the included positioning device of the ground control terminal of the agriculture unmanned vehicle, obtains the ground control terminal and work as The location information of front position;
By the input unit of the ground control terminal of the agriculture unmanned vehicle, the current of the ground control terminal is obtained The beacon information of position;
Record the location information and beacon information of the current location of the ground control terminal;
Wherein, the beacon information includes: the mark that the current location for identifying the ground control terminal is preset location Show that information, the preset location are used to calibrate the deviations of the agriculture unmanned vehicle.
The other side of the embodiment of the present invention is to provide a kind of ground control terminal, comprising:
One or more processors work alone or synergistically;
Positioning device is connect with the processor communication, and the positioning for detecting the ground control terminal current location is believed Breath;
Input unit is connect with the processor communication, the mark of the current location for determining the ground control terminal Information;
Memory is connect with the processor communication, the positioning letter of the current location for storing the ground control terminal Breath and beacon information;
The processor is used for:
By the positioning device, the location information of the ground control terminal current location is obtained;
By the input unit, the beacon information of the current location of the ground control terminal is obtained;
The location information of the current location of the ground control terminal and beacon information are stored to the memory;
Wherein, the processor also particularly useful for:
When obtaining the agriculture unmanned vehicle and being located at the preset location, the agricultural unmanned vehicle detects described The location information of preset location;
According to the location information of the preset location and the preset location of the agriculture unmanned vehicle detection Location information calibrates the deviations of the agriculture unmanned vehicle.
The flight course planning method and ground control terminal of agricultural unmanned vehicle provided in this embodiment, pass through ground control terminal Included positioning device determines the location information of ground control terminal current location, by the input unit of ground control terminal, determines The beacon information of the current location of ground control terminal, beacon information indicate the type of current location, and each anchor point is corresponding with fixed Position information and beacon information can not only determine each anchor point when carrying out operating area mapping by the ground control terminal Latitude and longitude information can also determine that each anchor point is located at the boundary or inside of operating area, when being located inside operating area, Whether be barrier, in addition, the ground control terminal can also control agriculture unmanned vehicle, agriculture unmanned vehicle operation it Before, only need a tester that the mapping operations to operating area can be completed, and i.e. controllable agricultural after mapping Unmanned vehicle starts operation, compared with the prior art, saves human resources.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other Attached drawing.
Fig. 1 is the flow chart of the flight course planning method of agriculture unmanned vehicle provided in an embodiment of the present invention;
Fig. 2 is that the display screen of remote controler provided in an embodiment of the present invention shows the schematic diagram of content;
Fig. 3 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Fig. 4 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Fig. 5 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Fig. 6 be another embodiment of the present invention provides agriculture unmanned vehicle flight course planning method flow chart;
Fig. 7 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Fig. 8 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Fig. 9 be another embodiment of the present invention provides agriculture unmanned vehicle flight course planning method flow chart;
Figure 10 be another embodiment of the present invention provides agriculture unmanned vehicle flight course planning method flow chart;
Figure 11 be another embodiment of the present invention provides remote controler display screen show content schematic diagram;
Figure 12 is the structure chart of ground control terminal provided in an embodiment of the present invention;
Figure 13 be another embodiment of the present invention provides ground control terminal rearview;
Figure 14 be another embodiment of the present invention provides ground control terminal main view;
Figure 15 be another embodiment of the present invention provides ground control terminal top view.
Appended drawing reference:
The operating area the 20- display screen 21- operating area boundary point 22- boundary
The operating area 31- obstacle object point 32- 41- obstacles borders point
42- barrier region 50- display screen 51- key C1 52- key C2
53- key C3 54- key C4 61- key point 70- barrier region
The operating area the 71- course line the 72- course line 121- 120- ground control terminal
121- processor 122- positioning device 123- input unit 124- memory
131- more a key 140- touch screen 151- the first key the second key of 152-
The 4th key of 153- third key 154-
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.
The embodiment of the present invention provides a kind of flight course planning method of agriculture unmanned vehicle.Fig. 1 mentions for the embodiment of the present invention The flow chart of the flight course planning method of the agriculture unmanned vehicle supplied.As shown in Figure 1, the method in the present embodiment, may include:
Step S101, positioning device included by the ground control terminal of the agriculture unmanned vehicle, obtains describedly The location information of face control terminal current location.
The executing subject of the present embodiment can be the ground control terminal for controlling agriculture unmanned vehicle, ground control End may include following at least one: wear-type shows glasses (VR glasses, VR helmet etc.), mobile phone, remote controler (such as band display screen Remote controler), Intelligent bracelet, tablet computer.The present embodiment is introduced provided in this embodiment by taking the remote controler with display screen as an example The flight course planning Method And Principle of agriculture unmanned vehicle.
The remote controler with display screen in the present embodiment is provided with positioning device, and it is fixed which specifically can be GPS Position module, which can be positioned in real time to the location of the remote controler or periodically positioning, periodically positioning tool It is primary that body can be positioning at regular intervals, such as positioning in 1 second is once.In the present embodiment, the work of agriculture unmanned vehicle Industry region can be a piece of farmland, forest, the woods or other, the manipulating object of agriculture unmanned vehicle can be crops, plant By or other, the sprays such as agriculture unmanned vehicle can spray insecticide in operating area, water, seed.In agriculture unmanned flight Before device operation, the course line to agriculture unmanned vehicle is needed to plan, the premise of flight course planning be need to agricultural nobody The operating area of aircraft is surveyed and drawn.
A kind of achievable mode surveyed and drawn to the operating area of agriculture unmanned vehicle is: it is distant that tester carries this It controls device to walk in the operating area of agriculture unmanned vehicle such as farmland, the included GPS positioning module of the remote controler can be distant to this The location of control device is positioned in real time or periodically positioning.The remote controler can show GPS positioning on a display screen in real time The location information of module, and when being located at the different location of operating area according to the remote controler GPS positioning module location information, it is right The operating area is surveyed and drawn.
It takes a round specifically, tester can carry edge lines of the remote controler around operating area, in the process of walking, The included GPS positioning module of remote controler can the boundary point to operating area positioned or periodically positioned in real time, work as tester After the edge lines that member's carrying remote controler surrounds operating area take a round, remote controler obtains determining for a large amount of boundary points of operating area Position information, as shown in Fig. 2, 20 indicate the display screen of remote controler, 21 indicate anchor point, and the location information of each anchor point includes warp Information and dimensional information are spent, according to the location information of a large amount of boundary points, it may be determined that go out the boundary 22 of the operating area.
Usually there can be barrier in the operating area of agricultural unmanned vehicle, therefore, also need to exist in operating area Barrier map out come, specifically, tester can carry the remote controler operating area inside walk, work as tester It was found that needing to record barrier by the remote controler when obstacle object point such as one big tree, a barrier region such as fish pond The location information of point or barrier region.If in the operating area of agriculture unmanned vehicle, there are barrier regions, need According to the mapping method as the boundary of operating area, the location information of the boundary point of barrier region is measured.
Step S102, by the input unit of the ground control terminal of the agriculture unmanned vehicle, the ground control is obtained The beacon information of the current location at end processed.
Due to GPS positioning module record be a certain position or certain point location information, in mapping process, GPS is fixed Position module needs to record the location information of infinite number of positions or point, for the difference of subregion position location or the difference of anchor point, The present embodiment indicates the type of each position or each point by beacon information, for example, the position is the side of barrier region Boundary's point.
In the present embodiment, remote controler includes multiple keys, and a kind of input unit of multiple key as remote controler should Multiple keys are separately positioned on the different location of remote controller casing, such as remote controler bottom shell is provided with 4 independent keys, Key C1, key C2, key C3, key C4, each key corresponds to different beacon informations, for example, key C1 corresponds to the first Beacon information, current location of the first beacon information for identifying the ground control terminal are the boundaries of the operating area Point.Key C2 corresponds to second of beacon information, and the current location that second of beacon information is used to identify the ground control terminal is Position in the operating area where barrier, or current location for identifying the ground control terminal is the operation The boundary point of barrier region in region.Key C3 corresponds to the third beacon information, the third beacon information is for identifying The current location of the ground control terminal is the borderline key point in operating area, and the key point includes following at least one: Angular position, non-straight line position.Key C4 corresponds to the 4th kind of beacon information, and the 4th kind of beacon information is for identifying the ground control The current location at end processed is preset location, and the preset location is used to calibrate the deviations of the agriculture unmanned vehicle.
For example, tester carry the remote controler around operating area edge start walking when, key C1 is grasped Make, mode of operation includes following at least one: pressing, clicks, presses, double-clicks.The effect of tester's operation button C1 is: mark Show that remote controler is currently located at the boundary of operating area, the current location information of GPS positioning module is the boundary point of operating area Location information.Optionally, after tester's operation button C1, the default subsequent location information of GPS positioning module is operation The location information of zone boundary point, until tester operation button C1 again, alternatively, tester operate it is other by Key.
In addition, in some embodiments, when tester carries inside walking of the remote controler in operating area, discovery Obstacle object point such as one big tree, then tester operates key C2, herein, can be also used for the operation of key Triggering GPS positioning module positioning, i.e., the location mechanism of GPS positioning module herein is trigger-type, meanwhile, tester's operation The effect of key C2 is: mark remote controler is currently located at the position where barrier, at this point, the positioning that GPS positioning module is current Information is the location information of barrier position.As shown in figure 3, after 31 indicate tester's operation button C2, remote controler According to the location information of GPS positioning module, the anchor point determined, anchor point 31 indicates the barrier in operating area 32.
For another example, inside operating area there are a biggish barrier region of area, after tester's operation button C2, Carry the remote controler to walk along the boundary of barrier region, the effect of tester's operation button C2 is: mark remote controler is worked as For anteposition in the boundary of barrier region, the current location information of GPS positioning module is determining for the boundary point of barrier region Position information.As shown in figure 4, remote controler is believed according to the positioning of GPS positioning module after 41 indicate tester's operation button C2 Breath, the anchor point determined, anchor point 41 indicates the boundary point of the barrier region in operating area 32, by multiple anchor points 41 The region 42 of composition is the barrier region in operating area 32.
In addition, touch screen can also be used as a kind of input unit of remote controler in some other embodiment, such as Fig. 5 institute Show, 50 indicate touch screen, and 51 indicate key C1, and 52 indicate key C2, and 53 indicate key C3, and 54 indicate to press key button C4.It is each Key corresponds to different beacon informations, key its function on each key shown in fig. 5 and remote controler bottom shell above-mentioned It is consistent, the different key that remote controler can be clicked on the touchscreen according to user determines the mark of the current location of remote controler Information determines that method is consistent with preceding method.
Step S103, the location information and beacon information of the current location of the ground control terminal are recorded.
In the present embodiment, for each anchor point of remote controler, the location information and mark letter of the anchor point are recorded Breath, i.e., each anchor point are corresponding with latitude and longitude information, beacon information, and beacon information indicates the type of the anchor point, for example, this is fixed Site is the boundary point of operating area or the boundary point of barrier region.
The positioning device that the present embodiment is carried by ground control terminal determines the positioning letter of ground control terminal current location Breath determines the beacon information of the current location of ground control terminal by the input unit of ground control terminal, and beacon information expression is worked as The type of front position, each anchor point are corresponding with location information and beacon information, carry out operating area by the ground control terminal When mapping, the latitude and longitude information of each anchor point can be not only determined, can also determine that each anchor point is located at operating area Boundary or inside, when being located inside operating area, if be barrier, in addition, the ground control terminal can also control agricultural Unmanned vehicle only needs a tester that the mapping to operating area can be completed before agriculture unmanned vehicle operation Work, and i.e. controllable agriculture unmanned vehicle starts operation after mapping, compared with the prior art, saves manpower Resource.
The embodiment of the present invention provides a kind of flight course planning method of agriculture unmanned vehicle.Fig. 6 is another implementation of the present invention The flow chart of the flight course planning method for the agriculture unmanned vehicle that example provides.As shown in fig. 6, the basis of embodiment shown in Fig. 1 On, the method in the present embodiment may include:
Step S201, positioning device included by the ground control terminal of the agriculture unmanned vehicle, obtains describedly The location information of face control terminal current location.
Step S201 is consistent with step S101, and specific method, details are not described herein again.
Step S202, by the input unit of the ground control terminal of the agriculture unmanned vehicle, the ground control is obtained The beacon information of the current location at end processed.
Step S202 is consistent with step S102, and specific method, details are not described herein again.
Step S203, the location information and beacon information of the current location of the ground control terminal are recorded.
Step S203 is consistent with step S103, and specific method, details are not described herein again.
Step S204, according to the location information and beacon information of record, the agriculture unmanned vehicle is determined The geography information of operating area.
In the present embodiment, remote controler determines the agriculture nothing according to the location information and beacon information of record The achievable mode of the geography information of the operating area of people's aircraft includes following several:
The first:
According to the location information of the boundary point of the operating area, the operating area side of the agriculture unmanned vehicle is determined The geography information on boundary.
As shown in Fig. 2, remote controler can determine operating area according to the location information of each boundary point 21 of operating area The geography information on boundary 2, geography information specifically can be geographical location, such as latitude and longitude information.
Second:
The location information of position where barrier in the operating area determines the agriculture unmanned vehicle The geography information of barrier in operating area;Alternatively, being determined according to the boundary point of barrier region in the operating area Position information determines the geography information of barrier in the operating area of the agriculture unmanned vehicle.
As shown in figure 3, anchor point 31 indicates the barrier in operating area 32, according to the location information of anchor point 31 Obtain the geography information of barrier in operating area 32.As shown in figure 4, anchor point 41 indicates the barrier area in operating area 32 The boundary point in domain, remote controler can be obtained the ground of barrier region in operating area 32 according to the location information of each anchor point 41 Information is managed, the geography information of barrier region can be longitude range shared by barrier region and latitude scope.
The third:
The beacon information is the borderline key point in operating area for identifying the current location of the ground control terminal, The key point includes following at least one: angular position, non-straight line position.
As shown in fig. 7, boundary point 61 is compared to other boundary points, corner is larger, and boundary line 22 can not be in boundary point It is seamlessly transitted at 61, when tester, which carries the remote controler, to walk along the boundary of operating area, if discovery is such crucial Point can operate key C3 described in above-described embodiment, and the effect of tester's operation button C3 is: mark remote controler is currently located at The key point on operating area boundary, at this point, the current location information of GPS positioning module is the borderline key point in operating area Location information.Specifically, may further determine that the terrain information of operating area here, such as Fig. 7 according to the location information of the key point Shown in boundary point 61, according to the location information of boundary point 61, it may be determined that go out the landform of operating area here, such as abrupt slope, Terraced fields etc..
Step S205, according to the geography information of the operating area of the agriculture unmanned vehicle, determine the agricultural nobody The operation course line of aircraft.
Specifically, can be according to the geography information and the agricultural on the operating area boundary of the agriculture unmanned vehicle The geography information of barrier in the operating area of unmanned vehicle determines the area of agriculture unmanned vehicle actual needs operation Domain determines the operation course line of agricultural unmanned vehicle according to the region of the actual needs operation.As shown in figure 8,70 indicate obstacle Object area, 71 indicate the region of agriculture unmanned vehicle actual needs operation, and 72 indicate course line, it is seen then that agriculture unmanned vehicle Course line not through barrier region, if barrier region is a fish pond, if be not added to avoid, it is likely that lead to agriculture nothing Pesticide spraying to fish pond is caused unnecessary loss by people's aircraft.
The present embodiment identifies the type of each anchor point by beacon information, and each anchor point is corresponding with location information and mark Show information, when carrying out operating area mapping by the ground control terminal, can not only determine the latitude and longitude information of each anchor point, It can also determine that each anchor point is located at the boundary or inside of operating area, when being located inside operating area, if be obstacle Object is corresponding with location information and beacon information according to each anchor point, can determine the boundary and barrier area of operating area The boundary in domain, to avoid agriculture unmanned vehicle that spray is sprayed on barrier region or barrier.
The embodiment of the present invention provides a kind of flight course planning method of agriculture unmanned vehicle.Fig. 9 is another implementation of the present invention The flow chart of the flight course planning method for the agriculture unmanned vehicle that example provides.As shown in figure 9, the basis of embodiment shown in Fig. 1 On, the beacon information is preset location for identifying the current location of the ground control terminal, and the preset location is used for school The deviations of the quasi- agriculture unmanned vehicle.
In the present embodiment, tester can also specify one place as preset location, which is used for school The deviations of the quasi- agriculture unmanned vehicle.Assuming that operating area is bigger, what agriculture unmanned vehicle can load every time Pesticide be it is certain, then the pesticide that agriculture unmanned vehicle once loads may not enough spray entire operating area, then need agriculture Industry unmanned vehicle repeatedly loads, multiple operation, if there are deviations for the positioning of agriculture unmanned flight, may cause agricultural, nobody flies The preceding place once left can not be accurately positioned in row device, lead to agriculture unmanned vehicle drain spray or repeat to spray, therefore, in order to The deviations for calibrating agriculture unmanned flight, when operating area is surveyed and drawn, tester can specify in operating area a little to be made For preset location, tester operates key C4 described in above-described embodiment in preset location, and mark remote controler is currently located at survey The preset location that examination personnel specify, and trigger GPS positioning module and the preset location is positioned, so that remote controler is preset The location information in place, and the location information of preset location is stored as reference standard.
Before agriculture unmanned vehicle takes off every time, agriculture unmanned vehicle is placed on the preset location by tester, The deviations of agriculture unmanned flight are calibrated, specific calibration method may include:
Step S301, when the acquisition agriculture unmanned vehicle is located at the preset location, the agricultural unmanned vehicle The location information of the preset location of detection.
When agriculture unmanned vehicle is placed on the preset location by tester, the positioning system of agriculture unmanned vehicle Location information is positioned to the preset location, and the location information is sent to remote controler.Assuming that agriculture unmanned flight The location information of the preset location of the positioning system detection of device is 29 degree of north latitude, 38 degree of longitude.
Step S302, it is detected according to the location information of the preset location and the agriculture unmanned vehicle described The location information of preset location calibrates the deviations of the agriculture unmanned vehicle.
Assuming that the location information of the preset location stored in remote controler is 30 degree of north latitude, and 40 degree of longitude, when remote controler receives When the location information of the preset location sent to agriculture unmanned vehicle, the location information to the preset location stored in remote controler The location information of the preset location sent with agriculture unmanned vehicle is compared, it is seen then that agriculture unmanned vehicle is sent pre- If there is a certain error for the location information in place, at this point, remote controler can send calibration command to agriculture unmanned vehicle, with Calibrate agriculture unmanned vehicle by the deviations of its own.
In the present embodiment, before agriculture unmanned vehicle takes off every time, tester places agriculture unmanned vehicle In the preset location, detected by comparing the location information and agriculture unmanned vehicle of the preset location stored in remote controler pre- If the location information in place calibrates the deviations of agriculture unmanned vehicle, determining for agriculture unmanned vehicle is improved Position precision avoids agriculture unmanned vehicle from occurring drain spray in same operating area gradation operation or repeats the phenomenon that spraying.
The embodiment of the present invention provides a kind of flight course planning method of agriculture unmanned vehicle.Figure 10 is another implementation of the present invention The flow chart of the flight course planning method for the agriculture unmanned vehicle that example provides.As shown in Figure 10, the basis of embodiment shown in Fig. 1 On, the multiple key includes the first key, the second key, third key and the 4th key, and first presses described in the present embodiment Key, the second key, third key and the 4th key are different from key C1, key C2, key C3, key in above-described embodiment C4。
Method in the present embodiment may include:
Step S401, by the first key of user's operation, the agriculture unmanned vehicle is obtained in the operating area The location information of middle first position.
As shown in figure 11, agriculture unmanned vehicle is in operating area operation, when agriculture unmanned vehicle is located at A point, uses First key of family operation obtains agriculture unmanned vehicle first position, that is, A point location information in operating area.
Step S402, by the second key of user's operation, the agriculture unmanned vehicle is obtained in the operating area The location information of the middle second position.
When agriculture unmanned vehicle is located at B point, the second key of user's operation obtains agriculture unmanned vehicle in operation The second position, that is, B point location information in region.
Step S403, according to the location information of the location information of the first position and the second position, determine described in Line between first position and the second position.
According to the location information of the location information of A point and B point, line AB is determined.
Step S404, by the third key of user's operation or the 4th key, the spray of the agriculture unmanned vehicle is determined Spill direction of the direction relative to the line.
In addition, can select the left side of line AB when user's operation third key, when four key of user's operation, can the company of selecting The right of line AB.For example, agriculture unmanned vehicle will be along such as Figure 11 behind the left side of the selected line AB of user's operation third key Shown in course line 121 fly, course line 121 is located at the left side of line AB, and adjustment course line while has adjusted agriculture unmanned vehicle Sprinkling direction.
The present embodiment selects the left side or the right of two o'clock line by user's operation key, controls agriculture unmanned vehicle Direction is sprayed, the flexibility ratio to sprinkling direction controlling is improved.
The embodiment of the present invention provides a kind of ground control terminal.Figure 12 is the knot of ground control terminal provided in an embodiment of the present invention Composition, as shown in figure 12, ground control terminal 120 include one or more processors 121, positioning device 122, input unit 123, Memory 124.Positioning device 122, input unit 123, memory 124 are communicated to connect with processor 121 respectively, positioning device 122 for detecting the location information of the ground control terminal current location;Input unit 123 is for determining the ground control terminal Current location beacon information;Memory 124 be used for store the ground control terminal current location location information and Beacon information;Processor 121 is used for: by the positioning device, obtaining the location information of the ground control terminal current location; By the input unit, the beacon information of the current location of the ground control terminal is obtained;By working as the ground control terminal The location information and beacon information of front position are stored to the memory.
In addition, processor 121 is also used to: according to the location information and beacon information stored in the memory, Determine the geography information of the operating area of the agriculture unmanned vehicle;According to the operating area of the agriculture unmanned vehicle Geography information determines the operation course line of the agriculture unmanned vehicle.
Current location of the beacon information for identifying the ground control terminal is the boundary point of the operating area.Place Reason device 121 is used for: according to the location information of the boundary point of the operating area, determining the operation area of the agriculture unmanned vehicle The geography information on domain boundary.
Alternatively, the beacon information is obstacle in the operating area for identifying the current location of the ground control terminal Position where object;Alternatively, the beacon information is the operating area for identifying the current location of the ground control terminal The boundary point of interior barrier region.Processor 121 is used for: position where barrier in the operating area being determined Position information determines the geography information of barrier in the operating area of the agriculture unmanned vehicle;Alternatively, according to the operation area The location information of the boundary point of barrier region in domain determines barrier in the operating area of the agriculture unmanned vehicle Geography information.
Alternatively, the beacon information is the borderline pass in operating area for identifying the current location of the ground control terminal Key point, the key point include following at least one: angular position, non-straight line position.Processor 121 is used for: according to operation area The location information of the borderline key point in domain determines the terrain information on the operating area boundary of the agriculture unmanned vehicle.
Alternatively, the beacon information is preset location for identifying the current location of the ground control terminal, it is described default Place is used to calibrate the deviations of the agriculture unmanned vehicle.Processor 121 is also used to: obtaining the agriculture unmanned flight When device is located at the preset location, the location information of the preset location of the agricultural unmanned vehicle detection;According to described The location information of the location information of preset location and the preset location of the agriculture unmanned vehicle detection, to described The deviations of agriculture unmanned vehicle are calibrated.
The concrete principle and implementation of ground control terminal provided in an embodiment of the present invention with embodiment illustrated in fig. 1 class Seemingly, details are not described herein again.
The positioning device that the present embodiment is carried by ground control terminal determines the positioning letter of ground control terminal current location Breath determines the beacon information of the current location of ground control terminal by the input unit of ground control terminal, and beacon information expression is worked as The type of front position, each anchor point are corresponding with location information and beacon information, carry out operating area by the ground control terminal When mapping, the latitude and longitude information of each anchor point can be not only determined, can also determine that each anchor point is located at operating area Boundary or inside, when being located inside operating area, if be barrier, in addition, the ground control terminal can also control agricultural Unmanned vehicle only needs a tester that the mapping to operating area can be completed before agriculture unmanned vehicle operation Work, and i.e. controllable agriculture unmanned vehicle starts operation after mapping, compared with the prior art, saves manpower Resource.
The embodiment of the present invention provides a kind of ground control terminal.Figure 13 be another embodiment of the present invention provides ground control terminal Rearview;Figure 14 be another embodiment of the present invention provides ground control terminal main view;Figure 15 is another implementation of the present invention The top view for the ground control terminal that example provides.On the basis of the technical solution that embodiment illustrated in fig. 12 provides, processor 121 According to the geography information of the operating area of the agriculture unmanned vehicle, when determining the operation course line of the agriculture unmanned vehicle, It is specifically used for: according to the geography information on the operating area boundary of the agriculture unmanned vehicle and the agriculture unmanned flight The geography information of barrier in the operating area of device determines the operation course line of the agriculture unmanned vehicle.
In addition, as shown in figure 13, ground control terminal includes multiple keys 131, multiple keys 131 are separately positioned on ground control The different location of end housing processed, each key correspond to different beacon informations.Multiple keys 131 can be above method embodiment In key C1, key C2, key C3, key C4, corresponding relationship does not limit, in addition, the present embodiment does not limit multiple press yet Specific location of the key 131 in ground control terminal.
As shown in figure 14, ground control terminal includes touch screen 140.Processor 121 passes through behaviour of the user on touch screen 140 Make, obtains the beacon information of the current location of the ground control terminal.
As shown in figure 15, ground control terminal further includes the first key 151, the second key 152, third key 153 and the 4th Key 154.First key 151 is used to obtain the positioning letter of agriculture unmanned vehicle first position in the operating area Breath;Second key 152 is used to obtain the location information of agriculture unmanned vehicle second position in the operating area;Place Device 121 is managed according to the location information of the first position and the location information of the second position, determine the first position and Line between the second position;Third key 153 or the 4th key 154 are used to determine the spray of the agriculture unmanned vehicle Spill direction of the direction relative to the line.
The concrete principle and implementation of ground control terminal provided in an embodiment of the present invention are similar to the above embodiments, this Place repeats no more.
The present embodiment identifies the type of each anchor point by beacon information, and each anchor point is corresponding with location information and mark Show information, when carrying out operating area mapping by the ground control terminal, can not only determine the latitude and longitude information of each anchor point, It can also determine that each anchor point is located at the boundary or inside of operating area, when being located inside operating area, if be obstacle Object is corresponding with location information and beacon information according to each anchor point, can determine the boundary and barrier area of operating area The boundary in domain, to avoid agriculture unmanned vehicle that spray is sprayed on barrier region or barrier;Agricultural nobody Before aircraft takes off every time, agriculture unmanned vehicle is placed on the preset location by tester, by comparing in remote controler The location information of the location information of the preset location of storage and the preset location of agriculture unmanned vehicle detection, to agricultural, nobody flies The deviations of row device are calibrated, and the positioning accuracy of agriculture unmanned vehicle is improved, and avoid agriculture unmanned vehicle same Occur drain spray when one operating area gradation operation or repeats the phenomenon that spraying;A left side for two o'clock line is selected by user's operation key Side or the right control the sprinkling direction of agriculture unmanned vehicle, improve the flexibility ratio to sprinkling direction controlling.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement;And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (10)

1. a kind of flight course planning method of agricultural unmanned vehicle, which is characterized in that the described method includes:
By the included positioning device of the ground control terminal of the agriculture unmanned vehicle, the ground control terminal present bit is obtained The location information set;
By the input unit of the ground control terminal of the agriculture unmanned vehicle, the current location of the ground control terminal is obtained Beacon information;
Record the location information and beacon information of the current location of the ground control terminal;
Wherein, the beacon information includes: the mark letter that the current location for identifying the ground control terminal is preset location Breath, the preset location are used to calibrate the deviations of the agriculture unmanned vehicle.
2. the method according to claim 1, wherein the current location for recording the ground control terminal is determined After position information and beacon information, further includes:
According to the location information and beacon information of record, the geography of the operating area of the agriculture unmanned vehicle is determined Information;
According to the geography information of the operating area of the agriculture unmanned vehicle, the operation boat of the agriculture unmanned vehicle is determined Line.
3. method according to claim 1 or 2, which is characterized in that further include:
When obtaining the agriculture unmanned vehicle and being located at the preset location, the described of agricultural unmanned vehicle detection is preset The location information in place;
According to the position of the location information of the preset location and the preset location of the agriculture unmanned vehicle detection Information calibrates the deviations of the agriculture unmanned vehicle.
4. the method according to claim 1, wherein the input unit is touch screen;
The input unit of the ground control terminal by the agriculture unmanned vehicle, obtains the current of the ground control terminal The beacon information of position, comprising:
By operation of the user on the touch screen, the beacon information of the current location of the ground control terminal is obtained.
5. the multiple to press the method according to claim 1, wherein the input unit includes multiple keys Key includes the first key, the second key, third key and the 4th key, the method also includes:
By the first key of user's operation, obtains the agriculture unmanned vehicle first position in the operating area and determine Position information;
By the second key of user's operation, obtains the agriculture unmanned vehicle second position in the operating area and determine Position information;
According to the location information of the location information of the first position and the second position, the first position and described is determined Line between the second position;
By the third key or the 4th key of user's operation, determine the sprinkling direction of the agriculture unmanned vehicle relative to institute State the direction of line.
6. a kind of ground control terminal characterized by comprising
One or more processors work alone or synergistically;
Positioning device is connect with the processor communication, for detecting the location information of the ground control terminal current location;
Input unit is connect with the processor communication, the beacon information of the current location for determining the ground control terminal;
Memory is connect with the processor communication, for store the ground control terminal current location location information with And beacon information;
The processor is used for:
By the positioning device, the location information of the ground control terminal current location is obtained;
By the input unit, the beacon information of the current location of the ground control terminal is obtained;
The location information of the current location of the ground control terminal and beacon information are stored to the memory;
Wherein, the processor also particularly useful for:
When obtaining the agriculture unmanned vehicle and being located at the preset location, the described of agricultural unmanned vehicle detection is preset The location information in place;
According to the position of the location information of the preset location and the preset location of the agriculture unmanned vehicle detection Information calibrates the deviations of the agriculture unmanned vehicle.
7. ground control terminal according to claim 6, which is characterized in that the processor is also used to:
According to the location information and beacon information stored in the memory, the work of the agriculture unmanned vehicle is determined The geography information in industry region;
According to the geography information of the operating area of the agriculture unmanned vehicle, the operation boat of the agriculture unmanned vehicle is determined Line.
8. ground control terminal according to claim 6 or 7, which is characterized in that the processor according to it is described agricultural nobody The geography information of the operating area of aircraft is specifically used for when determining the operation course line of the agriculture unmanned vehicle:
According to the geography information on the operating area boundary of the agriculture unmanned vehicle and the work of the agriculture unmanned vehicle The geography information of barrier in industry region determines the operation course line of the agriculture unmanned vehicle.
9. ground control terminal according to claim 6, which is characterized in that the input unit is touch screen, the touch Operation of the screen sensing user on the touch screen;
The processor obtains the mark of the current location of the ground control terminal by operation of the user on the touch screen Information.
10. ground control terminal according to claim 6, which is characterized in that the input unit includes multiple keys, described Multiple keys include the first key, the second key, third key and the 4th key;
First key is used to obtain the location information of agriculture unmanned vehicle first position in the operating area;
Second key is used to obtain the location information of agriculture unmanned vehicle second position in the operating area;
The processor determines described first according to the location information of the first position and the location information of the second position Line between position and the second position;
The third key or the 4th key are used to determine the sprinkling direction of the agriculture unmanned vehicle relative to described The direction of line.
CN201910087260.XA 2016-11-24 2016-11-24 Air route planning method and ground control terminal of agricultural unmanned aerial vehicle Expired - Fee Related CN109655067B (en)

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