CN109655067B - Air route planning method and ground control terminal of agricultural unmanned aerial vehicle - Google Patents
Air route planning method and ground control terminal of agricultural unmanned aerial vehicle Download PDFInfo
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- CN109655067B CN109655067B CN201910087260.XA CN201910087260A CN109655067B CN 109655067 B CN109655067 B CN 109655067B CN 201910087260 A CN201910087260 A CN 201910087260A CN 109655067 B CN109655067 B CN 109655067B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention provides a flight path planning method and a ground control terminal of an agricultural unmanned aerial vehicle, wherein the flight path planning method comprises the following steps: acquiring positioning information of the current position of the ground control end (120) through a positioning device carried by the ground control end (120); acquiring marking information of the current position of the ground control terminal (120) through an input device (123) of the ground control terminal (120); and recording the positioning information and the marking information of the current position of the ground control terminal (120). According to the embodiment of the invention, before the agricultural unmanned aerial vehicle works, only one tester is needed to complete the surveying and mapping work of the working area, and after the surveying and mapping are finished, the agricultural unmanned aerial vehicle can be controlled to start working, so that compared with the prior art, the manpower resource is saved.
Description
Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to a flight path planning method and a ground control end of an agricultural unmanned aerial vehicle.
Background
Before the agricultural unmanned aerial vehicle performs plant protection operation, a farmland needs to be mapped, in the prior art, a user carries a Global Positioning System (GPS) antenna, the user walks along the edge of the farmland, the GPS antenna sends position information of the user to a remote controller of the agricultural unmanned aerial vehicle, and the shape of the farmland is determined by the remote controller of the agricultural unmanned aerial vehicle according to the position information of the user at different positions.
Therefore, when the farmland is surveyed and drawn, not only need carry the tester of GPS antenna around the farmland walking, still need control the person of controlling of remote controller, need consume great manpower resources when leading to the farmland survey and drawing.
Disclosure of Invention
The embodiment of the invention provides a flight path planning method and a ground control terminal of an agricultural unmanned aerial vehicle, which are used for saving human resources during surveying and mapping of an operation area.
One aspect of an embodiment of the present invention is to provide a route planning method for an agricultural unmanned aerial vehicle, including:
acquiring positioning information of the current position of the ground control end through a positioning device of the ground control end of the agricultural unmanned aerial vehicle;
acquiring marking information of the current position of the ground control end through an input device of the ground control end of the agricultural unmanned aerial vehicle;
recording positioning information and marking information of the current position of the ground control end;
wherein the indication information includes: and the marking information is used for marking that the current position of the ground control end is a preset place, and the preset place is used for calibrating the positioning deviation of the agricultural unmanned aerial vehicle.
Another aspect of the embodiments of the present invention is to provide a ground control terminal, including:
one or more processors, operating alone or in cooperation;
the positioning device is in communication connection with the processor and is used for detecting positioning information of the current position of the ground control end;
the input device is in communication connection with the processor and is used for determining the marking information of the current position of the ground control end;
the memory is in communication connection with the processor and is used for storing the positioning information and the marking information of the current position of the ground control end;
the processor is configured to:
acquiring positioning information of the current position of the ground control end through the positioning device;
acquiring marking information of the current position of the ground control end through the input device;
storing the positioning information and the marking information of the current position of the ground control end into the memory;
wherein the processor is further specifically configured to:
acquiring position information of the preset place detected by the agricultural unmanned aerial vehicle when the agricultural unmanned aerial vehicle is located at the preset place;
and calibrating the positioning deviation of the agricultural unmanned aerial vehicle according to the positioning information of the preset place and the position information of the preset place detected by the agricultural unmanned aerial vehicle.
The flight path planning method for the agricultural unmanned aerial vehicle and the ground control end provided by the embodiment determine the positioning information of the current position of the ground control end through the positioning device of the ground control end, determine the marking information of the current position of the ground control end through the input device of the ground control end, the marking information represents the type of the current position, each positioning point corresponds to the positioning information and the marking information, when the ground control end is used for surveying and mapping the operation area, not only can the longitude and latitude information of each positioning point be determined, but also whether each positioning point is positioned at the boundary or inside the operation area and is an obstacle or not when the positioning point is positioned inside the operation area can be determined, in addition, the ground control end can control the agricultural unmanned aerial vehicle, before the agricultural unmanned aerial vehicle operates, the surveying and mapping work of the operation area can be completed only by one tester, and can control agricultural unmanned vehicles to begin operation after the survey and drawing is finished, compare in prior art, saved manpower resources.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a flow chart of a method for planning routes of an agricultural unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a schematic diagram of display contents of a display screen of a remote controller according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating contents displayed on a display screen of a remote controller according to another embodiment of the present invention;
FIG. 4 is a diagram illustrating contents displayed on a display screen of a remote controller according to another embodiment of the present invention;
FIG. 5 is a diagram illustrating contents displayed on a display screen of a remote controller according to another embodiment of the present invention;
FIG. 6 is a flow chart of a route planning method for an agricultural unmanned aerial vehicle according to another embodiment of the invention;
FIG. 7 is a diagram illustrating content displayed on a display screen of a remote control according to another embodiment of the present invention;
FIG. 8 is a diagram illustrating content displayed on a display screen of a remote controller according to another embodiment of the present invention;
FIG. 9 is a flow chart of a method for route planning for an agricultural unmanned aerial vehicle according to another embodiment of the present invention;
FIG. 10 is a flow chart of a method for route planning for an agricultural unmanned aerial vehicle according to another embodiment of the present invention;
FIG. 11 is a diagram illustrating content displayed on a display screen of a remote control according to another embodiment of the present invention;
FIG. 12 is a block diagram of a ground control end provided in accordance with an embodiment of the present invention;
FIG. 13 is a rear view of a ground control end according to another embodiment of the present invention;
FIG. 14 is a front view of a ground control end according to another embodiment of the present invention;
fig. 15 is a top view of a ground control end according to another embodiment of the invention.
Reference numerals:
20-display screen 21-operation area boundary point 22-operation area boundary
31-obstacle point 32-working area 41-obstacle boundary point
42-barrier zone 50-display 51-button C152-button C2
53-button C354-button C461-Key Point 70-Barrier area
71-operation area 72-route 121-route 120-ground control terminal
121-processor 122-positioning device 123-input device 124-memory
131-a plurality of keys 140-a touch screen 151-a first key 152-a second key
153-third key 154-fourth key
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a route planning method for an agricultural unmanned aerial vehicle. Fig. 1 is a flowchart of a route planning method for an agricultural unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include:
and S101, acquiring positioning information of the current position of the ground control end through a positioning device of the ground control end of the agricultural unmanned aerial vehicle.
The execution main body of the embodiment can be a ground control end used for controlling the agricultural unmanned aerial vehicle, and the ground control end can comprise at least one of the following components: head-mounted display glasses (VR glasses, VR helmet, etc.), a mobile phone, a remote controller (such as a remote controller with a display screen), an intelligent bracelet, and a tablet computer. The embodiment takes a remote controller with a display screen as an example, and introduces the principle of the route planning method of the agricultural unmanned aerial vehicle provided by the embodiment.
The remote controller with the display screen in this embodiment is provided with a positioning device, which may specifically be a GPS positioning module, where the positioning device may perform real-time positioning or periodic positioning on a position where the remote controller is located, and the periodic positioning may specifically be positioning once at regular intervals, for example, positioning once every 1 second. In this embodiment, the working area of the agricultural unmanned aerial vehicle may be a field, a forest or the like, the working object of the agricultural unmanned aerial vehicle may be crops, vegetation or the like, and the agricultural unmanned aerial vehicle may spray pesticide, water, seeds or the like on the working area. Before the agricultural unmanned aerial vehicle works, the air route of the agricultural unmanned aerial vehicle needs to be planned, and the premise of the air route planning is that the working area of the agricultural unmanned aerial vehicle needs to be mapped.
One way to implement mapping of the working area of an agricultural unmanned aerial vehicle is: the tester carries the remote controller to walk in an operation area of the agricultural unmanned aerial vehicle, such as a farmland, and a GPS positioning module carried by the remote controller can perform real-time positioning or periodic positioning on the position of the remote controller. The remote controller can display the positioning information of the GPS positioning module on the display screen in real time, and the operation area is mapped according to the positioning information of the GPS positioning module when the remote controller is positioned at different positions of the operation area.
Specifically, a tester can carry the remote controller to walk around the edge of the operation area for one circle, in the walking process, a GPS positioning module carried by the remote controller can carry out real-time positioning or periodic positioning on boundary points of the operation area, and after the tester carries the remote controller to walk around the edge of the operation area for one circle, the remote controller obtains positioning information of a large number of boundary points of the operation area, as shown in FIG. 2, 20 represents a display screen of the remote controller, 21 represents positioning points, the positioning information of each positioning point comprises longitude information and latitude information, and the boundary 22 of the operation area can be determined according to the positioning information of the large number of boundary points.
Generally, an obstacle exists in a working area of the agricultural unmanned aerial vehicle, and therefore, the obstacle existing in the working area needs to be mapped, specifically, a tester can carry the remote controller to walk in the working area, and when the tester finds an obstacle point such as a big tree, an obstacle area such as a fish pond, the tester needs to record the obstacle point or the positioning information of the obstacle area through the remote controller. If an obstacle region exists in the working area of the agricultural unmanned aerial vehicle, positioning information of a boundary point of the obstacle region needs to be measured according to the same mapping method as the boundary of the working area.
And S102, acquiring indication information of the current position of the ground control end through an input device of the ground control end of the agricultural unmanned aerial vehicle.
Since the GPS positioning module records the positioning information of a certain position or a certain point, in the mapping process, the GPS positioning module needs to record the positioning information of an infinite number of positions or points, and in order to distinguish the difference of the positioning positions or the difference of the positioning points, the present embodiment indicates the type of each position or each point by indicating information, for example, the position is a boundary point of an obstacle area.
In this embodiment, the remote controller includes a plurality of keys, the plurality of keys are used as an input device of the remote controller, the plurality of keys are respectively disposed at different positions of a housing of the remote controller, for example, the housing of the bottom of the remote controller is provided with 4 independent keys, a key C1, a key C2, a key C3, and a key C4, each key corresponds to different indication information, for example, the key C1 corresponds to first indication information, and the first indication information is used for identifying that the current position of the ground control end is a boundary point of the working area. The key C2 corresponds to second type of indication information, where the second type of indication information is used to identify that the current position of the ground control end is the position of the obstacle in the operation area, or is used to identify that the current position of the ground control end is the boundary point of the area where the obstacle in the operation area is located. The key C3 corresponds to third indication information, where the third indication information is used to identify that the current position of the ground control end is a key point on the boundary of the working area, where the key point includes at least one of the following: corner position, non-linear position. The button C4 corresponds to fourth indication information, where the fourth indication information is used to identify that the current position of the ground control end is a preset location, and the preset location is used to calibrate the positioning deviation of the agricultural unmanned aerial vehicle.
For example, when the tester starts walking around the edge of the working area with the remote controller, the tester operates the key C1 in a manner including at least one of the following: press, click, press, double click. The function of the tester operating the key C1 is: and marking the boundary of the remote controller currently positioned in the operation area, wherein the current positioning information of the GPS positioning module is the positioning information of the boundary point of the operation area. Optionally, after the tester operates the key C1, the subsequent positioning information of the default GPS positioning module is the positioning information of the operation area boundary point until the tester operates the key C1 again, or the tester operates another key.
In addition, in some embodiments, when the tester walks in the working area with the remote controller, and finds an obstacle point such as a big tree, the tester operates the key C2, where the operation of the key can also be used to trigger the positioning of the GPS positioning module, that is, the positioning mechanism of the GPS positioning module is triggered, and at the same time, the tester operates the key C2 to: and marking the position of the remote controller at which the obstacle is located, wherein the current positioning information of the GPS positioning module is the positioning information of the position of the obstacle. As shown in fig. 3, 31 represents a positioning point determined by the remote controller according to the positioning information of the GPS positioning module after the tester operates the key C2, and the positioning point 31 represents an obstacle in the working area 32.
For another example, there is a large-area obstacle area inside the working area, and after the tester operates the button C2, the tester walks along the boundary of the obstacle area with the remote controller, and the tester operates the button C2 to: and marking the boundary of the remote controller which is currently positioned in the area of the obstacle, wherein the current positioning information of the GPS positioning module is the positioning information of the boundary point of the area where the obstacle is positioned. As shown in fig. 4, reference numeral 41 denotes an anchor point determined by the remote controller based on the positioning information of the GPS positioning module after the tester operates the key C2, where the anchor point 41 denotes a boundary point of an obstacle area in the work area 32, and an area 42 composed of a plurality of anchor points 41 is an obstacle area in the work area 32.
In addition, in some other embodiments, the touch screen may also be used as an input device of the remote controller, as shown in fig. 5, 50 denotes the touch screen, 51 denotes the key C1, 52 denotes the key C2, 53 denotes the key C3, and 54 denotes the key C4. Each key corresponds to different indication information, the functions of each key shown in fig. 5 are consistent with those of the keys on the bottom shell of the remote controller, the remote controller can determine the indication information of the current position of the remote controller according to the different keys clicked by a user on the touch screen, and the determination method is consistent with the method.
And S103, recording the positioning information and the marking information of the current position of the ground control end.
In this embodiment, for each positioning point of the remote controller, positioning information and indication information of the positioning point are recorded, that is, each positioning point corresponds to longitude and latitude information and indication information, and the indication information indicates a type of the positioning point, for example, the positioning point is a boundary point of an operation area or a boundary point of an obstacle area.
In the embodiment, the positioning information of the current position of the ground control end is determined through the positioning device of the ground control end, the marking information of the current position of the ground control end is determined through the input device of the ground control end, the marking information represents the type of the current position, each positioning point corresponds to the positioning information and the marking information, when the ground control end is used for surveying and mapping the operation area, the longitude and latitude information of each positioning point can be determined, and also, each positioning point can be positioned at the boundary or inside of the operation area, and whether the positioning point is an obstacle or not when the positioning point is positioned inside the operation area can be determined, in addition, the ground control end can also control the agricultural unmanned aerial vehicle, before the agricultural unmanned aerial vehicle operates, the surveying and mapping work of the operation area can be completed only by one tester, and the agricultural unmanned aerial vehicle can be controlled to start operating after the surveying and mapping is finished, compared with the prior art, the method saves human resources.
The embodiment of the invention provides a route planning method for an agricultural unmanned aerial vehicle. Fig. 6 is a flowchart of a route planning method for an agricultural unmanned aerial vehicle according to another embodiment of the present invention. As shown in fig. 6, on the basis of the embodiment shown in fig. 1, the method in this embodiment may include:
step S201, acquiring positioning information of the current position of the ground control end through a positioning device of the ground control end of the agricultural unmanned aerial vehicle.
Step S201 is the same as step S101, and the detailed method is not described herein again.
Step S202, acquiring indication information of the current position of the ground control end through an input device of the ground control end of the agricultural unmanned aerial vehicle.
Step S202 is the same as step S102, and the detailed method is not repeated here.
And step S203, recording the positioning information and the marking information of the current position of the ground control end.
Step S203 is the same as step S103, and the detailed method is not described here again.
And S204, determining the geographic information of the operation area of the agricultural unmanned aerial vehicle according to the recorded positioning information and the marking information.
In this embodiment, the following manners are available for the remote controller to determine the geographic information of the operation area of the agricultural unmanned aerial vehicle according to the recorded positioning information and the marking information:
the first method comprises the following steps:
and determining the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the operation area.
As shown in fig. 2, the remote controller may determine geographic information of the working area boundary 2 according to the positioning information of each boundary point 21 of the working area, where the geographic information may specifically be a geographic location, such as longitude and latitude information.
And the second method comprises the following steps:
determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the positions of the obstacles in the operation area; or determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the area where the obstacles are located in the operation area.
As shown in fig. 3, the positioning point 31 represents an obstacle in the working area 32, and the geographic information of the obstacle in the working area 32 can be obtained according to the positioning information of the positioning point 31. As shown in fig. 4, the anchor points 41 represent boundary points of the obstacle areas in the work area 32, and the remote controller can obtain the geographic information of the obstacle areas in the work area 32 according to the location information of each anchor point 41, where the geographic information of the obstacle areas may be the longitude range and the latitude range occupied by the obstacle areas.
And the third is that:
the marking information is used for marking that the current position of the ground control end is a key point on the boundary of the operation area, and the key point comprises at least one of the following points: corner position, non-linear position.
As shown in fig. 7, the boundary point 61 has a larger rotation angle than other boundary points, the boundary line 22 cannot smoothly transit at the boundary point 61, and when the tester walks along the boundary of the working area with the remote controller, if such a key point is found, the button C3 described in the above embodiment can be operated, and the function of the tester operating the button C3 is: and marking the key point of the remote controller which is currently positioned on the boundary of the operation area, wherein the current positioning information of the GPS positioning module is the positioning information of the key point on the boundary of the operation area. Specifically, the topographic information of the work area at this position, such as the boundary point 61 shown in fig. 7, can also be determined according to the positioning information of the key point, and the topography of the work area at this position, such as a steep slope, a terrace, etc., can be determined according to the positioning information of the boundary point 61.
And S205, determining an operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area of the agricultural unmanned aerial vehicle.
Specifically, the area of the agricultural unmanned aerial vehicle, which actually needs to operate, can be determined according to the geographic information of the boundary of the operation area of the agricultural unmanned aerial vehicle and the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle, and the operation route of the agricultural unmanned aerial vehicle can be determined according to the area of the agricultural unmanned aerial vehicle, which actually needs to operate. As shown in fig. 8, 70 denotes an obstacle area, 71 denotes an area where the agricultural unmanned aerial vehicle actually needs to work, and 72 denotes a flight path, and it can be seen that the flight path of the agricultural unmanned aerial vehicle does not pass through the obstacle area, and if the obstacle area is a fish pond, if the obstacle area is not avoided, the agricultural unmanned aerial vehicle is likely to spray pesticide to the fish pond, and unnecessary loss is caused.
The type of each locating point is identified through the marking information, each locating point corresponds to the positioning information and the marking information, when the ground control end conducts surveying and mapping on the operation area, not only can the longitude and latitude information of each locating point be determined, but also each locating point can be determined to be located on the boundary or inside of the operation area, when the locating point is located inside the operation area, whether the locating point is an obstacle or not can be determined, the boundary of the operation area and the boundary of the obstacle area can be determined according to the corresponding positioning information and the marking information of each locating point, and therefore the situation that the agricultural unmanned aerial vehicle sprays the sprayed objects onto the obstacle area or the obstacle is avoided.
The embodiment of the invention provides a route planning method for an agricultural unmanned aerial vehicle. Fig. 9 is a flowchart of a route planning method for an agricultural unmanned aerial vehicle according to another embodiment of the present invention. As shown in fig. 9, on the basis of the embodiment shown in fig. 1, the indication information is used to identify that the current position of the ground control terminal is a preset location, and the preset location is used to calibrate the positioning deviation of the agricultural unmanned aerial vehicle.
In this embodiment, the tester may further designate a location as a preset location, and the preset location is used for calibrating the positioning deviation of the agricultural unmanned aerial vehicle. Assuming that the working area is large, the pesticide loadable by the agricultural unmanned aerial vehicle each time is certain, the pesticide loaded by the agricultural unmanned aerial vehicle at one time may not be sufficiently sprayed to the whole working area, the agricultural unmanned aerial vehicle is required to be loaded for multiple times, and the operation is performed for multiple times, if the positioning of the agricultural unmanned aerial vehicle has a deviation, the agricultural unmanned aerial vehicle may not be accurately positioned to a place where the agricultural unmanned aerial vehicle leaves for the previous time, and the agricultural unmanned aerial vehicle may miss spraying or repeat spraying, therefore, in order to calibrate the positioning deviation of the agricultural unmanned aerial vehicle, during surveying and mapping of the working area, a tester may designate a point as a preset point in the working area, the tester may operate the key C4 described in the above embodiment at the preset point, indicate that the remote controller is currently located at the preset point designated by the tester, and trigger the GPS positioning module to position the preset point, so that the remote controller may obtain the positioning information of the preset point, and storing the positioning information of the preset place as a reference standard.
Before the agricultural unmanned aerial vehicle takes off every time, a tester places the agricultural unmanned aerial vehicle at the preset place and calibrates the positioning deviation of the agricultural unmanned aerial vehicle, and the specific calibration method can comprise the following steps:
step S301, when the agricultural unmanned aerial vehicle is located at the preset place, position information of the preset place detected by the agricultural unmanned aerial vehicle is obtained.
When the testing personnel place the agricultural unmanned aerial vehicle at the preset place, the positioning system of the agricultural unmanned aerial vehicle positions the preset place to obtain position information, and the position information is sent to the remote controller. Suppose that the position information of the preset place detected by the positioning system of the agricultural unmanned aerial vehicle is 29 degrees north latitude and 38 degrees longitude.
Step S302, calibrating the positioning deviation of the agricultural unmanned aerial vehicle according to the positioning information of the preset place and the position information of the preset place detected by the agricultural unmanned aerial vehicle.
Assuming that the positioning information of the preset place stored in the remote controller is 30 degrees north latitude and 40 degrees longitude, when the remote controller receives the position information of the preset place sent by the agricultural unmanned aerial vehicle, comparing the positioning information of the preset place stored in the remote controller with the position information of the preset place sent by the agricultural unmanned aerial vehicle, and thus, a certain error exists in the position information of the preset place sent by the agricultural unmanned aerial vehicle, at the moment, the remote controller can send a calibration instruction to the agricultural unmanned aerial vehicle so that the agricultural unmanned aerial vehicle can calibrate the positioning deviation of the agricultural unmanned aerial vehicle.
In this embodiment, before the agricultural unmanned aerial vehicle takes off each time, the testing personnel place the agricultural unmanned aerial vehicle at the preset place, and the positioning deviation of the agricultural unmanned aerial vehicle is calibrated by comparing the positioning information of the preset place stored in the remote controller with the position information of the preset place detected by the agricultural unmanned aerial vehicle, so that the positioning precision of the agricultural unmanned aerial vehicle is improved, and the phenomenon of missed spraying or repeated spraying when the agricultural unmanned aerial vehicle operates in the same operation area in multiple times is avoided.
The embodiment of the invention provides a route planning method for an agricultural unmanned aerial vehicle. Fig. 10 is a flowchart of a route planning method for an agricultural unmanned aerial vehicle according to another embodiment of the present invention. As shown in fig. 10, based on the embodiment shown in fig. 1, the plurality of keys include a first key, a second key, a third key and a fourth key, and the first key, the second key, the third key and the fourth key described in this embodiment are different from the keys C1, C2, C3 and C4 in the above embodiments.
The method in this embodiment may include:
step S401, acquiring positioning information of a first position of the agricultural unmanned aerial vehicle in the operation area through a first key operated by a user.
As shown in fig. 11, when the agricultural unmanned aerial vehicle operates in the working area, and when the agricultural unmanned aerial vehicle is located at point a, the user operates the first button to obtain the positioning information of the first position of the agricultural unmanned aerial vehicle, that is, point a, in the working area.
And S402, acquiring positioning information of a second position of the agricultural unmanned aerial vehicle in the operation area through a second key operated by a user.
When the agricultural unmanned aerial vehicle is located at the point B, the user operates the second key to obtain the second position of the agricultural unmanned aerial vehicle in the operation area, namely the positioning information of the point B.
Step S403, determining a connection line between the first location and the second location according to the positioning information of the first location and the positioning information of the second location.
And determining the connecting line AB according to the positioning information of the point A and the positioning information of the point B.
And S404, determining the spraying direction of the agricultural unmanned aerial vehicle relative to the direction of the connecting line through a third key or a fourth key operated by a user.
In addition, the user can select the left side of the connecting line AB when operating the third key, and the user can select the right side of the connecting line AB when operating the fourth key. For example, after the user operates the third key to select the left side of the connection line AB, the agricultural unmanned aerial vehicle will fly along the flight path 121 as shown in fig. 11, the flight path 121 is located at the left side of the connection line AB, and the spraying direction of the agricultural unmanned aerial vehicle is adjusted while the flight path is adjusted.
According to the embodiment, the left side or the right side of the two-point connecting line is selected through the user operation key, the spraying direction of the agricultural unmanned aerial vehicle is controlled, and the flexibility of controlling the spraying direction is improved.
The embodiment of the invention provides a ground control terminal. Fig. 12 is a block diagram of a ground control end according to an embodiment of the present invention, and as shown in fig. 12, the ground control end 120 includes one or more processors 121, a positioning device 122, an input device 123, and a memory 124. The positioning device 122, the input device 123 and the memory 124 are respectively in communication connection with the processor 121, and the positioning device 122 is used for detecting positioning information of the current position of the ground control terminal; the input device 123 is configured to determine indication information of a current position of the ground control end; the memory 124 is used for storing the positioning information and the marking information of the current position of the ground control terminal; the processor 121 is configured to: acquiring positioning information of the current position of the ground control end through the positioning device; acquiring marking information of the current position of the ground control end through the input device; and storing the positioning information and the marking information of the current position of the ground control end into the memory.
In addition, the processor 121 is further configured to: determining geographic information of an operation area of the agricultural unmanned aerial vehicle according to the positioning information and the marking information stored in the memory; and determining the operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area of the agricultural unmanned aerial vehicle.
The marking information is used for marking that the current position of the ground control end is the boundary point of the operation area. The processor 121 is configured to: and determining the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the operation area.
Or the marking information is used for marking that the current position of the ground control end is the position of the obstacle in the operation area; or the marking information is used for marking that the current position of the ground control end is a boundary point of an area where the obstacle is located in the operation area. The processor 121 is configured to: determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the positions of the obstacles in the operation area; or determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the area where the obstacles are located in the operation area.
Or, the marking information is used for identifying that the current position of the ground control end is a key point on the boundary of the operation area, and the key point includes at least one of the following points: corner position, non-linear position. The processor 121 is configured to: and determining the topographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the key points on the operation area boundary.
Or the marking information is used for marking that the current position of the ground control end is a preset place, and the preset place is used for calibrating the positioning deviation of the agricultural unmanned aerial vehicle. Processor 121 is further configured to: acquiring position information of the preset place detected by the agricultural unmanned aerial vehicle when the agricultural unmanned aerial vehicle is located at the preset place; and calibrating the positioning deviation of the agricultural unmanned aerial vehicle according to the positioning information of the preset place and the position information of the preset place detected by the agricultural unmanned aerial vehicle.
The specific principle and implementation of the ground control end provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 1, and are not described herein again.
In the embodiment, the positioning information of the current position of the ground control end is determined through the positioning device of the ground control end, the marking information of the current position of the ground control end is determined through the input device of the ground control end, the marking information represents the type of the current position, each positioning point corresponds to the positioning information and the marking information, when the ground control end is used for surveying and mapping the operation area, the longitude and latitude information of each positioning point can be determined, and also, each positioning point can be positioned at the boundary or inside of the operation area, and whether the positioning point is an obstacle or not when the positioning point is positioned inside the operation area can be determined, in addition, the ground control end can also control the agricultural unmanned aerial vehicle, before the agricultural unmanned aerial vehicle operates, the surveying and mapping work of the operation area can be completed only by one tester, and the agricultural unmanned aerial vehicle can be controlled to start operating after the surveying and mapping is finished, compared with the prior art, the method saves human resources.
The embodiment of the invention provides a ground control terminal. FIG. 13 is a rear view of a ground control end according to another embodiment of the present invention; FIG. 14 is a front view of a ground control end according to another embodiment of the present invention; fig. 15 is a top view of a ground control end according to another embodiment of the invention. On the basis of the technical solution provided by the embodiment shown in fig. 12, when determining the working route of the agricultural unmanned aerial vehicle according to the geographic information of the working area of the agricultural unmanned aerial vehicle, the processor 121 is specifically configured to: and determining the operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle and the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle.
In addition, as shown in fig. 13, the ground control end includes a plurality of keys 131, the plurality of keys 131 are respectively disposed at different positions of the housing of the ground control end, and each key corresponds to different indication information. The plurality of keys 131 may be the key C1, the key C2, the key C3 and the key C4 in the above method embodiments, and their corresponding relationships are not limited, and in addition, the present embodiment also does not limit the specific positions of the plurality of keys 131 on the ground control end.
As shown in fig. 14, the ground control terminal includes a touch screen 140. The processor 121 obtains the indication information of the current position of the ground control end through the operation of the user on the touch screen 140.
As shown in fig. 15, the ground control terminal further includes a first button 151, a second button 152, a third button 153, and a fourth button 154. The first key 151 is used for acquiring positioning information of a first position of the agricultural unmanned aerial vehicle in the operation area; the second key 152 is used for acquiring positioning information of a second position of the agricultural unmanned aerial vehicle in the working area; the processor 121 determines a connection line between the first position and the second position according to the positioning information of the first position and the positioning information of the second position; the third button 153 or the fourth button 154 is used to determine the direction of the spraying direction of the agricultural unmanned aerial vehicle with respect to the line.
The specific principle and implementation manner of the ground control end provided by the embodiment of the invention are similar to those of the above embodiments, and are not described herein again.
The type of each positioning point is identified through the marking information, each positioning point corresponds to the positioning information and the marking information, when the ground control end conducts surveying and mapping on the operation area, not only can the longitude and latitude information of each positioning point be determined, but also each positioning point can be determined to be located at the boundary or the inner part of the operation area, when the positioning point is located in the operation area, whether the positioning point is an obstacle or not can be determined, the boundary of the operation area and the boundary of the obstacle area can be determined according to the corresponding positioning information and the marking information of each positioning point, and therefore the agricultural unmanned aerial vehicle is prevented from spraying the sprayed objects onto the obstacle area or the obstacle; before the agricultural unmanned aerial vehicle takes off each time, a tester places the agricultural unmanned aerial vehicle at the preset place, and the positioning deviation of the agricultural unmanned aerial vehicle is calibrated by comparing the positioning information of the preset place stored in the remote controller with the position information of the preset place detected by the agricultural unmanned aerial vehicle, so that the positioning precision of the agricultural unmanned aerial vehicle is improved, and the phenomenon of missed spraying or repeated spraying of the agricultural unmanned aerial vehicle during the operation in the same operation area in a plurality of times is avoided; the left side or the right side of the two-point connecting line is selected through the user operation key, the spraying direction of the agricultural unmanned aerial vehicle is controlled, and the flexibility of controlling the spraying direction is improved.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and 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 or all of the 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 scope of the technical solutions of the embodiments of the present invention.
Claims (22)
1. A method of route planning for an agricultural unmanned aerial vehicle, the method comprising:
acquiring positioning information of the current position of the ground control end through a positioning device of the ground control end of the agricultural unmanned aerial vehicle;
acquiring marking information of the current position of the ground control end through an input device of the ground control end of the agricultural unmanned aerial vehicle;
recording positioning information and marking information of the current position of the ground control end;
wherein the indication information is used for indicating the type of each position, and the indication information includes: marking information for marking that the current position of the ground control terminal is a preset place, wherein the preset place is used for calibrating the positioning deviation of the agricultural unmanned aerial vehicle
After the recording of the positioning information and the marking information of the current position of the ground control end, the method further comprises the following steps:
determining geographic information of an operation area of the agricultural unmanned aerial vehicle according to the recorded positioning information and marking information;
determining an operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area of the agricultural unmanned aerial vehicle;
the marking information further includes: marking information for marking that the current position of the ground control end is a boundary point of the operation area;
the marking information further includes: marking information for marking that the current position of the ground control end is the position of the obstacle in the operation area; or the current position used for identifying the ground control end is marking information of a boundary point of an area where the obstacle is located in the operation area.
2. The method according to claim 1, wherein the determining geographic information of the working area of the agricultural unmanned aerial vehicle according to the recorded positioning information and marking information comprises:
and determining the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the operation area.
3. The method according to claim 2, wherein the determining geographic information of the working area of the agricultural unmanned aerial vehicle according to the recorded positioning information and marking information comprises:
determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the positions of the obstacles in the operation area;
alternatively, the first and second electrodes may be,
and determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the boundary points of the area where the obstacles are located in the operation area.
4. The method of claim 1, wherein the indicating information further comprises: the current position of the ground control end is marking information of key points on the boundary of the operation area, and the key points comprise at least one of the following:
corner position, non-linear position.
5. The method according to claim 4, wherein the determining geographic information of the working area of the agricultural unmanned aerial vehicle according to the recorded positioning information and marking information comprises:
and determining the topographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the key points on the operation area boundary.
6. The method of claim 1, further comprising:
acquiring position information of the preset place detected by the agricultural unmanned aerial vehicle when the agricultural unmanned aerial vehicle is located at the preset place;
and calibrating the positioning deviation of the agricultural unmanned aerial vehicle according to the positioning information of the preset place and the position information of the preset place detected by the agricultural unmanned aerial vehicle.
7. The method of claim 3, wherein determining the working envelope of the agricultural unmanned aerial vehicle based on the geographic information for the working area of the agricultural unmanned aerial vehicle comprises:
and determining the operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle and the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle.
8. The method of claim 1, wherein the input device comprises a plurality of keys, the plurality of keys are respectively disposed at different positions of the ground control end housing, and each key corresponds to different identification information.
9. The method of claim 1, wherein the input device is a touch screen.
10. The method according to claim 9, wherein the obtaining of the indication of the current position of the ground control terminal via the input device of the ground control terminal of the agricultural unmanned aerial vehicle comprises:
and acquiring the indication information of the current position of the ground control end through the operation of a user on the touch screen.
11. The method of claim 8, wherein the plurality of keys comprises a first key, a second key, a third key, and a fourth key, the method further comprising:
acquiring positioning information of a first position of the agricultural unmanned aerial vehicle in the operation area through a first key operated by a user;
acquiring positioning information of a second position of the agricultural unmanned aerial vehicle in the operation area through a second key operated by a user;
determining a connection line between the first position and the second position according to the positioning information of the first position and the positioning information of the second position;
and determining the spraying direction of the agricultural unmanned aerial vehicle relative to the direction of the connecting line through a third key or a fourth key operated by a user.
12. A ground control terminal, comprising:
one or more processors, operating alone or in cooperation;
the positioning device is in communication connection with the processor and is used for detecting positioning information of the current position of the ground control end;
the input device is in communication connection with the processor and is used for determining the marking information of the current position of the ground control end;
the memory is in communication connection with the processor and is used for storing the positioning information and the marking information of the current position of the ground control end;
the processor is configured to:
acquiring positioning information of the current position of the ground control end through the positioning device;
acquiring marking information of the current position of the ground control end through the input device;
storing the positioning information and the marking information of the current position of the ground control end into the memory;
wherein the indication information is used for indicating the type of each position, and the indication information includes: the marking information is used for marking that the current position of the ground control end is a preset place, and the preset place is used for calibrating the positioning deviation of the agricultural unmanned aerial vehicle;
the processor is further configured to:
determining geographic information of an operation area of the agricultural unmanned aerial vehicle according to the positioning information and the marking information stored in the memory;
determining an operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area of the agricultural unmanned aerial vehicle;
the marking information further includes: marking information for marking that the current position of the ground control end is a boundary point of the operation area;
the marking information further includes: marking information for marking that the current position of the ground control end is the position of the obstacle in the operation area; or the current position used for identifying the ground control end is marking information of a boundary point of an area where the obstacle is located in the operation area.
13. The ground control terminal of claim 12, wherein the processor is configured to:
and determining the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the boundary point of the operation area.
14. The ground control terminal of claim 13, wherein the processor is configured to:
determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the positions of the obstacles in the operation area;
alternatively, the first and second electrodes may be,
and determining the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle according to the positioning information of the boundary points of the area where the obstacles are located in the operation area.
15. The ground control terminal of claim 12, wherein the label information further comprises: the current position of the ground control end is marking information of key points on the boundary of the operation area, and the key points comprise at least one of the following:
corner position, non-linear position.
16. The ground control terminal of claim 15, wherein the processor is configured to:
and determining the topographic information of the operation area boundary of the agricultural unmanned aerial vehicle according to the positioning information of the key points on the operation area boundary.
17. The ground control terminal of claim 12, wherein the processor is further configured to:
acquiring position information of the preset place detected by the agricultural unmanned aerial vehicle when the agricultural unmanned aerial vehicle is located at the preset place;
and calibrating the positioning deviation of the agricultural unmanned aerial vehicle according to the positioning information of the preset place and the position information of the preset place detected by the agricultural unmanned aerial vehicle.
18. The ground control terminal according to claim 14, wherein the processor is configured to determine a working route of the agricultural unmanned aerial vehicle based on the geographic information of the working area of the agricultural unmanned aerial vehicle, and is specifically configured to:
and determining the operation route of the agricultural unmanned aerial vehicle according to the geographic information of the operation area boundary of the agricultural unmanned aerial vehicle and the geographic information of the obstacles in the operation area of the agricultural unmanned aerial vehicle.
19. The ground control terminal according to claim 12, wherein the input device comprises a plurality of keys, the plurality of keys are respectively disposed at different positions of the housing of the ground control terminal, and each key corresponds to different indication information.
20. The ground control terminal of claim 12, wherein the input device is a touch screen.
21. The ground control terminal of claim 20, wherein the touch screen senses a user's operation on the touch screen;
and the processor acquires the indication information of the current position of the ground control end through the operation of a user on the touch screen.
22. The ground control terminal of claim 19, wherein the plurality of keys includes a first key, a second key, a third key, and a fourth key;
the first key is used for acquiring positioning information of a first position of the agricultural unmanned aerial vehicle in the operation area;
the second key is used for acquiring positioning information of a second position of the agricultural unmanned aerial vehicle in the operation area;
the processor determines a connection line between the first position and the second position according to the positioning information of the first position and the positioning information of the second position;
the third key or the fourth key is used for determining the spraying direction of the agricultural unmanned aerial vehicle relative to the direction of the connecting line.
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| CN201910087260.XA CN109655067B (en) | 2016-11-24 | 2016-11-24 | Air route planning method and ground control terminal of agricultural unmanned aerial vehicle |
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| CN201910087260.XA CN109655067B (en) | 2016-11-24 | 2016-11-24 | Air route planning method and ground control terminal of agricultural unmanned aerial vehicle |
| CN201680002746.3A CN106716062B (en) | 2016-11-24 | 2016-11-24 | The flight course planning method and ground control terminal of agriculture unmanned vehicle |
| PCT/CN2016/107146 WO2018094661A1 (en) | 2016-11-24 | 2016-11-24 | Flight course planning method for agricultural unmanned aerial vehicle, and ground control end |
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| CN204788357U (en) * | 2015-06-10 | 2015-11-18 | 巴州极飞农业航空科技有限公司 | Handheld mapping device |
| CN106054917A (en) * | 2016-05-27 | 2016-10-26 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle flight control method and device, and remote controller |
-
2016
- 2016-11-24 WO PCT/CN2016/107146 patent/WO2018094661A1/en active Application Filing
- 2016-11-24 CN CN201680002746.3A patent/CN106716062B/en not_active Expired - Fee Related
- 2016-11-24 CN CN201910087260.XA patent/CN109655067B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN109655067A (en) | 2019-04-19 |
| CN106716062B (en) | 2019-03-12 |
| CN106716062A (en) | 2017-05-24 |
| WO2018094661A1 (en) | 2018-05-31 |
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