CN109814597A - The control method of concentrating type plant protection drone control system - Google Patents
The control method of concentrating type plant protection drone control system Download PDFInfo
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- CN109814597A CN109814597A CN201910109051.0A CN201910109051A CN109814597A CN 109814597 A CN109814597 A CN 109814597A CN 201910109051 A CN201910109051 A CN 201910109051A CN 109814597 A CN109814597 A CN 109814597A
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- unmanned plane
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Abstract
The invention discloses a kind of control methods of concentrating type plant protection drone control system, the control system includes unmanned plane and the earth station with UAV Communication, it includes following steps: (1) unmanned plane is arranged, to the number setting of cluster plant protection drone, single rack unmanned plane parameter setting；(2) trajectory planning, according to multiple operation plot, multiple barrier zones, multiple landing regional plannings course line；(3) monitoring unmanned, by the unmanned plane position of map denotation group operation, the state of flight of unmanned plane determines cluster operation instruction and single-set operation instruction according to the benefit and state of flight of unmanned plane.The concentrating type control of unmanned plane may be implemented in the present invention, improves the safe and reliable property of plant protection operation.
Description
Technical field
The present invention relates to the controls of unmanned plane, are exactly a kind of controlling parties of concentrating type plant protection drone control system
Method.
Background technique
Unmanned plane is the not manned of the flight guidance program control write by wireless device real time remote control or in advance
Unmanned plane, unmanned plane possess small in size, light-weight, good concealment, the more low advantage of manufacturing cost.
Currently, unmanned plane is mainly used in military and national defense, remote sensing mapping is taken photo by plane, and the condition of a disaster exploration, electric inspection process, agricultural are planted
Protect etc..The application range of unmanned plane is very extensive, has also fully demonstrated its low cost, efficient advantage.Agriculturally,
In face of large area crop, the low pesticide application such as the long-stalked crops of fruit tree type and Hills, compared to traditional spray
Mode, the unmanned machine operation of agricultural plant protection can more efficiently.As the developing direction of agricultural plant protection, agricultural plant protection unmanned plane will be got over
It is put into agricultural modernization crop production come more.
Currently, plant protection drone is there is also deficiency in cruise duration, the small problem of loading capacity, therefore, it is necessary to operators not
Disconnected replacement battery and dosing, to reduce working efficiency, and existing plant protection drone is to operator's control technology
Level requirement is higher, and operator can only manipulate single rack unmanned plane.
Application No. is 201611056028.2 Chinese invention patent, a kind of " UAV Intelligent flight control system is disclosed
System ", which includes airborne flight control system, hand-held earth station, portable gets instrument ready；Earth station is held as host, all tools
The unmanned plane of airborne flight control system is all slave, and host receives the data of multi rack slave simultaneously, and Selection of chiller target slave comes
It sends data or data is sent by broadcast mode, slave receives data by destination address；When host receiving data, host is made
Data channel is distributed for router, avoids slave while sending data causing bus collision；Portable instrument of getting ready stands on nobody
At quick-witted fly able boundary point, the location information at this passes to master by the portable data radio station got ready built in instrument in real time
Machine, the location information of the host record point.
Above-mentioned technical proposal is: earth station can not limit aircraft flight region, need to get ready instrument note
Position is recorded, if plot is complex-shaped or plot region is more, needs multiple to get instrument ready or carry out repeatedly getting carry out operation ready
Planning, it is cumbersome.
Application No. is 201810978599.4 Chinese invention patent, a kind of " plant protection drone cluster collaboration is disclosed
Control method ", method the following steps are included: unmanned plane cluster initialization；The task layout of unmanned plane individual；Unmanned plane
The space layout of body；The motion planning of father's unmanned plane and sub- unmanned plane；The control that unmanned plane cluster is searched in free movement space
Movement；The detecting of father's unmanned plane identifies application.
Above-mentioned technical proposal is: not having flexibility, father's unmanned plane influences the flight of sub- unmanned plane
And operation, it is unfavorable for replacing unmanned plane in operation process or changes operation sortie.
Summary of the invention
The technical problem to be solved in the present invention is to provide, a kind of concentrating type plant protection drone of device earth station, the control
The concentrating type control of unmanned plane is realized in system control, improves the safe and reliable property of plant protection operation.
In order to solve the above technical problems, the present invention uses following technological means:
A kind of control method of concentrating type plant protection drone control system, the control system include unmanned plane and and unmanned plane
The earth station of communication, control method comprise the steps of:
(1) unmanned plane is arranged, to the number setting of cluster plant protection drone, single rack unmanned plane parameter setting；
(2) trajectory planning, according to multiple operation plot, multiple barrier zones, multiple landing regional plannings course line；
(3) monitoring unmanned passes through the unmanned plane position of map denotation group operation, the state of flight of unmanned plane, according to nobody
The position of machine and state of flight determine cluster operation instruction and single-set operation instruction.
Compared with prior art, the feature protruded is:
The concentrating type control of unmanned plane may be implemented in the present invention, and user can voluntarily determine cluster number of aircraft and volume within 8 framves
Number；And aircraft position and state can be monitored in real time, improve the safe and reliable property of plant protection operation；Trajectory planning can will be more
A plot is integrated into a task and distributes to multiple UAVs, and the landing region and course line of the every frame unmanned plane of contexture by self are saved
Manually, the efficiency of plant protection operation is greatly improved.
Further optimal technical scheme is as follows:
The earth station controls while biography by independent digit to each frame unmanned plane independent control or to entire cluster, nobody
Without being in communication with each other between machine.
Do not communicate with each other between unmanned plane all can be independent to avoid the interference communicated between unmanned plane, every frame unmanned plane
Individual, unmanned plane exits cluster or cluster increases new aircraft, does not influence the operation flight of other aircrafts.
The unmanned plane is equipped with central control system and flight control system, and earth station passes the middle control with each frame unmanned plane by number
System connection, the instruction that face station is sent are sent to the central control system of unmanned plane, and central control system passes through processing forward to flight control system,
To realize the control to unmanned plane, each flying quality is sent to unmanned plane central control system, middle control system by system for flight control computer
The information received is forwarded to the earth station by system, and is carried out parsing to data and shown, the operator of the earth station is made
Real time monitoring unmanned plane makes corresponding operation.
Central control system carries out differentiation screening to received data, and qualified information is sent to flight control system, flies control
The control that system is only flown reduces the workload of flight control system, and system extension increases earth station and grasped after also facilitating
Control the quantity of aircraft.
The number of the step (1) is arranged, and is that search instruction is sent by the earth station, unmanned plane central control system will
The id number of itself is sent to earth station and shows, every frame unmanned plane is numbered in earth station, by the corresponding ID number knot of number i
It closes, forms the label that number is i, and feed back to the unmanned plane of number i, as the label for hereafter receiving instruction, that is, complete number
Unmanned plane instruction that earth station is issued, can only receive to handle the identical instruction of number i therewith.
Earth station can specify arbitrary number to unmanned plane, and ID number is combined with number, differentiation unmanned plane is can be convenient, keeps away
Exempt to repeat to number, reduces the trouble of operation.
The plant protection operation in multiple plot is integrated into a task and distributes to multiple UAVs, makes it by the earth station
Completion task is cooperateed with, the steps include:
(1) setting of task: 3 plant protection task below plot, multiple barriers can be arranged in trajectory planning of earth station in advance
Multiple plot are integrated into a subtask, make ground station control by the landing region for hindering region and the multiple plant protection drones of setting
When need to only carry out a trajectory planning；
(2) path planning: utilizing the greedy algorithm based on genetic mechanism, by analyzing the plot region provided, barrier zone, rising
The information such as region and working width are dropped, to cook up optimal track route, and pass through map denotation；Earth station's path planning
Non- operation flight path when fully loaded weight bearing is avoided, flight number number is changed in reduction, most saving electricity and operating efficiency highest.
(3) distribution of task: earth station determines in each plant protection task plot according to the setting of task and the planning in path
The unmanned plane sortie of operation plans the landing region of every frame unmanned plane, job task is distributed to multiple UAVs, makes its collaboration
It fulfils assignment.
Multiple plot are integrated into a task, operating procedure can be simplified, and voluntarily divide to avoid multiple trajectory planning
The wasting of resources is avoided, operating efficiency is improved without artificially determining the sortie of region job with task.
The unmanned plane is within 8 framves.
It is arranged within 8 framves, having keeps earth station's interface layout succinctly reasonable, while when actual job, three work people
Member can reasonable distribution task, guarantee every frame unmanned plane can replace in time battery and addition medical fluid the advantages of.
Detailed description of the invention
Fig. 1 is circuit theory schematic diagram of the invention.
Fig. 2 is the control strategy frame diagram of earth station of the invention.
Specific embodiment
Below with reference to embodiment, the present invention is further illustrated.
Referring to Fig. 1, Fig. 2 it is found that a kind of control method of concentrating type plant protection drone control system of the invention, control
System is formed by unmanned plane and with the earth station of UAV Communication；Its control method comprises the steps of:
(1) unmanned plane is arranged, number setting, single rack unmanned plane parameter setting and system category of the earth station to cluster plant protection drone
Property setting,
(2) trajectory planning, earth station is according to multiple operation plot, multiple barrier zones, multiple landing regional plannings course line；
(3) monitoring unmanned, earth station pass through the unmanned plane position of map denotation group operation, the state of flight of unmanned plane, root
According to the benefit and state of flight of unmanned plane, cluster operation instruction and single-set operation instruction are determined.
The earth station controls while biography by independent digit to each frame unmanned plane independent control or to entire cluster,
Without being in communication with each other between unmanned plane.
The unmanned plane is equipped with central control system and flight control system, and earth station passes the middle control with each frame unmanned plane by number
System connection, the instruction that face station is sent are sent to the central control system of unmanned plane, and central control system passes through processing forward to flight control system,
To realize the control to unmanned plane, each flying quality is sent to unmanned plane central control system, middle control system by system for flight control computer
The information received is forwarded to the earth station by system, and is carried out parsing to data and shown, the operator of the earth station is made
Real time monitoring unmanned plane makes corresponding operation.
The number of the step (1) is arranged, and is that search instruction is sent by the earth station, unmanned plane central control system will
The id number of itself is sent to earth station and shows, every frame unmanned plane is numbered in earth station, by the corresponding ID number knot of number i
It closes, forms the label that number is i, and feed back to the unmanned plane of number i, as the label for hereafter receiving instruction, that is, complete number
Unmanned plane instruction that earth station is issued, can only receive to handle the identical instruction of number i therewith.
The plant protection operation in multiple plot is integrated into a task and distributes to multiple UAVs, makes it by the earth station
Completion task is cooperateed with, the steps include:
(1) setting of task: 3 plant protection task below plot, multiple barriers can be arranged in trajectory planning of earth station in advance
Multiple plot are integrated into a subtask, make ground station control by the landing region for hindering region and the multiple plant protection drones of setting
When need to only carry out a trajectory planning；
(2) path planning: utilizing the greedy algorithm based on genetic mechanism, by analyzing the plot region provided, barrier zone, rising
The information such as region and working width are dropped, to cook up optimal track route, and pass through map denotation；Earth station's path planning
Non- operation flight path when fully loaded weight bearing is avoided, flight number number is changed in reduction, most saving electricity and operating efficiency highest；
(3) distribution of task: earth station determines operation in each plant protection task plot according to the setting of task and the planning in path
Unmanned plane sortie, plan the landing region of every frame unmanned plane, job task distributed into multiple UAVs, make its collaboration complete
Operation.
The unmanned plane is within 8 framves.
The state of flight of eight frame unmanned plane of earth station's monitoring interface real-time display, in a manner of map the every frame of real-time display nobody
The position of machine and handling situations and earth station's GPS position information, in a manner of indicator light and edit box the every frame of real-time display nobody
The state of flight of machine；Earth station's single machine interface correspondingly position of number unmanned plane and handling situations and earth station GPS
Confidence breath.
The foregoing is merely preferably feasible embodiment of the invention, not thereby limiting the scope of the invention,
It is all to change with equivalent structure made by description of the invention and accompanying drawing content, it is intended to be included within the scope of the present invention.
Claims (6)
1. a kind of control method of concentrating type plant protection drone control system, the control system include unmanned plane and with nobody
The earth station of machine communication, it is characterised in that comprise the steps of:
(1) unmanned plane is arranged, and earth station is to the number setting of cluster plant protection drone, single rack unmanned plane parameter setting；
(2) trajectory planning, earth station is according to multiple operation plot, multiple barrier zones, multiple landing regional plannings course line；
(3) monitoring unmanned, earth station pass through the unmanned plane position of map denotation group operation, the state of flight of unmanned plane, root
Position and state of flight according to unmanned plane determine cluster operation instruction and single-set operation instruction.
2. the control method of concentrating type plant protection drone control system according to claim 1, it is characterised in that: described
Earth station by independent digit pass to each frame unmanned plane independent control or to entire cluster while control, between unmanned plane not into
Row is in communication with each other.
3. the control method of concentrating type plant protection drone control system according to claim 1, it is characterised in that: described
Unmanned plane is equipped with central control system and flight control system, and earth station is coupled by number biography with the central control system of each frame unmanned plane, face station
The instruction of transmission is sent to the central control system of unmanned plane, and central control system passes through processing forward to flight control system, to realize to nothing
Each flying quality is sent to unmanned plane central control system by man-machine control, system for flight control computer, and central control system will receive
Information is forwarded to the earth station, and carries out parsing to data and show, the operator of the earth station is made to monitor nobody in real time
Machine makes corresponding operation.
4. the control method of concentrating type plant protection drone control system according to claim 1, it is characterised in that: described
The number of step (1) is arranged, and is that search instruction is sent by the earth station, unmanned plane central control system sends out the id number of itself
It send to earth station, every frame unmanned plane is numbered in earth station, and the corresponding ID number of number i is combined, the mark that number is i is formed
Number, and the unmanned plane of number i is fed back to, as the label for hereafter receiving instruction, that is, the unmanned plane for completing number sends out earth station
Instruction out can only receive to handle the identical instruction of number i therewith.
5. the control method of concentrating type plant protection drone control system according to claim 1, it is characterised in that: described
The plant protection operation in multiple plot is integrated into a task and distributes to multiple UAVs by earth station, it is made to cooperate with completion task,
Step are as follows:
(1) setting of task: 3 plant protection task below plot, multiple barriers can be arranged in trajectory planning of earth station in advance
Multiple plot are integrated into a subtask, make ground station control by the landing region for hindering region and the multiple plant protection drones of setting
When need to only carry out a trajectory planning；
(2) path planning: utilizing the greedy algorithm based on genetic mechanism, by analyzing the plot region provided, barrier zone, rising
The information such as region and working width are dropped, to cook up optimal track route, and pass through map denotation；
(3) distribution of task: earth station determines operation in each plant protection task plot according to the setting of task and the planning in path
Unmanned plane sortie, plan the landing region of every frame unmanned plane, job task distributed into multiple UAVs, make its collaboration complete
Operation.
6. the control method of concentrating type plant protection drone control system according to claim 1, it is characterised in that: described
Unmanned plane is within 8 framves.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597292A (en) * | 2019-10-09 | 2019-12-20 | 朱彬 | Unmanned aerial vehicle cluster operation planning method and device |
| CN110618695A (en) * | 2019-09-23 | 2019-12-27 | 浙江驭云航空科技有限公司 | Plant protection unmanned aerial vehicle ground station and working method thereof |
| CN111123978A (en) * | 2019-12-26 | 2020-05-08 | 一飞智控(天津)科技有限公司 | Position-based cluster unmanned aerial vehicle automatic numbering processing system and method, and unmanned aerial vehicle |
| CN111142563A (en) * | 2019-12-31 | 2020-05-12 | 唐山坤翼创新科技有限公司 | Cluster plant protection unmanned aerial vehicle operation control method |
| CN111142564A (en) * | 2019-12-31 | 2020-05-12 | 唐山坤翼创新科技有限公司 | Communication method for cluster plant protection unmanned aerial vehicle |
| CN111461464A (en) * | 2020-05-06 | 2020-07-28 | 农业农村部南京农业机械化研究所 | Plant protection unmanned aerial vehicle cluster operation task allocation method and device |
| CN112233453A (en) * | 2020-08-28 | 2021-01-15 | 宁波大榭招商国际码头有限公司 | Instruction and service system applied to container terminal environment |
| WO2022016563A1 (en) * | 2020-07-23 | 2022-01-27 | 南京科沃信息技术有限公司 | Ground monitoring system for plant-protection unmanned aerial vehicle, and monitoring method for same |
| CN115826478A (en) * | 2023-02-08 | 2023-03-21 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster command control system and control method |
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| CN110618695A (en) * | 2019-09-23 | 2019-12-27 | 浙江驭云航空科技有限公司 | Plant protection unmanned aerial vehicle ground station and working method thereof |
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| CN111123978A (en) * | 2019-12-26 | 2020-05-08 | 一飞智控(天津)科技有限公司 | Position-based cluster unmanned aerial vehicle automatic numbering processing system and method, and unmanned aerial vehicle |
| CN111123978B (en) * | 2019-12-26 | 2023-08-22 | 一飞智控(天津)科技有限公司 | Automatic numbering processing system and method for clustered unmanned aerial vehicle based on position and unmanned aerial vehicle |
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| CN111461464B (en) * | 2020-05-06 | 2021-06-08 | 农业农村部南京农业机械化研究所 | Plant protection unmanned aerial vehicle cluster operation task allocation method and device |
| WO2022016563A1 (en) * | 2020-07-23 | 2022-01-27 | 南京科沃信息技术有限公司 | Ground monitoring system for plant-protection unmanned aerial vehicle, and monitoring method for same |
| CN112233453A (en) * | 2020-08-28 | 2021-01-15 | 宁波大榭招商国际码头有限公司 | Instruction and service system applied to container terminal environment |
| CN115826478A (en) * | 2023-02-08 | 2023-03-21 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster command control system and control method |
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Application publication date: 20190528 |