CN111142564A - Communication method for cluster plant protection unmanned aerial vehicle - Google Patents
Communication method for cluster plant protection unmanned aerial vehicle Download PDFInfo
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- CN111142564A CN111142564A CN201911410643.2A CN201911410643A CN111142564A CN 111142564 A CN111142564 A CN 111142564A CN 201911410643 A CN201911410643 A CN 201911410643A CN 111142564 A CN111142564 A CN 111142564A
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- 230000006854 communication Effects 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000007175 bidirectional communication Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention provides a cluster plant protection unmanned aerial vehicle communication method, which is characterized in that a host identification code is set in a ground station terminal, the ground station terminal identifies all plant protection machines according to commands replied by the plant protection machines, and a unique slave identification code is distributed to each plant protection machine; the ground station terminal distributes preset tasks to the numbered plant protection machines; the plant protection machine receives a takeoff command sent by the ground station and executes a corresponding task; sending a new action instruction according to the task completion condition of each plant protection machine, wherein the new action instruction comprises a slave machine identification code + task instruction sequence; a task instruction sequence in the new action instruction covers a preset task; after all the plant protection machines receive the signals, firstly, comparing the slave machine identification codes in the updating action command signals with the local machine, and if so, executing the task command sequence; the task instruction sequence includes: commanding the plant protection machine to complete a task, commanding the plant protection machine to return after flying to a complete flight point, commanding the plant protection machine to return in the midway or commanding the plant protection machine to hover over a flying starting point and wait for a landing command.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a cluster plant protection unmanned aerial vehicle communication method.
Background
Along with the gradual large-scale land circulation and agricultural land production, the unmanned aerial vehicle is more and more widely applied to agriculture. The adoption of unmanned aerial vehicles to spray the crops is the development direction of agricultural plant protection. In the face of large-area crops, high-stalk crops of fruit tree types and low pesticide spraying such as hilly mountain areas, compare in traditional mode of spouting medicine, agricultural plant protection unmanned aerial vehicle operation is obviously more high-efficient.
In the prior art, the flight control of the plant protection unmanned aerial vehicle generally comprises the steps of before flight, defining an operation range according to an operation map, setting a waypoint on the map, planning a flight route of the unmanned aerial vehicle, and then executing a flight task. And the unmanned aerial vehicle operates according to the planned route. The plant protection unmanned aerial vehicle can control a plurality of plant protection unmanned aerial vehicles to work together through one control station from the beginning of single control operation to the present.
The patent application 201910109052.5 published as 2019.04.23 in China records a master-slave communication mode to realize cluster control of the unmanned aerial vehicles, and the scheme not only realizes signal transmission from a master computer to a slave computer, but also realizes signal transmission from the slave computer to the master computer to realize bidirectional communication. However, in this solution, when the slave executes the confirmed task, the master cannot modify the task of the slave, and can only fly according to a preset command. The plant protection unmanned aerial vehicle can not change the advancing route midway and can not carry out the dynamic planning of the flight task. This drawback creates significant limitations in on-site pesticide spraying operations. In actual operation, the sizes of landforms and plots are different, and the application rates of unit areas of the plots are different, so that the pesticide consumption conditions of the unmanned aerial vehicles are asynchronous. And because of can't be in the midway change route, plant protection unmanned aerial vehicle can only stop after finishing according to standard route execution.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the plant protection unmanned aerial vehicle among the prior art can't change the route midway to can not be according to the flight task of each unmanned aerial vehicle of operation condition dynamic adjustment.
A communication method of cluster plant protection unmanned aerial vehicle,
(1) the ground station terminal sends a radio wave instruction in a broadcasting mode, and all the cluster plant protection unmanned aerial vehicles receive the radio wave instruction and send a reply instruction to the ground station;
(2) setting a host identification code in a ground station terminal, identifying all plant protection unmanned aerial vehicles by the ground station terminal according to an instruction replied by the plant protection unmanned aerial vehicles, and distributing a unique slave identification code for each plant protection unmanned aerial vehicle;
(3) after the ground station terminal starts data communication with the plant protection unmanned aerial vehicles, the ground station terminal distributes preset tasks to the numbered plant protection unmanned aerial vehicles according to the size of the plot and the number of the cluster machines, and transmits navigation points and the tasks to the corresponding plant protection unmanned aerial vehicles to form a cluster system;
(4) after receiving a takeoff command sent by a ground station, the plant protection unmanned aerial vehicle flies according to the stored waypoints and executes corresponding tasks at the same time;
further comprising:
sending an updating action instruction signal according to the task completion condition of each plant protection unmanned aerial vehicle, wherein the updating action instruction signal comprises the following components: a slave identification code + task instruction sequence; the task instruction sequence in the updating action instruction signal covers a preset task;
after receiving the signals, all plant protection unmanned aerial vehicles firstly compare the slave identification codes in the updating action command signals with the slave identification codes of the plant protection unmanned aerial vehicles, and if yes, execute the task command sequence;
the task instruction sequence comprises: commanding the plant protection unmanned aerial vehicle to complete a task, commanding the plant protection unmanned aerial vehicle to return after flying to a complete flight point, commanding the plant protection unmanned aerial vehicle to return in the midway or commanding the plant protection unmanned aerial vehicle to hover over a flying starting point and wait for a landing command.
The communication method has the advantages that: by many plant protection unmanned aerial vehicle collaborative work of a ground station control, communication system is reliable and stable, can reduce cost, greatly improves plant protection work efficiency, and one owner is many from communication system simple structure, realizes carrying out dynamic adjustment to arbitrary plant protection unmanned aerial vehicle's in the cluster machine operation task, and communication protocol reliability is high.
In the operation process of the plant protection unmanned aerial vehicle, the ground station inquires the flight position and the working state of each plant protection unmanned aerial vehicle in turn and displays the flight position and the working state in real time at the ground station.
The instruction transmission protocol of the communication method is expanded on a MavLink protocol, and each piece of communication data comprises: a header, a protocol word, contents, and a checksum.
Detailed Description
The technical solution of the present invention is clearly and completely described below.
The invention provides a cluster plant protection unmanned aerial vehicle communication method, which is characterized in that: the communication method comprises the following steps:
(1) the ground station terminal sends a radio wave instruction in a broadcasting mode, and all the cluster plant protection unmanned aerial vehicles receive the radio wave instruction and send a reply instruction to the ground station;
(2) setting a host identification code in a ground station terminal, identifying all plant protection unmanned aerial vehicles by the ground station terminal according to an instruction replied by the plant protection unmanned aerial vehicles, and distributing a unique slave identification code for each plant protection unmanned aerial vehicle;
(3) after the ground station terminal starts data communication with the plant protection unmanned aerial vehicles, the ground station terminal distributes preset tasks to the numbered plant protection unmanned aerial vehicles according to the size of the plot and the number of the cluster machines, and transmits navigation points and the tasks to the corresponding plant protection unmanned aerial vehicles to form a cluster system;
(4) after receiving a takeoff command sent by a ground station, the plant protection unmanned aerial vehicle flies according to the stored waypoints and executes corresponding tasks at the same time;
further comprising:
sending an updating action instruction signal according to the task completion condition of each plant protection unmanned aerial vehicle, wherein the updating action instruction signal comprises the following components: a slave identification code + task instruction sequence; the task instruction sequence in the updating action instruction signal covers a preset task;
after receiving the signals, all plant protection unmanned aerial vehicles firstly compare the slave identification codes in the updating action command signals with the slave identification codes of the plant protection unmanned aerial vehicles, and if yes, execute the task command sequence;
the task instruction sequence comprises: commanding the plant protection unmanned aerial vehicle to complete a task, commanding the plant protection unmanned aerial vehicle to return after flying to a complete flight point, commanding the plant protection unmanned aerial vehicle to return in the midway or commanding the plant protection unmanned aerial vehicle to hover over a flying starting point and wait for a landing command.
The ground station and the plant protection unmanned aerial vehicle are provided with communication modules in the same frequency band, the communication modules are set as a master and multiple slaves, information sent by the master can be received by the slaves, if no additional identification code exists, all airplanes are processed, if the additional identification code exists in the command, the airplane is processed correspondingly, other airplanes are not processed, information sent by the slaves is in a broadcast mode, but in the communication, the identification code is the slave, only the communication module of the ground station terminal is processed, and other slaves are not processed.
Examples of the invention:
a ground station terminal disposes 8 plant protection unmanned aerial vehicles. First, the ground station terminal sends out a query command, and 8 plant protection unmanned aerial vehicles within the signal range return response information, so that the plant protection unmanned aerial vehicles are considered as the equipment in the cluster. The method comprises the steps that signals of 8 slave machines are collected in a ground station terminal, the signals sent back by the slave machines comprise feature codes of all the slave machines, the master machine distinguishes all the unmanned aerial vehicles according to the feature codes, all the slave machines are respectively numbered, the number of an extension machine is generally the sequential code of all the plant protection unmanned aerial vehicles, and a unique slave machine identification code is distributed to the 8 plant protection unmanned aerial vehicles. And planning operation tasks for each slave machine by the ground station terminal according to the size of the land parcel and the relevant data of the unmanned aerial vehicle, wherein 8 plant protection unmanned aerial vehicles form an operation cluster.
The ground station terminal of the invention sends out two task instructions, one is an instruction without an identification code, and the other is an instruction with an identification code. The non-identification code instruction is used for identifying all surrounding unmanned aerial vehicles when a cluster is established, signals are radio wave signals, and communication frequency bands of the host and the slave need to be unified before primary identification is carried out.
The 'take-off' instruction is an instruction with an identification code, and 8 plant protection machines can take off simultaneously or sequentially. When 8 plant protection unmanned aerial vehicles carry out the operation task, one of them plant protection unmanned aerial vehicle is too low to report to the police because of dose or battery power, and mode warning notice signal content includes "host computer identification code + accident type". The receiving party can receive the signal in the same frequency band, but only the host computer processes the signal due to the designated function of the host computer identification code. The host computer then needs to individually adjust the tasks that a plant protection machine performs. The ground station terminal sends out an updating action command with the slave machine identification code.
The new task overrides the pre-set task, so the new task should be a series of task instructions until plant protection is complete.
For example: the content of the task instruction is as follows:
s1: commanding the plant protection unmanned aerial vehicle to fly to a full-range waypoint;
s2: commanding the plant protection unmanned aerial vehicle to return to the position above the flying starting point;
s3: commanding the plant protection unmanned aerial vehicle to land.
Or, the content of the task command is:
s1: and commanding the pole protection machine to return midway.
Claims (3)
1. A cluster plant protection unmanned aerial vehicle communication method is characterized in that: the communication method comprises the following steps:
(1) the ground station terminal sends a radio wave instruction in a broadcasting mode, and all the cluster plant protection unmanned aerial vehicles receive the radio wave instruction and send a reply instruction to the ground station;
(2) setting a host identification code in a ground station terminal, identifying all plant protection unmanned aerial vehicles by the ground station terminal according to an instruction replied by the plant protection unmanned aerial vehicles, and distributing a unique slave identification code for each plant protection unmanned aerial vehicle;
(3) after the ground station terminal starts data communication with the plant protection unmanned aerial vehicles, the ground station terminal distributes preset tasks to the numbered plant protection unmanned aerial vehicles according to the size of the plot and the number of the cluster machines, and transmits navigation points and the tasks to the corresponding plant protection unmanned aerial vehicles to form a cluster system;
(4) after receiving a takeoff command sent by a ground station, the plant protection unmanned aerial vehicle flies according to the stored waypoints and executes corresponding tasks at the same time;
further comprising:
sending an updating action instruction signal according to the task completion condition of each plant protection unmanned aerial vehicle, wherein the updating action instruction signal comprises the following components: a slave identification code + task instruction sequence; the task instruction sequence in the updating action instruction signal covers a preset task;
after receiving the signals, all plant protection unmanned aerial vehicles firstly compare the slave identification codes in the updating action command signals with the slave identification codes of the plant protection unmanned aerial vehicles, and if yes, execute the task command sequence;
the task instruction sequence comprises: commanding the plant protection unmanned aerial vehicle to complete a task, commanding the plant protection unmanned aerial vehicle to return after flying to a complete flight point, commanding the plant protection unmanned aerial vehicle to return in the midway or commanding the plant protection unmanned aerial vehicle to hover over a flying starting point and wait for a landing command.
2. The communication method of the cluster plant protection unmanned aerial vehicle as claimed in claim 1, wherein: in the operation process of the plant protection unmanned aerial vehicle, the ground station inquires the flight position and the working state of each plant protection unmanned aerial vehicle in turn and displays the flight position and the working state in real time at the ground station.
3. The communication method of the cluster plant protection unmanned aerial vehicle as claimed in claim 1 or 2, wherein: the instruction transmission protocol is extended on a MavLink protocol, and each piece of communication data comprises: a header, a protocol word, contents, and a checksum.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911410643.2A CN111142564A (en) | 2019-12-31 | 2019-12-31 | Communication method for cluster plant protection unmanned aerial vehicle |
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| CN201911410643.2A CN111142564A (en) | 2019-12-31 | 2019-12-31 | Communication method for cluster plant protection unmanned aerial vehicle |
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Cited By (2)
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| CN111724631A (en) * | 2020-05-29 | 2020-09-29 | 北京三快在线科技有限公司 | Unmanned aerial vehicle service management system, method, readable storage medium and electronic device |
| WO2022000578A1 (en) * | 2020-07-01 | 2022-01-06 | 江苏中利电子信息科技有限公司 | Method for out-of-control unmanned aerial vehicle in ad hoc network to automatically return to controllable range |
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| CN111724631B (en) * | 2020-05-29 | 2021-09-24 | 北京三快在线科技有限公司 | Unmanned aerial vehicle service management system, method, readable storage medium and electronic device |
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