CN112433541A - Intelligent management system of plant protection unmanned aerial vehicle based on Beidou navigation - Google Patents

Intelligent management system of plant protection unmanned aerial vehicle based on Beidou navigation Download PDF

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CN112433541A
CN112433541A CN202011500942.8A CN202011500942A CN112433541A CN 112433541 A CN112433541 A CN 112433541A CN 202011500942 A CN202011500942 A CN 202011500942A CN 112433541 A CN112433541 A CN 112433541A
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radar
aerial vehicle
unmanned aerial
management system
plant protection
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闫婷婷
张美娜
李雪
王士林
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Jiangsu Yanjiang Agricultural Science Research Institute
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Jiangsu Yanjiang Agricultural Science Research Institute
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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

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

The invention discloses a Beidou navigation-based plant protection unmanned aerial vehicle intelligent management system, which comprises an intelligent data service center, an unmanned aerial vehicle management system, a remote monitoring room and a mobile display terminal; the unmanned aerial vehicle management system is arranged on the unmanned aerial vehicle body and is in wireless communication with the intelligent data service center; the intelligent data service center is in wireless communication with the remote monitoring room and the mobile display terminal. The obstacle avoidance system can effectively avoid obstacles such as insecticidal lamps, power transmission lines and the like.

Description

Intelligent management system of plant protection unmanned aerial vehicle based on Beidou navigation
Technical Field
The invention relates to a plant protection unmanned aerial vehicle intelligent management system based on Beidou navigation, in particular to a plant protection unmanned aerial vehicle intelligent management system based on Beidou navigation, which can acquire position information, running state and working pictures of a plant protection unmanned aerial vehicle in real time.
Background
Fine agriculture is a modern agricultural philosophy, and many developed countries, such as the united states, germany and japan, have begun to research precision agricultural technologies as early as the last century. Although the domestic start is late, the agricultural machinery is updated at a fast pace, higher requirements are provided for the development of key part industries, and the informatization and the intellectualization of agricultural machinery products are key. The development of the satellite navigation technology provides a feasible solution for agricultural informatization, and the application of the Beidou satellite navigation system in the domestic fine agriculture field has important significance for agricultural intelligent development.
In a modern unmanned farm or intelligent farm management strategy, an unmanned aerial vehicle mostly adopts remote sensing control management, and the unmanned aerial vehicle needs to fly and operate according to a planned path above an operation area in the operation process. However, at present, management and control of the unmanned aerial vehicle are mostly focused on research and development of work functions, and the aerial environment in which the unmanned aerial vehicle is located is less concerned. Operating personnel sits and carries out remote control and operation management to unmanned aerial vehicle in the control room, can not know the unmanned aerial vehicle situation on every side comprehensively. However, in the plant protection unmanned aerial vehicle operational environment, can often meet the barrier, if can not accurately judge the surrounding environment of unmanned aerial vehicle at the flight in-process in real time in the moth-killing lamp, transmission line, transmission tower and other uncertain barriers that erect in the field, in time detect the barrier, can seriously influence unmanned aerial vehicle working effect and work efficiency, cause the crash accident even, cause bigger economic loss.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an intelligent management system of a plant protection unmanned aerial vehicle based on Beidou navigation.
The purpose of the invention is realized by the following technical scheme: a plant protection unmanned aerial vehicle intelligent management system based on Beidou navigation comprises an intelligent data service center, an unmanned aerial vehicle management system, a remote monitoring room and a mobile display terminal; the unmanned aerial vehicle management system is arranged on the unmanned aerial vehicle body and is in wireless communication with the intelligent data service center; the intelligent data service center is in wireless communication with the remote monitoring room and the mobile display terminal;
the unmanned aerial vehicle management system comprises a controller, a Beidou signal positioning module, an analog signal module, a GPRS communication module, a CAN communication module, a video monitoring module, a vibration sensor, a wind speed detection module, a wind direction detection module and a 360-degree three-dimensional radar monitoring system; the Beidou signal positioning module, the GPRS communication module, the CAN communication module, the video monitoring module, the vibration sensor, the wind speed detection module and the wind direction detection module are respectively and electrically connected with the controller;
the 360-degree three-dimensional radar monitoring system comprises a first radar, a second radar, a third radar, a fourth radar, a fifth radar, a sixth radar, a seventh radar and an eighth radar; the center of the unmanned aerial vehicle body is taken as an origin, and the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are uniformly arranged on the side surface of the main body of the plant protection unmanned aerial vehicle body at an included angle of 60 degrees; the detection planes of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are all parallel to the plane of the wing of the unmanned aerial vehicle, the detection ranges of +/-45 degrees on the left side and the right side of the detection centers of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are selected as effective data ranges, so that the detection ranges of two adjacent radars are overlapped by 15 degrees, the detection ranges of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are completely covered, and no leakage area exists; data collected by the radar are transmitted to the controller, and the controller is used for processing the data, so that the detection range completely covers the 360-degree range of the plant protection unmanned aerial vehicle parallel to the plane of the wings of the unmanned aerial vehicle; the seventh radar is arranged at the center of the top of the main body of the plant protection unmanned aerial vehicle body, and the detection plane is vertical to the plane of the wings of the unmanned aerial vehicle; the eighth radar is arranged at the center of the bottom of the main body of the plant protection unmanned aerial vehicle body, and the detection plane is vertical to the plane of the wings of the unmanned aerial vehicle;
the Beidou signal positioning module realizes positioning of the unmanned aerial vehicle by receiving a signal of a Beidou satellite, the video monitoring module shoots an operation picture of the unmanned aerial vehicle, and the operation picture transmits data to the intelligent data service center through the GPRS communication module; the vibration sensor monitors the vibration condition of the unmanned aerial vehicle body in real time in the operation process of the unmanned aerial vehicle; the wind speed detection module monitors the wind speed of the unmanned aerial vehicle working environment in real time; the wind direction detection module monitors the wind direction of the unmanned aerial vehicle working environment in real time; the 360-degree stereoscopic radar monitoring system detects obstacles in a 360-degree range parallel to the plane of the wings of the unmanned aerial vehicle and in the sky direction and the ground direction perpendicular to the plane of the wings of the unmanned aerial vehicle, and transmits a detection result to the controller;
the remote monitoring room comprises a processor, a display screen and an alarm; the remote monitoring room comprises a processor, a display screen and an alarm; the processor is used for receiving data collected by the unmanned aerial vehicle management system and received by the intelligent data service center, and the display screen is used for displaying the data collected by the unmanned aerial vehicle management system and received by the intelligent data service center;
the mobile display terminal is used for displaying data collected by the unmanned aerial vehicle management system and received by the intelligent data service center; the mobile display terminal can be in the form of mobile equipment such as mobile phone equipment and tablet equipment;
the unmanned aerial vehicle management system is arranged in the waterproof protective cover, and the protective cover is composed of a revolving body with a paraboloid section.
Compared with the prior art, the invention has the advantages that: the invention realizes the real-time positioning of the plant protection unmanned aerial vehicle based on the Beidou navigation, not only pays attention to the operation effect of the plant protection unmanned aerial vehicle through the video monitoring module, ensures good video shooting pictures through vibration detection, but also can monitor the working condition of the plant protection unmanned aerial vehicle in real time. The obstacle avoidance system is used for accurately judging the surrounding environment of the unmanned aerial vehicle in the flying process in real time, accidents caused by obstacles possibly met are avoided, such as trap lamps, power transmission lines, power transmission towers and other uncertain obstacles erected in the field, the working process of the unmanned aerial vehicle is smooth, the working effect and the working efficiency are guaranteed, and the major loss caused by the fact that the obstacles are not avoided to be too late is avoided.
Drawings
Figure 1 is a schematic view of an unmanned aerial vehicle;
wherein 1 is a first radar; 2 is a second radar; 3 is a third radar; 4 is a fourth radar; 5 is a fifth radar; 6 is a sixth radar; 7 is a seventh radar; and 8 is an eighth radar.
Fig. 2 is a schematic diagram of the working principle of the whole system of the invention.
Detailed Description
In order to make the purpose, technical solution and advantages of the present invention clearer and easier to understand, and to make the implementer more clearly and accurately understand the complete technical solution of the present invention, the present invention will be described in more detail and specifically with reference to the following embodiments, which are only used for explaining the present invention and do not limit the scope of protection of the present invention. All embodiments that can be derived by a person skilled in the art from the examples of the present invention without inventive step are within the scope of the invention as claimed.
Example (b): the intelligent management system of the plant protection unmanned aerial vehicle based on Beidou navigation comprises an intelligent data service center, an unmanned aerial vehicle management system, a remote monitoring room and a mobile display terminal; the unmanned aerial vehicle management system is arranged on the unmanned aerial vehicle body and is in wireless communication with the intelligent data service center; the intelligent data service center is in wireless communication with the remote monitoring room and the mobile display terminal;
the unmanned aerial vehicle management system comprises a controller, a Beidou signal positioning module, an analog signal module, a GPRS communication module, a CAN communication module, a video monitoring module, a vibration sensor, a wind speed detection module, a wind direction detection module and a 360-degree three-dimensional radar monitoring system; the Beidou signal positioning module, the GPRS communication module, the CAN communication module, the video monitoring module, the vibration sensor, the wind speed detection module and the wind direction detection module are respectively and electrically connected with the controller;
the 360-degree three-dimensional radar monitoring system comprises a first radar, a second radar, a third radar, a fourth radar, a fifth radar, a sixth radar, a seventh radar and an eighth radar; the center of the unmanned aerial vehicle body is taken as an origin, and the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are uniformly arranged on the side surface of the main body of the plant protection unmanned aerial vehicle body at an included angle of 60 degrees; the detection planes of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are all parallel to the plane of the wing of the unmanned aerial vehicle, the detection ranges of +/-45 degrees on the left side and the right side of the detection centers of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are selected as effective data ranges, so that the detection ranges of two adjacent radars are overlapped by 15 degrees, the detection ranges of the first radar, the second radar, the third radar, the fourth radar, the fifth radar and the sixth radar are completely covered, and no leakage area exists; data collected by the radar are transmitted to the controller, and the controller is used for processing the data, so that the detection range completely covers the 360-degree range of the plant protection unmanned aerial vehicle parallel to the plane of the wings of the unmanned aerial vehicle; the seventh radar is arranged at the center of the top of the main body of the plant protection unmanned aerial vehicle body, and the detection plane is vertical to the plane of the wings of the unmanned aerial vehicle; the eighth radar is arranged at the center of the bottom of the main body of the plant protection unmanned aerial vehicle body, and the detection plane is vertical to the plane of the wings of the unmanned aerial vehicle;
the Beidou signal positioning module realizes positioning of the unmanned aerial vehicle by receiving a signal of a Beidou satellite, the video monitoring module shoots an operation picture of the unmanned aerial vehicle, and the operation picture transmits data to the intelligent data service center through the GPRS communication module; the vibration sensor monitors the vibration condition of the unmanned aerial vehicle body in real time in the operation process of the unmanned aerial vehicle; the wind speed detection module monitors the wind speed of the unmanned aerial vehicle working environment in real time; the wind direction detection module monitors the wind direction of the unmanned aerial vehicle working environment in real time; the 360-degree stereoscopic radar monitoring system detects obstacles in a 360-degree range parallel to the plane of the wings of the unmanned aerial vehicle and in the sky direction and the ground direction perpendicular to the plane of the wings of the unmanned aerial vehicle, and transmits a detection result to the controller;
the remote monitoring room comprises a processor, a display screen and an alarm; the display screen is used for displaying data collected by the unmanned aerial vehicle management system and received by the intelligent data service center; the mobile display terminal is used for displaying data collected by the unmanned aerial vehicle management system and received by the intelligent data service center; the mobile display terminal can be in the form of mobile equipment such as mobile phone equipment and tablet equipment; the unmanned aerial vehicle management system is arranged in the waterproof protective cover, and the protective cover is composed of a revolving body with a paraboloid section.
The working principle of the plant protection unmanned aerial vehicle intelligent management system is as follows:
1) during the working period of the plant protection unmanned aerial vehicle, the Beidou positioning communication terminal receives the signal of the Beidou satellite to realize the positioning of the plant protection unmanned aerial vehicle;
2) the video monitoring module shoots and acquires an operation picture of the plant protection unmanned aerial vehicle in real time;
3) the vibration sensor monitors the vibration condition of the unmanned aerial vehicle body in real time in the operation process of the plant protection unmanned aerial vehicle;
4) the wind speed detection module monitors the wind speed of the operation environment of the plant protection unmanned aerial vehicle in real time;
5) the wind direction detection module monitors the wind direction of the operation environment of the plant protection unmanned aerial vehicle in real time;
6) the obstacle avoidance system detects obstacles in a range of 360 degrees parallel to the wing plane of the plant protection unmanned aerial vehicle and in the sky direction and the ground direction perpendicular to the wing plane of the plant protection unmanned aerial vehicle, and uploads the detection result to the controller, so that the detection result is transmitted to the intelligent data service center, and the obstacle situation around the plant protection unmanned aerial vehicle is displayed on the display terminal and the mobile display terminal, so that a driver can know the surrounding situation of the operation environment of the plant protection unmanned aerial vehicle in time;
7) the display terminal displays the unmanned aerial vehicle operation information stored in the intelligent data service center through the display screen, and if the operation parameters of the plant protection unmanned aerial vehicle have fault information, an alarm connected with the display screen can send out sound and light alarm to remind an operator to make a coping strategy in time;
8) the mobile display terminal displays the unmanned aerial vehicle operation information stored in the intelligent data service center through a display screen of the mobile terminal, and an operator can check the unmanned aerial vehicle operation information at any time and any place in real time.

Claims (4)

1.一种基于北斗导航的植保无人机智能化管理系统，其特征在于：包括智能数据服务中心、无人机管理系统、远程监控室和移动显示终端；无人机管理系统安装于无人机机身上，无人机管理系统与智能数据服务中心通过无线方式通信；智能数据服务中心与远程监控室、移动显示终端无线通信；1. a plant protection unmanned aerial vehicle intelligent management system based on Beidou navigation, is characterized in that: comprise intelligent data service center, unmanned aerial vehicle management system, remote monitoring room and mobile display terminal; On the fuselage, the UAV management system communicates with the intelligent data service center wirelessly; the intelligent data service center communicates wirelessly with the remote monitoring room and mobile display terminal; 所述的无人机管理系统包括控制器、北斗信号定位模块、GPRS通信模块、CAN通信模块、视频监控模块、振动传感器、风速检测模块、风向检测模块和360°立体雷达监测系统；The UAV management system includes a controller, a Beidou signal positioning module, a GPRS communication module, a CAN communication module, a video monitoring module, a vibration sensor, a wind speed detection module, a wind direction detection module and a 360° stereo radar monitoring system; 所述的北斗信号定位模块、GPRS通信模块、CAN通信模块、视频监控模块、振动传感器、风速检测模块、风向检测模块分别与控制器电连接；The Beidou signal positioning module, GPRS communication module, CAN communication module, video monitoring module, vibration sensor, wind speed detection module and wind direction detection module are respectively electrically connected with the controller; 所述的360°立体雷达监测系统包括第一雷达、第二雷达、第三雷达、第四雷达、第五雷达、第六雷达、第七雷达和第八雷达；以无人机机身中心为原点，所述的第一雷达、第二雷达、第三雷达、第四雷达、第五雷达、第六雷达以60°夹角均匀安装在植保无人机机身主体侧面；所述的第一雷达、第二雷达、第三雷达、第四雷达、第五雷达、第六雷达的检测平面均平行于无人机机翼平面，选取第一雷达、第二雷达、第三雷达、第四雷达、第五雷达、第六雷达的检测中心左右两侧±45°的检测范围为有效数据范围，使得相邻两个雷达的检测范围重叠15°，确保第一雷达、第二雷达、第三雷达、第四雷达、第五雷达、第六雷达的检测范围完全覆盖，无遗漏区域；雷达所采集的数据传输到控制器，通过控制器进行数据处理，保证检测范围完全覆盖植保无人机平行于无人机机翼平面的360度范围；所述的第七雷达安装于植保无人机机身主体顶部中心位置，检测平面垂直于无人机机翼平面；所述的第八雷达安装于植保无人机机身主体底部中心位置，检测平面垂直于无人机机翼平面；The 360° three-dimensional radar monitoring system includes the first radar, the second radar, the third radar, the fourth radar, the fifth radar, the sixth radar, the seventh radar and the eighth radar; taking the center of the drone body as the At the origin, the first radar, the second radar, the third radar, the fourth radar, the fifth radar, and the sixth radar are evenly installed on the side of the main body of the plant protection drone at an angle of 60°; the first radar The detection planes of the radar, the second radar, the third radar, the fourth radar, the fifth radar, and the sixth radar are all parallel to the plane of the UAV wing, and the first radar, the second radar, the third radar, and the fourth radar are selected. , The detection range of ±45° on the left and right sides of the detection center of the fifth radar and the sixth radar is the effective data range, so that the detection ranges of the two adjacent radars overlap by 15°, ensuring that the first radar, the second radar and the third radar , The detection range of the fourth radar, fifth radar, and sixth radar is completely covered, and there is no missing area; the data collected by the radar is transmitted to the controller, and the data is processed by the controller to ensure that the detection range is completely covered by the plant protection drone. The 360-degree range of the drone wing plane; the seventh radar is installed at the top center of the main body of the plant protection drone, and the detection plane is perpendicular to the drone wing plane; the eighth radar is installed in the plant protection drone The center position of the bottom of the main body of the drone, and the detection plane is perpendicular to the plane of the wing of the drone; 北斗信号定位模块通过接受北斗卫星的信号实现无人机的定位，视频监控模块拍摄无人机的作业画面，作业画面通过GPRS通信模块将数据传输到智能数据服务中心；震动传感器在无人机作业过程中实时监测无人机机身的振动情况；风速检测模块实时监测无人机作业环境的风速；风向检测模块实时监测无人机作业环境的风向；360°立体雷达监测系统在平行于无人机机翼平面的360度范围和垂直于无人机机翼平面天空方向和地面方向检测障碍物，并将检测结果传输到控制器；The Beidou signal positioning module realizes the positioning of the UAV by receiving the signal of the Beidou satellite. The video monitoring module captures the operation picture of the UAV, and the operation picture transmits the data to the intelligent data service center through the GPRS communication module; the vibration sensor is used in the operation of the UAV. During the process, the vibration of the drone body is monitored in real time; the wind speed detection module monitors the wind speed of the drone operating environment in real time; the wind direction detection module monitors the wind direction of the drone operating environment in real time; the 360° three-dimensional radar monitoring system is parallel to the unmanned aerial vehicle. The 360-degree range of the aircraft wing plane and the sky direction and ground direction perpendicular to the UAV wing plane detect obstacles, and transmit the detection results to the controller; 所述的远程监控室包括处理器、显示屏和警报器；处理器用于接收智能数据服务中心接收的无人机管理系统采集的数据，显示屏用来显示智能数据服务中心接收的无人机管理系统采集的数据；The remote monitoring room includes a processor, a display screen and an alarm; the processor is used to receive the data collected by the UAV management system received by the intelligent data service center, and the display screen is used to display the UAV management system received by the intelligent data service center. data collected by the system; 所述的移动显示终端用来显示智能数据服务中心接收的无人机管理系统采集的数据。The mobile display terminal is used to display the data collected by the UAV management system received by the intelligent data service center. 2.根据权利要求1所述的基于北斗导航的植保无人机智能化管理系统，其特征在于：所述的无人机管理系统安装在防水防护罩内部。2 . The intelligent management system for plant protection drones based on Beidou navigation according to claim 1 , wherein the drone management system is installed inside the waterproof protective cover. 3 . 3.根据权利要求2所述的基于北斗导航的植保无人机智能化管理系统，其特征在于：所述的防护罩由一个截面呈抛物面的回转体构成。3 . The intelligent management system for plant protection drones based on Beidou navigation according to claim 2 , wherein the protective cover is composed of a revolving body with a parabolic cross section. 4 . 4.根据权利要求1所述的基于北斗导航的植保无人机智能化管理系统，其特征在于：所述的移动显示终端选择移动手机设备与平板设备之一。4 . The intelligent management system for plant protection drones based on Beidou navigation according to claim 1 , wherein the mobile display terminal selects one of a mobile phone device and a tablet device. 5 .
CN202011500942.8A 2020-12-18 2020-12-18 Intelligent management system of plant protection unmanned aerial vehicle based on Beidou navigation Pending CN112433541A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114162321A (en) * 2021-11-24 2022-03-11 普宙科技(深圳)有限公司 Unmanned aerial vehicle keeps away barrier structure

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114162321A (en) * 2021-11-24 2022-03-11 普宙科技(深圳)有限公司 Unmanned aerial vehicle keeps away barrier structure

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