CN113050695A - Plant protection unmanned aerial vehicle hovering stabilizing device and control method thereof - Google Patents
Plant protection unmanned aerial vehicle hovering stabilizing device and control method thereof Download PDFInfo
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- 230000003019 stabilising effect Effects 0.000 claims description 5
- 239000000725 suspension Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
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- 238000012935 Averaging Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of agricultural equipment, and particularly relates to a suspension stabilizing device of a plant protection unmanned aerial vehicle and a control method thereof. The plant protection unmanned aerial vehicle hovering stabilization device provided by the invention comprises: the mobile end is fixed on the unmanned aerial vehicle; a plurality of fixed ends are fixed at the top in the greenhouse; the fixed end sends an initial signal to the mobile end, and the mobile end sends a feedback signal to the fixed end after receiving the initial signal; and the control center calculates the actual position of the moving end according to the initial signal sent by the fixed end and the received feedback signal, and sends a control signal to the moving end according to the deviation between the actual position of the moving end and the set path or the set position of the unmanned aerial vehicle. The invention provides a set of new control scheme for the plant protection unmanned aerial vehicle, improves the control precision of the unmanned aerial vehicle in small space and complex space, and realizes the safe and reliable use of the unmanned aerial vehicle in the greenhouse.
Description
Technical Field
The invention belongs to the technical field of agricultural equipment, and particularly relates to a suspension stabilizing device of a plant protection unmanned aerial vehicle and a control method thereof.
Background
The intelligent agricultural technology is a general term for a technology which combines modern information technology with modern agricultural technology to realize efficient high-quality cultivation. In recent years, functions of pesticide spraying, growth condition monitoring, farm inspection and the like by adopting an unmanned aerial vehicle are widely received and applied in agricultural production, and agricultural workers can be greatly released from heavy physical labor. However, the existing unmanned aerial vehicle mostly adopts manual control or remote positioning control modes such as Beidou, the technical requirement of the manual control on operators is higher, and the operation precision is not ideal. The remote positioning control mode has long signal transmission distance, electromagnetic wave signals can be interfered by a metal frame when passing through the greenhouse, the positioning precision is limited, and the high-precision flight path and attitude control is difficult to realize. Therefore, the application of the existing unmanned aerial vehicle is still mainly limited in an open scene, the working reliability in a narrow space is difficult to meet the requirement, and the collision and crash accidents are easily caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a plant protection unmanned aerial vehicle hovering stabilizing device and a control method thereof, aiming at realizing the accurate control of the unmanned aerial vehicle and realizing the safe and reliable use of the unmanned aerial vehicle in a greenhouse.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a plant protection unmanned aerial vehicle stabilising arrangement that hovers, includes:
the mobile end is fixed on the unmanned aerial vehicle, and can be integrated and fixed or detachably fixed;
a plurality of fixed ends are fixed at the top in the greenhouse; the fixed end sends an initial signal to the mobile end, and the mobile end sends a feedback signal to the fixed end after receiving the initial signal; the initial signal and the feedback signal can be electromagnetic wave signals or ultrasonic wave signals;
and the control center calculates the actual position of the moving end according to the initial signal sent by the fixed end and the received feedback signal, and sends a control signal to the moving end according to the deviation between the actual position of the moving end and the set path or the set position of the unmanned aerial vehicle. If the initial signal and the feedback signal are both ultrasonic signals, the time difference from the initial signal sent by the fixed end to the feedback signal received can be directly measured to obtain the distance from each fixed end to the moving end; if the initial signal and the feedback signal are both electromagnetic wave signals, the time difference from the initial signal sent by the fixed end to the feedback signal received by the fixed end can be measured by using an averaging method to obtain the distance from each fixed end to the movable end, so that the time measurement cost is reduced to be within an acceptable range. After the distance is obtained, the actual position of the mobile terminal can be calculated.
This set of device can effectively avoid artifical numerous defects of controlling and remote positioning control existence, realizes the accurate control of unmanned aerial vehicle in narrow and small space.
Further, each fixed end is preferably electrically connected with the control center through a lead. Compared with radio connection, the wire connection can realize higher signal stability and can avoid shielding and interference on a signal transmission path.
Further, the fixed end is installed at a height at least 1.8 m higher than the height of the crop in the greenhouse. The mounting height of the fixed end is too low, which may cause the signal to be blocked during transmission, and may also cause the spatial position of the movable end and the fixed end to approach the same plane, resulting in a large error in position calculation. In practice, in the greenhouse with the span of 12 meters, the installation height of the fixed end is preferably 2.2 meters higher than the height of crops in the greenhouse; the greenhouse has a span of 9.6 meters, and the installation height of the fixed end is preferably 2.0 meters higher than the height of crops in the greenhouse. Therefore, the positioning accuracy of centimeter level can be still obtained under the condition that the unmanned aerial vehicle and the crop keep the working distance of about 1.0 meter.
Further, a preferred arrangement of the fixing ends is: the fixed ends are divided into three groups, wherein two groups are respectively distributed along two sides of the greenhouse, and the other group is distributed along the center of the top of the greenhouse; all fixed ends distributed along the two sides of the greenhouse are at the same height; all the fixed ends distributed along the center of the top of the greenhouse are at the same height, but the heights of the fixed ends are different from those of the fixed ends at the two sides of the greenhouse.
Further, the invention also provides a control method of the hovering stabilizing device of the plant protection unmanned aerial vehicle, which comprises the following steps:
(S1) the control center controls the fixed end to send out an initial signal;
(S2) the mobile terminal sends a feedback signal after receiving the initial signal;
(S3) the fixed end receives the feedback signal and transmits the feedback signal to the control center;
(S4) the control center calculates the actual position of the mobile terminal according to the initial signal and the feedback signal;
(S5) the control center sends out a control signal to the mobile terminal according to the deviation between the actual position of the mobile terminal and the set path or the set position of the unmanned aerial vehicle;
(S6) the moving end controls the power output of the unmanned aerial vehicle power assembly according to the control signal.
The steps are continuously and circularly executed, the position of the unmanned aerial vehicle is adjusted in real time, the unmanned aerial vehicle can hover at a certain fixed position, and the unmanned aerial vehicle can accurately fly according to a set path.
Further, in the step (S4), the control center calculates the distances between the moving end and each fixed end according to the initial signal and the feedback signal, selects 4 fixed ends with the shortest distance, which are respectively recorded as G1, G2, G3 and G4, and records the corresponding distances as L1, L2, L3 and L4; and calculating the space coordinates of the moving end according to the space coordinates of G1, G2, G3 and G4 and the space coordinates of L1, L2, L3 and L4.
In order to further improve the calculation accuracy, in the step (S4), the control center calculates the distances between the moving end and each fixed end according to the initial signal and the feedback signal, selects 5 fixed ends with the shortest distance, which are respectively recorded as G1, G2, G3, G4 and G5, and records the corresponding distances as L1, L2, L3, L4 and L5; assuming that the space coordinate corresponding to the space position F of the moving end is (x, y, z), calculating to obtain distances from F to G1, G2, G3, G4 and G5 as F1, F2, F3, F4 and F5 respectively according to the assumption, and performing least square method on the polynomial
(L1-F1)2+(L2-F2)2+(L3-F3)2+(L4-F4)2+(L5-F5)2And solving the minimum value, and calculating to obtain the numerical value of the space coordinate of the mobile end, namely the actual position of the mobile end.
Further, in the step (S5), the control center obtains a control command by using a PID control method according to a deviation between the actual position of the mobile terminal and the unmanned aerial vehicle set path or set position, and then sends a control signal carrying the control command to the mobile terminal. It should be noted that the present invention does not relate to an improvement in the PID control algorithm.
Has the advantages that: compared with the prior art, the hovering stabilization device and the control method of the plant protection unmanned aerial vehicle provided by the invention provide a set of new control scheme for the plant protection unmanned aerial vehicle, improve the control precision of the unmanned aerial vehicle in small space and complex space, and realize the safe and reliable use of the unmanned aerial vehicle in the greenhouse.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 and 3 are schematic diagrams of spatial position calculation according to the present invention.
In the figure, 1 is a moving end and 2 is a fixed end.
Detailed Description
The invention is further illustrated by the following specific examples, which are illustrative and intended to illustrate the problem and explain the invention, but not limiting.
Example 1
A plant protection unmanned aerial vehicle hovering stabilizing device and a control method thereof, as shown in figures 1 and 2.
This plant protection unmanned aerial vehicle stabilising arrangement that hovers includes:
the mobile terminal 1 is fixed on the unmanned aerial vehicle;
a plurality of fixed ends 2 are fixed at the top in the greenhouse; the fixed end 2 sends an initial signal to the mobile end 1, and the mobile end 1 sends a feedback signal to the fixed end 2 after receiving the initial signal;
the control center calculates according to the initial signal that the stiff end 2 sent and the feedback signal that receives and obtains the actual position of removal end 1, and the control center sends control signal to removing end 1 according to the deviation between the actual position of removal end 1 and the unmanned aerial vehicle settlement route or settlement position.
In this embodiment, each of the fixed ends 2 is electrically connected to the control center through a wire.
In the embodiment, the greenhouse has a span of 8 meters, and the installation height of the fixed end 2 is 1.8 meters higher than the maximum design height of crops in the greenhouse.
In this embodiment, the fixing ends 2 are divided into three groups, wherein two groups are respectively distributed along two sides of the greenhouse, and the other group is distributed along the center of the top of the greenhouse. All the fixed ends 2 distributed along the two sides of the greenhouse are at the same height; each of the fixed ends 2 distributed along the center of the top of the greenhouse is at the same height, but at a different height from the fixed ends 2 at both sides of the greenhouse.
The control method of the hovering stabilization device of the plant protection unmanned aerial vehicle comprises the following steps:
(S1) the control center controls the fixed end 2 to send an initial signal;
(S2) the mobile terminal 1 sends a feedback signal after receiving the initial signal;
(S3) the fixed end 2 receives the feedback signal and transmits the feedback signal to the control center;
(S4) the control center calculates the actual position of the mobile terminal 1 according to the initial signal and the feedback signal;
(S5) the control center sends out a control signal to the mobile terminal 1 according to the deviation between the actual position of the mobile terminal 1 and the set path or the set position of the unmanned aerial vehicle;
(S6) the moving end 1 controls the power output of the unmanned aerial vehicle power assembly according to the control signal.
In the step (S4) of this embodiment, the control center calculates the distances between the moving end 1 and each fixed end 2 according to the initial signal and the feedback signal, selects 4 fixed ends 2 with the shortest distance, which are respectively denoted as G1, G2, G3, and G4, and the corresponding distances are denoted as L1, L2, L3, and L4; the space coordinates of the moving end 1 are calculated according to the space coordinates of G1, G2, G3 and G4 and the space coordinates of L1, L2, L3 and L4.
In the step (S5) of this embodiment, the control center obtains the control command by using a PID control method according to the deviation between the actual position of the mobile terminal 1 and the set path or the set position of the unmanned aerial vehicle, and then sends the control signal carrying the control command to the mobile terminal 1.
Example 2
A plant protection unmanned aerial vehicle hovering stabilizing device and a control method thereof, as shown in figures 1 and 3.
This plant protection unmanned aerial vehicle stabilising arrangement that hovers includes:
the mobile terminal 1 is fixed on the unmanned aerial vehicle;
a plurality of fixed ends 2 are fixed at the top in the greenhouse; the fixed end 2 sends an initial signal to the mobile end 1, and the mobile end 1 sends a feedback signal to the fixed end 2 after receiving the initial signal;
the control center calculates according to the initial signal that the stiff end 2 sent and the feedback signal that receives and obtains the actual position of removal end 1, and the control center sends control signal to removing end 1 according to the deviation between the actual position of removal end 1 and the unmanned aerial vehicle settlement route or settlement position.
In this embodiment, each of the fixed ends 2 is electrically connected to the control center through a wire.
In the embodiment, the greenhouse has a span of 12 meters, and the installation height of the fixed end 2 is 2.2 meters higher than the maximum design height of crops in the greenhouse.
In this embodiment, the fixing ends 2 are divided into three groups, wherein two groups are respectively distributed along two sides of the greenhouse, and the other group is distributed along the center of the top of the greenhouse. All the fixed ends 2 distributed along the two sides of the greenhouse are at the same height; each of the fixed ends 2 distributed along the center of the top of the greenhouse is at the same height, but at a different height from the fixed ends 2 at both sides of the greenhouse.
The control method of the hovering stabilization device of the plant protection unmanned aerial vehicle comprises the following steps:
(S1) the control center controls the fixed end 2 to send an initial signal;
(S2) the mobile terminal 1 sends a feedback signal after receiving the initial signal;
(S3) the fixed end 2 receives the feedback signal and transmits the feedback signal to the control center;
(S4) the control center calculates the actual position of the mobile terminal 1 according to the initial signal and the feedback signal;
(S5) the control center sends out a control signal to the mobile terminal 1 according to the deviation between the actual position of the mobile terminal 1 and the set path or the set position of the unmanned aerial vehicle;
(S6) the moving end 1 controls the power output of the unmanned aerial vehicle power assembly according to the control signal.
In the step (S4) of this embodiment, the control center calculates the distances between the moving end 1 and each fixed end 2 according to the initial signal and the feedback signal, selects 4 fixed ends 2 with the shortest distance, which are respectively denoted as G1, G2, G3, and G4, and the corresponding distances are denoted as L1, L2, L3, and L4; the space coordinates of the moving end 1 are calculated according to the space coordinates of G1, G2, G3 and G4 and the space coordinates of L1, L2, L3 and L4.
In the step (S4) of this embodiment, the control center calculates the distances between the moving end 1 and each fixed end 2 according to the initial signal and the feedback signal, selects 5 fixed ends 2 with the shortest distance, which are respectively denoted as G1, G2, G3, G4, and G5, and the corresponding distances are denoted as L1, L2, L3, L4, and L5; assuming that the space coordinate corresponding to the space position F of the mobile terminal 1 is (x, y, z), calculating the distances from F to G1, G2, G3, G4 and G5 to be F1, F2, F3, F4 and F5 respectively according to the assumption, and using a least square method to carry out polynomial fitting
(L1-F1)2+(L2-F2)2+(L3-F3)2+(L4-F4)2+(L5-F5)2And solving the minimum value, and calculating to obtain the numerical value of the space coordinate (x, y, z) of the mobile terminal 1, namely the actual position of the mobile terminal 1.
In the step (S5) of this embodiment, the control center obtains the control command by using a PID control method according to the deviation between the actual position of the mobile terminal 1 and the set path or the set position of the unmanned aerial vehicle, and then sends the control signal carrying the control command to the mobile terminal 1.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (9)
1. The utility model provides a plant protection unmanned aerial vehicle stabilising arrangement that hovers which characterized in that includes:
the mobile end (1), the mobile end (1) is fixed on the unmanned aerial vehicle;
a plurality of fixed ends (2) are fixed at the top in the greenhouse; the fixed end (2) sends an initial signal to the mobile end (1), and the mobile end (1) sends a feedback signal to the fixed end (2) after receiving the initial signal;
the control center calculates according to the initial signal that stiff end (2) sent and the feedback signal that receives and obtains the actual position of removing end (1), and the deviation between the actual position of control center according to removing end (1) and unmanned aerial vehicle settlement route or settlement position sends control signal and gives removes end (1).
2. The plant protection unmanned aerial vehicle hovering stabilizing device according to claim 1, wherein each fixed end (2) is electrically connected to the control center through a wire.
3. The plant protection unmanned aerial vehicle hovering stabilizing device according to claim 1, wherein the fixed end (2) is mounted at a height at least 1.8 meters higher than the height of the crop in the greenhouse.
4. The plant protection unmanned aerial vehicle stabilising arrangement that hovers of claim 3, characterized in that, stiff end (2) divide into three groups, and wherein two sets of these are respectively along the both sides of greenhouse, and another group is along greenhouse top central authorities' distribution.
5. The plant protection unmanned aerial vehicle hovering stabilizing device according to claim 4, wherein each of the fixed ends (2) distributed along both sides of the greenhouse are at the same height; all the fixed ends (2) distributed along the center of the top of the greenhouse are at the same height, but the heights of the fixed ends (2) are different from those of the fixed ends at the two sides of the greenhouse.
6. The control method of the plant protection unmanned aerial vehicle hovering stabilizing device according to any one of claims 1 to 5, comprising:
(S1) the control center controls the fixed end (2) to send out an initial signal;
(S2) the mobile terminal (1) sends a feedback signal after receiving the initial signal;
(S3) the fixed end (2) receives the feedback signal and then transmits the feedback signal to the control center;
(S4) the control center calculates the actual position of the mobile terminal (1) according to the initial signal and the feedback signal;
(S5) the control center sends out a control signal to the mobile terminal (1) according to the deviation between the actual position of the mobile terminal (1) and the set path or the set position of the unmanned aerial vehicle;
(S6) the moving end (1) controls the power output of the unmanned aerial vehicle power assembly according to the control signal.
7. The method for controlling the hovering stabilization device of the plant protection unmanned aerial vehicle according to claim 6, wherein in the step (S4), the control center calculates the distances between the moving end (1) and the fixed ends (2) according to the initial signal and the feedback signal, selects 4 fixed ends (2) with the shortest distance, and records the distances as G1, G2, G3 and G4, respectively, and records the corresponding distances as L1, L2, L3 and L4; and calculating the space coordinates of the moving end (1) according to the space coordinates of G1, G2, G3 and G4 and the space coordinates of L1, L2, L3 and L4.
8. The method for controlling the hovering stabilization device of the plant protection unmanned aerial vehicle according to claim 6, wherein in the step (S4), the control center calculates the distances between the moving end (1) and the fixed ends (2) according to the initial signal and the feedback signal, and selects 5 fixed ends (2) with the shortest distance, which are respectively recorded as G1, G2, G3, G4 and G5, and the corresponding distances are recorded as L1, L2, L3, L4 and L5; assuming that the space coordinate corresponding to the space position F of the moving end (1) is (x, y, z), calculating the distances from F to G1, G2, G3, G4 and G5 to be F1, F2, F3, F4 and F5 respectively according to the assumption, and performing least square method on the polynomial
(L1-F1)2+(L2-F2)2+(L3-F3)2+(L4-F4)2+(L5-F5)2And solving the minimum value, and calculating to obtain the numerical value of the space coordinate (x, y, z) of the mobile terminal (1), namely the actual position of the mobile terminal (1).
9. The method for controlling the hovering stabilizing device of the plant protection unmanned aerial vehicle according to claim 6, wherein in the step (S5), the control center obtains the control command by using a PID control method according to a deviation between an actual position of the mobile terminal (1) and a set path or a set position of the unmanned aerial vehicle, and then sends a control signal carrying the control command to the mobile terminal (1).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114877876A (en) * | 2022-07-12 | 2022-08-09 | 南京市计量监督检测院 | Unmanned aerial vehicle hovering precision evaluation method |
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