CN205540281U - Quick -witted system of many rotors plant protection of independently flying based on differential positioning - Google Patents
Quick -witted system of many rotors plant protection of independently flying based on differential positioning Download PDFInfo
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- CN205540281U CN205540281U CN201620057744.1U CN201620057744U CN205540281U CN 205540281 U CN205540281 U CN 205540281U CN 201620057744 U CN201620057744 U CN 201620057744U CN 205540281 U CN205540281 U CN 205540281U
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Abstract
The utility model relates to a quick -witted system of many rotors plant protection of independently flying based on differential positioning, it includes many rotors plant protection machine (1), the machine carries controller (2) and ground basic station (3), the machine carries controller (2) including removing differential positioning module (21), positioning data transport module on the machine (22), the machine carries singlechip (23), remote control data transmission module (24) and flight controller (25) on the machine, ground basic station (3) are including fixed differential positioning module (31), ground positioning data transport module (32), ground monitoring computer (33) and ground remote control data transmission module (34). It uses satellite carrier phase real time kinematic difference technique to improve positioning accuracy, realizes that many rotors plant protection machine can carry out the high accuracy according to the planning course line at plant protection operation in -process and independently fly and automatic operation, reduces operating personnel's quality requirement, improves the operating efficiency, reduces the operating cost, has expanded gathering range and variety of crops.
Description
Technical field
This utility model relates to many rotors fog machine, is specifically related to a kind of autonomous flight many rotors fog machine system.
Background technology
In recent years, many rotors fog machine is used for spraying the farmland operation such as medicine, fertilising and has been gradually gained popularity, and it has the advantages such as efficient, laborsaving, good economy performance, is especially suitable for the needs of agricultural technology renovation development.Generally, many rotors fog machine needs to be operated by ground remote control, and its positioning precision is a key technical index, and the height of precision directly influences the flight stability of fog machine, accuracy and operation quality and effect.Current many rotors fog machine uses single-point GPS to position mostly, and its horizon location error is even more than 10m in more than 2m, altitude location error, it is impossible to meet the error requirements (typically at below 1m) during plant protection operation flight.In order to solve to be automatically brought into operation the problem that error is big; existing many rotors fog machine is required for operator's hand-held remote controller and operates on ground; this just requires that operator possess the highest operation quality; manual remote control operation labor intensity is big; poor stability; spraying effect cannot be assessed, and considerably increases again human cost.Crop in tea place, orchard is owing to being grown in mountain area, with a varied topography, and change is big, is more not suitable for general staff and operates, and above factors greatly constrains the popularization and application of many rotors fog machine.
Summary of the invention
The purpose of this utility model is to provide a kind of error requirements when meeting plant protection operation flight; may replace the remote manual control operation of operator; saving manpower, safety is good, is suitable to autonomous flight many rotors fog machine system based on Differential positioning that complicated landform requires.
nullTechnical solution of the present utility model is: it includes many rotors fog machine、On-board controller and ground base station，On-board controller is arranged on many rotors fog machine，On-board controller includes mobile Differential positioning module、Data transmission module is positioned on machine、Airborne single-chip microcomputer、Remote-control data transport module and flight controller on machine，Ground base station includes fixing difference locating module、Terrestrial positioning data transmission module、Ground monitoring computer and ground remote control data transmission module，Position correction information is sent to many rotors fog machine by terrestrial positioning data transmission module by fixing difference locating module in real time，Mobile Differential positioning module receives the position correction information that ground base station is sent and the positional information self recorded by positioning data transmission module on machine，Use carrier phase real time dynamic differential algorithm，Calculate the precise position information that precision reaches many rotors fog machine of Centimeter Level，And this positional information is passed to airborne single-chip microcomputer，Airborne single-chip microcomputer is according to course line set in advance and job state，Automatically generate flight control instruction and job instruction，Flight control instruction controls the speed setting controller of each motor of many rotors fog machine by flight controller，Each speed setting controller controls each motor respectively and rotor completes the autonomous flight task of many rotors fog machine，Job instruction controls the spray medicine fertilizer apparatus on many rotors fog machine to be completed to spray medicine、The plant protection tasks such as fertilising，Ground monitoring computer realizes the bidirectional data communication between ground base station and many rotors fog machine by remote-control data transport module on ground remote control data transmission module and machine，The Flight Control Software of ground monitoring allocation of computer is responsible for carrying out flight course planning、Spray medicine state sets、Flight control instruction generates and uploads、Flight job state monitoring record and operation effectiveness evaluation.
The error requirements having the technical effect that when using it can meet plant protection operation flight of the present utility model, may replace the remote manual control operation of operator, saves manpower, and safety is good, is suitable to complicated landform requirement.It uses satellite carrier phase place real time dynamic differential technology to improve positioning precision; realize many rotors fog machine and can carry out high-precision independent flight and automatic job according to planning course line during plant protection operation; reduce the competency profiling of operator; improve working performance; reduce operating cost, expand job area and variety of crops.It has, and positioning precision is high, tracking is accurate, automaticity is high, can assess the features such as operation effectiveness, it is adaptable to various agricultural plant protection tasks.Can control to spray medicine fertilizer apparatus more with flying colors to complete to spray the plant protection task such as medicine, fertilising.
It can not meet a difficult problem for operation needs for existing many rotors fog machine positioning precision; satellite carrier phase place real time dynamic differential technology is used to improve positioning precision; make fog machine horizon location error in operation flight course and altitude location error all control at below 10cm, meet job requirements.Meanwhile, controlling software plan course line by ground, fog machine independently completes flight and automatic job according to course line, and records all processes data, is used for analyzing, evaluating operation effect and directly invoking during lower subjob.This function may replace the remote manual control operation of operator substantially, greatly improves working performance, safety and economy.Due to the high accuracy automatically controlled, the flight operation of complicated landform can be completed, expanded job area and variety of crops.
Accompanying drawing explanation
Fig. 1 is this utility model example structure functional-block diagram.
Detailed description of the invention
nullAs shown in Figure 1，It includes many rotors fog machine 1、On-board controller 2 and ground base station 3，On-board controller 2 is arranged on many rotors fog machine 1，On-board controller 2 includes mobile Differential positioning module 21、Data transmission module 22 is positioned on machine、Airborne single-chip microcomputer 23、Remote-control data transport module 24 and flight controller 25 on machine，Ground base station 3 includes fixing difference locating module 31、Terrestrial positioning data transmission module 32、Ground monitoring computer 33 and ground remote control data transmission module 34，Position correction information is sent to many rotors fog machine 1 by terrestrial positioning data transmission module 32 by fixing difference locating module 31 in real time，Mobile Differential positioning module 21 receives the position correction information that ground base station 3 is sent and the positional information self recorded by positioning data transmission module 22 on machine，Use carrier phase real time dynamic differential algorithm，Calculate the precise position information that precision reaches many rotors fog machine of Centimeter Level，And this positional information is passed to airborne single-chip microcomputer 23，Airborne single-chip microcomputer 23 is according to course line set in advance and job state，Automatically generate flight control instruction and job instruction，Flight control instruction controls the speed setting controller 12 of each motor of many rotors fog machine 1 11 by flight controller 25，Each speed setting controller 12 controls each motor 11 respectively and rotor 13 completes the autonomous flight task of many rotors fog machine 1，Job instruction controls the spray medicine fertilizer apparatus 14 on many rotors fog machine 1 to be completed to spray medicine、The plant protection tasks such as fertilising，Ground monitoring computer 33 realizes the bidirectional data communication between ground base station 3 and many rotors fog machine 1 by remote-control data transport module 24 on ground remote control data transmission module 34 and machine，The Flight Control Software of ground monitoring computer 33 configuration is responsible for carrying out flight course planning、Spray medicine state sets、Flight control instruction generates and uploads、Flight job state monitoring record and operation effectiveness evaluation.
Ground base station 3 also includes can manually implement intervention operation, to guarantee the assisted control terminal 35 of flight safety when emergency situations.Assisted control terminal 35 is and the remote controller of ground monitoring computer 33 remote-control communication or the operator that is combined as a whole with ground monitoring computer 33.
The battery 16 that many rotors fog machine 1 by fuselage 15, is arranged on fuselage 15, the multiple motors 11 being arranged on the outer end points of fuselage 15 and the multiple speed setting controllers 12 matched respectively with each motor 11 are constituted; it is separately installed with rotor 13 on the output revolving shaft of each motor 11, fuselage 15 is provided with by airborne monolithic processor controlled spray medicine fertilizer apparatus 14.Each motor 11 is respectively high power DC brushless electric machine, and many rotors fog machine 1 is many gyroplanes with self-stabilization point hovering function.
Mobile Differential positioning module 21 and fixing difference locating module 31 constitute Differential positioning device, mobile Differential positioning module 21 is made up of one piece of K505 or K700 location board and the antenna being connected with location board respectively with fixing difference locating module 31, mobile Differential positioning module 21 is arranged on many rotors fog machine 1, as rover station, fixing difference locating module 31 is arranged on ground base station 3 as base station, communicated by location data transmission module 22 and terrestrial positioning data transmission module 32 on machine between rover station and base station, send the position correction information measured by base station to rover station.Rover station can have multiple simultaneously, and i.e. one ground base station 3 can configure multi rack many rotors fog machine 1.Location board can receive the GPS of the U.S. or the dipper system of China, and reception is the carrier phase information of aeronautical satellite, and calculates accurate positional information accordingly.
Ground base station 3 is located at plant protection operation areas adjacent, and the distance of ground base station 3 and many rotors fog machine 1 positions on data transmission module 22, terrestrial positioning data transmission module 32, machine within the communication context of remote-control data transport module 24 and ground remote control data transmission module 34 on machine.
Positioning remote-control data transport module 24 and ground remote control data transmission module 34 on data transmission module 22, terrestrial positioning data transmission module 32, machine on machine is gsm communication module or all kinds of wireless communication module such as 433M, 2.4G.
Airborne single-chip microcomputer 23 uses STM32 series monolithic.
Ground monitoring computer 33 can be the one in each hardware platform of computer, panel computer, mobile phone or single-chip microcomputer.
The functions such as Flight Control Software is responsible for carrying out flight course planning, spray medicine state sets, flight control instruction generates and uploads, flight job state monitoring record, operation effectiveness evaluation.
The invention compared with prior art, has the advantage that
1, satellite carrier phase place real time dynamic differential technology being applied on many rotors fog machine 1, its positional precision reaches Centimeter Level, it is achieved many rotors fog machine 1 positioning precision is better than the autonomous flight control of 10cm, meets plant protection operation requirement；
2, controlling software plan course line by ground, many rotors fog machine 1 independently completes flight and automatic job according to course line, and records all processes data, is used for analyzing, evaluating operation effect and directly invoking during lower subjob.
Claims (9)
- null1. autonomous flight many rotors fog machine system based on Differential positioning，It includes many rotors fog machine (1)、On-board controller (2) and ground base station (3)，On-board controller (2) is arranged on many rotors fog machine (1)，It is characterized in that: on-board controller (2) includes mobile Differential positioning module (21)、Data transmission module (22) is positioned on machine、Airborne single-chip microcomputer (23)、Remote-control data transport module (24) and flight controller (25) on machine，Ground base station (3) includes fixing difference locating module (31)、Terrestrial positioning data transmission module (32)、Ground monitoring computer (33) and ground remote control data transmission module (34)，Position correction information is sent to many rotors fog machine (1) by terrestrial positioning data transmission module (32) by fixing difference locating module (31) in real time，Mobile Differential positioning module (21) receives, by positioning data transmission module (22) on machine, the positional information that ground base station (3) is sent，And this positional information is passed to airborne single-chip microcomputer (23)，Airborne single-chip microcomputer (23) controls the speed setting controller (12) of many rotors fog machine (1) each motor (11) by flight controller (25)，Each speed setting controller (12) controls each motor (11) respectively and rotor (13) completes the autonomous flight task of many rotors fog machine (1)，Ground monitoring computer (33) realizes the bidirectional data communication between ground base station (3) and many rotors fog machine (1) by remote-control data transport module (24) on ground remote control data transmission module (34) and machine.
- 2. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1, it is characterised in that described ground base station (3) also includes can manually implement intervention operation, to guarantee the assisted control terminal (35) of flight safety when emergency situations.
- 3. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 2, it is characterised in that described assisted control terminal (35) is and the remote controller of ground monitoring computer (33) remote-control communication or the operator that is combined as a whole with ground monitoring computer (33).
- 4. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1; it is characterized in that battery (16), the multiple motors (11) being arranged on fuselage (15) outer end points and the multiple speed setting controllers (12) matched respectively with each motor (11) that described many rotors fog machine (1) by fuselage (15), is arranged on fuselage (15) are constituted; it is separately installed with rotor (13) on the output revolving shaft of each motor (11), fuselage (15) is provided with by airborne monolithic processor controlled spray medicine fertilizer apparatus (14).
- 5. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 4; it is characterized in that described each motor (11) is respectively high power DC brushless electric machine, many rotors fog machine (1) is many gyroplanes with self-stabilization point hovering function.
- 6. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1, it is characterized in that described mobile Differential positioning module (21) and fixing difference locating module (31) constitute Differential positioning device, mobile Differential positioning module (21) is made up of one piece of K505 or K700 location board and the antenna being connected with location board respectively with fixing difference locating module (31), mobile Differential positioning module (21) is arranged on many rotors fog machine (1), as rover station, fixing difference locating module (31) is arranged on ground base station (3) as base station, communicated by location data transmission module (22) and terrestrial positioning data transmission module (32) on machine between rover station and base station, send the position correction information measured by base station to rover station.
- 7. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1, it is characterised in that positioning remote-control data transport module (24) and ground remote control data transmission module (34) on data transmission module (22), terrestrial positioning data transmission module (32), machine on described machine is gsm communication module or 433M, 2.4G class wireless communication module.
- 8. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1, it is characterised in that described airborne single-chip microcomputer (23) uses STM32 series monolithic.
- 9. autonomous flight many rotors fog machine system based on Differential positioning as claimed in claim 1, it is characterised in that described ground monitoring computer (33) can be the one in each hardware platform of computer, panel computer, mobile phone or single-chip microcomputer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620057744.1U CN205540281U (en) | 2016-01-21 | 2016-01-21 | Quick -witted system of many rotors plant protection of independently flying based on differential positioning |
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| CN201620057744.1U CN205540281U (en) | 2016-01-21 | 2016-01-21 | Quick -witted system of many rotors plant protection of independently flying based on differential positioning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530103A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Aviation plant protection operation real-time supervision system |
| CN108255194A (en) * | 2018-01-08 | 2018-07-06 | 江苏工程职业技术学院 | A kind of agricultural plant protection unmanned plane precise positioning spraying control method based on UWB |
| CN111758311A (en) * | 2019-04-02 | 2020-10-13 | 新疆农业大学 | Rotary tillage robot for orchard |
-
2016
- 2016-01-21 CN CN201620057744.1U patent/CN205540281U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530103A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Aviation plant protection operation real-time supervision system |
| CN108255194A (en) * | 2018-01-08 | 2018-07-06 | 江苏工程职业技术学院 | A kind of agricultural plant protection unmanned plane precise positioning spraying control method based on UWB |
| CN111758311A (en) * | 2019-04-02 | 2020-10-13 | 新疆农业大学 | Rotary tillage robot for orchard |
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Effective date of registration: 20230621 Address after: No. 4, 6-7/F, Building D-12, 03 and 18, China Optics Valley Creative industries Park, No. 52, Liufang Avenue, Donghu New Technology Development Zone, Wuhan, 430070 Patentee after: Diandian Feichuang (Wuhan) Technology Co.,Ltd. Address before: Room 1802, Building 6, Affordable housing, No. 42, Luoyu East Road, Hongshan District, Wuhan City, Hubei Province, 430075 Patentee before: Sun Bin |