CN207319070U - A kind of plant protection unmanned plane autonomous flight Path Optimize Installation - Google Patents
A kind of plant protection unmanned plane autonomous flight Path Optimize Installation Download PDFInfo
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- CN207319070U CN207319070U CN201720391927.1U CN201720391927U CN207319070U CN 207319070 U CN207319070 U CN 207319070U CN 201720391927 U CN201720391927 U CN 201720391927U CN 207319070 U CN207319070 U CN 207319070U
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- unmanned plane
- plant protection
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Abstract
A kind of plant protection unmanned plane autonomous flight Path Optimize Installation, is related to the technical field of plant protection unmanned plane.The utility model includes airborne GPS antenna, flight control system, airborne relative altitude detector, airborne camera, on-board data passback and the reception system being arranged on plant protection unmanned plane；Earth station's geography information and image processing system, earth station's aerial mission planning system, earth station's command reception and transmission system positioned at earth station.The utility model, which realizes, to reasonably select path according to different landform, improve the accuracy and operating efficiency of unmanned machine operation, reduce the purpose for repeating coverage rate, drain spray rate and energy expenditure.
Description
Technical field
It the utility model is related to the technical field of plant protection unmanned plane.
Background technology
In recent years, the continuous development with multi-rotor unmanned aerial vehicle technology and maturation, in terms of agricultural plant protection, more rotors nobody
Machine operation mode is greatly saved human cost, improves operating efficiency, while also protect compared to traditional manual work mode
Infringement of the operating personnel from pesticide is demonstrate,proved；Compared to the mode of traditional fixed wing aircraft large area sprinkling, multi-rotor unmanned aerial vehicle
Operation can significantly reduce flight cost, and in the effect of pesticide spraying, the high-speed rotating blade of multi-rotor unmanned aerial vehicle produces
Downwash flow can blow the blade of plant surface open, pesticide is uniformly applied to crops entirety, effectively raise pesticide
Application efficiency, embody the requirement of precision agriculture.It is that operation is carried out in large stretch of farmland in view of fog machine, if using appearance
State or velocity mode flight, when distant, operating personnel can not recognize the state of flight of unmanned plane, aircraft accident machine occur
Rate will greatly increase.Therefore, it is necessary to the flight path of the unmanned fog machine of quadrotor is planned.Unmanned plane path planning refers to
It is according to unmanned plane itself mobility, flight environment of vehicle and mission requirements, selects a safely and effectively flight path.In unmanned plane
Practical flight during, ground observing and controlling system exports a large amount of flying qualities in real time, is quickly located according to a large amount of flying qualities
Reason, and flight control is carried out to unmanned plane in time, this is most important for the flight safety of unmanned plane.
Fog machine is that operation is carried out in large stretch of farmland, if flown using posture or the GPS velocity mode aided in, distance
When farther out, operating personnel can not recognize the state of flight of unmanned plane, and aircraft accident probability occur will greatly increase.Therefore, need
The flight path of the unmanned fog machine of quadrotor is planned.Technology is to generate unmanned plane by earth station system mostly now
Flight path, latitude of passing through is clicked through to periphery edge with GPS and is analyzed, and by data record to earth station system, earth station according to
Data generate multiple target points, and point is preserved, and form the flight path of aircraft, the method has region certain limitation
Property, and possibly can not be avoided in time there are aircraft during barrier when physical features is uneven, there are security risk.And now with plant
Guarantor's machine is equipped with the obstacle detector for being used for detecting the barrier around agricultural plant protection unmanned plane, but when running into barrier, nobody
Machine issues earth station by several biographies, then receives urgent avoidance instruction, so there are delay aircraft may be made to have little time to avoid and sent out
It is raw dangerous.
Utility model content
The utility model aim be to provide it is a kind of path can be reasonably selected according to different landform, improve unmanned machine operation
Accuracy and operating efficiency, reduce that to repeat coverage rate, the plant protection unmanned plane autonomous flight path of drain spray rate and energy expenditure excellent
Change method.
A kind of plant protection unmanned plane autonomous flight Path Optimize Installation, including：
It is arranged on and is used for the horizontal coordinate and height coordinate that gather plant protection unmanned plane on plant protection unmanned plane, and and gps satellite
The airborne GPS antenna of system communication；
It is arranged on plant protection unmanned plane and is used to control the flight of plant protection unmanned plane and sows the flight control system of operation；
It is arranged on and is used to detect airborne relative altitude spy of the plant protection unmanned plane relative to the height on ground on plant protection unmanned plane
Survey device；
It is arranged on the airborne camera for the sampling that is used to operation farmland take photo by plane on plant protection unmanned plane；
It is arranged on plant protection unmanned plane and is used for the airborne GPS antenna, airborne relative altitude detector and airborne shooting
The data back that head obtains is to earth station's subsystem, while the on-board data passback and reception of satellite receiver subsystem data are
System；
It is used for handling and storing the coordinate of farmland massif, vegetation pattern, vegetation with respect to ground level, obstacle positioned at earth station
The earth station's geography information and image processing system of thing information；
The data for being used to dock received on-board data passback and reception system is sent positioned at earth station, and combined ground station
The information stored in geography information and image processing system, plans earth station's aerial mission planning of plant protection unmanned plane during flying route
System；
It is used for the data for receiving airborne data back and reception system positioned at earth station, and earth station's aerial mission is planned
The earth station's command reception and transmission system of the data back of system.
The airborne relative altitude detector that the utility model is arranged on plant protection unmanned plane is detected using sonar and light stream.
The utility model is in the unmanned airborne device camera of plant protection, before spraying operation starts, first with being equipped with camera
Fog machine take photo by plane to working region, by the physical features and the flight that will be seen that farmland to the automatic identification of Aerial Images
During the barrier that is likely encountered, earth station is according to the corresponding flight path of terrain generation after analysis.Plant protection unmanned plane will
Plant protection operation is carried out along default flight route, the labor intensity of straighforward operation personnel can be mitigated, improves the essence of unmanned machine operation
Parasexuality and operating efficiency, reduce and repeat coverage rate, drain spray rate and energy expenditure.
Brief description of the drawings
Fig. 1 is the connection diagram of the utility model optimization device.
Fig. 2 is the flow diagram of the utility model optimization method.
Fig. 3 is the flow diagram that the utility model finds " minefield point ".
Embodiment
The technical solution of the utility model is described in detail below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of plant protection unmanned plane autonomous flight Path Optimize Installation, including：
It is arranged on and is used for the horizontal coordinate and height coordinate that gather plant protection unmanned plane on plant protection unmanned plane, and and gps satellite
The airborne GPS antenna 1 of system communication；
It is arranged on plant protection unmanned plane and is used to control the flight of plant protection unmanned plane and sows the flight control system 2 of operation；
It is arranged on and is used to detect airborne relative altitude spy of the plant protection unmanned plane relative to the height on ground on plant protection unmanned plane
Survey device 3；
It is arranged on the airborne camera 8 for the sampling that is used to operation farmland take photo by plane on plant protection unmanned plane；
It is arranged on plant protection unmanned plane and is used for the airborne GPS antenna 1, airborne relative altitude detector 3 and airborne takes the photograph
As first 8 data backs obtained to earth station's subsystem, while the on-board data of satellite receiver subsystem data is returned and connect
Receipts system 4；
It is used for handling and storing the coordinate of farmland massif, vegetation pattern, vegetation with respect to ground level, obstacle positioned at earth station
The earth station's geography information and image processing system 5 of thing information；
The data for being used to dock received on-board data passback and reception system 4 is sent positioned at earth station, and combined ground
Geography information of standing and the information stored in image processing system 5, plan earth station's aerial mission of plant protection unmanned plane during flying route
Planning system 6；
It is used for the data for receiving airborne data back and reception system 4 positioned at earth station, and earth station's aerial mission is advised
Draw earth station's command reception of the data back of system 6 and send system 7.
The airborne relative altitude detector 3 that the utility model is arranged on plant protection unmanned plane is detected using sonar and light stream.
As shown in Fig. 2, a kind of plant protection unmanned plane autonomous flight method for optimizing route, includes the following steps：
The first step：Taken photo by plane with the fog machine equipped with camera to working region, automatic identification carried out to Aerial Images,
And find out " minefield point "；
Second step：Earth station generates corresponding flight road to avoid " minefield point " according to the lineament after analysis for principle
Footpath；
3rd step：The flying height and spraying airline operation that fog machine is set according to earth station；
4th step：Routine navigation control adjusts the course line error in flight course at any time, actual flight path is met predetermined boat
Road.
As shown in figure 3, the utility model carries out automatic identification to Aerial Images, and " minefield point " is found out, including it is as follows
Step：
1）Input original image；
2）Gray processing processing is carried out to the original image of input；
3）Image enhancement is carried out to the image of gray processing processing；
4）Processing is filtered to the image of enhancing；
5）Binary conversion treatment is carried out to the image of filtering process；
6）The positioning of image dial plate is generated, and the Obstacle Position run into flight course is labeled as " minefield point ".
" the minefield point " of mark is corresponded to the longitude and latitude for being transformed into earth station by the utility model, after earth station is according to analysis
Lineament simultaneously generates corresponding flight path to avoid minefield point as principle.
The routine navigation control of the utility model adjusts the course line error in flight course at any time, meets actual flight path pre-
Determine air route, include the following steps：
a）The flying height and the spraying air route of planning that fog machine is set by wireless messages input interface satellite receiver
Data, are stored in and fly in control processing unit；
b）Waypoint navigation controls the physical location that the target position information in the spraying air route by planning is obtained with GPS device
Information is compared, and is produced gesture stability instruction and horizontal velocity control instruction, is made unmanned plane adjust in flight course at any time
Existing Error of fairway, makes actual flight path meet predetermined air route.
The plant protection unmanned plane of the utility model first pinpoints flight range with airborne camera before operation starts
Take photo by plane, clap the longitude and latitude requirement that region meets earth station.Then the image for gained of taking photo by plane is transmitted to earth station, earth station in real time
By carrying out image procossing to Aerial Images.The process of processing includes carrying out image gray processing, image enhancement, filtering, two-value
The processing such as change, overcomes image disruption to determine the Obstacle Position being likely encountered in flight course, place is changed greatly in physical features
" minefield point " is arranged to obstacle object point, then by " the minefield point " that is identified in the picture corresponding specific warp for being transformed into earth station
Latitude, earth station generate corresponding flight path according to the lineament after analysis and to avoid " minefield point " for principle, mainly
Function has：Single channel point and more waypoints are sent, rectilinear flight, rectangle flight, ring-type flight, transverse reciprocating and longitudinally reciprocal, flight
Track description and erasing etc..The flying height and the spray of planning that fog machine is set by wireless messages input interface satellite receiver
Mist RTE DATA, is stored in and flies in control processing unit, and waypoint navigation controls the target position information in the spraying air route by planning
Compared with the actual position information that GPS device obtains, gesture stability instruction and horizontal velocity control instruction are produced, makes nobody
Machine adjusts the Error of fairway occurred in flight course at any time, actual flight path is met predetermined air route, accomplishes precision navigation.Can be with
The completion pesticide spraying task of safe and convenient.
Claims (1)
- A kind of 1. plant protection unmanned plane autonomous flight Path Optimize Installation, it is characterised in that：It is arranged on and is used for the horizontal coordinate and height coordinate that gather plant protection unmanned plane on plant protection unmanned plane, and and GPS satellite system The airborne GPS antenna of communication（1）；It is arranged on plant protection unmanned plane and is used to control the flight of plant protection unmanned plane and sows the flight control system of operation（2）；It is arranged on plant protection unmanned plane and is used to detect airborne relative altitude detector of the plant protection unmanned plane relative to the height on ground （3）；It is arranged on the airborne camera for the sampling that is used to operation farmland take photo by plane on plant protection unmanned plane（8）；It is arranged on plant protection unmanned plane and is used for the airborne GPS antenna（1）, airborne relative altitude detector（3）Taken the photograph with airborne As head（8）The data back of acquisition to earth station's subsystem, while the on-board data passback of satellite receiver subsystem data and Reception system（4）；It is used for handling and storing the coordinate of farmland massif, vegetation pattern, vegetation with respect to ground level, barrier letter positioned at earth station The earth station's geography information and image processing system of breath（5）；It is used to dock received on-board data passback and reception system positioned at earth station（4）The data sent, and combined ground station Geography information and image processing system（5）The information of middle storage, plans earth station's aerial mission of plant protection unmanned plane during flying route Planning system（6）；It is used to receive airborne data back and reception system positioned at earth station（4）Data, and earth station's aerial mission is planned System（6）Data back earth station's command reception and send system（7）；It is arranged on airborne relatively high on plant protection unmanned plane Spend detector（3）Detected using sonar and light stream；Airborne camera can take photo by plane working region, carry out automatic identification to Aerial Images, and find out " minefield point "；So Afterwards, earth station generates corresponding flight path to avoid " minefield point " according to the lineament after analysis for principle；Fog machine is pressed Flying height and spraying airline operation according to earth station's setting；Miss in the course line that routine navigation control adjusts in flight course at any time Difference, makes actual flight path meet predetermined air route.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720391927.1U CN207319070U (en) | 2017-04-14 | 2017-04-14 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
| CN109240304A (en) * | 2018-10-15 | 2019-01-18 | 南京林业大学 | A kind of precision planting system and method |
| CN109720579A (en) * | 2019-02-12 | 2019-05-07 | 四川飞防农业科技有限公司 | A kind of sprinkling system of plant protection drone |
| CN110174904A (en) * | 2019-05-20 | 2019-08-27 | 三峡大学 | A kind of more rotors based on cloud platform are taken photo by plane unmanned plane job scheduling system |
| CN110338172A (en) * | 2019-07-22 | 2019-10-18 | 六安智华工业自动化技术有限公司 | A kind of farmland device for administration of drugs |
| CN110432244A (en) * | 2019-07-23 | 2019-11-12 | 六安智华工业自动化技术有限公司 | A kind of method of farmland application |
| CN110463674A (en) * | 2019-07-23 | 2019-11-19 | 六安智华工业自动化技术有限公司 | A kind of applications of pesticide method of semi-automation |
| CN110500916A (en) * | 2019-07-22 | 2019-11-26 | 六安智华工业自动化技术有限公司 | A kind of system of the pesticide grown of semi-automation |
-
2017
- 2017-04-14 CN CN201720391927.1U patent/CN207319070U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
| CN109240304A (en) * | 2018-10-15 | 2019-01-18 | 南京林业大学 | A kind of precision planting system and method |
| CN109720579A (en) * | 2019-02-12 | 2019-05-07 | 四川飞防农业科技有限公司 | A kind of sprinkling system of plant protection drone |
| CN110174904A (en) * | 2019-05-20 | 2019-08-27 | 三峡大学 | A kind of more rotors based on cloud platform are taken photo by plane unmanned plane job scheduling system |
| CN110338172A (en) * | 2019-07-22 | 2019-10-18 | 六安智华工业自动化技术有限公司 | A kind of farmland device for administration of drugs |
| CN110500916A (en) * | 2019-07-22 | 2019-11-26 | 六安智华工业自动化技术有限公司 | A kind of system of the pesticide grown of semi-automation |
| CN110432244A (en) * | 2019-07-23 | 2019-11-12 | 六安智华工业自动化技术有限公司 | A kind of method of farmland application |
| CN110463674A (en) * | 2019-07-23 | 2019-11-19 | 六安智华工业自动化技术有限公司 | A kind of applications of pesticide method of semi-automation |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20200414 |
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| CF01 | Termination of patent right due to non-payment of annual fee |