CN208367543U - A kind of plant protection drone flight control system - Google Patents
A kind of plant protection drone flight control system Download PDFInfo
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- CN208367543U CN208367543U CN201820854528.9U CN201820854528U CN208367543U CN 208367543 U CN208367543 U CN 208367543U CN 201820854528 U CN201820854528 U CN 201820854528U CN 208367543 U CN208367543 U CN 208367543U
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Abstract
The utility model discloses a kind of plant protection drone flight control system, including earth station's subsystem, mapping subsystem and winged control subsystem；The mapping subsystem includes mapping module and the first digital transmission module, the mapping module is used to obtain the landing point of unmanned plane and multiple boundary mapped points in target plot, and first digital transmission module is used to landing point and multiple boundary mapped points being sent to earth station's subsystem；The utility model is intended to provide a kind of plant protection drone flight control system, by the way that safe intermediate transit point is arranged on the line of flight of unmanned plane, guarantees that flight safety of the unmanned plane in operation process is reliable.
Description
Technical field
The utility model relates to air vehicle technique field more particularly to a kind of plant protection drone flight control systems.
Background technique
Currently, as land transformation, farm land produce gradually scale, to improve agricultural production efficiency, reducing agricultural
Production cost increases unmanned plane increasingly with the demand that unmanned plane carries out operations such as spraying insecticide.How safe and reliable progress
The flight control of unmanned plane is the important topic in unmanned plane field.UAV Flight Control method in the prior art, is to be based on
The barrier being marked in advance in operating area carries out obstacle avoidance design when carrying out path planning, determines the course line of unmanned plane,
Based on determining flight course control unmanned plane during flying.In this Flight Control Scheme, the line of flight is based in operating area
The barrier of mark is planned；For convenience of operation, the landing point of usual unmanned plane is arranged outside operating area, process of making a return voyage
In, it is uncertain due to position of making a return voyage, it is directly flown the point of the landing to outside operating area by position of making a return voyage, if outside operating area
Flight path in there is barrier, will lead to flight control it is unreliable.
Utility model content
The utility model is intended to provide a kind of plant protection drone flight control system, by the line of flight of unmanned plane
Safe intermediate transit point is set, guarantees that flight safety of the unmanned plane in operation process is reliable.
In order to achieve the above objectives, the technical solution adopted in the utility model is as follows:
A kind of plant protection drone flight control system, including earth station's subsystem, mapping subsystem and winged control subsystem；
The mapping subsystem includes mapping module and the first digital transmission module, and the mapping module is for obtaining unmanned plane
Multiple boundary mapped points of landing point and target plot, first digital transmission module are used for landing point and multiple boundary mapped points
It is sent to earth station's subsystem；
Earth station's subsystem includes boundary generation module, intermediate transit point generation module, path planning module and the second number
Transmission module, the boundary generation module generate the boundary line in the target plot based on the multiple boundary mapped point；In described
The boundary line of landing point and target plot of the turning point generation module based on unmanned plane is located on target boundary of land block line with generating
Safe intermediate transit point；The path planning module is used to plan that the flight path information of unmanned plane, second digital transmission module to be used for
The job information of flight path information and user preset is sent to winged control subsystem；
The winged control subsystem includes flying control module, locating module and third digital transmission module, and the locating module is for obtaining
Take the current location information of unmanned plane；Third digital transmission module is for receiving flight path information and job information and passing to the second number
Module sends the current location information of unmanned plane, and the winged control module is based on flight path information and job information, controls nobody
Machine carries out flight operation.
Preferably, the flight path information includes secure path, transfer path and working path；The path planning mould
Block generates the secure path of unmanned plane based on landing point and safe intermediate transit point, and generates unmanned plane according to the boundary line in target plot
Working path, while according to the location information of safe intermediate transit point and working path generate unmanned plane transfer path.
Preferably, the boundary generation module includes sequence submodule and generates submodule, and the sequence submodule is used for
Putting in order for the multiple mapped point is determined based on the surveying and mapping data of the multiple mapped point；The generation submodule is used for will
The multiple mapped point is connected according to described put in order, boundary line of the obtained connecting line as the target plot.
Preferably, the mapping module is hand-held mapping equipment.
Preferably, the locating module is one or both of GPS or RTK.
Preferably, the path planning module is also used to generate the path of making a return voyage of unmanned plane, when reach make a return voyage condition when, road
Current location information and safe intermediate transit point of the diameter planning module based on unmanned plane generate path of making a return voyage.
Preferably, the condition of making a return voyage include receive instruction of making a return voyage, the manipulating object operation in working path is finished,
Detect that the sprinkling material that unmanned plane carries weighs less than preset weight threshold value and detects the electricity of unmanned machine battery lower than pre-
If one of power threshold is a variety of.
Preferably, the winged control subsystem further includes detection module, and the detection module is used to detect the weight of sprinkling material
The remaining capacity of amount and battery.
Preferably, the job information includes job position, sprinkling duration and the spray radius of manipulating object.
Compared with prior art, the utility model has the following beneficial effects:
The utility model is intended to provide a kind of plant protection drone flight control system, by the line of flight of unmanned plane
Safe intermediate transit point is set, guarantees that flight safety of the unmanned plane in operation process is reliable.When satisfaction makes a return voyage condition, successively execute
Make a return voyage path and secure path, so that unmanned plane makes a return voyage to landing point, guarantees not including barrier between safe intermediate transit point and landing point
Hinder object, can ensure the flight safety of unmanned plane.
Detailed description of the invention
Fig. 1 is the utility model structure diagram；
Fig. 2 is implementation example figure；
In figure: 100- earth station subsystem, 200- mapping subsystem, 300- fly control subsystem；
The boundary 101- generation module, 102- intermediate transit point generation module, 103- path planning module, the number of 104- second pass mould
Block；
201- mapping module, the first digital transmission module of 202-.
301- flies control module, 302- locating module, 303- third digital transmission module, 304- detection module.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing, to this reality
It is further elaborated with novel.
As shown in Figure 1, as the embodiments of the present invention, a kind of plant protection drone flight control system, including ground
Stand subsystem 100, mapping subsystem 200 and fly control subsystem 300；
Surveying and drawing subsystem 200 includes mapping module 201 and the first digital transmission module 202, and mapping module 201 is for obtaining nobody
The landing point of machine and multiple boundary mapped points in target plot, the first digital transmission module 202 are used to survey landing point and multiple boundaries
It draws and is a little sent to earth station's subsystem 100；For unmanned plane before operation, mapping worker can be according to mapping demand to wanting operation
Target plot accurately survey and draw on the spot, obtains multiple boundary mapped points in target plot.Wherein, multiple boundary mapped points are
Scatterplot data.
Earth station's subsystem 100 includes boundary generation module 101, intermediate transit point generation module 102, path planning module 103
With the second digital transmission module 104, boundary generation module 101 generates the boundary line in target plot based on multiple boundary mapped points；Transfer
The boundary line of point landing point and target plot of the generation module 102 based on unmanned plane, is located on target boundary of land block line with generating
Safe intermediate transit point；Path planning module 103 is used to plan that the flight path information of unmanned plane, the second digital transmission module 104 to be used for
The job information of flight path information and user preset is sent to winged control subsystem 300；
Certainly, job information includes job position, sprinkling duration and the spray radius of manipulating object.
Any point on target boundary of land block line and landing point are carried out planning path by intermediate transit point generation module 102, are obtained
Routing information group；The obstacle information between landing point and target boundary of land block line is obtained, screens in routing information group and does not wrap
Mulitpath information containing obstacle information；It obtains in the mulitpath information for not including obstacle information, the shortest road in path
Diameter information；According to the shortest routing information in path, the safe intermediate transit point being located on target boundary of land block line is obtained.Pass through above-mentioned side
Method can obtain that path is most short and not include the safe intermediate transit point of barrier in path.
Flying control subsystem 300 includes flying control module 301, locating module 302 and third digital transmission module 303, locating module 302
For obtaining the current location information of unmanned plane；Third digital transmission module 303 is for receiving flight path information and job information simultaneously
The current location information of unmanned plane is sent to the second digital transmission module 104, is flown control module 301 and is based on flight path information and operation letter
Breath, control unmanned plane carry out flight operation.
Flight path information includes secure path, transfer path and working path；Path planning module 103 is based on landing point
The secure path of unmanned plane is generated with safe intermediate transit point, and the working path of unmanned plane is generated according to the boundary line in target plot,
The transfer path of unmanned plane is generated according to the location information of safe intermediate transit point and working path simultaneously.
Path planning module 103 generates working path according to the boundary line in target plot；According to landing point and safe transfer
Point generates the secure path of unmanned plane, barrier is not present on secure path；According to safe intermediate transit point and operation starting point, generate
The operation transfer path of unmanned plane；Fly the control control unmanned plane of module 301 and successively executes secure path, operation transfer path and operation
Path carries out safely and reliably operation.Unmanned plane is in the operation process that takes off, first through secure path outside operating area
Landing point flies the safe intermediate transit point to the boundary line of operating area, then is flown by operation transfer path to the work of working path
Industry starting point is finally completed job task, guarantees flight safety of the unmanned plane in operation process.
As preferred embodiment, boundary generation module 101 includes sequence submodule and generation submodule, sequence submodule
For determining putting in order for multiple mapped points based on the surveying and mapping data of multiple mapped points；Submodule is generated to be used for multiple mappings
It presses phototypesetting column to be linked in sequence, boundary line of the obtained connecting line as target plot.Sequence submodule is from multiple boundaries
A boundary mapped point is chosen in mapped point as origin, is calculated from origin by the boundary mapped point of other non-origins
Afterwards, the shortest path of origin is returned；Then boundary mapped point in shortest path is put in order as multiple boundary mapped points
Put in order；It generates submodule to connect multiple boundary mapped points according to putting in order, obtained connecting line is as mesh
Mark the boundary line in plot.
Specifically, assuming that collected multiple boundary mapped points are to identify the necessary condition of the boundary line in target plot, i.e.,
Mapping worker is in actually mapping record, it is necessary to and pass through each boundary mapped point, and finally also to return to starting point,
To form the target plot of a closure, it is determined that multiple boundary mapped points can be considered as TSP (trip the problem of putting in order
Do business problem), the purpose of the TSP problem be seeking single traveller by starting point, by all given demand points it
Afterwards, the minimal path cost of starting point is finally returned.
Using the above-mentioned TSP problem of TSP model solution, in the concrete realization, TSP model can be solved by many algorithms
State problem, those skilled in the art use any existing TSP model solution method solve above-mentioned TSP problem be can be with
, the utility model embodiment to this with no restriction.
In one embodiment, above-mentioned TSP problem, sequence submodule can be solved by the way of linear optimization
The longitude information of multiple boundary mapped points and latitude information are converted into two-dimensional coordinate information respectively；In practice, samely
Block, the usual gap of longitude and latitude between two boundary mapped points is smaller, and gap is generally rear the two of longitude and latitude effective digital
Position, in order to expand the data difference between two boundary mapped points, to improve mapping precision, is determined multiple using TSP model
Before the putting in order of boundary mapped point, can the surveying and mapping data first to each boundary mapped point pre-process.Sequence
Module is based on two-dimensional coordinate information, calculates the distance between any two boundary mapped point, obtains distance matrix；And it determines initial
Boundary mapped point origin, inquiry is obtained in distance matrix surveys and draws with the smallest next boundary of initial boundary mapped point initial point distance
Point；Initial boundary mapped point origin is connected with next boundary mapped point, deletes next boundary mapped point institute in distance matrix
Row and column, generate new distance matrix；Using next boundary mapped point as new boundary mapped point origin, inquire it is new away from
From in matrix, acquisition and the smallest new next boundary mapped point of new boundary mapped point initial point distance are recycled with this, until inquiry obtains
Until obtaining the last one boundary mapped point；The last one boundary mapped point is connected with initial boundary mapped point origin, obtain from
Initial boundary mapped point origin sets out, and once and only once by other boundary mapped points, returns to initial boundary mapped point origin
Shortest path.
In the concrete realization, mapping worker can be acquired in target plot by hand-held plotting board and be surveyed comprising multiple boundaries
Draw surveying and mapping data a little.As an example, hand-held plotting board can be GPS (global positioning system) measuring device.
In order to improve measurement accuracy, hand-held plotting board can be RTK (carrier phase difference) measuring device.RTK positioning
Technology is namely based on the real time kinematic survey system of carrier phase observation data, it can provide survey station point in specified coordinate in real time
Three-dimensional localization in system is as a result, and reach a centimetre class precision.RTK measurement has following advantage: 1, precision is high, and operation is convenient.RTK
Operation is not limited by sighting condition, and without controlling, base station is set, and is carried out after a little checking, can be opened survey, such as with virtual base
It stands then easier.2, speed is fast, high-efficient, saves manpower.Every group of RTK operation general 1~2 people, every station mapping sampling site only need 3s
Left and right, can acquire 500 point datas for 1 day, working efficiency greatly improves.3, under RTK work pattern, base station passes through data-link
Send its observation and survey station coordinate information to rover station together.Rover station is not only received by data-link from base station
Data will also acquire GPS observation data, and form difference observation in system and handled in real time, while provide Centimeter Level
Positioning result was lasted less than one second.
It is readily apparent that, locating module 302 is one or both of GPS or RTK.
It should be noted that path planning module 103 is also used to generate the path of making a return voyage of unmanned plane, when satisfaction is maked a return voyage condition
When, current location information and cruise-in altitude are obtained, is maked a return voyage according to current location information, cruise-in altitude and safe intermediate transit point, generation
Path；Make a return voyage path and secure path are successively executed, so that unmanned plane makes a return voyage to landing point.The landing point setting of unmanned plane is being made
Outside industry region, during making a return voyage, due to uncertain, the landing to outside operating area of directly being flown by position of making a return voyage for position of making a return voyage
It is unreliable to will lead to flight control if there is barrier in flight path outside operating area for point；Therefore, in operating area
Boundary line on safe intermediate transit point is set, guarantee between safe intermediate transit point and landing point do not include barrier, can ensure nobody
The flight safety of machine.
It is understandable, the condition of making a return voyage include receive instruction of making a return voyage, the manipulating object operation in working path is finished,
Detect that the sprinkling material that unmanned plane carries weighs less than preset weight threshold value and detects the electricity of unmanned machine battery lower than pre-
If one of power threshold is a variety of.
As shown in Fig. 2, making a return voyage in time to enable to fly control module 301, flying control subsystem 300 further includes detection module 304,
Detection module 304 is used to detect the weight of sprinkling material and the remaining capacity of battery.
Certainly, the utility model can also have other numerous embodiments, without departing substantially from the spirit of the present invention and its essence
In the case where, those skilled in the art can make various corresponding changes and modifications, but these according to the utility model
Corresponding changes and modifications all should belong to the protection scope of the utility model the attached claims.
Claims (9)
1. a kind of plant protection drone flight control system, it is characterised in that: including earth station's subsystem, mapping subsystem and fly control
Subsystem；
The mapping subsystem includes mapping module and the first digital transmission module, and the mapping module is used to obtain the landing of unmanned plane
Multiple boundary mapped points of point and target plot, first digital transmission module are used to send landing point and multiple boundary mapped points
To earth station's subsystem；
Earth station's subsystem includes that boundary generation module, intermediate transit point generation module, path planning module and the second number pass mould
Block, the boundary generation module generate the boundary line in the target plot based on the multiple boundary mapped point；The intermediate transit point
The boundary line of landing point and target plot of the generation module based on unmanned plane, to generate the safety being located on target boundary of land block line
Intermediate transit point；The path planning module is used to plan that the flight path information of unmanned plane, second digital transmission module to be used for winged
Control the job information that subsystem sends flight path information and user preset；
The winged control subsystem includes flying control module, locating module and third digital transmission module, and the locating module is for obtaining nothing
Man-machine current location information；Third digital transmission module is for receiving flight path information and job information and to the second digital transmission module
Send unmanned plane current location information, the winged control module be based on flight path information and job information, control unmanned plane into
Row flight operation.
2. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the flight path letter
Breath includes secure path, transfer path and working path；The path planning module is based on landing point and safe intermediate transit point generates
The secure path of unmanned plane, and according to the working path of the boundary line in target plot generation unmanned plane, while according to safe transfer
Point generates the transfer path of unmanned plane with the location information of working path.
3. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the boundary generates mould
Block includes sequence submodule and generates submodule, and the sequence submodule is true for the surveying and mapping data based on the multiple mapped point
Fixed the multiple mapped point puts in order；The generation submodule is for putting in order the multiple mapped point according to described
It connects, boundary line of the obtained connecting line as the target plot.
4. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the mapping module is
Hand-held mapping equipment.
5. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the locating module is
One or both of GPS or RTK.
6. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the path planning mould
Block is also used to generate the path of making a return voyage of unmanned plane, when reach make a return voyage condition when, present bit of the path planning module based on unmanned plane
Confidence breath and safe intermediate transit point generate path of making a return voyage.
7. a kind of plant protection drone flight control system according to claim 6, it is characterised in that: the condition packet that makes a return voyage
It includes and receives instruction of making a return voyage, the manipulating object operation in working path is finished, detects the sprinkling material weight that unmanned plane carries
Amount is lower than one of default power threshold or a variety of lower than preset weight threshold value with the electricity for detecting unmanned machine battery.
8. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the winged control subsystem
It further include detection module, the detection module is used to detect the weight of sprinkling material and the remaining capacity of battery.
9. a kind of plant protection drone flight control system according to claim 1, it is characterised in that: the job information packet
Include job position, sprinkling duration and the spray radius of manipulating object.
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| CN201820854528.9U CN208367543U (en) | 2018-06-04 | 2018-06-04 | A kind of plant protection drone flight control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270577A (en) * | 2023-11-22 | 2023-12-22 | 华东交通大学 | Operation method and system of agricultural unmanned equipment based on path planning |
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2018
- 2018-06-04 CN CN201820854528.9U patent/CN208367543U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270577A (en) * | 2023-11-22 | 2023-12-22 | 华东交通大学 | Operation method and system of agricultural unmanned equipment based on path planning |
| CN117270577B (en) * | 2023-11-22 | 2024-02-27 | 华东交通大学 | Operation method and system of agricultural unmanned equipment based on path planning |
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Effective date of registration: 20211009 Address after: 315300 No. 598, enterprise East Road, Zhouxiang Town, Cixi City, Ningbo City, Zhejiang Province Patentee after: Chaonongli (Zhejiang) Intelligent Technology Co.,Ltd. Address before: 610000 room 3507, floor 35, building 1, No. 666, middle section of Tianfu Avenue, high tech Zone, Chengdu, Sichuan Patentee before: CHENGDU SKYLIN TECHNOLOGY Co.,Ltd. |
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