WO2018094582A1 - 用于采集农田地理信息的手持终端 - Google Patents

用于采集农田地理信息的手持终端 Download PDF

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Publication number
WO2018094582A1
WO2018094582A1 PCT/CN2016/106831 CN2016106831W WO2018094582A1 WO 2018094582 A1 WO2018094582 A1 WO 2018094582A1 CN 2016106831 W CN2016106831 W CN 2016106831W WO 2018094582 A1 WO2018094582 A1 WO 2018094582A1
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WO
WIPO (PCT)
Prior art keywords
rtk
strut
movable bracket
handheld terminal
state
Prior art date
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Ceased
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PCT/CN2016/106831
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English (en)
French (fr)
Inventor
周乐
吴旭民
吴晓龙
匡亮亮
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2016/106831 priority Critical patent/WO2018094582A1/zh
Priority to CN201680002747.8A priority patent/CN107077151A/zh
Publication of WO2018094582A1 publication Critical patent/WO2018094582A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the present invention relates to the field of surveying and mapping technologies, and in particular, to a handheld terminal for collecting farmland geographic information.
  • the UAV when the UAV is carrying out agricultural and forestry plant protection operations, it will fly over the field and carry out corresponding airborne operations such as spraying pesticides, thus playing the role of controlling crop pests and diseases. Since the UAV is flying and broadcasting, the operation speed is higher. Fast, less manpower is needed.
  • the invention provides a handheld terminal for collecting farmland geographic information, so as to conveniently and reliably collect geographic information of farmland for automatic operation of the unmanned aerial vehicle.
  • the invention provides a handheld terminal for collecting farmland geographic information, comprising an RTK antenna, a rod-shaped movable bracket, an RTK circuit component and a display screen, the RTK antenna is located at the top of the movable bracket, and the RTK circuit component and the display screen are located on the movable bracket.
  • the movable bracket can be deformed, and the deformation state of the movable bracket includes a use state and a transport state, and the length of the movable bracket in the use state is greater than the length of the movable bracket in the transport state;
  • the RTK circuit components are electrically connected to the RTK antenna and the display screen, respectively, and the display screen is used to display the working status information of the handheld terminal.
  • the handheld terminal for collecting farmland geographic information comprises the RTK antenna, the rod-shaped movable bracket, the RTK circuit component and the display screen, and the RTK antenna is located at the top of the movable bracket.
  • the RTK circuit assembly and the display screen are located at the lower part of the movable bracket; the movable bracket can be deformed, and the deformation state of the movable bracket includes the use state and the transport state, and the length of the movable bracket in the use state is greater than the length of the movable bracket in the transport state.
  • the RTK circuit components are electrically connected to the RTK antenna and the display screen, respectively, and the display screen is used to display the working status information of the handheld terminal.
  • the length of the movable bracket can be changed, which can ensure the RTK antenna has sufficient working height, and can ensure the portability of the entire handheld terminal, so that the handheld terminal can be used to collect farmland geographic information and ensure the automatic flight of the unmanned aerial vehicle.
  • FIG. 1 is a schematic exploded view of a handheld terminal for collecting farmland geographic information according to Embodiment 1 of the present invention
  • Figure 2 is a front elevational view of the handheld terminal of Figure 1 in use
  • Figure 3 is a partial enlarged view of the portion A in Figure 2;
  • Figure 4 is a side elevational view of the handheld terminal of Figure 1 in use
  • Figure 5 is a front elevational view of the handheld terminal of Figure 1 in a transport state
  • Figure 6 is a side elevational view of the handheld terminal of Figure 1 in a transport state
  • Fig. 7 is a partial structural view showing the connection portion of the first strut and the second strut in the first embodiment of the present invention.
  • RTK antenna 1—RTK antenna; 2—active bracket; 3—RTK circuit assembly; 4—display; 5—control button; 21—first pole; 22—second pole; 23—cable; 24- battery compartment; - locking device; 31 - RTK transceiver station; 32 - RTK control circuit; 33 - rotating snap ring; 51 - status button; 52 - mark button; 211 - first through hole; 221 - second through hole; ; 23a - a portion of the cable between the first through hole and the second through hole.
  • FIG. 1 is a schematic exploded view of a handheld terminal for collecting farmland geographic information according to Embodiment 1 of the present invention.
  • 2 is a front elevational view of the handheld terminal of FIG. 1 in use.
  • Fig. 3 is a partially enlarged schematic view showing a portion A in Fig. 2;
  • 4 is a side elevational view of the handheld terminal of FIG. 1 in use.
  • Figure 5 is a front elevational view of the handheld terminal of Figure 1 in a transport state.
  • Figure 6 is a side elevational view of the handheld terminal of Figure 1 in a transported state. As shown in FIG. 1 to FIG.
  • the handheld terminal for collecting farmland geographic information includes a real-time differential positioning (RTK) antenna 1, a rod-shaped movable support 2, and an RTK circuit.
  • the component 3 and the display screen 4, the RTK antenna 1 is located at the top of the movable bracket 2, the RTK circuit assembly 3 and the display screen 4 are both located at the lower portion of the movable bracket 2; the movable bracket 2 can be deformed, and the deformed state of the movable bracket 2 includes the use state and In the transport state, the length of the movable bracket 2 in the use state is greater than the length of the movable bracket 2 in the transport state; the RTK circuit assembly 3 is electrically connected to the RTK antenna 1 and the display screen 4, respectively, and the display screen 4 is used to display the working state of the handheld terminal information.
  • RTK real-time differential positioning
  • the RTK antenna 1 and the RTK circuit assembly 3 of the handheld terminal are both fixed on the movable bracket 2.
  • the movable bracket 2 is rod-shaped and usually has a long length, so that the RTK antenna 1 disposed at the top of the movable bracket 2 can have a high height, so that when receiving signals from satellites or base stations, low-level obstacles can be avoided. The interference of signal transmission and reception, signal strength and signal reliability are good.
  • the movable bracket 2 is rod-shaped and can be deformed so that its shape and size are changed.
  • the different deformation states of the movable bracket 2 may include a use state and a transport state, and when the movable bracket 2 is in use, its own length may be greater than the length in the transport state.
  • the RTK antenna 1 located at the top of the movable support 2 has a high working height, which can avoid interference of signals by generally high obstacles in the farmland to achieve better signal strength and signal quality;
  • the bracket 2 is in the transportation state, the length of the bracket 2 is short, so that it has better portability, so that in the farmland with more complicated terrain and more obstacles, the information collecting personnel can conveniently carry the handheld terminal to move, thereby completing different locations. And location geographic information collection.
  • the RTK antenna 1 is usually located at the bottom end of the movable bracket 2 or the middle position of the movable bracket 2, at this time, the length of the movable bracket 2 is shortened, and the RTK antenna 1 is housed in the movable bracket. The bottom or middle of the 2, thus effectively improving the portable performance of the entire handheld terminal.
  • the RTK circuit assembly 3 and the display screen 4 are both disposed at the lower portion of the movable bracket 2, which facilitates the user to perform geographic information collection operations and information reading.
  • the RTK circuit assembly 3 is electrically connected to both the RTK antenna 1 and the display screen 4, so that the RTK circuit assembly 3 can receive and transmit signals through the RTK antenna 1, and the display screen 4 can be used to display the operational status information of the handheld terminal.
  • the working status information of the handheld terminal is generally the working state and working mode of the handheld terminal at the time when the handheld terminal collects geographic information of the farmland.
  • the working state of the handheld terminal includes at least one of a path recording state and an obstacle marking state, wherein the obstacle marking state is used to mark the current coordinate of the handheld terminal as the coordinate of the obstacle, and the path recording state is used for Record the terrain path through which the handheld terminal passes.
  • the handheld terminal collects farmland geographic information
  • the geographic information of the handheld terminal at the current time is collected in real time or at predetermined time intervals, and the geographic information of each time point is connected in time order to form a complete Farmland topographic map or terrain path. Therefore, in a general state, the handheld terminal has a path recording state in which the geographic information of the location of the handheld terminal at each time point can be recorded, and the terrain path through which the handheld terminal passes is formed.
  • the geographic information of the location where the handheld terminal is located may specifically include a geographic coordinate value of the location and a height value of the location.
  • the geographic coordinate values may be represented together by two relative coordinates of a Cartesian coordinate system, or directly by the latitude and longitude of the position.
  • a three-dimensional terrain model with farmland topographical features can be drawn, so that the agricultural unmanned aerial vehicle can plan the route according to the three-dimensional terrain model for automatic agricultural operation such as fertilization and application. .
  • the operational state of the handheld terminal may also include an obstacle flag state.
  • the operation of the information collecting personnel allows the handheld terminal to enter the obstacle marking state and mark the position of the obstacle.
  • the position is an obstacle point that cannot pass, and the agricultural unmanned aerial vehicle can bypass the obstacle point when flying, or perform an evasive operation at the obstacle point.
  • the display screen 4 for displaying the working state information is disposed on the handheld terminal, the information collecting personnel can freely view and select the working state information of the current handheld terminal through the display of the display screen 4 to perform path recording or obstacle. Object calibration and other operations.
  • the working state information of the display screen 4 only needs text or a simple graphic to realize display, the size of the display screen 4 and the display specification are low, as long as it can be read normally.
  • the handheld terminal needs to continuously switch between the use state and the work state when performing geographic information collection, in order to balance work performance and portability, correspondingly, in order to realize deformation of the movable bracket 2, it is convenient to be in use state and When the transportation state is switched in different states, the movable bracket 2 can have different structures that are easy to deform.
  • the specific structure of the movable bracket will be described in detail below by taking a specific embodiment as an example.
  • the movable bracket 2 can be in different forms such as a folding bracket or a telescopic bracket. Whether folding or telescopic, the length of the movable bracket can be effectively reduced, and the portable capacity of the movable bracket can be enhanced.
  • the movable bracket 2 may include a plurality of struts, and the struts are movably connected to each other so that the plurality of struts extend along the length of the struts in the use state, and Retracted along the length of the strut in the transport state.
  • the movable bracket 2 is formed by a plurality of split-type struts. Since a plurality of struts are formed with a relatively movable mechanism, the entire movable bracket 2 itself can be deformed along the length direction to achieve the retracting effect.
  • the plurality of struts herein may be two struts or two or more struts, as long as the deformation requirements of the movable bracket can be met, and are not limited herein.
  • the movable bracket when the movable bracket is a folding bracket, the plurality of poles can be rotatably connected by a hinge structure to enable the plurality of poles to be folded.
  • a hinge structure may be provided at the end of the strut to increase the ratio of length changes before and after folding.
  • the movable bracket 2 is a telescopic bracket
  • at least one hollow strut may be included in the plurality of strut, and the plurality of strut rods are sleeved with each other to make the plurality of strut rods It can be contracted along the length of the strut.
  • the struts can be inserted into the hollow body of the adjacent struts
  • the struts which are mutually nested overlap each other in the longitudinal direction, so that the plurality of struts are contracted along the length of the struts to reduce the entire activity.
  • the plurality of struts may include a first struts 21 and a second struts 22, the RTK antenna 1 is located at the top end of the first struts 21, and the RTK circuit assembly 3 and the display screen 4 are both located on the second struts 22.
  • the bottom end of the first leg 21 is movably coupled to the second strut 22.
  • the movable connection between the first strut 21 and the second strut 22 can be realized by a hinge structure or a sleeve manner, and when the first strut 21 and the second strut 22 are folded or stretched, the activity is active.
  • the overall length of the bracket 2 can be reduced to only slightly longer than the length of one strut, so that the overall length is greatly reduced, and the portability is effectively improved.
  • the RTK antenna 1 is disposed at the top end of the first pole 21 located in the upper half, which can effectively ensure the transmission and reception of signals, and the RTK circuit assembly 3 and the display screen 4 are both located on the second pole 22 of the lower half, which is convenient for personnel operation. And view.
  • the handheld terminal may further include a locking device disposed at a connection portion of the first strut 21 and the second strut 22, and the locking device is used for the first strut 21
  • the first strut 21 and the second strut 22 are forcibly opened and fixed to avoid loosening or even deformation. While the movable bracket 2 is in the transport state, the relative position between the first strut 21 and the second strut 22 can be ensured by other locking mechanisms 25 or straps.
  • the cable 23 that transmits the signal is fixed and set.
  • the first strut 21 and the second strut 22 are both hollow structures, and the cavity of the first strut 21 and the second strut 22 is provided with a cavity for connecting the RTK antenna 1 and the RTK circuit component 3. Cable 23.
  • the cable 23 can pass through the internal cavity of the first strut 21 and the second strut 22 to achieve electrical connection while the cable 23 can be protected by the strut structure.
  • Figure 7 is a partial structural view showing the connection portion of the first strut and the second strut in the first embodiment of the present invention; intention.
  • first strut 21 and the second strut 22 are deformed by a hinge structure or the like, the relative positions of the two are changed when switching in different states.
  • the connection and fixing of the cable 23 are still ensured, and the cable 23 is prevented from being broken. It is also possible to provide a structure for the movable cable.
  • the bottom end side wall of the first strut 21 is provided with a first through hole 211
  • the top end side wall of the second strut 22 is provided with a second through hole 221 through which the cable 23 passes through the first through hole 211 and the second a through hole 221, and a portion 23a of the cable 23 between the first through hole 211 and the second through hole 221 is exposed on the outer side of the movable bracket 2 to rotate when the first strut 21 and the second strut 22 are relatively rotated.
  • the connection between the RTK antenna 1 and the RTK circuit assembly 3 is maintained.
  • the portion 23a of the cable 23 between the first strut 21 and the second strut 22 is exposed outside the movable bracket 2, so that it is not subjected to the rotation and folding between the first strut 21 and the second strut 22, and the like.
  • the locking structure 25 can maintain the relative positions of the first strut 21 and the second strut 22 when the first strut 21 and the second strut 22 abut on the same straight line, thereby achieving the locking of the two.
  • first strut 21 and the second strut 22 are included in the movable bracket 2 as an example, and when the movable bracket 2 includes more strut, the fixing manner of the strut and the cable is described. And the manner of fixing the cable between adjacent poles can still be the same as the above manner, and details are not described herein again.
  • the RTK circuit component 3 may specifically include an RTK transceiver station 31 and an RTK control circuit 32; the RTK transceiver station 31 is connected between the RTK control circuit 32 and the RTK antenna 1.
  • the RTK transceiver station 31 is mainly used to drive the RTK antenna 1 to generate a signal that the RTK antenna 1 can transmit or to receive and convert the signal received by the RTK antenna 1.
  • the RTK control circuit 32 is mainly used for performing various types of calculation and processing processes to control the transmission and reception of signals and the collection and processing of information, thereby collecting geographic information of farmland.
  • the RTK transceiver station 31 and the RTK control circuit 32 are typically modular, separate components to facilitate rapid replacement of different components.
  • the RTK control circuit 32 is coupled to the movable bracket 2 by a snap member. In this way, the RTK control circuit 32 can realize calculation and processing in the handheld terminal, and can also be independently removed and installed to other handheld terminals, and even RTK calculation and control operations on the UAV.
  • the RTK control circuit 32 is disposed on the unmanned aerial vehicle, it can be utilized The acquired location information assists the UAV in conducting more automated flights.
  • the latching member for connecting the RTK control circuit 32 and the movable bracket 2 is a rotating snap ring 33.
  • the rotating snap ring 33 realizes the installation and disengagement of the RTK control circuit 32 by means of rotation, and the method is relatively simple and quick.
  • the handheld terminal In order to switch and control different working states of the handheld terminal, the handheld terminal generally includes a control button 5 electrically connected to the RTK circuit assembly 3. Specifically, the control button 5 generally includes a status button 51 for switching the working state of the RTK terminal.
  • the working state of the handheld terminal is the path recording state. At this time, the information collecting personnel do not need manual operation, and when the information collecting personnel needs to switch the working state, the pressing state can be pressed. Button 51 to switch to the obstacle flag state or other state or the like.
  • control button 5 may further include a mark button 52 electrically connected to the RTK circuit assembly 3 for marking the current coordinate as the obstacle coordinate when the operating state of the RTK terminal is the obstacle mark state.
  • the current position can be marked by pressing the mark button 52 when the hand held terminal is in the obstacle mark state. After the position point is marked as the obstacle position, the subsequent unmanned aerial vehicle route planning can be avoided to ensure the safe flight of the unmanned aerial vehicle.
  • control button 5 and the display screen 4 are generally located on the same side of the movable bracket 2. This makes it easy to operate while viewing the status.
  • the bottom end of the movable bracket 2 is generally provided as a handle, and the battery compartment 24 for accommodating the battery 241 may be further disposed on the handle, wherein the battery 241 of the battery compartment 24 is used for RTK circuit component 3 powered battery.
  • the opening of the battery compartment 24 is along the axial direction of the handle, and the battery 241 can be loaded from the bottom end or the top end of the handle without damaging the shape of the handle while saving installation space.
  • the handheld terminal for collecting farmland geographic information specifically includes an RTK antenna, a rod-shaped movable bracket, an RTK circuit component, and a display screen.
  • the RTK antenna is located at the top of the movable bracket, and the RTK circuit component and the display screen are located at the activity.
  • the lower part of the bracket; the movable bracket can be deformed, and the deformation state of the movable bracket includes the use state and the transport state, the length of the movable bracket in the use state is greater than the length of the movable bracket in the transport state; the RTK circuit component and the RTK antenna and the display respectively Electrical connection, the display is used to display the working status information of the handheld terminal.
  • the length of the movable bracket can be changed, which can ensure the RTK antenna has sufficient working height, and can ensure the portability of the entire handheld terminal, so that the handheld terminal can be used to collect farmland geographic information and ensure the automatic flight of the unmanned aerial vehicle.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Support Of Aerials (AREA)

Abstract

一种用于采集农田地理信息的手持终端。其中包括RTK天线(1)、杆状的活动支架(2)、RTK电路组件(3)和显示屏(4)，RTK天线(1)位于活动支架(2)的顶部，RTK电路组件(3)和显示屏(4)均位于活动支架(2)的下部；活动支架(2)能够变形，并且活动支架(2)的变形状态包括使用状态和运输状态，活动支架(2)在使用状态下的长度大于活动支架(2)在运输状态下的长度；RTK电路组件(3)分别和RTK天线(1)以及显示屏(4)电连接，显示屏(4)用于显示手持终端的工作状态信息。本发明能够方便可靠的采集农田的地理信息，以供无人飞行器进行自动作业。

Description

用于采集农田地理信息的手持终端 技术领域
本发明涉及测绘技术领域，尤其涉及一种用于采集农田地理信息的手持终端。
背景技术
随着无人飞行技术的不断进步，无人飞行器的应用范围越来越广，已经逐渐应用于农林作业领域。
目前，无人飞行器在进行农林植保作业时，会飞过田块上方，并进行相应的喷洒农药等空中作业，从而起到防治作物病虫害的效果，由于无人飞行器是飞行撒播，所以作业速度较快，需要人力较少。
然而，当田块的地形较为复杂时，无人飞行器由于难以获取地形，无法进行自动作业，而只能人工手动控制作业，严重影响了作业效率和喷洒的均匀度。
发明内容
本发明提供一种用于采集农田地理信息的手持终端，以方便可靠的采集农田的地理信息，以供无人飞行器进行自动作业。
本发明提供一种用于采集农田地理信息的手持终端，包括RTK天线、杆状的活动支架、RTK电路组件和显示屏，RTK天线位于活动支架的顶部，RTK电路组件和显示屏均位于活动支架的下部；
活动支架能够变形，并且活动支架的变形状态包括使用状态和运输状态，活动支架在使用状态下的长度大于活动支架在运输状态下的长度；
RTK电路组件分别和RTK天线以及显示屏电连接，显示屏用于显示手持终端的工作状态信息。
本发明的用于采集农田地理信息的手持终端，具体包括RTK天线、杆状的活动支架、RTK电路组件和显示屏，RTK天线位于活动支架的顶 部，RTK电路组件和显示屏均位于活动支架的下部；活动支架能够变形，并且活动支架的变形状态包括使用状态和运输状态，活动支架在使用状态下的长度大于活动支架在运输状态下的长度；RTK电路组件分别和RTK天线以及显示屏电连接，显示屏用于显示手持终端的工作状态信息。这样活动支架的长度可以改变，既可以保证RTK天线具有足够的工作高度，也可以保证整个手持终端的便携性，从而可以利用手持终端采集农田地理信息，保障无人飞行器的自动飞行。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的用于采集农田地理信息的手持终端的爆炸示意图；
图2是图1中的手持终端在使用状态下的正视示意图；
图3是图2中A处的局部放大示意图；
图4是图1中的手持终端在使用状态下的侧视示意图；
图5是图1中的手持终端在运输状态下的正视示意图；
图6是图1中的手持终端在运输状态下的侧视示意图；
图7是本发明实施例一中第一支杆和第二支杆的连接部位局部结构示意图。
附图标记说明：
1—RTK天线；2—活动支架；3—RTK电路组件；4—显示屏；5—控制按钮；21—第一支杆；22—第二支杆；23—电缆；24—电池仓；25—锁紧装置；31—RTK收发电台；32—RTK控制电路；33—旋转卡环；51—状态按钮；52—标记按钮；211—第一通孔；221—第二通孔；241—电池；23a—电缆的位于第一通孔与第二通孔之间的部分。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1是本发明实施例一提供的用于采集农田地理信息的手持终端的爆炸示意图。图2是图1中的手持终端在使用状态下的正视示意图。图3是图2中A处的局部放大示意图。图4是图1中的手持终端在使用状态下的侧视示意图。图5是图1中的手持终端在运输状态下的正视示意图。图6是图1中的手持终端在运输状态下的侧视示意图。如图1至图6所示，本实施例提供的用于采集农田地理信息的手持终端，具体包括实时差分定位(Real-time kinematic，简称RTK)天线1、杆状的活动支架2、RTK电路组件3和显示屏4，RTK天线1位于活动支架2的顶部，RTK电路组件3和显示屏4均位于活动支架2的下部；活动支架2能够变形，并且活动支架2的变形状态包括使用状态和运输状态，活动支架2在使用状态下的长度大于活动支架2在运输状态下的长度；RTK电路组件3分别和RTK天线1以及显示屏4电连接，显示屏4用于显示手持终端的工作状态信息。
其中，手持终端的RTK天线1和RTK电路组件3均固定在活动支架2上。活动支架2为杆状，且通常具有较长的长度，这样设置在活动支架2顶部的RTK天线1能够具有较高的高度，这样在接收卫星或基站的信号时，能够避免高度较低的障碍物对信号收发的干扰，信号强度和信号可靠性均较好。
活动支架2为杆状，且能够变形，从而其形状和大小均会产生变化。活动支架2的不同变形状态可以包括使用状态和运输状态，而活动支架2处于使用状态时，其自身长度会大于处于运输状态下的长度。这样在使用状态下时，位于活动支架2顶部的RTK天线1具有较高的工作高度，可以避免农田中一般高度的障碍物对信号的干扰，以达到较好的信号强度及信号质量；而活动支架2处于运输状态下时，其长度较短，因而具有较佳的便携性，这样在地形较为复杂，障碍物较多的农田中，方便信息采集人员携带该手持终端进行移动，从而完成不同地点及位置的地理信息采集。
具体的，活动支架2为运输状态时，RTK天线1通常位于活动支架2的底端或者活动支架2的中部位置，此时，活动支架2的长度变短，而RTK天线1被收容在活动支架2的底端或者中部，因而有效提高了整个手持终端的便携性能。
RTK电路组件3和显示屏4均设在活动支架2的下部，这样便于用户进行地理信息采集操作及信息的读取。RTK电路组件3同时和RTK天线1以及显示屏4具有电连接，这样RTK电路组件3可以通过RTK天线1进行信号的接收和发送，而显示屏4可以用于显示手持终端的工作状态信息。
可选的，手持终端的工作状态信息通常可为该手持终端在进行农田的地理信息采集时，手持终端此时的工作状态及工作模式。具体的，手持终端的工作状态包括如下至少一种：路径记录状态和障碍物标记状态，其中，障碍物标记状态用于将手持终端当前所在的坐标标记为障碍物的坐标，路径记录状态用于记录手持终端所经过的地形路径。
通常的，因为手持终端在进行农田地理信息采集时，通常是采用实时或者按照预定时间间隔采集手持终端在当前时间的地理信息，并按照时间排序将各个时间点的地理信息连接起来，以形成完整的农田地形图或者地形路径。所以，一般状态下，手持终端具有路径记录状态，该状态下，可记录手持终端在各个时间点所在位置的地理信息，并形成手持终端所经过的地形路径。具体的，手持终端所在位置的地理信息具体可以包括该位置的地理坐标值和该位置的高度值。通常的，地理坐标值可以以直角坐标系的两个相对坐标来共同表示，或者直接以该位置的经纬度进行表示。通过记录手持终端的不同位置的地理坐标值和高度值，可以绘制出具有农田地形特征的三维地形模型，以便农业无人飞行器根据该三维地形模型规划路线，以进行施肥、施药等自动农业操作。
而由于农田中可能存在电线杆、土堆等较高的障碍物，当无人机飞行至该障碍物位置时，如果不采取规避措施，可能会被障碍物挡住而形成飞行干扰，甚至坠机。因而，手持终端的工作状态还可以包括障碍物标记状态。当手持终端位于障碍物所在位置时，通过信息采集人员的操作，可以让手持终端进入障碍物标记状态，并将障碍物的位置标出。这样后续形成 的三维地形模型上，该位置即为不能通过的障碍物点，而农业无人飞行器飞行时可以绕过该障碍物点，或者在该障碍物点执行规避操作。
由于手持终端上设置有用于显示工作状态信息的显示屏4，因而信息采集人员可以通过显示屏4的显示，而自由的对当前手持终端的工作状态信息进行查看和选择，以进行路径记录或者障碍物标定等不同的操作。一般的，由于显示屏4的工作状态信息仅需要文字或简单图形即可实现显示，因而显示屏4的尺寸和显示规格的要求均较低，只要能够正常读取即可。
具体的，因为手持终端在进行地理信息采集时，需要不断在使用状态和工作状态之间切换，以兼顾工作性能和便携性，所以相应的，为了实现活动支架2的变形，便于在使用状态和运输状态等不同状态下切换，活动支架2可以具有不同的便于变形的结构。以下以具体的实施方式为例，对活动支架的具体结构进行详细说明。
可选的，活动支架2为可以为折叠支架或伸缩支架等不同形式。无论折叠还是伸缩，都可以有效减少活动支架的长度，增强活动支架的便携能力。
一般的，为实现折叠或伸缩等变形方式，活动支架2可包括多个支杆，多个支杆之间活动连接，以使多个支杆在使用状态下沿支杆的长度方向伸展，而在运输状态下沿支杆的长度方向收回。这样通过分体式的多个支杆共同构成了活动支架2，由于多个支杆之间形成了可相对运动的机构，所以整个活动支架2自身可沿长度方向产生机构变形，达到收放效果。需要说明的是，此处的多个支杆，其具体数量可以为两个支杆或者两个以上的支杆，只要能够满足活动支架的变形要求即可，此处不加以限制。
作为一种可选的实施方式，当活动支架为折叠支架时，多个支杆之间可通过铰链结构可转动连接，以使多个支杆能够折叠起来。当多个支杆均折叠后，整体尺寸变小，因而整个活动支架2即可呈运输状态；而支杆通过铰链结构转动至对接后，整个活动支架被打开，呈使用状态。可选的，铰链结构可以设置在支杆的端部，以增加折叠前后的长度变化比例。
而作为另一种可选的实施方式，当活动支架2为伸缩支架时，多个支杆中可包括至少一个中空支杆，且多个支杆之间相互套设，以使多个支杆能够沿支杆长度方向收缩起来。这样，支杆可以装入相邻支杆的中空腔体 内，以实现多个支杆之间的套设，因而相互套设的支杆，其在长度方向的尺寸相互重叠，从而让多个支杆沿着支杆的长度方向收缩，以减少整个活动支架2的占用长度。
考虑到活动支架2的整体刚度和不同状态下切换的便捷性，支杆的数量通常不宜过多。一般的，多个支杆可以包括第一支杆21和第二支杆22，RTK天线1位于第一支杆21的顶端，RTK电路组件3和显示屏4均位于第二支杆22上，第一支杆21的底端与第二支杆22活动连接。
此时，第一支杆21和第二支杆22之间可以通过铰链结构或者套设方式实现可活动的连接，当第一支杆21和第二支杆22之间折叠或者伸缩时，活动支架2的整体长度可以减小至仅为略长于一个支杆的长度，因而整体长度大大缩小，有效提高的便携性。当整个活动支架2打开时，第一支杆21位于活动支架2上半段，而第二支杆21位于活动支架2下半段。RTK天线1设置在位于上半段的第一支杆21顶端，可以有效保证信号的收发，而RTK电路组件3和显示屏4均位于下半段的第二支杆22上，可以便于人员操作和查看。
而为了避免活动支架2在工作时发生意外变形，手持终端还可以包括锁定装置，锁定装置设置在第一支杆21与第二支杆22的连接部位，锁定装置用于在第一支杆21与第二支杆22对接并处于同一条直线上时，保持第一支杆21与第二支杆22的相对位置。这样可以使活动支架2在使用状态下时，第一支杆21和第二支杆22强制打开并固定，避免松动甚至变形。而活动支架2在运输状态时，可以通过其它锁定机构25或者绑带保证第一支杆21与第二支杆22之间的相对位置。
由于RTK天线1和RTK电路组件3通常位于活动支架2的不同支杆上，为了保证RTK天线1和RTK电路组件3之间的电连接，需要对RTK天线1和RTK电路组件3之间用于传输信号的电缆23进行固定和设置。具体的，可使第一支杆21和第二支杆22均为中空结构，第一支杆21和第二支杆22的空腔中穿设有用于连接RTK天线1与RTK电路组件3的电缆23。因而，电缆23可以穿过第一支杆21和第二支杆22的内部空腔，从而实现电连接，同时电缆23可以得到支杆结构的保护。
图7是本发明实施例一中第一支杆和第二支杆的连接部位局部结构示 意图。如图7所示，进一步的，因为第一支杆21和第二支杆22之间通过铰接结构等实现形变，因而在不同状态下切换时，两者的相对位置会发生变化。为了在活动支架2产生变形时，仍然保证电缆23的连接与固定，避免电缆23折断，还可以设置用于活动穿设电缆的结构。具体的，第一支杆21的底端侧壁设置有第一通孔211，第二支杆22的顶端侧壁设置有第二通孔221，电缆23穿过第一通孔211和第二通孔221，且电缆23的位于第一通孔211与第二通孔221之间的部分23a裸露在活动支架2的外侧，以在第一支杆21和第二支杆22相对旋转时，保持RTK天线1与RTK电路组件3之间的连接。这样，电缆23的位于第一支杆21和第二支杆22之间的部分23a会裸露在活动支架2外侧，因而不会受到第一支杆21和第二支杆22之间旋转折叠等变形的影响，而始终维持RTK天线1和RTK电路组件3之间具有正常的电连接。而锁定结构25可以在第一支杆21与第二支杆22对接并处于同一条直线上时，保持第一支杆21与第二支杆22的相对位置，从而实现两者的锁定。
需要说明的是，此处以活动支架2中包括第一支杆21和第二支杆22为例进行说明，而当活动支架2中包括有更多的支杆时，支杆与电缆的固定方式以及相邻支杆间电缆的固定方式仍可以和上述方式相同，此处不再赘述。
此外，为了实现对农田地理信息的采集，RTK电路组件3具体可以包括RTK收发电台31和RTK控制电路32；RTK收发电台31连接在RTK控制电路32和RTK天线1之间。RTK收发电台31主要用于驱动RTK天线1工作，生成RTK天线1可发送的信号或者接收并转换RTK天线1所接收到的信号。而RTK控制电路32主要用于进行各类计算和处理过程，以控制信号的收发和信息的采集处理，从而采集到农田的地理信息。一般的，RTK收发电台31和RTK控制电路32通常为模块化的独立组件，以方便进行不同部件的快速更换等操作。
作为一种优选的实施方式，RTK控制电路32通过卡扣件与活动支架2连接。这样RTK控制电路32即可实现在手持终端中的计算和处理，此外也可以独立拆下，并安装至其它手持终端，甚至无人飞行器上进行RTK计算和控制操作。当RTK控制电路32设置在无人飞行器上时，可以利用 获取到的位置信息协助无人飞行器进行自动化程度较高的飞行。
可选的，用于连接RTK控制电路32和活动支架2的卡扣件为旋转卡环33。旋转卡环33采用旋转的方式实现RTK控制电路32的安装与脱离，方式较为简单快捷。
为了对手持终端的不同工作状态进行切换及控制，手持终端上一般还包括与RTK电路组件3电连接的控制按钮5。具体的，控制按钮5中通常包括有状态按钮51，状态按钮51用于切换RTK终端的工作状态。以手持终端一般的工作方式为例，通常情况下，手持终端的工作状态为路径记录状态，此时信息采集人员不需要手动操作，而当信息采集人员需要切换工作状态时，即可按下状态按钮51，以切换至障碍物标记状态或者其它状态等。
此外，控制按钮5还可包括与RTK电路组件3电连接的标记按钮52，标记按钮52用于当RTK终端的工作状态为障碍物标记状态时，将当前的坐标标记为障碍物坐标。这样如果信息采集人员发现障碍物，可以在当手持终端处于障碍物标记状态时，通过按动标记按钮52，对当前位置进行标记。该位置点标记为障碍物位置后，后续即可在无人飞行器路线规划上予以避开，保证无人飞行器的安全飞行。
优选的，控制按钮5和显示屏4一般均位于活动支架2的同一侧。这样便于在查看状态的同时进行操作。
此外，可选的，为了便于进行握持，活动支架2的底端通常设置为把手，把手上还可开设有用于容纳电池241的电池仓24，其中，电池仓24的电池241为用于为RTK电路组件3供电的电池。一般的，电池仓24的开口沿着把手的轴向，电池241可从把手底端或顶端装入，不会破坏把手的外形，同时节省安装空间。
本实施例中，用于采集农田地理信息的手持终端，具体包括RTK天线、杆状的活动支架、RTK电路组件和显示屏，RTK天线位于活动支架的顶部，RTK电路组件和显示屏均位于活动支架的下部；活动支架能够变形，并且活动支架的变形状态包括使用状态和运输状态，活动支架在使用状态下的长度大于活动支架在运输状态下的长度；RTK电路组件分别和RTK天线以及显示屏电连接，显示屏用于显示手持终端的工作状态信息。 这样活动支架的长度可以改变，既可以保证RTK天线具有足够的工作高度，也可以保证整个手持终端的便携性，从而可以利用手持终端采集农田地理信息，保障无人飞行器的自动飞行。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (18)

  1. 一种用于采集农田地理信息的手持终端，其特征在于，包括实时差分定位RTK天线、杆状的活动支架、RTK电路组件和显示屏，所述RTK天线位于所述活动支架的顶部，所述RTK电路组件和所述显示屏均位于所述活动支架的下部；
    所述活动支架能够变形，并且所述活动支架的变形状态包括使用状态和运输状态，所述活动支架在所述使用状态下的长度大于所述活动支架在所述运输状态下的长度；
    所述RTK电路组件分别和所述RTK天线以及所述显示屏电连接，所述显示屏用于显示所述手持终端的工作状态信息。
  2. 根据权利要求1所述的手持终端，其特征在于，所述手持终端的工作状态包括如下至少一种：路径记录状态和障碍物标记状态，
    其中，所述障碍物标记状态用于将所述手持终端当前所在的坐标标记为障碍物的坐标，所述路径记录状态用于记录所述手持终端所经过的地形路径。
  3. 根据权利要求2所述的手持终端，其特征在于，所述活动支架为所述运输状态时，所述RTK天线位于所述活动支架的底端或者所述活动支架的中部位置。
  4. 根据权利要求1-3任一项所述的手持终端，其特征在于，所述活动支架为折叠支架或伸缩支架。
  5. 根据权利要求4所述的手持终端，其特征在于，所述活动支架包括多个支杆，多个所述支杆之间活动连接，以使多个所述支杆在所述使用状态下沿所述支杆的长度方向伸展，而在所述运输状态下沿所述支杆的长度方向收回。
  6. 根据权利要求5所述的手持终端，其特征在于，多个所述支杆之间通过铰链结构可转动连接，以使多个所述支杆能够折叠起来。
  7. 根据权利要求5所述的手持终端，其特征在于，多个所述支杆中包括至少一个中空支杆，且多个所述支杆之间相互套设，以使多个所述支杆能够沿所述支杆长度方向收缩起来。
  8. 根据权利要求5所述的手持终端，其特征在于，多个所述支杆包 括第一支杆和第二支杆，所述RTK天线位于所述第一支杆的顶端，所述RTK电路组件和所述显示屏均位于所述第二支杆上，所述第一支杆的底端与所述第二支杆活动连接。
  9. 根据权利要求8所述的手持终端，其特征在于，还包括：锁定装置，所述锁定装置设置在所述第一支杆与所述第二支杆的连接部位，所述锁定装置用于在所述第一支杆与所述第二支杆对接并处于同一条直线上时，保持所述第一支杆与所述第二支杆的相对位置。
  10. 根据权利要求8所述的手持终端，其特征在于，所述第一支杆和所述第二支杆均为中空结构，所述第一支杆和所述第二支杆的空腔中穿设有用于连接所述RTK天线与所述RTK电路组件的电缆。
  11. 根据权利要求10所述的手持终端，其特征在于，所述第一支杆的底端侧壁设置有第一通孔，所述第二支杆的顶端侧壁设置有第二通孔，所述电缆穿过所述第一通孔和所述第二通孔，且所述电缆的位于所述第一通孔与所述第二通孔之间的部分裸露在所述活动支架的外侧，以在所述第一支杆和所述第二支杆相对旋转时，保持所述RTK天线与所述RTK电路组件之间的连接。
  12. 根据权利要求1-3任一项所述的手持终端，其特征在于，所述RTK电路组件包括RTK收发电台和RTK控制电路；所述RTK收发电台连接在所述RTK控制电路和所述RTK天线之间。
  13. 根据权利要求12所述的手持终端，其特征在于，所述RTK控制电路通过卡扣件与所述活动支架连接。
  14. 根据权利要求13所述的手持终端，其特征在于，所述卡扣件为旋转卡环。
  15. 根据权利要求2或3所述的手持终端，其特征在于，还包括与所述RTK电路组件电连接的控制按钮；所述控制按钮包括状态按钮，所述状态按钮用于切换所述RTK终端的工作状态。
  16. 根据权利要求15所述的手持终端，其特征在于，所述控制按钮还包括与所述RTK电路组件电连接的标记按钮，所述标记按钮用于当所述RTK终端的工作状态为障碍物标记状态时，将当前的坐标标记为障碍物坐标。
  17. 根据权利要求15所述的手持终端，其特征在于，所述控制按钮和所述显示屏位于所述活动支架的同一侧。
  18. 根据权利要求1-3任一项所述的手持终端，其特征在于，所述活动支架的底端为把手，所述把手开设有用于容纳电池的电池仓，所述电池仓的电池为用于为所述RTK电路组件供电的电池。
PCT/CN2016/106831 2016-11-22 2016-11-22 用于采集农田地理信息的手持终端 Ceased WO2018094582A1 (zh)

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