WO2019157900A1 - 一种飞行姿态控制方法及装置、飞行控制系统 - Google Patents

一种飞行姿态控制方法及装置、飞行控制系统 Download PDF

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Publication number
WO2019157900A1
WO2019157900A1 PCT/CN2019/072099 CN2019072099W WO2019157900A1 WO 2019157900 A1 WO2019157900 A1 WO 2019157900A1 CN 2019072099 W CN2019072099 W CN 2019072099W WO 2019157900 A1 WO2019157900 A1 WO 2019157900A1
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WIPO (PCT)
Prior art keywords
flight attitude
information
angle
attitude
flight
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Ceased
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PCT/CN2019/072099
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English (en)
French (fr)
Chinese (zh)
Inventor
吴斌
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Application filed by Guangzhou Xaircraft Technology Co Ltd filed Critical Guangzhou Xaircraft Technology Co Ltd
Priority to JP2020523388A priority Critical patent/JP2021500683A/ja
Priority to US16/967,596 priority patent/US20210271266A1/en
Priority to AU2019221213A priority patent/AU2019221213B2/en
Priority to EP19754369.7A priority patent/EP3674832A4/en
Publication of WO2019157900A1 publication Critical patent/WO2019157900A1/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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the invention relates to the technical field of plant protection, in particular to a flight attitude control method and device, and a flight control system.
  • UAVs In modern agriculture, the use of drones for crop pest control is a relatively common plant protection operation, which not only saves labor costs, but also improves the efficiency of plant protection operations.
  • UAVs mainly use parallel line-by-line scanning and spraying to fly in the plant protection operation area, spray plant protection chemicals on crops, and realize plant protection operations for crops.
  • the drone when using a drone for plant protection operations, the drone needs to spray the plant protection agent while the airframe is kept stable.
  • the airframe When the airframe is stable, the drone wind field of the drone is also in a stable state.
  • the generated airflow always blows on the surface of the plant, which makes it difficult for the plant protection agent to spray on the surface of the crop facing the aircraft, resulting in some pests and diseases that exist on the surface of the crop facing away from the aircraft, which is difficult to be controlled, thereby reducing the effect of the drone plant protection operation.
  • the UAV planting operation time is relatively long.
  • the object of the embodiments of the present invention is to provide a flight attitude control method and device, and a flight control system, which can shorten the plant protection operation time while improving the effect of the plant protection operation.
  • an embodiment of the present invention provides a flight attitude control method, where the flight attitude control method includes:
  • flight attitude control information is obtained, the flight attitude control information being used to control a flight attitude dynamic change of the aircraft to change the airflow in the area below the aircraft.
  • the flight attitude control method provided by the first aspect of the embodiment of the present invention, by adjusting the initial flight attitude information, the flight attitude information that is dynamically changing is obtained, so that when the plant protection operation is performed,
  • the obtained flight attitude control information can dynamically control the flight attitude of the aircraft, so that the flight attitude of the aircraft changes dynamically; and when the flight attitude control information, the propeller or rotor of the aircraft can disturb the airflow in the area below the aircraft.
  • the disturbed airflow drives the plant protection agent sprayed by the aircraft to disperse in all directions, thereby ensuring that the agent sprayed by the aircraft can be attached to various positions of the crop, and solving the problem that the plant protection agent is difficult to be sprayed to the crop back to the aircraft in the conventional flight plant protection operation.
  • the problem of the surface therefore, compared with the prior art, the flight attitude control method provided by the first aspect of the embodiment of the present invention can improve the effect of the plant protection operation.
  • the flight attitude control method when the aircraft is in the plant protection operation, it is only necessary to ensure that the flight attitude is in a dynamic change to disturb the airflow in the area under the aircraft, so that the gas is sent in the plant protection chemical spraying area. Convection, it can ensure that the plant protection agent is sprayed to the surface of the crop away from the aircraft, thereby reducing or even stopping hovering at the fixed point position, thereby achieving the purpose of improving the crop plant protection effect; therefore, compared with the prior art, the first aspect of the embodiment of the present invention
  • the provided flight attitude control method can improve the plant protection operation effect and shorten the plant protection operation time to improve the plant protection operation efficiency.
  • an embodiment of the present invention provides a flight attitude control method, where the flight attitude control method includes:
  • the flight attitude of the aircraft is controlled to be dynamically changed to change the airflow in the area under the aircraft.
  • the beneficial effects of the flight attitude control method provided by the second aspect of the embodiments of the present invention are the same as those of the flight attitude control method provided by the first aspect, and are not described herein.
  • an embodiment of the present invention provides a flight attitude control apparatus, where the flight attitude control apparatus includes:
  • An attitude adjustment module configured to adjust initial flight attitude information to obtain flight attitude information that is dynamically changing
  • An information control module coupled to the attitude adjustment module, configured to obtain flight attitude control information according to the dynamically changing flight attitude information, where the flight attitude control information is used to control a flight attitude dynamic change of the aircraft to change Airflow in the area below the aircraft.
  • the beneficial effects of the flight attitude control device provided by the third aspect of the embodiments of the present invention are the same as those of the flight attitude control method provided by the first aspect, and are not described herein.
  • an embodiment of the present invention provides a flight attitude control apparatus, where the flight attitude control apparatus includes:
  • a second transceiver module configured to receive a flight control instruction
  • a driving control module connected to the second transceiver module, configured to control the flight attitude of the aircraft to be dynamically changed according to the flight attitude control information to change the airflow in the area under the aircraft.
  • the beneficial effects of the flight attitude control device provided by the fourth aspect of the embodiments of the present invention are the same as those of the flight attitude control method provided by the first aspect, and are not described herein.
  • an embodiment of the present invention provides a flight control system, including the flight attitude control device of the first aspect, the flight attitude control device of the second aspect, and a driving module; the driving module and the information
  • the control module is respectively connected to the second transceiver module.
  • the beneficial effects of the flight control system provided by the fifth aspect of the embodiments of the present invention are the same as those of the flight attitude control method provided by the first aspect, and are not described herein.
  • FIG. 1 is an application scenario diagram of a flight attitude control method and apparatus according to an embodiment of the present invention
  • FIG. 2 is a flowchart 1 of a flight attitude control method according to Embodiment 1 of the present invention.
  • Embodiment 3 is a flowchart of adjusting flight attitude information according to Embodiment 1 of the present invention.
  • FIG. 5 is a flowchart 1 of a flight attitude control method according to Embodiment 2 of the present invention.
  • FIG. 6 is a second flowchart of a flight attitude control method according to Embodiment 2 of the present invention.
  • FIG. 7 is a structural block diagram 1 of a flight attitude control apparatus according to Embodiment 3 of the present invention.
  • FIG. 8 is a structural block diagram of a posture adjustment module according to Embodiment 3 of the present invention.
  • FIG. 9 is a structural block diagram 2 of a flight attitude control apparatus according to Embodiment 3 of the present invention.
  • FIG. 10 is a structural block diagram of a flight attitude control apparatus according to Embodiment 4 of the present invention.
  • FIG. 11 is a structural block diagram of a flight control system according to an embodiment of the present invention.
  • FIG. 12 is a hardware diagram of a plant protection flight attitude control terminal according to an embodiment of the present invention.
  • 201a initial information setting unit, 201b - angle control unit;
  • the aircraft attitude control method and device provided by the embodiments of the present invention can control the aircraft during the plant protection operation, in view of the problem that the plant protection efficiency of the UAV in the prior art is low, and the plant protection effect is not good.
  • the dynamic change of the flight attitude enables the aircraft to be in a state of similar front-to-back or left-right swing when performing plant protection operations to improve the plant protection effect and plant protection efficiency.
  • the 1 shows an application environment diagram of a flight attitude control method, which includes a client 1 and an aircraft 2 in communication with the client 1, and the client 1 and the aircraft 2 can communicate wirelessly or in wired communication.
  • the client 1 receives the plant protection task or other control information proposed by the user, such as route, speed and other control information, and transmits it to the aircraft 2, and the aircraft 2 utilizes the flight attitude control device 20 therein, and the flight attitude control method according to the embodiment of the present invention is provided.
  • Complete the plant protection task can be a mobile phone, a desktop computer, a tablet computer, a smart controller, etc.
  • the aircraft 2 can be a drone or other aircraft with a flight plant protection function.
  • the flight attitude control method and apparatus according to the embodiment of the present invention will be described in detail below with reference to FIGS. 2-6.
  • an embodiment of the present invention provides a flight attitude control method for controlling a driving module 21 (such as a motor) of an aircraft to drive a propeller or a rotor to rotate, so that the aircraft is in a swing when performing a plant protection operation.
  • the state includes the following steps:
  • Step S120 adjusting initial flight attitude information to obtain flight attitude information that is dynamically changing;
  • the initial flight attitude information may indicate an initial flight attitude of the aircraft, for example, the initial flight attitude information of the aircraft is 5 m/s smooth flight,
  • the flight attitude information includes a flight attitude signal for controlling flight of the aircraft, and the adjustment manner may include superimposing one or more attitude control signals on the original flight attitude signal to generate a superimposed dynamically changing flight attitude signal, and the adjustment manner is also
  • the method may include directly changing an original Fetion attitude signal to generate a dynamically changing flight attitude signal, the flight attitude information including the flight attitude signal, wherein the dynamically changing flight attitude information is defined as after the original flight attitude information is adjusted
  • the flight attitude information, the dynamically changing information may be wave-like flight attitude information, may be a swinging flight attitude information, may be a serpentine flight attitude information, may be a skipped flight attitude information, or may be irregular Change can also be Period changes, specifically selected according to actual needs.
  • the aircraft it controls can undulate up and down on the original flight path to form a wave-like flight path, thereby dynamically changing the downwind generated by the rotor.
  • the field flips the back of the blade up, which helps the liquid to adhere to the back of the blade.
  • Step S130 Obtain flight attitude control information according to the dynamically changing flight attitude information, and the flight attitude control information is used to control the flight attitude dynamic change of the aircraft to change the airflow in the area under the aircraft.
  • the flight attitude control information may be acquired according to the flight attitude information.
  • the attitude control signal of the drone at each attitude angle may be acquired according to the flight attitude information, and may be preset according to the flight information of the flight attitude and the preset information of the flight attitude control information.
  • the manner of the table is realized, and the flight attitude control signal can also be generated by subjecting the Fetion attitude information to quantization processing.
  • the flight attitude control method provided by the embodiment of the present invention further includes:
  • Step S140 Send flight attitude control information to the driving module 21 of the aircraft, the driving module 21 may include a flight control center and a power device, and the power device may include a motor, an electric tone, a propeller, etc., the driving module 21 Controlling the dynamic change of the flight attitude of the aircraft based on the flight attitude control information.
  • the flight attitude information that is in dynamic change is obtained by adjusting the initial flight attitude information, so that when performing the plant protection operation, according to the flight attitude that is dynamically changing Information, the obtained flight attitude control information can dynamically control the flight attitude of the aircraft, so that the flight attitude of the aircraft changes dynamically; and the propeller or rotor of the aircraft can disturb the airflow in the area below the aircraft, so that the disturbed airflow drives the plant protection sprayed by the aircraft.
  • the medicament is dispersed in all directions, thereby ensuring that the medicament sprayed by the aircraft can be attached to various positions of the crop, and solving the problem that the plant protection medicament is difficult to be sprayed on the surface of the crop back to the aircraft in the conventional flight plant protection operation, and therefore, compared with the prior art,
  • the flight attitude control method provided by the embodiment of the invention can improve the plant protection operation effect.
  • the flight attitude control method when the aircraft is in the plant protection operation, it is only necessary to ensure that the flight attitude is in a dynamic change to disturb the airflow of the plant protection chemical spraying area, so that the gas convection in the plant protection chemical spraying area is It can ensure that the plant protection agent is sprayed to the surface of the crop away from the aircraft, thereby reducing or even stopping the hovering spray on the crops such as the fruit trees, thereby achieving the purpose of improving the crop plant protection effect; therefore, compared with the prior art, the embodiments of the present invention provide The flight attitude control method can improve the plant protection operation effect, shorten the plant protection operation time, and improve the plant protection operation efficiency.
  • the flight attitude information that is dynamically changed may be randomly changed when it is dynamically changed, or may be periodically changed periodically.
  • the manner in which the propeller of the aircraft disturbs the airflow can be controlled, thus ensuring that the controlled disturbance airflow can periodically drive the plant protection agent to spray in one direction to realize the plant protection of the aircraft spraying.
  • the medicament can be controlled to be attached to the site where plant protection is required, so that the crop plant protection site can be controlled.
  • the initial flight attitude information generally includes information such as speed, position, and the like, which is controlled by the attitude angle.
  • adjusting the initial flight attitude information to obtain the flight attitude information that is dynamically changing includes:
  • Step S121 The control attitude angle dynamically changes in the plant protection operation area to obtain the attitude angle dynamic information; wherein the attitude angle represented by the attitude angle dynamic information periodically changes to achieve the periodic change of the flight attitude information;
  • Step S122 Correct the initial flight attitude information according to the attitude angle dynamic information, and obtain the flight attitude information that is dynamically changing.
  • the attitude angle includes a pitch angle ⁇ , a roll angle ⁇ , and a yaw angle ⁇
  • the roll angle ⁇ is defined as: an angle between the plane of symmetry of the aircraft and a vertical plane passing through the longitudinal axis of the aircraft body, and the right roll is positive;
  • the pitch angle ⁇ is defined as the angle between the body axis and the ground plane (horizontal plane).
  • the aircraft head is positive, and the yaw angle ⁇ is defined as the angle between the projection of the body axis on the horizontal plane and the ground axis. Positive.
  • the dynamic change of the flight attitude of the aircraft is to disturb the airflow, so that the airflow drives the medicament to various parts of each crop, and when the pitch angle ⁇ or the roll angle ⁇ is dynamically changed, the airflow of the plant protection spray area can be disturbed.
  • the airflow in the spraying area of the plant protection agent is in a state of up-and-down convection, so that not only the agent can be driven onto the crop, but also the formed airflow in the up-and-down convection state can swing the action object, so that the medicine is more easily sprayed to various parts of the crop.
  • control attitude angle changes dynamically in the plant protection operation area
  • the pitch angle can be dynamically changed in the plant protection operation area
  • the roll angle can be dynamically changed in the plant protection operation area
  • the roll angle can be alternately controlled in the plant protection operation area to dynamically change and control the elevation angle. Dynamic changes in the plant protection work area.
  • control attitude angle is dynamically changed in the plant protection operation area, and obtaining the attitude angle dynamic information includes one of the following three modes:
  • the first way control the pitch angle to dynamically change in the plant protection operation area, and obtain the pitch angle dynamic information
  • the second way controlling the roll angle to dynamically change in the plant protection work area, and obtaining the roll angle dynamic information
  • the third mode the work area of the plant protection operation includes at least one first work area and at least one second work area; controlling the pitch angle to dynamically change in each of the first work areas, acquiring pitch angle dynamic information; controlling the roll angle Dynamically changing in each of the second work areas, the roll angle dynamic information is acquired.
  • the waveform may exhibit a waveform such as a sine wave, a cosine wave or a square wave in a time dimension when periodically changing, and may of course be other waveforms. Specifically, it is set according to the purpose of disturbing airflow.
  • the pitch angle or roll angle should be controlled.
  • the waveform can exhibit a sine wave or a cosine wave in the time dimension. .
  • the pitch angle waveform represented by the pitch angle dynamic information presents a sine wave in the time dimension
  • the pitch angle ⁇ asin(2 ⁇ th 1 ) represented by the pitch angle dynamic information
  • a is the pitch amplitude
  • h 1 is the pitch period
  • t is the working time.
  • the roll angle waveform represented by the roll angle dynamic information exhibits a sine wave in the time dimension
  • b is the roll amplitude
  • h 2 is the roll
  • the angular change period, t is the working time.
  • the angular change period, t is the working time.
  • the pitch angle or roll angle should be controlled, which can be in time during periodic changes.
  • the waveform in the dimension presents a square wave.
  • a is the pitch amplitude
  • h 1 is the pitch period
  • t is the working time;
  • the plant protection flight attitude is adjusted, and the flight attitude information that is in dynamic change is obtained.
  • Step S123 in parallel with step S121: receiving the planting operation area scan result provided by the surveying and mapping apparatus 4, and setting initial flight attitude information according to the planting operation area scan result; the initial flight attitude information can ensure that the aircraft is stable during non-plant protection operation Flight status.
  • the flight attitude control method provided by the embodiment of the present invention further includes:
  • Step S110 receiving a flight control command;
  • the flight control command may be a signal for starting the attitude angle control, or may include control information of the attitude angle control strategy;
  • the client 1 shown in FIG. 1 is generally used, such as a handle or other signal device to send a flight control command, and the flight control command is used as the attitude angle control command.
  • the user When the flight control command contains the control information of the attitude angle control strategy, the user usually manually controls the attitude angle.
  • the client 2 such as the handle or his signal device, can be used to send the flight control command to control the attitude angle. Variety.
  • the control attitude angle is dynamically changed in the plant protection operation area, and obtaining the attitude angle dynamic information includes:
  • the control attitude angle is dynamically changed in the plant protection operation area, and the attitude angle dynamic information is obtained.
  • an embodiment of the present invention provides a flight attitude control method, where the flight attitude control method includes the following steps:
  • Step S210 Receive flight attitude control information
  • Step S220 Control the flight attitude of the aircraft to be dynamically changed according to the flight attitude control information to change the airflow in the area under the aircraft.
  • the beneficial effects of the flight attitude control method provided by the embodiment of the present invention are the same as those of the flight attitude control method provided in the first embodiment, and are not described herein.
  • the flight attitude control information in the embodiment of the present invention is variable in the time dimension, so as to achieve the purpose of controlling the flight attitude of the aircraft to be dynamically changed.
  • the flight attitude control information is the attitude angle dynamic information, as shown in FIG. 6, the above-mentioned dynamic change of controlling the flight attitude of the aircraft according to the flight attitude control information includes:
  • Step S221 Obtain driving control information that is dynamically changing according to the attitude angle dynamic information; and the driving control information that is dynamically changing is used to control the flight attitude dynamic change of the aircraft.
  • the flight attitude control method provided by the embodiment of the present invention further includes:
  • Step S222 transmitting the dynamically changing driving control information to the driving module 21 of the aircraft, so that the driving module 21 controls the flight attitude of the aircraft to dynamically change according to the dynamically changing driving control information.
  • attitude angle dynamic information can be referred to the corresponding description in the first embodiment, and is not enumerated here.
  • an embodiment of the present invention further provides a flight attitude control device 20, where the flight attitude control device 20 includes:
  • the attitude adjustment module 201 is configured to adjust initial flight attitude information to obtain flight attitude information that is dynamically changing;
  • the information control module 202 is connected to the attitude adjustment module 201, and is configured to obtain flight attitude control information according to the dynamically changing flight attitude information, where the flight attitude control information is used to control the flight attitude dynamic change of the aircraft to change the area under the aircraft. airflow.
  • the flight attitude control apparatus provided by the embodiment of the present invention implements flight attitude control according to the flight attitude control method disclosed in the first embodiment.
  • the beneficial effects of the flight attitude control device provided by the embodiment of the present invention are the same as those of the flight attitude control method provided in the first embodiment, and are not described herein.
  • the posture adjustment module 201 in the embodiment of the present invention includes: an angle control unit 201b, configured to control the dynamic change of the posture angle in the plant protection operation area, and obtain the posture angle dynamic information;
  • the angle control unit 201b is configured to control the pitch angle to dynamically change in the planting operation area to obtain the pitch angle dynamic information; or to control the roll angle to dynamically change in the plant protection operation area to obtain the roll angle dynamic information; or, the work area of the plant protection operation includes At least one first work area and at least one second work area; controlling the pitch angle to dynamically change in each of the first work areas to obtain pitch angle dynamic information; controlling the roll angle to dynamically change in each of the second work areas, obtaining Roll angle dynamic information.
  • the pitch angle waveform represented by the pitch angle dynamic information exhibits a sine wave in a time dimension
  • a is a pitch amplitude
  • h 1 is a pitch period
  • t is the working time.
  • the roll angle waveform represented by the roll angle dynamic information exhibits a sine wave in the time dimension
  • b is the roll amplitude
  • h 2 is the roll
  • the angular change period, t is the working time.
  • the pitch angle waveform represented by the surface elevation angle dynamic information presents a cosine wave in the time dimension
  • the pitch angle ⁇ acos(2 ⁇ th 1 ) represented by the pitch angle dynamic information
  • a is the pitch range
  • h 1 is the pitch period
  • t is the working time.
  • the angular change period, t is the working time.
  • h 2 is the roll angle change period, and t is the work time.
  • the roll angle waveform represented by the roll angle dynamic information exhibits a square wave in a time dimension
  • b is a roll amplitude,
  • h 2 is the roll angle change period, and
  • t is the work time.
  • the posture adjustment module 201 in the embodiment of the present invention further includes: an attitude correction unit 201c connected to the angle control unit 201b and the information control module 202, configured to initialize the initial flight attitude according to the attitude angle dynamic information. The information is corrected to obtain flight attitude information that is dynamically changing.
  • the embodiment of the present invention further includes a first transceiver module 203 connected to the information control module 202 for receiving a plant protection work area scan result provided by the surveying device 4;
  • the flight attitude control information is sent to the driving module 21, so that the driving module 21 controls the flight attitude dynamic change of the aircraft according to the flight attitude control information; when the driving module 21 drives the aircraft to fly, it may be a progressive scanning method or may fly according to other methods.
  • the specific route is set according to the actual situation.
  • the initial information setting unit 201a connected to the first transceiver module 203 and the posture correcting unit 201c is configured to set initial flight attitude information based on the planting work area scan result.
  • the first transceiver module 203 is further connected to the angle control unit 201b, such that the first transceiver module 203 is further configured to receive a flight control command, and the angle control unit 201b is configured to use the flight control command.
  • the control attitude angle changes dynamically in the plant protection operation area to obtain the attitude angle dynamic information.
  • the flight control command may be an open command for starting the attitude angle control, or may be a control information including a posture angle control strategy.
  • an embodiment of the present invention provides a flight attitude control apparatus, where the flight attitude control apparatus includes:
  • a second transceiver module 204 configured to receive flight attitude control information
  • the driving control module 205 connected to the second transceiver module 204 is configured to control the flight attitude of the aircraft to be dynamically changed according to the flight attitude control information to change the airflow in the area under the aircraft.
  • the flight attitude control device provided by the embodiment of the present invention is executed according to the flight attitude control method provided in the second embodiment to implement flight attitude control.
  • the driving control module 205 is configured to obtain the driving control information that is dynamically changing according to the posture angle dynamic information, as shown in FIG. 6 and FIG.
  • the dynamically changing drive control information is used to control the dynamic change of the aircraft's flight attitude.
  • the second transceiver module 204 is further configured to send the dynamically changing driving control information to the driving module 21 of the aircraft, so that the driving module 21 controls the flight attitude of the aircraft according to the dynamically changing driving control information. Variety.
  • attitude angle dynamic information As for the change and limitation of the attitude angle represented by the attitude angle dynamic information, reference may be made to the corresponding part of the first embodiment, which is not listed here.
  • an embodiment of the present invention further provides a flight control system, which includes the flight attitude control device provided in Embodiment 3 and the flight attitude control device provided in Embodiment 4, and the information control module 202 and The second transceiver module 204 is connected.
  • the information control module 202 sends the flight attitude control information to the second transceiver module 204.
  • the driving control module 205 controls the flight attitude of the aircraft to be dynamic according to the flight attitude control information. Change to change the airflow in the area below the aircraft.
  • the flight control system provided by the embodiment of the present invention further includes a driving module 21 , and the second transceiver module 204 is connected to the driving module 21 to ensure that the driving control module 205 is controlled by the second transceiver module 204 .
  • Module 21 controls the flight attitude of the aircraft to be dynamically changing.
  • the first transceiver module 203 is also connected to the surveying device 4 to ensure that the first transceiver module 203 can receive the surveying and mapping device.
  • the scan result of the plant protection work area is provided, so that the initial information setting unit sets the initial flight attitude information according to the scan result of the plant protection work area; at the same time, the first transceiver module 203 is further connected with the second transceiver module 204, so that The second transceiver module 204 transmits the flight attitude control information to the second transceiver module 204, so that the flight attitude control device provided in the fourth embodiment begins to execute the flight attitude control method provided in the second embodiment.
  • the first transceiver module 203 when the first transceiver module 203 is further configured to receive the flight control instruction, the first transceiver module 203 is further connected to the client, and the client is configured to send the flight control.
  • the instruction is to ensure that the angle control unit controls the attitude angle to dynamically change in the plant protection operation area according to the flight control instruction, and obtains the attitude angle dynamic information.
  • the embodiment of the present invention further provides a storage medium for storing executable program code that supports the flight attitude control method provided in the first embodiment and/or the second embodiment, and the beneficial effects thereof are the same as the first embodiment.
  • the beneficial effects of the provided flight attitude control method are the same and will not be described herein.
  • an embodiment of the present invention further provides a planting flight attitude control terminal, which includes a transceiver 303, a memory 301 and a processor 302, a transceiver 303, a memory 301, and processing.
  • the switches 302 communicate with one another via a bus 304. among them,
  • the memory 301 is configured to store a plurality of instructions to implement the flight attitude control method provided by the present invention, and the processor 302 executes the plurality of instructions to implement the flight attitude control method provided in the first embodiment and/or the second embodiment; the transceiver 303
  • the support processor 302 is in communication with the mapping device 4 and the drive module 21.
  • the processor 302 in the embodiment of the present invention may be a processor or a collective name of multiple processing elements.
  • the processor 302 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or one or more configured to implement the embodiments of the present invention.
  • An integrated circuit such as one or more digital signal processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs).
  • the memory 301 may be a storage device or a collective name of a plurality of storage elements, and is used to store executable program code or the like. And the memory 301 may include random access memory (RAM), and may also include non-volatile memory such as a magnetic disk memory, a flash memory, or the like.
  • RAM random access memory
  • non-volatile memory such as a magnetic disk memory, a flash memory, or the like.
  • the bus 304 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus 304 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 8, but it does not mean that there is only one bus or one type of bus.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the solution provided by the embodiments of the present application can be applied to aircraft control.
  • the initial flight attitude information of the aircraft is adjusted to obtain flight attitude information that is dynamically changing; and the flight attitude control information is obtained according to the dynamically changing flight attitude information, and the flight attitude control is performed.
  • the information is used to control the dynamic change of the flight attitude of the aircraft to change the airflow in the area below the aircraft.
  • the propeller or rotor of the aircraft can disturb the airflow in the area under the aircraft, so that the disturbed airflow drives the plant protection agent sprayed by the aircraft to disperse in all directions, thereby ensuring that the agent sprayed by the aircraft can be attached to various positions of the crop, and the conventional flight plant protection is solved. It is difficult for the plant protection agent to be sprayed on the surface of the crop back to the surface of the aircraft during the operation.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Pest Control & Pesticides (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Insects & Arthropods (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Catching Or Destruction (AREA)
PCT/CN2019/072099 2018-02-13 2019-01-17 一种飞行姿态控制方法及装置、飞行控制系统 Ceased WO2019157900A1 (zh)

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JP2020523388A JP2021500683A (ja) 2018-02-13 2019-01-17 飛行姿勢制御方法及び装置、飛行制御システム
US16/967,596 US20210271266A1 (en) 2018-02-13 2019-01-17 Flight attitude control method and apparatus, and flight control system
AU2019221213A AU2019221213B2 (en) 2018-02-13 2019-01-17 Method and apparatus for controlling flight attitude, and flight control system
EP19754369.7A EP3674832A4 (en) 2018-02-13 2019-01-17 FLIGHT ATTITUDE PROCEDURE AND DEVICE AND FLIGHT CONTROL SYSTEM

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CN201810150910.6A CN110147111B (zh) 2018-02-13 2018-02-13 一种飞行姿态控制方法及装置、飞行控制系统

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AU2019221213B2 (en) 2022-03-03
CN110147111A (zh) 2019-08-20
AU2019221213A1 (en) 2020-10-01
JP2021500683A (ja) 2021-01-07
EP3674832A1 (en) 2020-07-01
US20210271266A1 (en) 2021-09-02
CN110147111B (zh) 2021-05-14

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