CN106020233B - Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method - Google Patents
Unmanned aerial vehicle plant protection operation system, unmanned aerial vehicle for plant protection operation and control method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle plant protection operation system, an unmanned aerial vehicle for plant protection operation and a control method. From this, on the one hand can make unmanned aerial vehicle fly independently according to the operation route that plans and carry out the plant protection operation, guaranteed plant protection operation quality, on the other hand, the operator need not manual control unmanned aerial vehicle, can many unmanned aerial vehicles simultaneous operation, has greatly improved operating efficiency.
Description
Technical Field
The invention relates to the field of plant protection operation, in particular to an unmanned aerial vehicle plant protection operation system, an unmanned aerial vehicle for plant protection operation and a control method.
Background
Traditional aviation plant protection operations are performed by general-purpose airlines using manned general-purpose aircraft. The general aircraft has large volume, high speed, large working area and very high maintenance and operation cost. Can only be used in local oversized plant protection operation, and has not been popularized in a large scale. With the development of unmanned aerial vehicle technology, unmanned aerial vehicles are more and more commonly used for agricultural plant protection. The unmanned aerial vehicle is used for plant protection flight protection operation, and the unmanned aerial vehicle has a plurality of advantages compared with traditional manual or other mechanical operation. The method can be suitable for plant protection operation of various complex terrains, such as paddy fields, forests, mountains, lakes and the like. Many of these plant protection operations are difficult places to reach by traditional manual plant protection. Meanwhile, compared with traditional manual and mechanical operation, the unmanned aerial vehicle plant protection has the advantages of high efficiency, low cost and good spraying effect. Unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV) are short for unmanned aerial vehicles, which are unmanned aerial vehicles that are actually controlled by radio remote control devices or self-contained program control devices. Unmanned aerial vehicle includes fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle two types, and wherein rotor unmanned aerial vehicle has including single rotor and many rotor unmanned aerial vehicle two types. The multi-rotor unmanned aerial vehicle is simple in structure, good in stability and control performance and suitable for being applied to plant protection operation.
In the prior art, plant protection unmanned aerial vehicles are usually single unmanned aerial vehicles which are controlled by operators to perform work (flying and spraying). This way the operator is completely relied on to control the working path, whereas in a larger working area the human eye judges and controls the position of the unmanned aerial vehicle outside 100 meters, the error is large, which can lead to a significant reduction of the working quality. Fig. 1 is a schematic view of a flight path of a manually operated plant protection unmanned aerial vehicle in an irregular area, and it can be seen that the operation path of the unmanned aerial vehicle is extremely irregular, which can cause missing spraying in a partial area and repeated spraying in the partial area. Moreover, one operator can only control one unmanned aerial vehicle, and the efficiency of performing plant protection operation is very low.
Meanwhile, some unmanned aerial vehicles in the prior art have an autonomous flight function, but have low automation degree, and a flight track as shown in fig. 2 is easy to appear when the unmanned aerial vehicles are misaligned, which can lead to missed work in a large number of working areas.
Disclosure of Invention
In view of the above, the present invention provides an unmanned aerial vehicle plant protection operation system, an unmanned aerial vehicle for plant protection operation and a control method thereof, so as to improve the efficiency and quality of unmanned aerial vehicle plant protection operation.
In a first aspect, an unmanned aerial vehicle plant protection operating system is provided, comprising:
at least one operation unmanned plane which is suitable for automatically performing plant protection operation according to the corresponding operation path according to satellite positioning information;
the operation planning device is used for acquiring a topographic image and operation parameter information of an operation area and planning an operation path for each operation unmanned aerial vehicle according to the topographic image and the operation parameter information;
and the control terminal is used for acquiring and sending the operation parameter information to the operation planning device.
Preferably, the unmanned aerial vehicle plant protection operation system further comprises:
and the command unmanned aerial vehicle is provided with an image acquisition device which is used for acquiring the topographic image and transmitting the topographic image to the operation transmission device.
Preferably, the operation planning device is arranged on the command unmanned aerial vehicle.
Preferably, the job planning apparatus includes an image acquisition apparatus for acquiring the topographic image, and the job planning apparatus is provided on a job unmanned aerial vehicle.
Preferably, the job planning device is integrated with the control terminal, and the job planning device receives the topographic image of the location through the network.
Preferably, the system further comprises:
and the differential satellite positioning device is used for providing differential satellite positioning signals for the at least one operation unmanned aerial vehicle.
Preferably, the differential satellite positioning device is arranged on the command unmanned aerial vehicle platform;
preferably, the unmanned aerial vehicle is further used for shooting a plant protection operation process, and storing or sending the obtained video file to the control terminal or a preset address.
Preferably, the unmanned aerial vehicle is further configured to acquire image information of a working area in real time, and the unmanned aerial vehicle, the working planning device or the control terminal detects a state of the working area according to the image information of the working area.
Preferably, all the work robots are controlled to rise to a predetermined height when a moving object other than the work robot is detected to be present in the work area or when a moving object having a distance smaller than a safety threshold from any one of the work robots is present.
In a second aspect, there is provided an unmanned aerial vehicle for plant protection operations, comprising:
an unmanned aerial vehicle platform;
the image acquisition device is suitable for acquiring an image below the unmanned plane platform; the method comprises the steps of,
the operation planning device is used for planning an operation path for each operation unmanned aerial vehicle according to the topographic image including the operation area and the operation parameter information acquired by the image acquisition device, and the operation path is used for indicating the flight path of the operation unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle further comprises:
and the differential satellite positioning device is used for providing differential satellite positioning signals for the operation unmanned aerial vehicle.
Preferably, the image acquisition device is further used for acquiring a video file of the plant protection operation process, and storing or transmitting the acquired video file to the control terminal or a preset address.
Preferably, the image acquisition device is further configured to acquire image information of a work area in real time, the image information of the work area being used to detect a state of the work area.
Preferably, all the work robots are controlled to rise to a predetermined height when a moving object other than the work robot is detected to be present in the work area or when a moving object having a distance smaller than a safety threshold from any one of the work robots is present.
In a third aspect, a method for controlling plant protection operation of an unmanned aerial vehicle is provided, including:
acquiring a topographic image and operation parameter information;
acquiring an operation area in the topographic image according to the operation parameter information;
planning a working path for each working unmanned aerial vehicle according to the topographic image and the working parameter information corresponding to the working area;
and issuing a corresponding operation path to each operation unmanned aerial vehicle to control the at least one operation unmanned aerial vehicle to perform plant protection operation according to the operation path.
Preferably, the acquiring the topographic image includes: acquiring a satellite topography image of a position from a network; alternatively, the topographic image is acquired by an image acquisition device.
Preferably, the differential satellite positioning information is sent to the unmanned aerial vehicle during the operation to assist the unmanned aerial vehicle in positioning.
Preferably, the method further comprises: and acquiring a video file of the plant protection operation process, and storing or transmitting the acquired video file to the control terminal or a preset address.
Preferably, the method further comprises:
acquiring image information of a working area in real time, wherein the image information of the working area is used for detecting the state of the working area; preferably, all the work robots are controlled to rise to a predetermined height when a moving object other than the work robot is detected to be present in the work area or when a moving object having a distance smaller than a safety threshold from any one of the work robots is present.
According to the embodiment of the invention, the topographic image of the operation area is obtained in advance or in real time, GIS information is obtained based on the topographic image calculation, and then one or more operation paths of the operation unmanned aerial vehicle are automatically planned and the operation unmanned aerial vehicle is controlled to perform plant protection operation according to the operation paths. From this, on the one hand can make unmanned aerial vehicle fly independently according to the operation route that plans and carry out the plant protection operation, guaranteed plant protection operation quality, on the other hand, the operator need not manual control unmanned aerial vehicle, can many unmanned aerial vehicles simultaneous operation, has greatly improved operating efficiency.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a flight path of a prior art plant protection drone in an irregular area;
FIG. 2 is a schematic illustration of an autonomous flight path of a prior art plant protection drone in a regular area;
FIG. 3A is a schematic diagram of a unmanned aerial vehicle plant protection operating system according to one embodiment of the present invention;
FIG. 3B is a control flow diagram of an unmanned aerial vehicle plant protection operating system according to an embodiment of the present invention;
FIG. 3C is a schematic diagram of an embodiment of the present invention for acquiring positioning information for all locations within a work area based on a topographical image;
FIG. 3D is a schematic view of a job path of an unmanned aerial vehicle plant protection job according to an embodiment of the present invention;
FIG. 3E is a schematic diagram of a job planning apparatus according to an embodiment of the present invention;
FIG. 3F is a schematic view of a work drone according to an embodiment of the present invention;
fig. 3G is a schematic structural diagram of a control terminal according to an embodiment of the present invention;
FIG. 4 is a system diagram of a plant protection operating system for an unmanned aerial vehicle according to another embodiment of the present invention;
FIG. 5 is a system diagram of a plant protection operating system for an unmanned aerial vehicle according to yet another embodiment of the present invention;
FIG. 6 is a system diagram of a plant protection operating system for an unmanned aerial vehicle according to yet another embodiment of the present invention.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention.
Fig. 3A is a schematic diagram of a plant protection operating system for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 3A, in the present embodiment, the unmanned aerial vehicle plant protection operation system includes a plurality of operation unmanned aerial vehicles 1, an operation planning device 2, a command unmanned aerial vehicle 4, and a control terminal 3. Wherein, at least one operation unmanned aerial vehicle 1 is suitable for automatically performing plant protection operation according to the satellite positioning information and the corresponding operation path. That is, the work unmanned aerial vehicle 1 positions itself in real time to ensure that the work unmanned aerial vehicle travels along the planned work path and performs the plant protection work (typically spraying according to predetermined parameters). The job path is received from the job planning apparatus 2 or the control terminal 3 or downloaded from a predetermined network location. The drone 4 is designed to acquire, in the air, a topographic image containing the working area by means of an image acquisition device 4a provided. Generally, the control directs the unmanned aerial vehicle 4 to fly to a predetermined altitude and then performs image acquisition to obtain the topographic image. The operation planning device 2 is borne on the command unmanned aerial vehicle 4, plans an operation path according to the terrain image and the operation parameters, and sends a corresponding operation path for each operation unmanned aerial vehicle 1 to control the operation unmanned aerial vehicle to perform plant protection operation. The above-mentioned transmission of the corresponding operation path for each operation unmanned aerial vehicle 1 may be that the operation path data is directly transmitted to the corresponding operation unmanned aerial vehicle 1 through wireless connection, or that the operation path data is forwarded to the corresponding operation unmanned aerial vehicle 1 through the control terminal 3, or that the operation path data is transmitted to a predetermined network position for downloading by the corresponding operation unmanned aerial vehicle 1. The control terminal 3 is used for communicating with the operation planning device to obtain the topographic image and the operation path, displaying the topographic image and the operation path to a user through a human-computer interaction interface (such as a display), and obtaining the operation parameters according to the user instruction. The operating parameters include at least an operating region defined by a user on the topographical image. Preferably, the operation parameters may include the number of operation robots performing the operation at the same time, the position of the obstacle on the topographic image, the obstacle detour mode of the operation robots, the safety distance, and the like. Specifically, when performing the work, the command unmanned aerial vehicle 4 carries the work planning device 2 to fly to a position higher above the work area, and the image acquisition device 4a acquires the topographic image including the work area. The topographic image is transmitted to the control terminal 3, and the control terminal 3 displays and prompts the user to set the plant protection operation parameters. The user can define a work area of each work unmanned in the topographic image or an entire work area on the control terminal 3. Preferably, the user can also mark obstacles and job keypoints within the job area on the control terminal 3. The marking obstacle is used for enabling the plant protection operation unmanned aerial vehicle 1 to bypass the corresponding obstacle. Marking the job keypoints may cause the job planning apparatus 2 to perform path planning with reference to the job keypoints. Meanwhile, the user can set parameters such as an obstacle detouring mode and flying height of the plant protection operation unmanned aerial vehicle 1 at the control terminal 3. After the setting is completed, the control terminal 3 transmits the set operation parameters to the operation planning device 2. The job planning apparatus 2 plans a job path for each job unmanned aerial vehicle 1 based on the topographic image, the job area specified by the user, and the corresponding setting parameters. After the planning is completed, the job planning device 2 directly or indirectly issues the planned job path to the corresponding job unmanned aerial vehicle 1. Each work unmanned aerial vehicle 1 performs work according to the corresponding work route. It should be noted that, all have satellite positioning function on the operation unmanned aerial vehicle 1, can judge whether deviate from the operation route according to self positioning information to guarantee that it accomplishes the plant protection operation according to the operation route. From this, on the one hand can make unmanned aerial vehicle fly independently according to the operation route that plans and carry out the plant protection operation, guaranteed plant protection operation quality, on the other hand, the operator need not manual control unmanned aerial vehicle, can many unmanned aerial vehicles simultaneous operation, has greatly improved operating efficiency.
Fig. 3B is a control flow diagram of an unmanned aerial vehicle plant protection operating system according to an embodiment of the invention. As shown in fig. 3B, at step 310, the drone is instructed to acquire a terrain image, wherein the terrain image includes a work area.
At step 320, the drone is instructed to transmit the terrain image to the control terminal and the job planning apparatus.
Of course, the sending modes of the topographic images can be different, when the operation planning device is carried on the command unmanned aerial vehicle, the topographic images can be transmitted through the data bus, and the topographic images sent to the control terminal on the ground need to depend on wireless communication connection, such as Bluetooth, zigBee or custom protocols of 2.4G frequency bands.
In step 330, the control terminal presents the topographic image to the user and obtains the job parameters entered by the user.
In step 340, the control terminal transmits the job parameters to the job planning apparatus.
In step 350, the operation planning device plans and obtains the operation path corresponding to each operation unmanned aerial vehicle according to the topographic image and the operation parameters.
The operation planning device can calculate satellite positioning information of each point on the topographic image through various existing GIS technologies according to the topographic image, satellite positioning information of the commanding unmanned aerial vehicle and satellite positioning information of ground facilities (such as the control terminal 3). The basic principle is shown in fig. 3C, the satellite positioning coordinates of the aerial command unmanned aerial vehicle 4 are (x 1, y1, z 1), and the satellite positioning coordinates set on the ground are (x 2, y2, z 2) (the coordinates obtained by the existing satellite positioning technology are three-dimensional coordinates). Thereby, the altitude H of the command unmanned aerial vehicle 4 can be calculated and obtained. At the same time, the viewing angle a of the device directing the image acquisition of the drone 4 is known. Thus, the actual length corresponding to the acquired topographic image can be easily calculated and acquired, and the actual area and the size corresponding to each pixel can be obtained by conversion. Meanwhile, the position of each pixel (each point) on the topographic image relative to the command unmanned aerial vehicle can be obtained through conversion, and then the coordinates of the pixels can be obtained through calculation.
Further, the altitude information may be corrected or the relief terrain may be measured based on devices such as barometers and altitude radars provided on the command unmanned aerial vehicle 4.
In step 360, the job planning apparatus issues a corresponding job path to all direct or indirect job robots.
In step 370, the unmanned operation plane performs plant protection operation according to the operation path.
Further, to ensure the accuracy of the operation of the drone, the system may further comprise a differential satellite positioning device 5. The differential satellite positioning device 5 is configured to provide a differential satellite positioning signal for the at least one operation unmanned aerial vehicle. The differential satellite positioning technology is a technology applied to a global positioning system for improving civil positioning precision. It uses slowly varying systematic errors of the satellite positioning system, including Selection Availability (SA) errors, within the same region, the impact on the reference station and its neighboring users being the same or similar. The differential technology can effectively weaken SA, ionosphere delay, atmospheric delay, ephemeris error and satellite clock error, and achieve meter-level positioning accuracy. The differential satellite positioning device is used as a reference station to provide differential satellite positioning signals for the operation unmanned aerial vehicle in the operation area, so that the positioning accuracy of the operation unmanned aerial vehicle can be improved, and the plant protection operation quality is improved. In general, the point where the differential satellite positioning device is located needs to be precisely positioned, so as to ensure that a terminal positioned based on the differential satellite signal output by the differential satellite positioning device can obtain precise absolute satellite positioning coordinates. However, in this embodiment, there is no requirement as to whether the position of the differential satellite positioning device 5 is accurate. In the present embodiment, the differential satellite positioning device 5 is provided to be detachable, and is fixed to the ground by an operator when performing a plant protection operation. The differential satellite positioning device 5 takes the satellite positioning coordinates obtained by self positioning as its own position, and transmits a differential signal accordingly. Since the differential satellite positioning technique is a technique for performing positioning calibration using the differential satellite positioning device 5 as a reference station as an origin. Therefore, the accuracy of the absolute satellite positioning coordinates depends on the position coordinate accuracy of the differential satellite positioning device 5, while the relative satellite positioning coordinates (i.e., coordinates in a coordinate system with the differential satellite positioning device 5 as an origin) are not affected by the position coordinate accuracy of the differential satellite positioning device 5. In the operation process, the accuracy of the relative coordinates of each unmanned aerial vehicle and any origin is guaranteed, and the accuracy of absolute satellite positioning coordinates is not required. Therefore, the movable differential satellite positioning device can be used for assisting in calibrating the positioning of all unmanned aerial vehicles, and the positioning accuracy of the operation unmanned aerial vehicle is improved.
When the differential satellite positioning device 5 located on the ground is arranged in the system, the operation planning device 2 or the command unmanned aerial vehicle 4 can determine the height of the command unmanned aerial vehicle based on the coordinates of the differential satellite positioning device 5 and the coordinates of the command unmanned aerial vehicle.
Further, the unmanned aerial vehicle 4 may further utilize the image acquisition device to capture a plant protection operation process, and send the acquired video file to the control terminal or a predetermined network address, or directly store the acquired video file in the loaded storage device. Preferably, the acquired video images may also be transmitted in real time to the control terminal 3 for display. The movement of the work unmanned aerial vehicle can be tracked by an image recognition technology, and the track of the work unmanned aerial vehicle is displayed on the display of the control terminal 3. Further, the spraying coverage condition can be drawn along the track of the unmanned aerial vehicle according to the spraying width of the unmanned aerial vehicle, and the operation state can be displayed in an intuitive mode. On the one hand, the route and the picture of the working machine can be displayed in real time by visually displaying the boundary of the working and the sprayed area and path of the working machine. On the other hand, the whole plant protection operation process is recorded, and the spraying area is calculated according to the recorded actual flight trajectory technology of the operation unmanned aerial vehicle and is used for carrying out overall operation area statistics subsequently.
Meanwhile, during the course of the work, accidents in which animals or persons enter the work area may occur. Because the flight height of the operation unmanned aerial vehicle is low, if collision occurs, the operation unmanned aerial vehicle can be damaged or injury to people and animals can be caused. During operation, the unmanned aerial vehicle platform is suspended above the operation area, video information of the operation area is monitored in real time through the image acquisition device, the state in the operation area is detected based on the image recognition technology, and when moving objects except the unmanned aerial vehicle are detected, all the unmanned aerial vehicles are controlled to rise to a preset height. Therefore, collision can be avoided, and operation safety is guaranteed. Meanwhile, when unexpected movable objects except the ancestral unmanned aerial vehicle are detected, the distance between the other operation unmanned aerial vehicles is monitored, and when the distance is smaller than a safety threshold, all operation unmanned aerial vehicles are controlled to rise to a preset height. Therefore, the frequent interruption of the operation caused by people or animals accidentally entering the operation area can be avoided, and the operation safety can be ensured.
It is easy to understand that when large-area work is not required, only one work unmanned aerial vehicle can be arranged in the system, and work can be performed under the control of the work planning device carried by the command unmanned aerial vehicle.
FIG. 3D is a schematic view of a plant protection operation path of the unmanned aerial vehicle according to the present invention. As can be seen from fig. 3D, the unmanned aerial vehicle plant protection operation system according to the embodiment of the invention can be adapted to the operation on irregular terrains, and has higher operation quality.
Fig. 3E is a schematic structural diagram of a command unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 3E, the command unmanned aerial vehicle includes a unmanned aerial vehicle platform, a job planning apparatus 2, and an image acquisition apparatus 4a. The unmanned aerial vehicle platform may comprise the necessary control means and communication means. The image acquisition device 4a may be provided with a dedicated communication means or perform communication operations such as transmitting a topographic image, receiving an operation parameter, and a next attack path by using a communication device existing in the unmanned aerial vehicle platform. Some circuits or resources can be shared among the above components. For example, the power management system may be shared, the communication transceiver front-end circuit or the entire communication circuit may be shared, or the like.
Fig. 3F is a schematic structural view of a work unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 3F, the working unmanned aerial vehicle includes an unmanned aerial vehicle platform, a satellite positioning device, a communication device, a control device and a loaded plant protection working device. The satellite positioning device is used for acquiring the position information of the unmanned aerial vehicle so that the control device can control the unmanned aerial vehicle platform to fly along the planned working path. The communication device is used for acquiring a working path, receiving control information of the control terminal and reporting the state of the working unmanned aerial vehicle (including but not limited to position, spraying quantity, residual electric quantity, working time and the like) in real time. The loaded plant protection operation device is used for performing plant protection operation (for example, performing spraying operation) according to the control of the control device.
Fig. 3G is a schematic structural diagram of a control device according to an embodiment of the present invention. As shown in fig. 3G, the control terminal includes a display device, a control device, a communication device, and a man-machine interaction device. The communication device is used for acquiring the topographic image for display by the display device. The man-machine interaction device can be a keyboard or a touch screen and is used for acquiring user input. The control device is used for acquiring instructions input by a user through the man-machine interaction device, displaying corresponding effects on the display device and controlling the communication device to send outwards when necessary.
Fig. 4 is a system schematic diagram of a plant protection operating system of an unmanned aerial vehicle according to another embodiment of the present invention. As shown in fig. 4, in the unmanned aerial vehicle plant protection operation system of the present embodiment, no dedicated command unmanned aerial vehicle platform is provided. But the work planning apparatus 2 is carried on one work drone. The operation unmanned aerial vehicle carrying the operation planning device 2 flies to a higher position to acquire a topographic image, acquires the operation path corresponding to each operation unmanned aerial vehicle, and then flies to a lower height to start operation together with other operation unmanned aerial vehicles. The scheme of the embodiment can reduce the number of unmanned aerial vehicles required by the system. Preferably, in the unmanned aerial vehicle plant protection operation system of the present embodiment, the differential satellite positioning device 5 located on the ground may be also provided to provide differential satellite positioning signals for each operation unmanned aerial vehicle 1, so as to improve positioning accuracy.
FIG. 5 is a system diagram of a plant protection operating system for a drone according to yet another embodiment of the present invention. As shown in fig. 5, in the unmanned aerial vehicle plant protection work system of the present embodiment, the work planning apparatus 2 and the control terminal 3 are provided integrally. The job planning apparatus 2 acquires a topographic image of the location through a network, and transmits the topographic image to the control terminal 3 through a bus or other communication lines for the user to input parameters. After the operation parameter information is acquired, the operation planning device 2 plans an operation path for each operation unmanned aerial vehicle according to the topographic image and the operation parameter information, and issues the operation path to the corresponding operation unmanned aerial vehicle. Thus, the job planning apparatus 2 does not need to provide an image acquisition apparatus, and the cost is reduced. Preferably, in the unmanned aerial vehicle plant protection operation system of the present embodiment, the command unmanned aerial vehicle 4 may also be configured to perform topographic image acquisition, and monitor and record the state of the operation area and the operation process during the operation. Preferably, in the unmanned aerial vehicle plant protection operation system of the present embodiment, the differential satellite positioning device 5 located on the ground may be also provided to provide differential satellite positioning signals for each operation unmanned aerial vehicle 1, so as to improve positioning accuracy.
FIG. 6 is a system diagram of a plant protection operating system for an unmanned aerial vehicle according to yet another embodiment of the present invention. In this embodiment, the specific relative determination of the position in the air is selected by using the unmanned aerial vehicle 4, the differential satellite positioning device 5 is loaded on the unmanned aerial vehicle 4, and provides a differential satellite positioning signal after hovering in the air, so as to assist the unmanned aerial vehicle in positioning, and improve positioning accuracy. The key components of the system of the embodiment are integrated on the platform of the command unmanned aerial vehicle, so that the equipment integration level can be improved, and the system is convenient to transport and carry.
Due to the limitations of flight altitude and resolution of the image acquisition device, one hovering command unmanned aerial vehicle can only cover an area of about 50-100 mu. When large-area operation is performed, the unmanned aerial vehicle can be controlled to be commanded to operate in one sub-area, and after operation is completed, the unmanned aerial vehicle is moved to a new sub-area to operate until the whole operation area is covered.
According to the embodiment of the invention, the operation planning device is arranged to obtain the topographic image of the operation area, one or more operation paths of the operation unmanned aerial vehicle are automatically planned according to the topographic image, and the operation unmanned aerial vehicle is controlled to perform plant protection operation according to the operation paths. From this, on the one hand can make unmanned aerial vehicle fly independently according to the operation route that plans and carry out the plant protection operation, guaranteed plant protection operation quality, on the other hand, the operator need not manual control unmanned aerial vehicle, can many unmanned aerial vehicles simultaneous operation, has greatly improved operating efficiency.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle plant protection operating system, comprising:
at least one operation unmanned plane which is suitable for automatically performing plant protection operation according to the corresponding operation path according to satellite positioning information;
the operation planning device is used for acquiring a topographic image and operation parameter information of an operation area and planning an operation path for each operation unmanned aerial vehicle according to the topographic image and the operation parameter information, wherein the operation parameter information comprises the number of unmanned aerial vehicles performing operation at the same time, the positions of obstacles on the topographic image, the obstacle detouring mode of the operation unmanned aerial vehicles, the safety distance and the operation area defined by a user on the topographic image;
the control terminal is used for acquiring and sending the operation parameter information to the operation planning device and acquiring the position, the spraying quantity, the residual electric quantity and the operation time of the operation unmanned aerial vehicle in real time;
the command unmanned aerial vehicle is provided with an image acquisition device which is used for acquiring the topographic image and transmitting the topographic image to the operation planning device;
the system further comprises:
the differential satellite positioning device is used for providing differential satellite positioning signals for the at least one operation unmanned aerial vehicle, and is arranged on the command unmanned aerial vehicle platform;
and the command unmanned aerial vehicle or the operation planning device or the control terminal detects the state of the operation area according to the image information of the operation area and based on an image recognition technology, and controls all operation unmanned aerial vehicles to rise to a preset height when a movable object except the operation unmanned aerial vehicle is detected to appear in the operation area or when a movable object with a distance smaller than a safety threshold from any operation unmanned aerial vehicle appears.
2. The unmanned aerial vehicle plant protection operating system of claim 1, wherein the operation planning device is disposed on the command unmanned aerial vehicle; or,
the operation planning device comprises an image acquisition device for acquiring the topographic image, and is arranged on an operation unmanned plane; or,
the operation planning device and the control terminal are integrated, and the operation planning device receives the topographic image of the position through the network.
3. The unmanned aerial vehicle plant protection operating system according to claim 1, wherein the command unmanned aerial vehicle is further configured to shoot a plant protection operating process, and store or send the acquired video file to the control terminal or a predetermined address; or,
the command unmanned aerial vehicle is also used for acquiring image information of the operation area in real time.
4. An unmanned aerial vehicle for plant protection operation, includes command unmanned aerial vehicle and operation unmanned aerial vehicle:
the command unmanned aerial vehicle includes:
an unmanned aerial vehicle platform;
the image acquisition device is suitable for acquiring an image below the unmanned plane platform;
the operation planning device is used for planning an operation path for each operation unmanned aerial vehicle according to the topographic image comprising the operation area and the operation parameter information, which are acquired by the image acquisition device, wherein the operation parameter information comprises the number of unmanned aerial vehicles performing operation simultaneously, the positions of obstacles on the topographic image, the obstacle detouring mode of the operation unmanned aerial vehicle, the safety distance and the operation area defined by a user on the topographic image, and the operation path is used for indicating the flight path of the operation unmanned aerial vehicle;
the differential satellite positioning device is used for providing differential satellite positioning signals for the operation unmanned aerial vehicle;
the work unmanned aerial vehicle includes: the communication device is used for reporting the position, the spraying quantity, the residual electric quantity and the operation time of the operation unmanned aerial vehicle in real time;
the image acquisition device is also used for acquiring image information of a working area in real time, detecting the state of the working area based on the image information of the working area and an image recognition technology, and controlling all the working unmanned aerial vehicles to rise to a preset height when a movable object except the working unmanned aerial vehicle is detected to appear in the working area or when a movable object with a distance smaller than a safety threshold from any one of the working unmanned aerial vehicles appears.
5. The unmanned aerial vehicle for plant protection according to claim 4, wherein the image acquisition device is further configured to acquire a video file of a plant protection process, and store or transmit the acquired video file to a control terminal or a predetermined address.
6. An unmanned aerial vehicle plant protection operation control method comprises the following steps:
the method comprises the steps of acquiring a topographic image and operation parameter information through an image acquisition device arranged on a command unmanned aerial vehicle;
the operation planning device acquires an operation area in the topographic image according to the operation parameter information;
the operation planning device plans an operation path for each operation unmanned aerial vehicle according to the topographic image corresponding to the operation area and operation parameter information, wherein the operation parameter information comprises the number of unmanned aerial vehicles performing operation simultaneously, the positions of obstacles on the topographic image, the obstacle detouring mode of the operation unmanned aerial vehicle, the safety distance and the operation area limited by a user on the topographic image;
the operation planning device issues corresponding operation paths to each operation unmanned aerial vehicle, and at least one operation unmanned aerial vehicle is controlled to perform plant protection operation according to the operation paths;
the method further comprises the steps of:
the control terminal acquires the position, the spraying quantity, the residual electric quantity and the operation time of the operation unmanned aerial vehicle in real time;
the differential satellite positioning device sends differential satellite positioning information to the operation unmanned aerial vehicle in the operation process to assist the operation unmanned aerial vehicle to position;
the image acquisition device acquires image information of a working area in real time, detects the state of the working area based on the image information of the working area and an image recognition technology, and controls all the working unmanned aerial vehicles to rise to a preset height when a movable object except the working unmanned aerial vehicle is detected to appear in the working area or when a movable object with a distance smaller than a safety threshold from any one of the working unmanned aerial vehicles appears.
7. The unmanned aerial vehicle plant protection operation control method of claim 6, wherein,
the obtaining the topographic image comprises: acquiring a satellite topography image of a position from a network; or, acquiring the topographic image by an image acquisition device;
or,
the method further comprises the steps of: the image acquisition device acquires a video file in the process of plant protection operation, and stores or transmits the acquired video file to the control terminal or a preset address.
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