阅读说明：本技术 一种基于北斗的无人机定位飞行控制方法和装置 (Unmanned aerial vehicle positioning flight control method and device based on Beidou ) 是由 汤立宸 纪芙蓉 于 2021-09-09 设计创作，主要内容包括：本申请公开了一种基于北斗的无人机定位飞行控制方法和装置,该方法包括：无人机控制平台获取无人机的待飞行的路径；所述无人机控制平台获取待喷洒地区的地图,并根据所述多个点的地理位置信息在所述地图上显示所述路径；所述无人机控制平台发送命令控制所述无人机按照所述路径飞行；所述无人机控制平台获取所述无人机实时飞行的轨迹,并将所述轨迹显示在所述地图上；所述无人机控制平台在所述轨迹偏离所述路径满足预定条件时,向所述无人机发送飞行参数。通过本申请解决了无人机根据预定路径进行飞行出现偏差后自行纠正所导致的问题,从而实时监控无人机的飞行路线,并在出现偏差时进行纠正。(The application discloses unmanned aerial vehicle positioning flight control method and device based on Beidou, and the method comprises the following steps: the method comprises the following steps that an unmanned aerial vehicle control platform obtains a path to be flown of an unmanned aerial vehicle; the unmanned aerial vehicle control platform acquires a map of an area to be sprayed and displays the path on the map according to the geographical position information of the plurality of points; the unmanned aerial vehicle control platform sends a command to control the unmanned aerial vehicle to fly according to the path; the unmanned aerial vehicle control platform acquires a real-time flight track of the unmanned aerial vehicle and displays the track on the map; and the unmanned aerial vehicle control platform sends flight parameters to the unmanned aerial vehicle when the track deviates from the path and meets a preset condition. Through the application, the problem that the unmanned aerial vehicle flies according to the preset path and is automatically corrected after deviation occurs is solved, so that the flight route of the unmanned aerial vehicle is monitored in real time, and correction is performed when deviation occurs.)

1. The utility model provides an unmanned aerial vehicle location flight control method based on big dipper which characterized in that includes:

the method comprises the steps that an unmanned aerial vehicle control platform obtains a path to be flown of an unmanned aerial vehicle, wherein the path is formed by connecting a plurality of points with geographical position information;

the unmanned aerial vehicle control platform acquires a map of an area to be sprayed and displays the path on the map according to the geographical position information of the plurality of points;

the unmanned aerial vehicle control platform sends a command to control the unmanned aerial vehicle to fly according to the path;

the unmanned aerial vehicle control platform acquires a real-time flight track of the unmanned aerial vehicle and displays the track on the map;

and when the track deviates and the path meets a preset condition, the unmanned aerial vehicle control platform sends flight parameters to the unmanned aerial vehicle, wherein the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

2. The method of claim 1, wherein the obtaining of the trajectory of the real-time flight of the drone by the drone control platform comprises:

the unmanned aerial vehicle control platform receives real-time geographic position information sent by the unmanned aerial vehicle and determines a real-time flight track of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

3. The method of claim 1, wherein the drone control platform displays the path on the map using a first color and the trajectory using the second color, wherein the first color and the second color are different.

4. The method of claim 1, wherein the drone platform determines that the trajectory deviates from the path if a vertical distance of a point on the trajectory from the path exceeds a threshold value satisfies the predetermined condition.

5. The utility model provides an unmanned aerial vehicle location flight control device based on big dipper, its characterized in that is applied to among the unmanned aerial vehicle control platform, the device includes:

the unmanned aerial vehicle control system comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining a path to be flown of the unmanned aerial vehicle, and the path is formed by connecting a plurality of points with geographical position information;

the second acquisition module is used for acquiring a map of the area to be sprayed and displaying the path on the map according to the geographical position information of the plurality of points;

the first sending module is used for sending commands to control the unmanned aerial vehicle to fly according to the path;

the third acquisition module is used for acquiring the real-time flight track of the unmanned aerial vehicle and displaying the track on the map;

and the second sending module is used for sending flight parameters to the unmanned aerial vehicle when the track deviates from the path and meets a preset condition, and the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

6. The apparatus of claim 5, wherein the third obtaining module is configured to:

receiving real-time geographic position information sent by the unmanned aerial vehicle, and determining a real-time flight track of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

7. The apparatus of claim 5, wherein the drone control platform further comprises a display module to display the path on the map using a first color and the trajectory using the second color, wherein the first color and the second color are different.

8. The apparatus of claim 5, wherein the second sending module is configured to determine that the trajectory deviates from the path to satisfy the predetermined condition if a vertical distance between a point on the trajectory and the path exceeds a threshold.

9. A memory for storing software code constituting the drone control platform of any one of claims 1 to 4.

10. A processor configured to execute software code that constitutes the drone control platform of any one of claims 1 to 4.

Technical Field

The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning flight control method and device based on Beidou.

Background

In the current crop production process, various insect pests are easily suffered, and the crop yield is seriously influenced. In order to effectively control pest disasters, protect the healthy growth of crops and improve the yield, pesticides need to be sprayed on the crops to kill pests and the like. Traditional agricultural plant protection is mainly operated manually and semi-mechanically, and operators spray the agricultural chemical by experience, so that the labor intensity is high, the agricultural chemical is wasted, and the direct contact of the agricultural chemical has great harm to the bodies of the operators.

In order to solve the great problem of the operation personnel harm of manual operation right, now generally use unmanned aerial vehicle to carry out spraying of pesticide, generally spray according to established route when using unmanned aerial vehicle to carry out spraying of pesticide.

Unmanned aerial vehicle is when spraying according to established circuit because reasons such as deviation appear in the locating signal probably appear the deviation, generally rely on unmanned aerial vehicle to correct by oneself to this kind of deviation, and this can lead to probably appearing some areas and not spraying the pesticide or some areas excessively spray the condition.

Disclosure of Invention

The embodiment of the application provides an unmanned aerial vehicle positioning flight control method and device based on Beidou, and aims to at least solve the problem caused by self-correction after deviation occurs when an unmanned aerial vehicle flies according to a preset path.

According to an aspect of the application, an unmanned aerial vehicle positioning flight control method based on Beidou is provided, and comprises the following steps: the method comprises the steps that an unmanned aerial vehicle control platform obtains a path to be flown of an unmanned aerial vehicle, wherein the path is formed by connecting a plurality of points with geographical position information; the unmanned aerial vehicle control platform acquires a map of an area to be sprayed and displays the path on the map according to the geographical position information of the plurality of points; the unmanned aerial vehicle control platform sends a command to control the unmanned aerial vehicle to fly according to the path; the unmanned aerial vehicle control platform acquires a real-time flight track of the unmanned aerial vehicle and displays the track on the map; and when the track deviates and the path meets a preset condition, the unmanned aerial vehicle control platform sends flight parameters to the unmanned aerial vehicle, wherein the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

Further, the unmanned aerial vehicle control platform obtains the real-time flight track of unmanned aerial vehicle includes: the unmanned aerial vehicle control platform receives real-time geographic position information sent by the unmanned aerial vehicle and determines a real-time flight track of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

Further, the drone control platform displays the path on the map using a first color and the trajectory using the second color, wherein the first color and the second color are different.

Further, the drone platform determines that the trajectory deviates from the path to satisfy the predetermined condition if a vertical distance of a point on the trajectory to the path exceeds a threshold.

According to another aspect of this application, still provide an unmanned aerial vehicle location flight control device based on big dipper, be applied to in unmanned aerial vehicle control platform, the device includes: the unmanned aerial vehicle control system comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining a path to be flown of the unmanned aerial vehicle, and the path is formed by connecting a plurality of points with geographical position information; the second acquisition module is used for acquiring a map of the area to be sprayed and displaying the path on the map according to the geographical position information of the plurality of points; the first sending module is used for sending commands to control the unmanned aerial vehicle to fly according to the path; the third acquisition module is used for acquiring the real-time flight track of the unmanned aerial vehicle and displaying the track on the map; and the second sending module is used for sending flight parameters to the unmanned aerial vehicle when the track deviates from the path and meets a preset condition, and the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

Further, the third obtaining module is configured to: receiving real-time geographic position information sent by the unmanned aerial vehicle, and determining a real-time flight track of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

Further, the drone controlling platform further includes a display module to display the path on the map using a first color and the trajectory using a second color, wherein the first color and the second color are different.

Further, the second sending module is configured to determine that the trajectory deviates from the path and satisfies the predetermined condition if a vertical distance between a point on the trajectory and the path exceeds a threshold.

According to another aspect of the application, a memory is also provided for storing software code constituting the drone control platform.

According to another aspect of the application, a processor is also provided for executing software code constituting the drone control platform.

In the embodiment of the application, a path to be flown of an unmanned aerial vehicle is obtained by adopting an unmanned aerial vehicle control platform, wherein the path is formed by connecting a plurality of points with geographical position information; the unmanned aerial vehicle control platform acquires a map of an area to be sprayed and displays the path on the map according to the geographical position information of the plurality of points; the unmanned aerial vehicle control platform sends a command to control the unmanned aerial vehicle to fly according to the path; the unmanned aerial vehicle control platform acquires a real-time flight track of the unmanned aerial vehicle and displays the track on the map; and when the track deviates and the path meets a preset condition, the unmanned aerial vehicle control platform sends flight parameters to the unmanned aerial vehicle, wherein the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation. Through the application, the problem that the unmanned aerial vehicle flies according to the preset path and is automatically corrected after deviation occurs is solved, so that the flight route of the unmanned aerial vehicle is monitored in real time, and correction is performed when deviation occurs.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

fig. 1 is a flowchart of a Beidou-based unmanned aerial vehicle positioning flight control method according to an embodiment of the application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

In this embodiment, a Beidou-based unmanned aerial vehicle positioning flight control method is provided, and fig. 1 is a flowchart of the Beidou-based unmanned aerial vehicle positioning flight control method according to the embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps:

step S102, an unmanned aerial vehicle control platform obtains a path to be flown of an unmanned aerial vehicle, wherein the path is formed by connecting a plurality of points with geographical position information;

the path planning method includes various methods, for example, a precise pesticide spraying range, a pesticide spraying starting point, an initial pesticide spraying direction and a landing point of the unmanned aerial vehicle after pesticide spraying is finished are given on a map, and a height difference between the unmanned aerial vehicle and the top of the plant is given, wherein the pesticide spraying direction is parallel to one side where the pesticide spraying starting point is located. And planning a track, wherein the spraying range is determined by giving edge points of the spraying range, the area surrounded by the edge points is the area to be sprayed, and the area is a convex polygon. The width of the spraying width of the unmanned aerial vehicle is W, so that the area to be sprayed is divided into a strip-shaped area with the width of W, and the direction of the strip-shaped area is parallel to the given spraying direction; after each banded region is determined, determining a central line of the banded region, wherein the central line is a straight line segment which is parallel to two sides of the banded region, is positioned in the middle of the banded region and has the same distance with the two parallel sides of the banded region, two end points of the central line are arranged on the other two sides of the banded region, when pesticide spraying is carried out, the central line is a flight path of the unmanned aerial vehicle in the horizontal direction, and the distance between the unmanned aerial vehicle and the top of a plant is independently controlled by a height control part. And determining the path to be flown of the unmanned aerial vehicle according to the shape of the region of the area to be sprayed and the unit spraying range of the unmanned aerial vehicle.

Step S104, the unmanned aerial vehicle control platform acquires a map of an area to be sprayed, and displays the path on the map according to the geographical position information of the plurality of points;

step S106, the unmanned aerial vehicle control platform sends a command to control the unmanned aerial vehicle to fly according to the path;

step S108, the unmanned aerial vehicle control platform acquires a real-time flight track of the unmanned aerial vehicle and displays the track on the map;

in an optional implementation manner, the unmanned aerial vehicle control platform receives real-time geographic position information sent by the unmanned aerial vehicle, and determines a real-time flight trajectory of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

Optionally, the drone control platform displays the path on the map using a first color and the trajectory using a second color, wherein the first color and the second color are different.

Step S110, when the track deviates from the path and meets a preset condition, the unmanned aerial vehicle control platform sends flight parameters to the unmanned aerial vehicle, and the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

As an optional implementation manner, after the unmanned aerial vehicle finishes the flight of the path, acquiring a track of the actual flight of the unmanned aerial vehicle, drawing a second area where the unmanned aerial vehicle sprays pesticides on the map according to the unit spraying area of the unmanned aerial vehicle, displaying a first area where the unmanned aerial vehicle sprays pesticides if the unmanned aerial vehicle flies along the path on the map according to the unit spraying area of the unmanned aerial vehicle, comparing the first area with the second area, and if the second area covers the first area, ending the spraying task of the unmanned aerial vehicle. And if the second area cannot completely cover the first area, generating a path for the second flight according to the area which cannot be covered by the second area in the first area, and controlling the unmanned aerial vehicle to carry out the second flight and spray pesticides according to the path for the second flight.

As an optional implementation, the flight parameters of the drone are obtained when the drone starts to deviate from the path, wherein the flight parameters include: unmanned aerial vehicle's flight inclination, the locating information that unmanned aerial vehicle obtained unmanned aerial vehicle the unmanned aerial vehicle's flying speed, wind speed at that time unmanned aerial vehicle's electric quantity unmanned aerial vehicle's pesticide surplus. And determining whether the flight of the unmanned aerial vehicle is abnormal when deviating from the path according to the flight parameters.

As another optional embodiment, the path is further marked with time information, wherein the time information is relative time information relative to the starting point of the path, and the time information is used for indicating the time taken for the unmanned aerial vehicle to fly from the starting point of the path to the point at a preset speed. And the unmanned aerial vehicle starts timing when running to the starting point of the path, the timing is the time for starting flying from the starting point, the unmanned aerial vehicle sends the timing to the unmanned aerial vehicle control platform, and the unmanned aerial vehicle control platform determines the flying speed of the unmanned aerial vehicle according to the time information on the path and the timing on the unmanned aerial vehicle.

And under the condition that the timing on the unmanned aerial vehicle is smaller than the time information of the same position on the path and exceeds a threshold value, controlling the unmanned aerial vehicle to fly for a preset distance along the current point to the opposite direction of the path and then returning to the current point to continue flying along the path. The predetermined distance is the time difference obtained by subtracting the timing on the unmanned aerial vehicle from the time information of the same position, and the time difference is multiplied by the flight speed of the unmanned aerial vehicle. Thus, the pesticide can be fully sprayed.

In this step, there are various ways to determine whether the trajectory deviates from the path, for example, when the vertical distance from the point on the trajectory to the path exceeds a threshold value, the drone control platform determines that the trajectory deviates from the path and satisfies the predetermined condition.

Through the steps, the problem that the unmanned aerial vehicle flies according to the preset path and is automatically corrected after deviation occurs is solved, so that the flight path of the unmanned aerial vehicle is monitored in real time, and correction is performed when deviation occurs.

In this embodiment, an electronic device is provided, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in the above embodiments.

The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks, and corresponding steps may be implemented by different modules.

Such an apparatus or system is provided in this embodiment. The device is called unmanned aerial vehicle location flight control device based on big dipper, is applied to among the unmanned aerial vehicle control platform, the device includes: the unmanned aerial vehicle control system comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining a path to be flown of the unmanned aerial vehicle, and the path is formed by connecting a plurality of points with geographical position information; the second acquisition module is used for acquiring a map of the area to be sprayed and displaying the path on the map according to the geographical position information of the plurality of points; the first sending module is used for sending commands to control the unmanned aerial vehicle to fly according to the path; the third acquisition module is used for acquiring the real-time flight track of the unmanned aerial vehicle and displaying the track on the map; and the second sending module is used for sending flight parameters to the unmanned aerial vehicle when the track deviates from the path and meets a preset condition, and the flight parameters are used for controlling the unmanned aerial vehicle to correct the deviation.

The system or the apparatus is used for implementing the functions of the method in the foregoing embodiments, and each module in the system or the apparatus corresponds to each step in the method, which has been described in the method and is not described herein again.

For example, the third obtaining module is configured to: receiving real-time geographic position information sent by the unmanned aerial vehicle, and determining a real-time flight track of the unmanned aerial vehicle according to the real-time geographic position information, wherein the real-time geographic position information is acquired according to a Beidou satellite positioning system.

For another example, the drone control platform further includes a display module to display the path on the map using a first color and the trajectory using a second color, wherein the first color and the second color are different.

For another example, the second sending module is configured to determine that the trajectory deviates from the path and satisfies the predetermined condition if a vertical distance between a point on the trajectory and the path exceeds a threshold.

Through this embodiment, solved unmanned aerial vehicle and flown according to predetermined route and appear correcting the problem that leads to by oneself after the deviation to real time monitoring unmanned aerial vehicle's flight route, and correct when the deviation appears

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.