A method for controlling the obstacle-avoiding flight of a single-rotor plant protection UAV

A plant protection UAV and UAV technology, applied in the direction of control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., can solve problems such as unfavorable plant protection UAV popularization, improve system reliability, The effect of reducing decision-making risk and improving data accuracy

Active Publication Date: 2021-02-26
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the lack of relevant anti-collision protection for plant protection drones, many restrictions have been added to the operation of plant protection drones. There are no protective forests, high-voltage line towers, poles and other obstacles within 10 meters of the perimeter of the block, and there are no obstacles in the middle of the work field that affect flight safety or obstacles that affect the flight line of sight. The height of the crops should be lower than the line of sight of the operator. The requirements of being able to observe the flight attitude of the aircraft, these restrictions will make the use of plant protection drones subject to certain geographical restrictions, which is not conducive to the comprehensive popularization of plant protection drones

Method used

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  • A method for controlling the obstacle-avoiding flight of a single-rotor plant protection UAV
  • A method for controlling the obstacle-avoiding flight of a single-rotor plant protection UAV
  • A method for controlling the obstacle-avoiding flight of a single-rotor plant protection UAV

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Embodiment 1

[0056] This embodiment provides a method for controlling the obstacle-avoiding flight of a single-rotor plant protection drone, including: a data collection layer, a data preprocessing layer, a data fusion layer, a decision-making layer, and a detection device;

[0057] The detection device includes:

[0058] Millimeter-wave radar altimeter, which measures the relative height between the UAV and the ground;

[0059] GPS / Beidou positioning sensor, collecting positioning information, UAV altitude, UAV flight speed, etc.;

[0060] AHRS module to collect UAV flight attitude data;

[0061] The millimeter wave anti-collision radar sensor collects the relative speed, relative distance and azimuth of the UAV and the obstacle;

[0062] Ultrasonic radar sensor, used to collect the relative distance of obstacles;

[0063] The main controller controls the UAV to complete the obstacle avoidance action by analyzing the data obtained by each sensor;

[0064] The main controller is respec...

Embodiment 2

[0068] As a supplement to Embodiment 1, the data collection layer uses various sensors to collect obstacle data in the UAV flight environment:

[0069] 1) The output data of the millimeter-wave anti-collision radar sensor is the relative distance R1 between the UAV and the obstacle, the relative speed V1, and the angle θ1 between the obstacle and the radar normal, namely (R1, V1, θ1);

[0070] 2) The ultrasonic sensor collects the relative distance R2 between the UAV and the obstacle;

[0071] 3) The millimeter-wave radar altimeter outputs the relative height value H1 between the UAV and the ground;

[0072] 4) The GPS / Beidou positioning sensor outputs the altitude value H2 of the UAV to the ground;

[0073] GPS data follows the NMEA0183 protocol, and the output information is standard and has a fixed format. Among them, GPGGA and GPVTG statements are closely related to UAV navigation. Their data formats are specified as follows:

[0074] (1) $GPGGA, UTC time, latitude, la...

Embodiment 3

[0079] Since data may be missing during the data collection process, and data integration and other work need to be performed in advance when subsequent data fusion processing is performed, data preprocessing and other work are required; the data preprocessing layer includes: abnormal data Two steps of processing and data missing compensation;

[0080] The existence of abnormal data will greatly affect the accuracy of prediction; therefore, a step for abnormal data processing is provided: first find out the abnormal value in the collected sensor data, and use the method of averaging the moving line to process the abnormal data; Let the abnormal data sequence be {x i ,i=1,2,Λ}, when i=n there is an outlier, then use the moving average x n Instead, use the mean value of the N data before i=n to calculate x n ;Calculated as follows:

[0081]

[0082] The loss of data will seriously affect the accuracy and continuity of subsequent data processing. In the collect...

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Abstract

The invention relates to a method for controlling single-rotor plant protection unmanned plane obstacle avoidance flight. According to the method, P1, firstly, the relative distance between an unmanned plane and an obstacle is determined, and the relative distance is divided into three parts in three scopes of being smaller than N1m, between N1m and N2m and between N2m and N3m; P2, secondly, afterdistance division, dangerous grade division is carried out according to the relative speed between the unmanned plane and the barrier; P3, a height value between the unmanned plane and the ground isdetermined, and grade division of the height value H is carried out; P4, for the dangerous grade, step P3 operation is needed to carry out; for the alarm grade, step P3 operation after emergent speedreduction is needed to carry out; for the prompting grade and the irrelevant grade, third-step determination is not needed, and the process returns for re-detection. The method is advantaged in that after-disaster rescue on-site complex environment sensing of the after-disaster rescue rotor unmanned plane can be better realized, the more accurate obstacle data information is acquired, and more accurate obstacle avoidance decision and obstacle avoidance control can be carried out.

Description

technical field [0001] The invention belongs to the technical field of obstacle avoidance for unmanned aerial vehicles, and in particular relates to a method for controlling the obstacle avoidance flight of a single-rotor plant protection unmanned aerial vehicle. Background technique [0002] Agricultural plant protection drones are widely used in the United States, Russia, Japan and other countries, and the technology is also very advanced. However, China, as a large agricultural country, has 1.8 billion mu of basic farmland, and agricultural plant protection drones have not yet been popularized. However, my country's agricultural plant protection UAV market is on the rise, and the market is promising because it has not yet been popularized. China needs a large number of people to engage in agricultural plant protection operations every year, and the number of people poisoned by pesticides in our country is 100,000 each year. At the same time, the labor force of young and m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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