Agricultural unmanned aerodynamic ship and method for automatic navigation based on UAV vision
An aerodynamic and automatic navigation technology, applied in navigation calculation tools, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as the inability to judge the position, attitude, and uncontrollable operation path of agricultural aerodynamic ships
Active Publication Date: 2020-06-26
ZHEJIANG UNIV
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Problems solved by technology
[0005] The purpose of the present invention is to provide an agricultural unmanned aerodynamic ship and method for automatic navigation based on UAV vision, which can effectively solve the problem that the operator cannot judge the position, attitude and other information of the agricultural aerodynamic ship, which may cause the operation path to be uncontrollable , repeated spraying, repeated fertilization and other issues
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[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described below in conjunction with the embodiments and accompanying drawings.
[0048] Embodiment of agricultural unmanned aerodynamic ship
[0049] see Figure 1 to Figure 3 , the agricultural unmanned aerodynamic ship of the present embodiment includes a hull 1, shore-based equipment and unmanned aerial vehicles. Among them, the shore-based equipment wirelessly controls the hull, including a shore-based computer, a remote controller, and a wireless emergency brake. The wireless emergency brake cooperates with the wireless emergency brake receiver installed on the hull 1 to quickly shut down the engine on the hull 1. The device is used in cooperation with the remote control receiver arranged on the hull 1 to realize manual remote operation of the hull 1 if necessary.
[0050] The drone is equipped with a vision system, which is a cam...
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The invention discloses an agricultural unmanned aerodynamic ship with automatic navigation based on unmanned aerial vehicle vision and method, which belong to the technical field of agricultural machinery. The agricultural unmanned aerodynamic ship with automatic navigation based on unmanned aerial vehicle vision comprises a ship body, a shore-based device for remote monitoring and wireless control on the ship body and an unmanned aerial vehicle loaded with a vision system, wherein the vision system is used for acquiring images of a paddy field and the unmanned aerodynamic ship in the field;the unmanned aerial vehicle is also provided with an onboard computer for recognizing the field block and the unmanned aerodynamic ship in the image and calculating the relative position of the unmanned aerodynamic ship in the field block and a communication module for transmitting the relative position information; and the ship body is provided with a power unit, a dispensing unit and a shipboardcontroller, the shipboard controller receives the position information transmitted by the unmanned aerial vehicle, and in combination of the heading information obtained by a direction sensor mountedon the ship body, a steering angle is calculated. The ship body is automatically controlled to sail, the real-time state of the ship body is transmitted to the shore-side computer in a wireless transmission mode, and remote monitoring by an operator is facilitated.
Description
technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to an agricultural unmanned aerodynamic ship and its method for automatic navigation based on unmanned aerial vehicle vision. Background technique [0002] Aerodynamic boat is a kind of hard flat-bottomed boat, and its biggest difference from traditional boats is that there is no underwater power device and underwater steering device. The aerodynamic boat is based on the principle of aerodynamics, using an internal combustion engine or electric motor placed on the upper part of the hull to drive the air propeller to generate propulsion, and the direction is controlled by the tail rudder at the rear of the hull. This type of boat has extremely shallow draft and high maneuverability. At present, it is mainly used in tidal flats, swamps, wetland shoals, ice and snow lakes, and waters with many floating objects and complicated underwater conditions. There are few products...
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IPC IPC(8): G05D1/02G01C21/20G08C17/02
CPCG01C21/20G05D1/0206G08C17/02
Inventor 刘羽飞何勇刘飞曹峰
Owner ZHEJIANG UNIV