Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof

A technology of drones and gardens, applied in the direction of non-electric variable control, control/adjustment system, three-dimensional position/channel control, etc., can solve the problems of less technology and high risk of drones, and improve pruning efficiency and ensure Safety, good control effect

Pending Publication Date: 2021-10-08
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are very few applications of drone technology in gardening, and gardeners are more dangerous when pruning garden vegetation on some high-risk terrain

Method used

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  • Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof
  • Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof
  • Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0032] Such as Figure 1-5 Shown a kind of autonomous pruning type unmanned aerial vehicle for gardening, comprises flight system, visual system, pruning system and control system, and described flight system is used for providing flight motion support for unmanned aerial vehicle; Described visual system is used for obtaining wireless RGB information and depth information of the environment in front of the man-machine, and transmit the information to the contr...

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Abstract

The invention discloses an autonomous trimming type unmanned aerial vehicle for gardens and a control method thereof, and relates to the technical field of garden unmanned aerial vehicles, and the autonomous trimming type unmanned aerial vehicle comprises a flight system, a visual system, a trimming system and a control system. Through visual image collection of garden trees, positioning analysis of the unmanned aerial vehicle, flight control and pruning operation, the function that the unmanned aerial vehicle autonomously prunes the garden trees is achieved, it can be effectively avoided that garden workers directly prune the trees in high-risk areas, the safety of the garden workers is guaranteed, and meanwhile the pruning efficiency of the garden trees is improved; positioning is carried out by fusing binocular vision information and IMU inertial data through an algorithm, the defects that the IMU accumulative error is large and pure vision cannot work in a scene with few features are overcome, and high robustness and positioning precision are achieved; through combination of SO(3) and PID control, a singular value problem does not exist, and a very good control effect on the four-rotor unmanned aerial vehicle can be achieved.

Description

technical field [0001] The invention relates to the technical field of garden drones, in particular to an autonomous pruning drone for gardens and a control method thereof. Background technique [0002] Unmanned aircraft, referred to as "drone" for short, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or completely or intermittently operated autonomously by on-board computer. With the continuous maturity and development of drone technology, the application of drones has been continuously expanded and explored in various fields. UAVs have played a huge role in industry and agriculture by virtue of their advantages of flexibility, autonomy, and precision, greatly improving work efficiency and economic benefits. UAVs are used in aerial photography, agriculture, plant protection, micro-selfies, express transportation, disaster relief, observing wild animals, monitoring infectious diseases, surveying and mapping, n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 徐志雄张豪男夏怀韬
Owner ZHEJIANG UNIV
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