CN106125762A - Internet-based unmanned aerial vehicle plant protection management system and method - Google Patents
Internet-based unmanned aerial vehicle plant protection management system and method Download PDFInfo
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- CN106125762A CN106125762A CN201610621200.8A CN201610621200A CN106125762A CN 106125762 A CN106125762 A CN 106125762A CN 201610621200 A CN201610621200 A CN 201610621200A CN 106125762 A CN106125762 A CN 106125762A
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- 238000000034 method Methods 0.000 title abstract description 22
- 238000007726 management method Methods 0.000 claims abstract description 72
- 238000012544 monitoring process Methods 0.000 claims abstract description 34
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 27
- 239000000575 pesticide Substances 0.000 claims description 80
- 239000007788 liquid Substances 0.000 claims description 24
- 238000003032 molecular docking Methods 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000010790 dilution Methods 0.000 claims description 12
- 239000012895 dilution Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 238000011049 filling Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000010295 mobile communication Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 4
- 238000005194 fractionation Methods 0.000 claims description 4
- 238000002156 mixing Methods 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims description 4
- 229940079593 drug Drugs 0.000 claims 1
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- 238000007789 sealing Methods 0.000 claims 1
- 238000013500 data storage Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention belongs to the technical field of agricultural unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle plant protection management system and method based on the Internet. The invention aims to solve the problems that the existing unmanned aerial vehicle plant protection operation management mode is too dispersed and is inconvenient for unified management. For this purpose, the unmanned aerial vehicle plant protection management system provided by the invention comprises a ground station system and a flight control system, the management system further comprises a cloud network data operation and control platform, and the cloud network data operation and control platform comprises: the task allocation module is used for allocating tasks to each unmanned aerial vehicle plant protection operation group according to the positioning information of the plant protection area; the route planning module is used for planning routes of the unmanned aerial vehicle for the plant protection area according to the topographic information of the plant protection area; and the flight monitoring module is used for monitoring the flight track of the unmanned aerial vehicle in real time and storing the flight track information of the unmanned aerial vehicle and the operation information of the unmanned aerial vehicle. According to the invention, the centralized management of plant protection operation is realized by establishing the cloud network data operation and control platform, and the efficiency of unmanned aerial vehicle plant protection operation is improved.
Description
Technical field
The invention belongs to agricultural unmanned air vehicle technique field, being specifically related to a kind of unmanned plane plant protection based on the Internet management is
System and method.
Background technology
Existing unmanned plane plant protection operation is usually and is managed by earth station system, and earth station system is as plant protection operation
Manager, after carrying out flight course planning, the course line planned is issued by radio station the flight control system on unmanned plane, fly control
System performs aerial mission according to the flight course control unmanned plane of planning, in real time track points information is sent to ground during execution
Stand system, the track points information that earth station system real-time reception flight control system sends, after aerial mission terminates, generate operation literary composition
Part.
The management mode of existing unmanned plane plant protection operation has a disadvantage in that 1, by earth station system at operation field
When carrying out flight course planning, typically relying only on the data base of the machine, if obtaining data by mobile communication network, can increase
Many costs.And along with the change of operating area, earth station system needs to be continuously updated data base.2, earth station system is only
Can manage and monitor one or a few unmanned plane of this ground station control.When large area plant protection operation, lack means pair
A large amount of unmanned planes carry out task distribution and flight monitoring.
Therefore, this area needs a kind of new management system and method to solve to deposit during existing unmanned plane plant protection operation manages
The problems referred to above.
Summary of the invention
In order to solve the problems referred to above of the prior art, it is the management mode mistake of solution existing unmanned plane plant protection operation
In dispersion, the problem being not easy to unified management, the invention provides a kind of unmanned plane plant protection based on the Internet management system.Should
Unmanned plane plant protection management system includes that earth station system and flight control system, described management system also include that the fortune control of cloud network data is flat
Platform, described cloud network data fortune control platform includes: task allocating module, it gives each nothing for the location information according to plant protection region
Man-machine plant protection operation group carries out task distribution；Flight course planning module, it is for planting this according to the terrain information in plant protection region
Protect region and carry out the flight course planning of unmanned plane；Flight monitoring module, its flight path being used for monitoring unmanned plane in real time also can
The flight path information of storage unmanned plane and unmanned plane job information, wherein, described earth station system can be with described cloud netting index
Information is carried out mutual according to fortune control platform and described flight control system.
In above-mentioned unmanned plane plant protection management system, described task allocating module carries out ground, farmland according to plant protection contract information
Figure inquiry, obtains the location information in farmland, target area, carries out the fractionation of mission area according to location information, farmland is divided into size
Moderate mission area, then carries out task distribution according to the quantity currently without man-machine operation group.
In above-mentioned unmanned plane plant protection management system, described flight course planning module operation group perform job task it
Before, inquired about by farmland map inquiry and barrier, obtain location information and the obstacle information in target plot, then call boat
The algorithm of line planning calculates rational course line, and stores in certain table by the course line planned, downloads for earth station system
Use.
In above-mentioned unmanned plane plant protection management system, described flight monitoring module, on the basis of the map denotation of farmland, connects
Receive the unmanned plane track that earth station system sends, map shows unmanned plane current location and state in real time, and ties in operation
Receive during bundle and store earth station system send, include unmanned plane trace information and the job file of unmanned plane job information.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, described flight monitoring module passes through Transmission Control Protocol
The unmanned plane track that port satellite receiver system sends through mobile communications network and the Internet.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, described flight control system is arranged on unmanned plane.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, the unmanned plane plant protection management system of the present invention is also
Including pesticide proportioning module and automatic load system；
Pesticide proportioning module includes that pesticide memory element, pesticide select control unit, pesticide dilution unit；Described pesticide is deposited
Storage unit is used for the various pesticide of storage of classifying, and this unit comprises the sealed storage case of Multiple Pesticides；Described pesticide dilution unit is
The liquid oscillating uniform device sealed, this device includes that the mixed liquid sealed shakes up casing, and this casing is respectively by with electrically operated valve
Pipeline is connected with sealed storage case and the external water source of storage pesticide, and the YE of described electrically operated valve selects with pesticide
Control unit is connected；Described mixed liquid shakes up box bottom and is provided with the pipeline with electrically operated valve for residual liquid discharge；Institute
State pesticide control unit and obtain the pesticide information being currently needed for preparation from cloud network data fortune control platform, control corresponding electrically operated valve
Open and Guan Bi, it would be desirable to pesticide and the pesticide information conveyance prepared as required of dilution water source shake up case to the most described mixed liquid
Body carries out mixing and shakes up；
Automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；Described pesticide draw-out device is used for
Shaking up, from mixed liquid, pesticide that box drawing mixes and export, this device includes water pump and the extraction conduit being connected with water pump
And output channel；Unmanned plane medicine-chest docking facilities is for identifying the position of the input port of unmanned plane medicine-chest and by output channel and nothing
Man-machine medicine-chest carries out docking the filling realizing pesticide, and this device includes image acquisition units, graphics processing unit, docking unit,
Described image acquisition units is for obtaining the video information of the unmanned plane treating filling state, and described graphics processing unit is by gathering
Video information carry out identification and the output of docking location coordinate of unmanned plane medicine-chest input port, described docking unit is according to image
The position coordinates of processing unit output controls described output channel and docks with the input port of unmanned plane medicine-chest.
Another aspect of the present invention, this unmanned plane plant protection management system includes earth station system and flight control system, described pipe
Reason system also includes that cloud network data fortune control platform, described cloud network data fortune control platform include: cloud network data fortune control Website server,
It is used for providing task distribution, flight course planning and flight monitoring service；Map server, itself and cloud network data fortune control website service
Device communicates, and is used for providing Map Services；And database server, itself and the fortune control Website server communication of cloud network data, it is used for
Database service is provided.
In above-mentioned unmanned plane plant protection management system, described cloud network data fortune control Website server includes: Web server is soft
Part, it is used for providing the distribution of described task, flight course planning and flight monitoring service；Cloud network data fortune control website, it is used for storing
The information of task distribution, the information of flight course planning and the information of flight monitoring.
In above-mentioned unmanned plane plant protection management system, described map server includes web server software and Map Services
Software, provides Map Services for described cloud network data fortune control website.
In above-mentioned unmanned plane plant protection management system, described database server includes spatial database engine and data base
Management system, transports control Website server for map server and cloud network data and provides list data and GML data storage and access
Service.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, described map server, described data base clothes
Business device and described cloud network data fortune control Website server are in communication with each other by optical fiber each other.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, described earth station system passes through mobile radio communication
Network and the Internet carry out information alternately with described cloud network data fortune control website, and can be upper and lower from described cloud network data fortune control website
Information carrying breath and information of uploading are to described cloud network data fortune control website.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, client can pass through browser and the Internet
Access described cloud network data fortune control Website server.
In the preferred implementation of above-mentioned unmanned plane plant protection management system, described cloud network data fortune control platform can be with official
The unmanned machine management system in side communicates.
Present invention also offers a kind of unmanned plane plant protection method based on the Internet, described method comprises the following steps: to lead to
Cross cloud network data fortune control platform and distribute task to plant protection operation group；Plant protection region is carried out flight course planning the boat that will have planned
Line is stored in database server；Earth station system is downloaded planning course line the general of unmanned plane from cloud network data fortune control platform
The unmanned plane planning course line carried is sent to flight control system；Flight control system satellite receiver system send planning course line and control nothing
Man-machine along planning airline operation.
Further, described method also comprises the following steps: that flight control system sends unmanned aerial vehicle flight path point in real time to earth station
System；Earth station system receives the unmanned aerial vehicle flight path point data that flight control system sends, and is sent to cloud network data fortune control platform；Cloud
The track points data that network data fortune control platform satellite receiver system sends, and unmanned plane during flying track is monitored.
Further, after described method also comprises the following steps: that plant protection operation completes, earth station system is by plant protection operation literary composition
Part is sent to cloud network data fortune control platform；The plant protection operation file that cloud network data fortune control platform satellite receiver system sends is gone forward side by side
Row storage.
In the inventive solutions, by set up cloud network data fortune control platform unmanned plane plant protection operation is concentrated
Unified management, by means of the Internet and cloud platform technology, makes plant protection operation more efficiently.Simultaneously as the fortune control of cloud network data
Platform is easy to machine management system unmanned with official and is communicated, and is obtained the letter of real-time no-fly zone by the unmanned machine management system of official
Breath, thus improve controllability and the safety of unmanned plane plant protection operation.
Scheme 1, a kind of unmanned plane plant protection based on the Internet management system, including earth station system and flight control system, its
Being characterised by, described management system also includes that cloud network data fortune control platform, described cloud network data fortune control platform include: task is distributed
Module, it is for carrying out task distribution to each unmanned plane plant protection operation group according to the location information in plant protection region；Course line is advised
Drawing module, it for carrying out the flight course planning of unmanned plane according to the terrain information in plant protection region to this plant protection region；Flight monitoring
Module, it is used for the flight path of monitoring unmanned plane in real time and can store flight path information and the unmanned plane operation of unmanned plane
Information, wherein, described earth station system can to carry out information mutual with described cloud network data fortune control platform and described flight control system.
Scheme 2, according to described in scheme 1 unmanned plane plant protection based on the Internet manage system, it is characterised in that described
Business distribution module carries out farmland map inquiry according to plant protection contract information, obtains the location information in farmland, target area, according to fixed
Position information carries out the fractionation of mission area, farmland is divided into the mission area being of moderate size, then according to currently without man-machine operation group
Quantity carry out task distribution.
Scheme 3, according to described in scheme 2 unmanned plane plant protection manage system, it is characterised in that described flight course planning module exists
Before operation group performs job task, inquired about by farmland map inquiry and barrier, obtain the location information in target plot
And obstacle information, the algorithm then calling flight course planning calculates rational course line, and stores specific by the course line planned
In form, download for earth station system.
Scheme 4, according to described in scheme 3 unmanned plane plant protection manage system, it is characterised in that described flight monitoring module exists
On the basis of the map denotation of farmland, the unmanned plane track that satellite receiver system sends, on map, display unmanned plane is worked as in real time
Front position and state, and receive when the end of job and store earth station system send, include unmanned plane trace information and nothing
The job file of man-machine operation's information.
Scheme 5, according to described in scheme 4 unmanned plane plant protection manage system, it is characterised in that described flight monitoring module lead to
Cross the unmanned plane track that Transmission Control Protocol port satellite receiver system sends through mobile communications network and the Internet.
Scheme 6, according to according to any one of scheme 1 to 5 unmanned plane plant protection manage system, it is characterised in that described in fly
Ore-controlling Role is arranged on unmanned plane.
Scheme 7, according to described in scheme 6 unmanned plane plant protection manage system, it is characterised in that described management system also includes
Pesticide proportioning module and automatic load system；Pesticide proportioning module includes that pesticide memory element, pesticide select control unit, pesticide
Dilution unit；Described pesticide memory element is used for the various pesticide of storage of classifying, and this unit comprises the sealed storage case of Multiple Pesticides；
Described pesticide dilution unit is the liquid oscillating uniform device sealed, and this device includes that the mixed liquid sealed shakes up casing, and this casing is respectively
By being connected with sealed storage case and the external water source of storage pesticide with the pipeline of electrically operated valve, the electricity of described electrically operated valve
Dynamic executor selects control unit to be connected with pesticide；Described mixed liquid shakes up box bottom and is provided with the pipe with electrically operated valve
Road is discharged for residual liquid；Described pesticide control unit obtains the pesticide information being currently needed for preparation from cloud network data fortune control platform,
Control corresponding electrically operated valve to open and Guan Bi, it would be desirable to pesticide and the pesticide information conveyance prepared as required of dilution water source
Shake up casing to the most described mixed liquid to carry out mixing and shake up；Automatic load system includes that pesticide draw-out device, unmanned plane medicine-chest dock
Device；Described pesticide draw-out device for shaking up, from mixed liquid, pesticide that box drawing mixes and exporting, this device include water pump,
And the extraction conduit that is connected with water pump and output channel；Unmanned plane medicine-chest docking facilities is for identifying the input of unmanned plane medicine-chest
Mouthful position and carry out output channel and unmanned plane medicine-chest docking the filling realizing pesticide, this device includes image acquisition list
Unit, graphics processing unit, docking unit, described image acquisition units is for obtaining the video letter of the unmanned plane treating filling state
Breath, described graphics processing unit carries out identification and the docking location coordinate of unmanned plane medicine-chest input port by the video information gathered
Output, described docking unit controls described output channel and unmanned plane medicine-chest according to the position coordinates of graphics processing unit output
Input port dock.
Scheme 8, a kind of unmanned plane plant protection based on the Internet management system, including earth station system and flight control system, its
Being characterised by, described management system also includes that cloud network data fortune control platform, described cloud network data fortune control platform include: cloud network data
Fortune control Website server, it is used for providing task distribution, flight course planning and flight monitoring service；Map server, itself and cloud net
Data fortune control Website server communication, is used for providing Map Services；And database server, itself and cloud network data fortune control website
Server communication, is used for providing database service.
Scheme 9, according to described in scheme 8 unmanned plane plant protection based on the Internet manage system, it is characterised in that described cloud
Network data fortune control Website server includes: web server software, and it is used for providing the distribution of described task, flight course planning and flight
Monitoring service；Cloud network data fortune control website, it is for information, the information of flight course planning and the flight monitoring of store tasks distribution
Information.
Scheme 10, management system according to the unmanned plane plant protection described in scheme 9, it is characterised in that described map server
Including web server software and Map Services software, provide Map Services for described cloud network data fortune control website.
Scheme 11, management system according to the unmanned plane plant protection described in scheme 10, it is characterised in that described database service
Device includes spatial database engine and data base management system, and transporting control Website server for map server and cloud network data provides
List data and GML data storage and access service.
Scheme 12, according to according to any one of scheme 8 to 11 unmanned plane plant protection manage system, it is characterised in that described
Map server, described database server and described cloud network data fortune control Website server carry out phase by optical fiber each other
Intercommunication.
Scheme 13, according to according to any one of scheme 8 to 11 unmanned plane plant protection manage system, it is characterised in that described
It is mutual that earth station system carries out information by mobile communications network and the Internet and described cloud network data fortune control website, and can be from
Described cloud network data fortune control website download information and information of uploading are to described cloud network data fortune control website.
Scheme 14, manage system according to the unmanned plane plant protection described in scheme 13, it is characterised in that client can be by clear
Cloud network data fortune described in device and internet access of looking at controls Website server.
Scheme 15, management system according to the unmanned plane plant protection according to any one of scheme 8 to 11, it is characterised in that institute
State cloud network data fortune control platform can communicate by machine management system unmanned with official.
Scheme 16, a kind of unmanned plane plant protection method based on the Internet, it is characterised in that described method includes following step
Rapid: to distribute task by cloud network data fortune control platform to plant protection operation group；Plant protection region is carried out flight course planning and will plan
Good course line is stored in database server；Earth station system downloads the planning course line of unmanned plane from cloud network data fortune control platform
And the unmanned plane of download is planned that course line is sent to flight control system；The planning course line that flight control system satellite receiver system sends is also
Control unmanned plane along planning airline operation.
Scheme 17, according to the unmanned plane plant protection method described in scheme 16, it is characterised in that described method also includes following step
Rapid: flight control system sends unmanned aerial vehicle flight path point in real time to earth station system；Earth station system receives the unmanned of flight control system transmission
Machine track points data, and it is sent to cloud network data fortune control platform；The boat that cloud network data fortune control platform satellite receiver system sends
Mark point data, and unmanned plane during flying track is monitored.
Scheme 18, according to the unmanned plane plant protection method described in scheme 17, it is characterised in that described method also includes following step
Rapid: after plant protection operation completes, plant protection operation file is sent to cloud network data fortune control platform by earth station system；The fortune control of cloud network data
Platform satellite receiver system send plant protection operation file and store.
Scheme 19, according to the unmanned plane plant protection method described in scheme 18, it is characterised in that the concrete grammar of flight course planning
For: calculate the polygonal boundary rectangle that mission area is corresponding；On the basis of a wherein limit of boundary rectangle, with unmanned plane spraying swath
In rectangle, parallel lines are taken turns doing for spacing, until parallel lines do not occur simultaneously with rectangle, every parallel lines and polygonal intersection
It it is exactly a leg；All legs are coupled together and plans course line exactly.
Accompanying drawing explanation
Fig. 1 is the functional structure frame diagram of the cloud network data fortune control platform of the present invention；
Fig. 2 is the structural representation of unmanned plane plant protection based on the Internet management system of the present invention；
Fig. 3 is the flow chart of the unmanned plane plant protection method based on the Internet of the present invention.
Detailed description of the invention
The preferred embodiment of the present invention is described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the know-why of the present invention, it is not intended that limit the scope of the invention.Such as, this
It is described as a example by farmland although bright, however, it will be apparent that present invention may also apply to all kinds of plant protection regions such as forest, ability
The present invention can be used for all kinds of relevant occasion by field technique personnel as required.
The present invention, based on the Internet and cloud, sets up the cloud network data fortune control platform of unmanned plane plant protection, by this cloud net
Data fortune control platform carries out task distribution, flight course planning and flight monitoring to unmanned plane plant protection operation, thus realizes unmanned plane and plant
The centralized management protected.Wherein, when task distribution refers to that farmland is carried out plant protection task, the agriculture that especially plant protection Area comparison is big
Field, needs farmland is divided into the some mission areas being of moderate size, and then distributes to unmanned plane plant protection operation group and go to carry out plant protection
Operation.
The unmanned plane plant protection management system of the present invention includes earth station system and flight control system, and wherein, flight control system is arranged
On unmanned plane.This management system also includes cloud network data fortune control platform, and earth station system can be with cloud network data fortune control platform
The information of carrying out is mutual, and earth station system can also to carry out information mutual with flight control system simultaneously.Fig. 1 is the cloud network data of the present invention
The functional structure frame diagram of fortune control platform.As it is shown in figure 1, include in cloud network data fortune control platform feature: task allocating module, boat
Line planning module and flight monitoring module.Wherein, task allocating module gives each nothing for the location information according to plant protection region
Man-machine plant protection operation group carries out task distribution.Specifically, task allocating module carries out ground, farmland according to plant protection contract information
Figure inquiry, obtains the location information in farmland, target area, carries out the fractionation of mission area according to this location information, be divided into greatly in farmland
Little moderate mission area, then carries out task distribution according to currently without the quantity of man-machine operation group, each operation group every day
It is responsible for one or more mission area.Flight course planning module is for entering this plant protection region according to the terrain information in plant protection region
The flight course planning of row unmanned plane.Specifically, flight course planning module is before operation group performs job task, by ground, farmland
Figure inquiry and barrier are inquired about, and obtain location information and the obstacle information in target plot, then call the algorithm of flight course planning
Calculate rational course line, and the course line planned is stored in certain table, download for earth station system.Wherein, boat
One implementation method of line planning algorithm is: first calculate the polygonal boundary rectangle that mission area is corresponding, then with external square
On the basis of a wherein limit of shape, in rectangle, take turns doing parallel lines with unmanned plane spraying swath for spacing, until parallel lines and rectangle
Not occuring simultaneously, every parallel lines are exactly a leg with polygonal intersection, are coupled together all legs and plan course line exactly,
Planning course line runs into barrier, and one of which selects to be by rising avoiding obstacles.Flight monitoring module is for monitoring in real time
The flight path of unmanned plane, and flight path information and the unmanned plane job information of unmanned plane can be stored.Specifically, in office
On the basis of the map denotation of Wu Qu farmland, flight monitoring module is led to through mobile by Transmission Control Protocol port satellite receiver system
The unmanned plane track that communication network and the Internet send, and on map, showing unmanned plane current location and state in real time, including
Unmanned plane latitude and longitude coordinates and height, and receives when the end of job and stores earth station system transmission, include unmanned plane rail
Mark information and the job file of unmanned plane job information.
Above-mentioned is that the function to cloud net fortune control platform describes, and Fig. 2 is the unmanned plane plant protection pipe based on the Internet of the present invention
The structural representation of reason system.As in figure 2 it is shown, the unmanned plane plant protection management system of the present invention includes earth station system, flies control system
System and cloud net fortune control platform.Wherein, cloud network data fortune control platform physical includes the cloud net being deployed under commercial cloud platform environment
Fortune control Website server, map server and database server.Specifically, cloud network data fortune control Website server is used for carrying
For task distribution, flight course planning and flight monitoring service；Map server and the fortune control Website server communication of cloud network data, be used for
Map Services is provided；Database server and the fortune control Website server communication of cloud network data, be used for providing database service.Ground
System of standing carries out information alternately by mobile communications network and the Internet with described cloud network data fortune control website, and can be from cloud net
Data fortune control website download information and information of uploading are to cloud network data fortune control website.Client can be by browser with mutual
Internet interview cloud network data fortune control Website server.Wherein, cloud net fortune control Website server, map server and database service
Device is in communication with each other by optical fiber.
With continued reference to Fig. 2, cloud network data fortune control Website server includes web server software and cloud network data fortune control net
Standing, client carries out task distribution, flight course planning and flight by web server software and monitors.Cloud network data fortune control website is deposited
The information of storage task distribution, the information of flight course planning and the information of flight monitoring, earth station system passes through mobile communications network
Transporting control website with the Internet and cloud network data, to carry out information mutual.Map server includes web server software-such as
Tomcat and Map Services software-such as GeoServer, provides Map Services for cloud network data fortune control website.Database service
Device includes spatial database engine-such as PostGIS and data base management system-such as Postgres, for map server
List data and GML data storage and access service is provided with cloud network data fortune control Website server.It should be noted that ground
Station, face system can be downloaded the route information planned and upload the letters such as unmanned aerial vehicle flight path point from cloud network data fortune control website
Breath is to cloud network data fortune control website, and described information is stored in database server.
The unmanned plane plant protection management system of the present invention also includes pesticide proportioning module and automatic load system；
Pesticide proportioning module includes that pesticide memory element, pesticide select control unit, pesticide dilution unit；Described pesticide is deposited
Storage unit is used for the various pesticide of storage of classifying, and this unit comprises the sealed storage case of Multiple Pesticides；Described pesticide dilution unit is
The liquid oscillating uniform device sealed, this device includes that the mixed liquid sealed shakes up casing, and this casing is respectively by with electrically operated valve
Pipeline is connected with sealed storage case and the external water source of storage pesticide, and the YE of described electrically operated valve selects with pesticide
Control unit is connected；Described mixed liquid shakes up box bottom and is provided with the pipeline with electrically operated valve for residual liquid discharge；Institute
State pesticide control unit and obtain the pesticide information being currently needed for preparation from cloud network data fortune control platform, control corresponding electrically operated valve
Open and Guan Bi, it would be desirable to pesticide and the pesticide information conveyance prepared as required of dilution water source shake up case to the most described mixed liquid
Body carries out mixing and shakes up；
Automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；Described pesticide draw-out device is used for
Shaking up, from mixed liquid, pesticide that box drawing mixes and export, this device includes water pump and the extraction conduit being connected with water pump
And output channel；Unmanned plane medicine-chest docking facilities is for identifying the position of the input port of unmanned plane medicine-chest and by output channel and nothing
Man-machine medicine-chest carries out docking the filling realizing pesticide, and this device includes image acquisition units, graphics processing unit, docking unit,
Described image acquisition units is for obtaining the video information of the unmanned plane treating filling state, and described graphics processing unit is by gathering
Video information carry out identification and the output of docking location coordinate of unmanned plane medicine-chest input port, described docking unit is according to image
The position coordinates of processing unit output controls described output channel and docks with the input port of unmanned plane medicine-chest.Output channel
End is provided with the sensor of the horizontal level for detecting unmanned plane medicine-chest Pesticides, extracts to pesticide after pesticide is filled completely
Device sends signal, stops the filling to unmanned plane medicine-chest Pesticides.
Although also, it should be noted unmanned plane plant protection management system as shown in Figure 2 physically only includes three services
Device, the exemplary illustration that the management system of the present invention is simply carried out by this physical arrangement, it is not limiting as protection scope of the present invention.
Skilled addressee readily understands that, in technical scheme, server can be combined and split, such as,
Multiple servers distributed can be set and manage the function of system in order to realize the present invention, or by two or three station servers
Combine so that it is become server and be provided simultaneously with multiple functions of management system of the present invention.In like manner, although Fig. 1
Only including three modules in shown unmanned plane plant protection management systemic-function, this diagram is merely exemplary, this area skill
These modules can be split or combine by art personnel as required, thus provide more or less of module.These are the most not
The ultimate principle of the deviation present invention, within therefore falling within protection scope of the present invention.
Fig. 3 is the flow chart of the unmanned plane plant protection method based on the Internet of the present invention.Appoint as it is shown on figure 3, carry out plant protection
During business, first from the beginning of cloud network data fortune control platform.Specifically, the plant protection contract provision that is stored in the data base indentured period
The number of times of interior pesticide spraying and approximate time, provide prompting close to system during the plant protection date, system manager confirm, so
Distribute task by cloud network data fortune control platform to plant protection operation group afterwards, plant protection region is carried out flight course planning simultaneously, will rule
The course line pulled is stored in database server.Plant protection operation group passes through earth station system from cloud netting index before performing job task
Download the planning course line of unmanned plane according to fortune control platform, when performing job task, the unmanned plane of download is planned that course line is sent to fly
Ore-controlling Role, flight control system satellite receiver system send planning course line and control unmanned plane along planning airline operation.Unmanned plane
In flight course, flight control system sends unmanned aerial vehicle flight path point in real time and receives flight control system to earth station system, earth station system
The unmanned aerial vehicle flight path point data sent, and send the data to cloud network data fortune control platform, cloud network data fortune control platform receives
The track points data that earth station system sends, now show the position of unmanned plane on the map of farmland in real time, thus realize nothing
The monitoring of man-machine flight path.Additionally, after plant protection operation completes, plant protection operation file is sent to cloud network data by earth station system
Fortune control platform, cloud network data fortune is controlled the plant protection operation file of platform satellite receiver system transmission and stores.
In sum, cloud network data fortune control platform is set up in the Internet and cloud platform environment, using the teaching of the invention it is possible to provide the ground of magnanimity
Reason location information data is in order to support unmanned plane flight course planning, and the computing capability that simultaneously can provide powerful ensures flight course planning
Efficiency.When large area protects operation, cloud network data fortune control platform is capable of a large amount of unmanned planes are carried out task distribution and flight
Monitoring.Communicate, including unmanned to official additionally, be easy to machine management system unmanned with official by cloud network data fortune control platform
Machine management system provides real-time monitoring unmanned information, and obtains real-time no-fly zone letter by the unmanned machine management system of official
Breath, improves controllability and the safety of unmanned plane operation.
So far, describe technical scheme already in connection with preferred implementation shown in the drawings, but, this area
Skill will readily appreciate that, protection scope of the present invention is expressly not limited to these detailed description of the invention.Without departing from this
On the premise of the principle of invention, correlation technique feature can be made change or the replacement of equivalent by those skilled in the art, these
Within technical scheme after changing or replacing it falls within protection scope of the present invention.
Claims (10)
1. unmanned plane plant protection based on a Internet management system, including earth station system and flight control system, it is characterised in that
Described management system also includes that cloud network data fortune control platform, described cloud network data fortune control platform include:
Task allocating module, it is for carrying out task to each unmanned plane plant protection operation group according to the location information in plant protection region
Distribution；
Flight course planning module, it for carrying out the course line rule of unmanned plane according to the terrain information in plant protection region to this plant protection region
Draw；
Flight monitoring module, it is used for the flight path of monitoring unmanned plane in real time and can store the flight path information of unmanned plane
With unmanned plane job information,
Wherein, described earth station system can to carry out information mutual with described cloud network data fortune control platform and described flight control system.
Unmanned plane plant protection based on the Internet the most according to claim 1 management system, it is characterised in that described task is divided
Join module and carry out farmland map inquiry according to plant protection contract information, obtain the location information in farmland, target area, according to location letter
Breath carries out the fractionation of mission area, farmland is divided into the mission area being of moderate size, then according to the number currently without man-machine operation group
Amount carries out task distribution.
Unmanned plane plant protection the most according to claim 2 management system, it is characterised in that described flight course planning module is in operation
Before group performs job task, inquired about by farmland map inquiry and barrier, obtain location information and the barrier in target plot
Hindering thing information, the algorithm then calling flight course planning calculates rational course line, and the course line planned is stored certain table
In, download for earth station system.
Unmanned plane plant protection the most according to claim 3 management system, it is characterised in that described flight monitoring module is in farmland
On the basis of map denotation, the unmanned plane track that satellite receiver system sends, map shows unmanned plane present bit in real time
Put and state, and receive when the end of job and store earth station system send, include unmanned plane trace information and unmanned plane
The job file of job information.
Unmanned plane plant protection the most according to claim 4 management system, it is characterised in that described flight monitoring module passes through
The unmanned plane track that Transmission Control Protocol port satellite receiver system sends through mobile communications network and the Internet.
Unmanned plane plant protection the most according to any one of claim 1 to 5 management system, it is characterised in that described in fly control system
System is arranged on unmanned plane.
Unmanned plane plant protection the most according to claim 6 management system, it is characterised in that described management system also includes pesticide
Proportioning module and automatic load system；
Pesticide proportioning module includes that pesticide memory element, pesticide select control unit, pesticide dilution unit；The storage of described pesticide is single
Unit is used for the various pesticide of storage of classifying, and this unit comprises the sealed storage case of Multiple Pesticides；Described pesticide dilution unit is for sealing
Liquid oscillating uniform device, this device includes that the mixed liquid sealed shakes up casing, and this casing is respectively by with the pipeline of electrically operated valve
Being connected with sealed storage case and the external water source of storage pesticide, the YE of described electrically operated valve and pesticide select to control
Unit is connected；Described mixed liquid shakes up box bottom and is provided with the pipeline with electrically operated valve for residual liquid discharge；Described agriculture
Medicine control unit obtains the pesticide information being currently needed for preparation from cloud network data fortune control platform, controls corresponding electrically operated valve and opens
And Guan Bi, it would be desirable to pesticide and the pesticide information conveyance prepared as required of dilution water source shake up casing to the most described mixed liquid and enter
Row mixing shakes up；
Automatic load system includes pesticide draw-out device, unmanned plane medicine-chest docking facilities；Described pesticide draw-out device is for from mixed
Liquid shakes up pesticide that box drawing mixes and exports, and this device includes water pump and the extraction conduit being connected with water pump and defeated
Go out pipeline；Unmanned plane medicine-chest docking facilities is for identifying the position of the input port of unmanned plane medicine-chest and by output channel and unmanned plane
Medicine-chest carries out docking the filling realizing pesticide, and this device includes image acquisition units, graphics processing unit, docking unit, described
Image acquisition units is for obtaining the video information of the unmanned plane treating filling state, and described graphics processing unit is by regarding of gathering
Frequently information carries out identification and the output of docking location coordinate of unmanned plane medicine-chest input port, and described docking unit is according to image procossing
The position coordinates of unit output controls described output channel and docks with the input port of unmanned plane medicine-chest.
8. unmanned plane plant protection based on a Internet management system, including earth station system and flight control system, it is characterised in that
Described management system also includes that cloud network data fortune control platform, described cloud network data fortune control platform include:
Cloud network data fortune control Website server, it is used for providing task distribution, flight course planning and flight monitoring service；
Map server, itself and the fortune control Website server communication of cloud network data, it is used for providing Map Services；And
Database server, itself and the fortune control Website server communication of cloud network data, it is used for providing database service.
Unmanned plane plant protection based on the Internet the most according to claim 8 management system, it is characterised in that described cloud netting index
Include according to fortune control Website server:
Web server software, it is used for providing the distribution of described task, flight course planning and flight monitoring service；
Cloud network data fortune control website, it is for information, the information of flight course planning and the letter of flight monitoring of store tasks distribution
Breath.
The management system of unmanned plane plant protection the most according to claim 9, it is characterised in that described map server includes
Web server software and Map Services software, provide Map Services for described cloud network data fortune control website.
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