Summary of the invention
Present invention is primarily targeted at and provide one and enable unmanned plane provider or job service provider realTime understand the system obtaining equipment availability cost information of field operation situation and expense.
Another object of the present invention is to provide a kind of method obtaining equipment availability cost information, wherein, unmanned plane carriesSupplier can obtain the job parameter information of fog machine by ground based terminal, and can calculate operating cost accurately, it is simple to workIndustry service provider carries out disbursement and sattlement.
For reaching object above, the invention provides a kind of system obtaining equipment availability cost information, including:
Control system, described control system controls equipment according to the self-detection result of the instruction and Airborne Terminal that control end and makeesIndustry, and Collecting operation parameter information；
Airborne Terminal, described Airborne Terminal is connected with described control system communication, and system is carried out certainly by described Airborne TerminalInspection；
Ground based terminal, described ground based terminal is connected with described Airborne Terminal communication, and described ground based terminal is according to described operationParameter information calculates operating cost.
In one embodiment, described control system and described Airborne Terminal are arranged on described equipment.
In one embodiment, after described control system receives the instruction that described control end sends, to described airborne endEnd sends solicited message, after described Airborne Terminal receives described solicited message, performs self-inspection.
In one embodiment, if self-inspection is qualified, the most described Airborne Terminal sends the qualified letter of self-inspection to described control systemBreath, after described control system receives the qualified information of described self-inspection, controls described equipment according to the instruction that described control end sendsStart operation；
If self-inspection is defective, the most described Airborne Terminal sends the defective information of self-inspection, described control to described control systemAfter system receives the defective information of described self-inspection, control the not operation of described equipment.
In one embodiment, described self-detection result is that described Airborne Terminal is able to receive that described job parameter information, andAnd can store and/or send described job parameter information, then self-inspection is qualified.
In one embodiment, after described control system receives the defective information of described self-inspection, also can be to described controlEnd and/or described ground based terminal send alarm.
In one embodiment, after described equipment starts operation, described control system gathers described job parameter information.
In one embodiment, after described equipment starts operation, job parameter letter described in described control system Real-time CollectionBreath, and the described job parameter information collected is sent in real time to described Airborne Terminal.
In one embodiment, after described equipment starts operation, described equipment is according to the control of described control end or pre-Load program carries out operation.
In one embodiment, if described self-detection result is described Airborne Terminal is able to receive that, stores and sends described workIndustry parameter information, then after described control system sends described job parameter information extremely described Airborne Terminal, described Airborne TerminalDescribed job parameter information is sent to described ground based terminal, or described job parameter information is stored simultaneously；
It is capable of receiving and storing described job parameter information if described self-detection result is described Airborne Terminal, and can notSend described job parameter information, then after described control system sends described job parameter information extremely described Airborne Terminal, instituteState Airborne Terminal first described job parameter information to be stored, when described Airborne Terminal is capable of sending described job parameterWhen information is to described ground based terminal, described Airborne Terminal performs described job parameter information is sent to described ground based terminal；
It is capable of receiving and sending described job parameter information if described self-detection result is described Airborne Terminal, and can notStore described job parameter information, then after described control system sends described job parameter information extremely described Airborne Terminal, instituteState Airborne Terminal to send described job parameter information to described ground based terminal.
In one embodiment, it is capable of receiving and storing described operation if described self-detection result is described Airborne TerminalParameter information, and described job parameter information can not be sent, or described Airborne Terminal is capable of receiving, storing and send instituteStating job parameter information, described Airborne Terminal should meet the space storing described job information parameter information not less than 2GB.
In one embodiment, described equipment is unmanned plane.
In one embodiment, described equipment is plant protection unmanned plane.
In one embodiment, described job parameter information includes flying height, flight longitude and latitude, flight speed, motorRotating speed and the state of flight of unmanned plane.
The present invention also provides for a kind of method obtaining equipment availability cost information, comprises the following steps:
S100, sends job instruction by controlling end to described equipment；
S200, after the control system on described equipment receives job instruction, sends solicited message to described Airborne Terminal；
S300, described Airborne Terminal, after receiving solicited message, performs self-inspection, if self-inspection is qualified, the most described airborne endHolding and send the qualified information of self-inspection to described control system, and perform S400, otherwise, described Airborne Terminal is sent out to described control systemSend self-inspection defective information, after described control system receives the defective information of self-inspection, control the not operation of described equipment；
S400, after described control system receives the qualified information of self-inspection, controls described equipment and opens according to described job instructionBeginning operation, and fulfil assignment according to the control of preloaded image or described control end, and land, in operation process, described controlJob parameter information described in system acquisition, and described job parameter information is sent to described Airborne Terminal；
S500, described Airborne Terminal receives described job parameter information, and stores and/or be sent to described ground based terminal；
S600, described ground based terminal receives described job parameter information, and calculates operation according to described job parameter informationExpense.
In one embodiment, described equipment is unmanned plane.
In one embodiment, described equipment is plant protection unmanned plane.
In one embodiment, in S400, described operation is spraying operation, and described spraying operation is driven by Teat pipette motorDynamic, described Teat pipette motor and described control system wired connection, the described job parameter information of described control system collection is also wrappedInclude the duty of described Teat pipette motor.
In one embodiment, in S600, described operating cost includes working area expense and operation campus network, instituteState ground based terminal and extract all flight latitude and longitude information between Teat pipette motor opening and closing state described in adjacent twice, thenCalculate the polygon that the point at the edge that described flight latitude and longitude information is constituted is connected to form, calculate finally according to area of a polygonWorking area expense, described ground based terminal can be regarded as industry campus network according to spray flow gauge.
According to preferred embodiment, the invention provides following advantage:
(1) present invention makes unmanned plane provider or job service provider recognize fog machine in real time by ground based terminalJob information and operating cost, it is simple to unmanned plane provider and job service provider carry out disbursement and sattlement；
(2) present invention flight longitude and latitude by control system real time record fog machine, ground based terminal terminal is by this numberFlight calculation of longitude & latitude working area, thus obtain working area expense, can be regarded as industry campus network by spray flow gauge so thatExpense convenience of calculation, and improve efficiency；
(3) present invention for control system receive control end send instruction after, pioneer's motivation mounted terminal self-inspection, oneDenier self-inspection is defective, and this control system controls equipment not operation, also can send alarm to controlling end and or ground based terminal.
The present invention is further illustrated below in conjunction with drawings and Examples.
Detailed description of the invention
Hereinafter describe and be used for disclosing the present invention so that those skilled in the art are capable of the present invention.Below describe in excellentSelect embodiment to be only used as citing, it may occur to persons skilled in the art that other obvious modification.Define in the following descriptionThe ultimate principle of the present invention can apply to other embodiments, deformation program, improvement project, equivalent and the not back of the bodyOther technologies scheme from the spirit and scope of the present invention.
First embodiment
Refering to Fig. 1, it is shown that according to what a kind of described in the preferred embodiment of the present invention obtained equipment availability cost information beSystem, including control system, Airborne Terminal and ground based terminal, the communication successively of control system, Airborne Terminal and ground based terminal connects；ControlSystem processed, after receiving the instruction controlling end transmission, drives Airborne Terminal self-inspection, after Airborne Terminal self-inspection is qualified, Airborne TerminalDriving control system performs operation according to instruction, and this operation is that control system is according to the work controlling the instruction control equipment that end sendsIndustry, control system and Airborne Terminal are arranged on the device, meanwhile, and control system Collecting operation parameter information, and to airborne endEnd sends job parameter information；After Airborne Terminal receives job parameter information, carry out storing and/or sending to ground based terminal；After ground based terminal receives job parameter information, calculate operating cost according to job parameter information.
Specifically, control system, after receiving the instruction controlling end transmission, first sends solicited message, machine to Airborne TerminalAfter mounted terminal receives solicited message, perform self-inspection.If self-inspection is qualified, Airborne Terminal sends the qualified letter of self-inspection to control systemBreath, after control system receives the qualified information of self-inspection, according to controlling the instruction control equipment availability that end sends；If self-inspection does not conforms toLattice, Airborne Terminal sends the defective information of self-inspection to control system, after control system receives the defective information of self-inspection, controls to setOut of trade for not making, also can be to controlling end and/or ground based terminal transmission alarm, now, control system and ground based terminal are logicalNews connect.
Alarm includes that system does not network (i.e. Airborne Terminal can not send and/or receive job parameter information), withAnd the space of Airborne Terminal storage job parameter information is less than promptings such as 2GB, enables job service provider according to accordinglyAlarm, solves corresponding problem rapidly, enables Airborne Terminal self-inspection qualified.
Wherein, if equipment original state is resting state, after control system receives the defective information of self-inspection, will not basisControlling the instruction execution operation that end sends, this equipment keeps resting state.
Aforementioned Airborne Terminal and ground based terminal all by module accessing mobile communication networks such as 3/4G, wifi, and can haveThere are the function of storage information, and independent identification information.
Second embodiment
In the present embodiment, use the system obtaining equipment availability information described in first embodiment, and be applied to unmannedMachine.
In the application, unmanned plane provider provides unmanned plane, job service provider to use unmanned plane to provide job service,Job service party in request is by buying service to complete relevant operation to job service provider.Job service provides direction operationAfter demand for services side collects the operating cost of unmanned plane, unmanned plane provider and job service provider are carried out according to a certain percentageProfit distribution, before this, if unmanned plane provider obtains the operation according to parameter information Automatic-settlement by ground based terminalExpense, can judge the accuracy of this profit distribution.Concrete method of work is as described below:
(1) job service provider sends job instruction by controlling end to unmanned plane；
(2), after the control system on unmanned plane receives job instruction, first solicited message is sent to Airborne Terminal；
(3) after Airborne Terminal receives solicited message, performing self-inspection, if self-inspection is qualified, then Airborne Terminal is sent out to control systemSending self-inspection qualified information, and perform step (4), otherwise, send the defective information of self-inspection to control system, control system receivesAfter the defective information of self-inspection, control unmanned plane and do not make out of trade, also can be to controlling end and/or ground based terminal transmission alarm；
(4), after control system receives the qualified information of self-inspection, control unmanned plane and start operation according to job instruction, and according toPreset instructions or control end control to fulfil assignment, and land, in operation process, and control system Collecting operation parameter information, andJob parameter information is sent to Airborne Terminal；
(5) the reception job parameter information that Airborne Terminal is real-time, carries out storing and/or sending out according to Airborne Terminal self-inspection situationSend job parameter information to ground based terminal；
(6) ground based terminal calculates operating cost according to job parameter information.
In step (1), job service provider can control multiple stage unmanned plane operation, and every frame unmanned plane is mounted on controlSystem processed and Airborne Terminal.
In step (3), whether whether the content of Airborne Terminal self-inspection includes whether to be able to receive that, can store andJob parameter information can be sent.
The qualified situation of Airborne Terminal self-inspection includes following three kinds of situations:
(1) Airborne Terminal is able to receive that, stores and sends job parameter information；
(2) Airborne Terminal is able to receive that and parameter information, and can not send job parameter information；
(3) Airborne Terminal is able to receive that and sends parameter information, and can not store job parameter information.
In addition to above-mentioned three kinds of situations, self-inspection is defective.
When self-detection result be Airborne Terminal be able to receive that, store and send job parameter information time, in step (5), machineJob parameter information is preferentially sent to ground based terminal by mounted terminal, or stores job parameter information simultaneously.
When self-detection result be Airborne Terminal be able to receive that and send job parameter information time, and can not store job parameter letterDuring breath, in step (5), job parameter information is directly sent to ground based terminal by Airborne Terminal.
When self-detection result is that Airborne Terminal is able to receive that and stores job parameter information, and job parameter information can not be sentTime, in step (5), job parameter information can first be stored by Airborne Terminal, can send work when Airborne Terminal detectsIndustry parameter information, to after ground based terminal, performs to send to ground based terminal job parameter information.
Further, the space of Airborne Terminal parameter information is not less than in the case of 2GB, and Airborne Terminal is considered as self-inspectionQualified.
In step (4), parameter information includes flying height, flight longitude and latitude, flight speed, motor speed and unmanned planeState of flight etc..
In step (6), unmanned plane provider understands the handling situations of unmanned plane, handling situations also by ground based terminalObtained by job parameter information.
The quantity of aforementioned ground based terminal can be multiple stage, except unmanned plane provider obtains unmanned plane by ground based terminalOutside job parameter information and operating cost, job service provider also can have a tread terminal, is equally used for understanding nobodyThe job parameter information of machine and operating cost.
Aforementioned communication connects and includes wired connection and wireless connections, selects the most as required.As preferably,Airborne Terminal and ground based terminal are wireless connections, and control system and Airborne Terminal are wired connection.
3rd embodiment
As in figure 2 it is shown, the method obtaining equipment availability information described in the second embodiment is specifically applied by the present embodimentIn plant protection unmanned plane, with the cost information that gets parms.Specifically include following steps:
S100, terrestrial operation person sends, to plant protection unmanned plane, instruction of taking off by controlling end；
S200, after the control system on fog machine receives instruction of taking off, first sends to the Airborne Terminal communicating connectionSolicited message；
S300, Airborne Terminal, after receiving solicited message, performs self-inspection, if self-inspection is qualified, then Airborne Terminal is to controlSystem sends the qualified information of self-inspection, and performs S400, otherwise, sends the defective information of self-inspection to control system, and control system connectsAfter receiving the defective information of self-inspection, control fog machine and do not make out of trade, also can send warning to control end and/or ground based terminal and carryShow；
S400, after control system receives the qualified information of self-inspection, controls fog machine and instructs execution according to taking off and take off operation,Then according to control end controls or preloaded image completes spraying operation, and landing, during spraying operation, control system is real-timeCollecting operation parameter information, and job parameter information is sent in real time to Airborne Terminal；
S500, Airborne Terminal real-time reception job parameter information, and store and/or send job parameter information to ground eventuallyEnd；
S600, ground based terminal receives job parameter information, and calculates operating cost according to job parameter information.
In S300, the situation that Airborne Terminal self-inspection is qualified, and according to self-inspection situation Airborne Terminal make follow-up dynamicMake consistent with the description in the second embodiment.
In S400, spraying operation is driven by Teat pipette motor, Teat pipette motor and control system wired connection.Therefore, controlThe job parameter information of system acquisition also includes the duty of Teat pipette motor.Specifically, fog machine root is controlled when control systemAccording to taking off, instruction execution is taken off after operation, and Teat pipette motor is by controlling end control or preloaded image performs to start or close.
Wherein, ground based terminal is according to the opening and closing state of Teat pipette motor, it is judged that fog machine starts and terminates to spray and makeesIndustry.
When control system gathers the flight longitude and latitude of fog machine, owing to fog machine the most back and forth flies, therefore can gather manyIndividual flight latitude and longitude information, as long as the point at the edge of the flight latitude and longitude information institute pie graph picture these collected is connected to formOne polygon, this polygonal area is just for the accurate working area of fog machine.In S600, operating cost includes the scope of operationLong-pending expense and operation campus network, ground based terminal extracts all flights between adjacent twice Teat pipette motor opening and closing stateLatitude and longitude information, and collecting as one group of master data, calculate these flight latitude and longitude information institute pie graphs collected asThe polygon that marginal point is connected to form, finally according to this polygonal areal calculation working area expense.Also can be by working areaUnit conversion become mu, according to the working area expense of this plant protection of calculation of price of every mu.Ground based terminal is according to spraying flowCalculate operation campus network.
Ground based terminal can be arranged according to ground operator, working area, operation flow and operation in calculating random time sectionExpense.Ground based terminal, in addition to display operating cost, is additionally operable to show other job parameter information.
Embodiment described above is merely to illustrate technological thought and the feature of the present invention, in its object is to make this areaTechnical staff will appreciate that present disclosure and implement according to this, it is impossible to only limit the patent model of the present invention with the present embodimentEnclose employing, the most all equal changes made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.