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Vineyard management in virtual reality: autonomous control of a transformable drone

机译:虚拟现实中的葡萄园管理:可变形无人机的自主控制

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Grape vines are susceptible to many diseases. Routine scouting is critically important to keep vineyards in healthy condition. Currently, scouting relies on experienced farm workers to inspect acres of land while arduously filling out reports to document crop health conditions. This process is both labor and time consuming. Using drones to assist farm workers in scouting has great potential to improve the efficiency of vineyard management. Due to the complexity in grape farm disease detection, the drones are normally used to detect suspicious areas to help farm workers to prioritize scouting activities. Operations still rely heavily on humans for further inspection to be certain about the health conditions of the vines. This paper introduces an autonomous transition flight control method for a transformable drone, which is suitable for the future virtual presence of humans in further inspecting suspicious areas. The transformable drone adopts a tilt-rotor mechanism to automatically switch between hover and horizontal flight modes, following commands from virtual reality devices held in the ground control station. The conceptual design and transformation dynamics of the drone will be first discussed, followed by a model predictive control system developed to automatically control the transition flight. Simulation is also provided to show the effectiveness of the proposed control system.
机译:葡萄藤容易感染多种疾病。例行搜寻对于保持葡萄园健康状况至关重要。目前,侦察工作依靠经验丰富的农场工人来检查英亩土地,同时艰苦地填写报告以记录农作物健康状况。这个过程既费力又费时。使用无人机协助农场工人进行搜索具有极大的潜力,可以提高葡萄园管理的效率。由于葡萄农场疾病检测的复杂性,无人机通常用于检测可疑区域,以帮助农场工人优先进行侦察活动。操作仍然严重依赖人类进行进一步检查,以确保葡萄藤的健康状况。本文介绍了一种适用于可变换无人机的自主过渡飞行控制方法,该方法适用于将来人类在进一步检查可疑区域时的虚拟存在。可变换的无人机采用倾斜旋翼机构,根据来自地面控制站中的虚拟现实设备的命令在悬停和水平飞行模式之间自动切换。首先将讨论无人机的概念设计和变形动力学,然后是为自动控制过渡飞行而开发的模型预测控制系统。还提供了仿真,以显示所提出的控制系统的有效性。

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