CN105929846A - Spraying method and device based on unmanned aerial vehicle - Google Patents
Spraying method and device based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105929846A CN105929846A CN201610401827.2A CN201610401827A CN105929846A CN 105929846 A CN105929846 A CN 105929846A CN 201610401827 A CN201610401827 A CN 201610401827A CN 105929846 A CN105929846 A CN 105929846A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- return voyage
- voyage
- spray
- medicine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a spraying method and device based on an unmanned aerial vehicle (UAV). The method comprises a track planning step in which a course reversal point R is determined, an area which needs spraying is selected, and a track of a UAV flight point sequence is planned; a spraying step in which flight point sequence flight is traversed successively while spraying is carried out; and a course reversal determining step in which when a predetermined flight point is reached, whether the present pesticide amount and/or electricity amount can satisfy use, if yes, spraying is continued, and otherwise, the course reversal point R is returned to. The spraying device comprises a track planning module, a spraying module and a course reversal determining module. According to the invention, shortage of batteries or pesticide can be discovered timely, the UAV can return automatically to replace the battery or supplement pesticide, time and labor are saved, the efficacy is high, determination is accurate and the spraying efficiency is high.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of spray method based on unmanned plane and device.
Background technology
UAV abbreviation unmanned plane (English: Unmanned Aerial Vehicle, it is called for short: UAV),
It it is the most manned aircraft of a kind of presetting apparatus utilizing radio robot and provide for oneself manipulation.Unmanned plane
It is widely used in agricultural, carries out spraying medicine (spraying insecticide or fertilizer) for agricultural product.Unmanned plane is at spray medicine
In operation process, the breakpoint situation that midway there is not electricity, medicine to be finished, the breakpoint during spray medicine can often occur
How to continue spray and always perplex the difficult problem of those skilled in the art.The spray medicine operation of existing unmanned plane, be
Global position system is relied on to judge breakpoint.
But, global position system inherently has the error of 1～2 meter, adds the control of unmanned plane self by mistake
Difference, it is easy to cause drain spray or phenomenon of respraying；Even if unmanned plane finds breakpoint, owing to unmanned plane is full
Load is taken off, and flight, to breakpoint location, consumes power source very much.
Summary of the invention
Embodiment of the present invention technical problem to be solved is, it is provided that one can find in time battery or
The non-starving condition of person's dose, and make unmanned plane automatically make a return voyage replacing battery or dosing, time saving and energy saving, efficiency is high,
Judging precisely, spray drug effect rate is high.
In order to solve above-mentioned technical problem, the embodiment of the present invention proposes a kind of spray method based on unmanned plane,
Described spray method based on unmanned plane includes:
Trajectory planning step: determine make a return voyage a R and to need to carry out spray medicine operation region choose and connect multiple
Boundary point is to constitute a polygon, and limit longest edge in polygon or user chosen is as the first limit, with
While longer sides in two limits being connected or the limit chosen of user are as the second limit, and by being parallel to first
The method of the equidistant translation in limit determines the destination sequence of unmanned plane；
Spray medicine step: carry out spraying medicine operation while traveling through the flight of described destination sequence successively；And
Make a return voyage judgement step: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet uses,
If meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
Correspondingly, the embodiment of the present invention also provides for a kind of chemical spraying device based on unmanned plane, described based on unmanned
The chemical spraying device of machine includes:
Flight path programming module: determine make a return voyage a R and to need to carry out spray medicine operation region choose and connect multiple
Boundary point is to constitute a polygon, and limit longest edge in polygon or user chosen is as the first limit, with
While longer sides in two limits being connected or the limit chosen of user are as the second limit, and by being parallel to first
The method of the equidistant translation in limit determines the destination sequence of unmanned plane；
Spray medicine module: carry out spraying medicine operation while traveling through the flight of described destination sequence successively；And
Make a return voyage judge module: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet uses,
If meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
The embodiment of the present invention is determined by making a return voyage a R and choose the region that need to carry out spraying medicine operation connect many
Individual boundary point to constitute a polygon, the limit that longest edge in polygon or user are chosen as the first limit, with
Longer sides in two limits that first limit is connected or the limit chosen of user are as the second limit, and by being parallel to the
The method of the most equidistant translation determines the destination sequence of unmanned plane；Travel through the flight of described destination sequence successively
While carry out spray medicine operation；And when flying to destination, it is judged that whether current dose and electricity meet uses,
If met, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to playing departure position, and then can be in time
Finding battery or the non-starving condition of dose, and make unmanned plane automatically make a return voyage replacing battery or dosing, save time province
Power, efficiency is high, it is judged that precisely, and spray drug effect rate is high.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention spray method based on unmanned plane schematic flow sheet.
Fig. 2 is the trajectory planning steps flow chart schematic diagram of the embodiment of the present invention.
Fig. 3 is the polygonal schematic diagram in spray medicine operating area that the embodiment of the present invention is corresponding.
Fig. 4 is the schematic diagram of the course line after embodiment of the present invention trajectory planning and destination.
Fig. 5 is the structural representation of embodiment of the present invention chemical spraying device based on unmanned plane.
Drawing reference numeral explanation
Trajectory planning step S1
Choose spray medicine operating area step S11
A R that makes a return voyage determines step S12
Destination determines step S13
Spray medicine step S2
Make a return voyage and judge step S3
Flight path programming module 10
Spray medicine module 20
Make a return voyage judge module 30.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment
Can be combined with each other, with specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
If it addition, the description relating to " first ", " second " etc. in the present invention is only used for describing purpose, and
It is not intended that indicate or imply its relative importance or the implicit quantity indicating indicated technical characteristic.
Thus, define " first ", the feature of " second " can express or implicitly include at least one this spy
Levy.
Refer to Fig. 1 to Fig. 4, a kind of based on unmanned plane the spray method that the embodiment of the present invention provides includes boat
Mark planning step S1, spray medicine step S2 and make a return voyage and judge step S3, wherein trajectory planning step S1 includes three
Individual step:
Choose spray medicine operating area step S11: the need that reception user selects on map carry out spraying the district of medicine operation
The boundary point information in territory, and connect multiple boundary point to constitute a polygon.
A R that makes a return voyage determines step S12: after constituting the polygon that field is corresponding, user can be according to actual feelings
The point of the convenient stop that the biggest ridge of condition is corresponding is as a R that makes a return voyage, in order to unmanned plane shuts down interpolation pesticide above
Or replacing battery, is also convenient for manipulation personnel and stands in the working condition monitoring aircraft above this limit；By polygon
The limit that in shape, longest edge or user choose as the first limit, longer sides in two limits being connected with the first limit or
The limit that user chooses is as the second limit, and using the intersection point on the first limit and the second limit as starting point A1(initial boat
Point).Specifically, by using acquisition user manually to select the technological means on limit, the flexible of course line setting is added
Property and the adaptability to field practical situation.
Destination determines step S13: with the first place, limit straight line as translated linear, sprays medicine fabric width with unmanned plane first
Half as translation distance, thereafter using unmanned plane spray medicine fabric width as translation distance, to another of the second limit
End points direction sequentially forms multiple translated segments, with starting point A after translating successively on polygon1To the first limit
Another end points direction as initial flight direction and along translated segments track shuttle flight traversal all flat
Move intersection point sequence produced by line segment as destination sequence.Wherein, described boundary point, intersection point all comprise longitude and latitude
Coordinate information, namely unmanned plane carries out rectilinear flight according to latitude coordinates.
Spray medicine step S2: send, receive described destination sequence, travels through the same of described destination sequence flight successively
Shi Jinhang sprays medicine operation.
Make a return voyage and judge step S3: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet makes
With, if meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
As a kind of embodiment, make a return voyage and judge in step S3, when unmanned plane during flying sprays flight path to kth bar
Initial terminal A2k-1Time, the establishment of following formula, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnBoat for planning
Point, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k-1
To an A2kPower consumption,For unmanned plane from an A2kTo the power consumption of a R, Z0Current for unmanned plane
Electricity.
Wherein, s is from an A2k-1To an A2kArriving the voyage of some R again, P is unmanned
The power consumption of unit distance when machine flies at a constant speed at a predetermined velocity, dm is the integration infinitesimal to voyage s.
As a kind of embodiment, make a return voyage and judge in step S3, spray flight path when unmanned plane completes kth bar,
Flight to kth bar sprays flight path terminal A2kTime:
Following formula is set up, then dose deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor planning
Destination, k represents that kth bar sprays flight path, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k+1To an A2k+2
The volume of spray liquid, s is an A2k+1To an A2k+2Voyage, y be unmanned plane spray medicine fabric width, LsIt is unmanned
The volume of the medicinal liquid that machine unit are is sprayed, L0For the medicine liquid volume that unmanned plane is current.
Following formula is set up, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor
Planning destination, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For nothing
Man-machine from an A2kTo A2k+1Power consumption,For unmanned plane from an A2k+1To A2k+2Power consumption,For
Unmanned plane is from an A2k+2To the power consumption of a R, Z0For the electricity that unmanned plane is current.
Wherein, s is from an A2kTo an A2k+1Arrive some A again2k+2Arrive again
The voyage of some R, P is unmanned plane power consumption of unit distance when flying at a constant speed at a predetermined velocity, and dm is to voyage
The integration infinitesimal of s.
As a kind of embodiment, above-mentioned P=B × W, wherein, B is fixed coefficient, and W is that unmanned plane is current
Weight；W=W1+L0× ρ, W1For the deadweight of unmanned plane, L0For the medicine liquid volume that unmanned plane is current, ρ is medicine
Liquid-tight degree；L0=L-q × t, wherein, L > 0, L are that medicine-chest medicinal liquid is playing the initial volume of departure position, and q is nothing
The medicine liquid volume of ejection of man-machine unit interval, t is the total time of this spray medicine.
Refer to Fig. 5, the embodiment of the present invention additionally provides a kind of chemical spraying device based on unmanned plane, described unmanned
Machine includes following flight path programming module 10, spray medicine module 20 and the judge module 30 that makes a return voyage.
Flight path programming module 10: determine make a return voyage a R and to need to carry out spray medicine operation region choose and connect many
Individual boundary point to constitute a polygon, the limit that longest edge in polygon or user are chosen as the first limit, with
Longer sides in two limits that first limit is connected or the limit chosen of user are as the second limit, and by being parallel to the
The method of the most equidistant translation determines the destination sequence of unmanned plane；
Spray medicine module 20: carry out spraying medicine operation while traveling through the flight of described destination sequence successively；And
Make a return voyage judge module 30: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet makes
With, if meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
As a kind of embodiment, when unmanned plane during flying sprays track initiation terminal A to kth bar2k-1Time, make a return voyage
Judge module 30 judges, if following formula is set up, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnBoat for planning
Point, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k-1
To an A2kPower consumption,For unmanned plane from an A2kTo the power consumption of a R, Z0Current for unmanned plane
Electricity.
Wherein, s is from an A2k-1To an A2kArriving the voyage of some R again, P is unmanned
The power consumption of unit distance when machine flies at a constant speed at a predetermined velocity, dm is the integration infinitesimal to voyage s.
As a kind of embodiment, spraying flight path when unmanned plane completes kth bar, flight to kth bar sprays boat
Mark terminal A2kTime, the judge module 30 that makes a return voyage judges:
If following formula is set up, then dose deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor planning
Destination, k represents that kth bar sprays flight path, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k+1To an A2k+2
The volume of spray liquid, s is an A2k+1To an A2k+2Voyage, y be unmanned plane spray medicine fabric width, LsIt is unmanned
The volume of the medicinal liquid that machine unit are is sprayed, L0For the medicine liquid volume that unmanned plane is current.
If following formula is set up, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor
Planning destination, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For nothing
Man-machine from an A2kTo A2k+1Power consumption,For unmanned plane from an A2k+1To A2k+2Power consumption,For
Unmanned plane is from an A2k+2To the power consumption of a R, Z0For the electricity that unmanned plane is current.
Wherein, s is from an A2kTo an A2k+1Arrive some A again2k+2Arrive again
The voyage of some R, P is unmanned plane power consumption of unit distance when flying at a constant speed at a predetermined velocity, and dm is to voyage
The integration infinitesimal of s.
As a kind of embodiment, above-mentioned P=B × W, wherein, B is fixed coefficient, and W is that unmanned plane is current
Weight；W=W1+L0× ρ, W1For the deadweight of unmanned plane, L0For the medicine liquid volume that unmanned plane is current, ρ is medicine
Liquid-tight degree；L0=L-q × t, wherein, L > 0, L are that medicine-chest medicinal liquid is playing the initial volume of departure position, and q is nothing
The medicine liquid volume of ejection of man-machine unit interval, t is the total time of this spray medicine.
The unmanned plane of the embodiment of the present invention can return when electricity or dose deficiency in spraying medicine operation process automatically
Boat, facilitates user carry out dosing or change battery, solves decision point well and continue spray problem, time saving and energy saving,
Judging precisely, spray drug effect rate is high.
" spray medicine " in this specification refers to spray pesticide or the granulated fertilizer of solid-state of liquid.
It addition, one of ordinary skill in the art will appreciate that realize in above-described embodiment method all or part of
Flow process, the program that can be by completes to instruct relevant hardware, and described program can be stored in a calculating
In machine readable storage medium storing program for executing, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.
Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory,
Or random store-memory body (Random Access Memory, RAM) etc. ROM).
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art,
It is appreciated that and these embodiments can be carried out multiple change without departing from the principles and spirit of the present invention
Changing, revise, replace and modification, the scope of the present invention is limited by claims and equivalency range thereof.
Claims (14)
1. a spray method based on unmanned plane, it is characterised in that described spray method includes:
Trajectory planning step: determine make a return voyage a R and to need to carry out spray medicine operation region choose and connect multiple
Boundary point is to constitute a polygon, and limit longest edge in polygon or user chosen is as the first limit, with
While longer sides in two limits being connected or the limit chosen of user are as the second limit, and by being parallel to first
The method of the equidistant translation in limit determines the destination sequence of unmanned plane；
Spray medicine step: carry out spraying medicine operation while traveling through the flight of described destination sequence successively；And
Make a return voyage judgement step: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet uses,
If meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
2. spray method based on unmanned plane as claimed in claim 1, it is characterised in that
Making a return voyage and judge in step, spray flight path when unmanned plane completes kth bar, flight to kth bar sprays flight path
Terminal A2kTime, the establishment of following formula, then dose deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor planning
Destination, k represents that kth bar sprays flight path, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k+1To an A2k+2
The volume of spray liquid, s is an A2k+1To an A2k+2Voyage, y be unmanned plane spray medicine fabric width, LsIt is unmanned
The volume of the medicinal liquid that machine unit are is sprayed, L0For the medicine liquid volume that unmanned plane is current.
3. spray method based on unmanned plane as claimed in claim 1, it is characterised in that
Make a return voyage and judge in step, when unmanned plane during flying sprays track initiation terminal A to kth bar2k-1Time, calculate as follows
Formula is set up, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnBoat for planning
Point, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k-1
To an AZKPower consumption,For unmanned plane from an A2kTo the power consumption of a R, Z0Current for unmanned plane
Electricity.
4. spray method based on unmanned plane as claimed in claim 1, it is characterised in that
Making a return voyage and judge in step, spray flight path when unmanned plane completes kth bar, flight to kth bar sprays flight path
Terminal A2kTime, the establishment of following formula, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor
Planning destination, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For nothing
Man-machine from an A2kTo A2k+1Power consumption,For unmanned plane from an A2k+1To A2k+2Power consumption,For
Unmanned plane is from an A2k+2To the power consumption of a R, Z0For the electricity that unmanned plane is current.
5. spray method based on unmanned plane as claimed in claim 3, it is characterised in that
Wherein, s is from an A2k-1To an A2kArriving the voyage of some R again, P is unmanned
The power consumption of unit distance when machine flies at a constant speed at a predetermined velocity, dm is the integration infinitesimal to voyage s.
6. spray method based on unmanned plane as claimed in claim 4, it is characterised in that
Wherein, s is from an A2kTo an A2k+1Arrive some A again2k+2Arrive again
The voyage of some R, P is unmanned plane power consumption of unit distance when flying at a constant speed at a predetermined velocity, and dm is to voyage
The integration infinitesimal of s.
7. the spray method based on unmanned plane as described in claim 5 or 6, it is characterised in that
P=B × W, wherein, B is fixed coefficient, and W is unmanned plane current weight；W=W1+L0× ρ, W1For
The deadweight of unmanned plane, L0For the medicine liquid volume that unmanned plane is current, ρ is medicinal liquid density；L0=L-q × t, wherein,
L > 0, L are that medicine-chest medicinal liquid is playing the initial volume of departure position, and q is the medicinal liquid body of unmanned plane unit interval ejection
Long-pending, t is the total time of this spray medicine.
8. a chemical spraying device based on unmanned plane, it is characterised in that described chemical spraying device is located on unmanned plane
And for spraying control, described chemical spraying device includes:
Flight path programming module: determine make a return voyage a R and to need to carry out spray medicine operation region choose and connect multiple
Boundary point is to constitute a polygon, and limit longest edge in polygon or user chosen is as the first limit, with
While longer sides in two limits being connected or the limit chosen of user are as the second limit, and by being parallel to first
The method of the equidistant translation in limit determines the destination sequence of unmanned plane；
Spray medicine module: carry out spraying medicine operation while traveling through the flight of described destination sequence successively；And
Make a return voyage judge module: during flight to predetermined destination, it is judged that whether current dose and/or electricity meet uses,
If meeting, continuing spray medicine operation, if be unsatisfactory for, then making a return voyage to a R that makes a return voyage.
9. chemical spraying device based on unmanned plane as claimed in claim 8, it is characterised in that make a return voyage judgement mould
Block is additionally operable to, and sprays flight path when unmanned plane completes kth bar, and flight to kth bar sprays flight path terminal A2kTime,
Judge that following formula is set up, then dose deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor planning
Destination, k represents that kth bar sprays flight path, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k+1To an A2k+2
The volume of spray liquid, s is an A2k+1To an A2k+2Voyage, y be unmanned plane spray medicine fabric width, LsIt is unmanned
The volume of the medicinal liquid that machine unit are is sprayed, L0For the medicine liquid volume that unmanned plane is current.
10. chemical spraying device based on unmanned plane as claimed in claim 8, it is characterised in that make a return voyage judgement mould
Block is additionally operable to, when unmanned plane during flying sprays track initiation terminal A to kth bar2k-1Time, it is judged that following formula becomes
Vertical, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnBoat for planning
Point, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For unmanned plane from an A2k-1
To an A2kPower consumption, ZA2kRFor unmanned plane from an A2kTo the power consumption of a R, Z0Current for unmanned plane
Electricity.
11. chemical spraying devices based on unmanned plane as claimed in claim 8, it is characterised in that make a return voyage judgement mould
Block is additionally operable to, and sprays flight path when unmanned plane completes kth bar, and flight to kth bar sprays flight path terminal A2kTime,
Judge that following formula is set up, then electric power deficiency is maked a return voyage:
Wherein, A1、A2…A2k-1、A2k、A2k+1、A2k+2…AnFor
Planning destination, k represents that kth bar sprays flight path, R for making a return voyage a little, n ∈ Z+, k ∈ Z+；For nothing
Man-machine from an A2kTo A2k+1Power consumption,For unmanned plane from an A2k+1To A2k+2Power consumption,For
Unmanned plane is from an A2k+2To the power consumption of a R, Z0For the electricity that unmanned plane is current.
12. chemical spraying devices based on unmanned plane as claimed in claim 10, it is characterised in that
Wherein, s is from an A2k-1To an A2kArriving the voyage of some R again, P is unmanned
The power consumption of unit distance when machine flies at a constant speed at a predetermined velocity, dm is the integration infinitesimal to voyage s.
13. chemical spraying devices based on unmanned plane as claimed in claim 11, it is characterised in that
Wherein, s is from an A2kTo an A2k+1Arrive some A again2k+2Arrive again
The voyage of some R, Γ is unmanned plane power consumption of unit distance when flying at a constant speed at a predetermined velocity, and dm is to voyage
The integration infinitesimal of s.
14. chemical spraying devices based on unmanned plane as described in claim 12 or 13, it is characterised in that
P=B × W, wherein, B is fixed coefficient, and W is unmanned plane current weight；W=W1+L0× ρ, W1For
The deadweight of unmanned plane, L0For the medicine liquid volume that unmanned plane is current, ρ is medicinal liquid density；L0=L-q × t, wherein,
L > 0, L are that medicine-chest medicinal liquid is playing the initial volume of departure position, and q is the medicinal liquid body of unmanned plane unit interval ejection
Long-pending, t is the total time of this spray medicine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401827.2A CN105929846A (en) | 2016-06-08 | 2016-06-08 | Spraying method and device based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401827.2A CN105929846A (en) | 2016-06-08 | 2016-06-08 | Spraying method and device based on unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105929846A true CN105929846A (en) | 2016-09-07 |
Family
ID=56832763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610401827.2A Pending CN105929846A (en) | 2016-06-08 | 2016-06-08 | Spraying method and device based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105929846A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184758A (en) * | 2016-09-18 | 2016-12-07 | 成都天麒科技有限公司 | The automatic medicament feeding system of a kind of plant protection unmanned plane and method |
| CN106227075A (en) * | 2016-09-27 | 2016-12-14 | 华南农业大学 | Unmanned plane aquaculture based on wireless sense network precisely feeds intake operating system and method |
| CN106403954A (en) * | 2016-09-28 | 2017-02-15 | 深圳高科新农技术有限公司 | Automatic track generating method for unmanned aerial vehicle |
| CN106679673A (en) * | 2017-01-18 | 2017-05-17 | 北京艾森博航空科技股份有限公司 | Route planning method and system applied to plant protection of unmanned aerial vehicle |
| CN106774403A (en) * | 2016-12-29 | 2017-05-31 | 哈密创动科技有限公司 | A kind of flight course planning method and device |
| CN106873631A (en) * | 2017-04-21 | 2017-06-20 | 广州极飞科技有限公司 | Unmanned aerial vehicle (UAV) control method, plant protection operation method, unmanned plane and earth station |
| CN107368094A (en) * | 2017-08-25 | 2017-11-21 | 上海拓攻机器人有限公司 | A kind of unmanned plane plant protection operation flight course planning method and device |
| CN107688354A (en) * | 2017-10-30 | 2018-02-13 | 北京博鹰通航科技有限公司 | The UAS and its control method of a kind of autonomous flight |
| CN107992081A (en) * | 2017-12-25 | 2018-05-04 | 衢州量智科技有限公司 | Plant protection unmanned aerial vehicle (UAV) control method and control device |
| CN108871335A (en) * | 2018-06-14 | 2018-11-23 | 华南农业大学 | A kind of unmanned plane sprays operation course line and load planing method |
| CN109144100A (en) * | 2018-09-03 | 2019-01-04 | 南京嘉谷初成通信科技有限公司 | Spray control method, device, earth station and storage medium |
| WO2019006773A1 (en) * | 2017-07-06 | 2019-01-10 | 杨顺伟 | Return flight method and device for unmanned aerial vehicle in low electric quantity |
| CN109253729A (en) * | 2018-09-19 | 2019-01-22 | 沈阳无距科技有限公司 | A kind of unmanned plane route planning method, device and electronic equipment |
| WO2019183856A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Control method and apparatus for operation of plant protection unmanned aerial vehicle |
| WO2019183890A1 (en) * | 2018-03-29 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Method and apparatus for adjusting working path, method and device for adjusting working path of movable device, and recording medium |
| CN112379691A (en) * | 2020-11-11 | 2021-02-19 | 苏州极目机器人科技有限公司 | Return control method and device |
| CN112911932A (en) * | 2018-10-23 | 2021-06-04 | 株式会社尼罗沃克 | Travel route generation device, travel route generation method, travel route generation program, and unmanned aerial vehicle |
| CN114326809A (en) * | 2021-12-29 | 2022-04-12 | 广州极飞科技股份有限公司 | Method and device for determining backsight point, electronic equipment and readable storage medium |
| WO2022094961A1 (en) * | 2020-11-06 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Non-human-controlled robot control method and apparatus, and non-human-controlled robot |
| WO2022141296A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Operation planning method, operation planning apparatus, and control terminal |
| CN114731829A (en) * | 2022-03-29 | 2022-07-12 | 深圳拓邦股份有限公司 | Control method of pesticide-spraying mower and pesticide-spraying mower |
| CN114879746A (en) * | 2022-07-13 | 2022-08-09 | 山东中宇航空科技发展有限公司 | Flight route optimization method for agricultural plant protection unmanned aerial vehicle |
| CN116907396A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Breakpoint continuous spraying detection method and detection equipment for agricultural unmanned aerial vehicle |
| WO2024017390A1 (en) * | 2022-07-22 | 2024-01-25 | 苏州宝时得电动工具有限公司 | Autonomous working apparatus and system, and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4231093A (en) * | 1978-09-11 | 1980-10-28 | Motorola, Inc. | Method of returning to a last point in a path after a temporary discontinuance of an operation |
| CN103803083A (en) * | 2014-01-17 | 2014-05-21 | 浙江大学 | GPS-based unmanned aerial vehicle pesticide spraying device and method |
| CN103950540A (en) * | 2014-04-01 | 2014-07-30 | 东北农业大学 | Plant protection unmanned plane spraying operation method based on wireless sensor network |
| CN104267686A (en) * | 2014-09-20 | 2015-01-07 | 无锡北斗星通信息科技有限公司 | Intelligent unmanned aerial vehicle pesticide spraying device |
| CN104808660A (en) * | 2015-03-04 | 2015-07-29 | 中南大学 | Concave convex mixed complex polygon farmland unmanned aerial vehicle spraying operation flight path planning method |
| CN105334865A (en) * | 2015-11-24 | 2016-02-17 | 余江 | Battery monitor-based flight control method and flight control device |
-
2016
- 2016-06-08 CN CN201610401827.2A patent/CN105929846A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4231093A (en) * | 1978-09-11 | 1980-10-28 | Motorola, Inc. | Method of returning to a last point in a path after a temporary discontinuance of an operation |
| CN103803083A (en) * | 2014-01-17 | 2014-05-21 | 浙江大学 | GPS-based unmanned aerial vehicle pesticide spraying device and method |
| CN103950540A (en) * | 2014-04-01 | 2014-07-30 | 东北农业大学 | Plant protection unmanned plane spraying operation method based on wireless sensor network |
| CN104267686A (en) * | 2014-09-20 | 2015-01-07 | 无锡北斗星通信息科技有限公司 | Intelligent unmanned aerial vehicle pesticide spraying device |
| CN104808660A (en) * | 2015-03-04 | 2015-07-29 | 中南大学 | Concave convex mixed complex polygon farmland unmanned aerial vehicle spraying operation flight path planning method |
| CN105334865A (en) * | 2015-11-24 | 2016-02-17 | 余江 | Battery monitor-based flight control method and flight control device |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184758B (en) * | 2016-09-18 | 2018-07-20 | 成都天麒科技有限公司 | A kind of automatic medicament feeding system and method for plant protection drone |
| CN106184758A (en) * | 2016-09-18 | 2016-12-07 | 成都天麒科技有限公司 | The automatic medicament feeding system of a kind of plant protection unmanned plane and method |
| CN106227075A (en) * | 2016-09-27 | 2016-12-14 | 华南农业大学 | Unmanned plane aquaculture based on wireless sense network precisely feeds intake operating system and method |
| CN106403954A (en) * | 2016-09-28 | 2017-02-15 | 深圳高科新农技术有限公司 | Automatic track generating method for unmanned aerial vehicle |
| CN106403954B (en) * | 2016-09-28 | 2020-01-14 | 深圳高科新农技术有限公司 | Automatic track generation method for unmanned aerial vehicle |
| CN106774403A (en) * | 2016-12-29 | 2017-05-31 | 哈密创动科技有限公司 | A kind of flight course planning method and device |
| CN106679673A (en) * | 2017-01-18 | 2017-05-17 | 北京艾森博航空科技股份有限公司 | Route planning method and system applied to plant protection of unmanned aerial vehicle |
| CN106873631B (en) * | 2017-04-21 | 2020-07-28 | 广州极飞科技有限公司 | Unmanned aerial vehicle control method, plant protection operation method, unmanned aerial vehicle and ground station |
| CN106873631A (en) * | 2017-04-21 | 2017-06-20 | 广州极飞科技有限公司 | Unmanned aerial vehicle (UAV) control method, plant protection operation method, unmanned plane and earth station |
| WO2019006773A1 (en) * | 2017-07-06 | 2019-01-10 | 杨顺伟 | Return flight method and device for unmanned aerial vehicle in low electric quantity |
| CN107368094A (en) * | 2017-08-25 | 2017-11-21 | 上海拓攻机器人有限公司 | A kind of unmanned plane plant protection operation flight course planning method and device |
| CN107688354A (en) * | 2017-10-30 | 2018-02-13 | 北京博鹰通航科技有限公司 | The UAS and its control method of a kind of autonomous flight |
| CN107992081A (en) * | 2017-12-25 | 2018-05-04 | 衢州量智科技有限公司 | Plant protection unmanned aerial vehicle (UAV) control method and control device |
| WO2019183856A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Control method and apparatus for operation of plant protection unmanned aerial vehicle |
| WO2019183890A1 (en) * | 2018-03-29 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Method and apparatus for adjusting working path, method and device for adjusting working path of movable device, and recording medium |
| CN108871335A (en) * | 2018-06-14 | 2018-11-23 | 华南农业大学 | A kind of unmanned plane sprays operation course line and load planing method |
| CN109144100A (en) * | 2018-09-03 | 2019-01-04 | 南京嘉谷初成通信科技有限公司 | Spray control method, device, earth station and storage medium |
| CN109253729B (en) * | 2018-09-19 | 2021-02-09 | 沈阳无距科技有限公司 | Unmanned aerial vehicle route planning method and device and electronic equipment |
| CN109253729A (en) * | 2018-09-19 | 2019-01-22 | 沈阳无距科技有限公司 | A kind of unmanned plane route planning method, device and electronic equipment |
| CN112911932A (en) * | 2018-10-23 | 2021-06-04 | 株式会社尼罗沃克 | Travel route generation device, travel route generation method, travel route generation program, and unmanned aerial vehicle |
| WO2022094961A1 (en) * | 2020-11-06 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Non-human-controlled robot control method and apparatus, and non-human-controlled robot |
| CN112379691A (en) * | 2020-11-11 | 2021-02-19 | 苏州极目机器人科技有限公司 | Return control method and device |
| WO2022141296A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Operation planning method, operation planning apparatus, and control terminal |
| CN114326809A (en) * | 2021-12-29 | 2022-04-12 | 广州极飞科技股份有限公司 | Method and device for determining backsight point, electronic equipment and readable storage medium |
| CN114731829A (en) * | 2022-03-29 | 2022-07-12 | 深圳拓邦股份有限公司 | Control method of pesticide-spraying mower and pesticide-spraying mower |
| CN114879746A (en) * | 2022-07-13 | 2022-08-09 | 山东中宇航空科技发展有限公司 | Flight route optimization method for agricultural plant protection unmanned aerial vehicle |
| CN114879746B (en) * | 2022-07-13 | 2022-09-20 | 山东中宇航空科技发展有限公司 | Flight route optimization method for agricultural plant protection unmanned aerial vehicle |
| WO2024017390A1 (en) * | 2022-07-22 | 2024-01-25 | 苏州宝时得电动工具有限公司 | Autonomous working apparatus and system, and control method |
| CN116907396A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Breakpoint continuous spraying detection method and detection equipment for agricultural unmanned aerial vehicle |
| CN116907396B (en) * | 2023-09-11 | 2023-11-28 | 农业农村部南京农业机械化研究所 | Breakpoint continuous spraying detection method and detection equipment for agricultural unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105929846A (en) | Spraying method and device based on unmanned aerial vehicle | |
| CN109253729B (en) | Unmanned aerial vehicle route planning method and device and electronic equipment | |
| CN105843250A (en) | Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system | |
| Tseng et al. | Flight tour planning with recharging optimization for battery-operated autonomous drones | |
| CN112666971B (en) | Unmanned aerial vehicle return method and device, unmanned aerial vehicle and storage medium | |
| CN107688354B (en) | Unmanned aerial vehicle system capable of flying autonomously and control method thereof | |
| CN108873908B (en) | Robot city navigation system based on combination of visual SLAM and network map | |
| CN108958285B (en) | Efficient multi-unmanned aerial vehicle collaborative track planning method based on decomposition idea | |
| CN104881039A (en) | Method and system for returning of unmanned plane | |
| CN102582826B (en) | A kind of drive manner of four rotor unmanned aircrafts and system | |
| EP3543650A1 (en) | Locating method, terminal and server | |
| CN108885470B (en) | Task execution method, mobile device, system and storage medium | |
| US20190187241A1 (en) | Localization system, vehicle control system, and methods thereof | |
| US11215630B2 (en) | Airflow modeling from aerial vehicle pose | |
| CN110275546B (en) | Unmanned aerial vehicle formation searching and task scheduling method | |
| Tordesillas et al. | Real-time planning with multi-fidelity models for agile flights in unknown environments | |
| CN205247213U (en) | Hi -Fix cruise system of use on unmanned aerial vehicle | |
| CN109144100A (en) | Spray control method, device, earth station and storage medium | |
| WO2020237471A1 (en) | Flight route generation method, terminal and unmanned aerial vehicle | |
| CN109690437A (en) | Vehicle with UAV Landing function | |
| KR102259086B1 (en) | Speed sprayer of automatic driving | |
| Bryson et al. | Co-operative localisation and mapping for multiple UAVs in unknown environments | |
| CN110383196A (en) | Unmanned plane makes a return voyage the method, apparatus and unmanned plane of control | |
| CN110531782A (en) | Unmanned aerial vehicle flight path paths planning method for community distribution | |
| CN106297490A (en) | Driving instruction device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160907 |
|
| RJ01 | Rejection of invention patent application after publication |