CN106997209B - Spraying operation method and system for plant protection unmanned aerial vehicle - Google Patents
Spraying operation method and system for plant protection unmanned aerial vehicle Download PDFInfo
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- CN106997209B CN106997209B CN201610049418.0A CN201610049418A CN106997209B CN 106997209 B CN106997209 B CN 106997209B CN 201610049418 A CN201610049418 A CN 201610049418A CN 106997209 B CN106997209 B CN 106997209B
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- G05—CONTROLLING; REGULATING
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- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
A spraying operation method for a plant protection unmanned aerial vehicle comprises the following steps: acquiring GPS information of a target operation area; determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area; setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in formation as a main plant protection machine, and setting the other unmanned aerial vehicles as auxiliary plant protection machines; generating an operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles; generating a working path of the slave plant protection machine according to the working path of the master plant protection machine; and controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path. According to the spraying operation method for the plant protection unmanned aerial vehicle, a method of formation flying operation of a plurality of unmanned aerial vehicles is adopted, and the operation efficiency can be greatly improved. And the flight state of the slave plant protection machine is controlled through the flight state of the master plant protection machine, so that the spraying operation can be smoothly carried out. The invention also relates to a spraying operation system of the plant protection unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of plant protection operation, in particular to a spraying operation method and system for a plant protection unmanned aerial vehicle.
Background
With the progress of science and technology and the requirement of people on working efficiency, more and more ground plant protection machines are applied to the plant protection process. Traditional ground plant protection machinery needs to occupy certain ground space to make regional utilization ratio such as farmland reduce, and ground plant protection machinery's flexibility is not high. Along with the continuous development of unmanned aerial vehicle technique, also begin gradually to have unmanned aerial vehicle to be used for plant protection spraying operation in-process, but its operating efficiency is lower.
Disclosure of Invention
Therefore, a plant protection unmanned aerial vehicle spraying operation method and system with high operation efficiency are needed.
A spraying operation method for a plant protection unmanned aerial vehicle comprises the following steps: acquiring GPS information of a target operation area; the GPS information at least comprises boundary position information of the target operation area; determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area; setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in formation as a main plant protection machine, and setting the other unmanned aerial vehicles as auxiliary plant protection machines; generating an operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles; generating a working path of a slave plant protection machine according to the working path of the master plant protection machine; and controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path.
In one embodiment, the step of acquiring the GPS information of the target working area is to acquire the GPS information of the target working area by using a mapper or an image acquisition device.
In one embodiment, the step of obtaining the GPS information of the target working area further comprises the step of obtaining vegetation growth information of the target working area; the step of obtaining the GPS information of the target operation area further comprises the step of determining the flight height of the unmanned aerial vehicle according to the vegetation growth information and the spraying amplitude of the unmanned aerial vehicle; and the step of controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path comprises the step of controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path and the flight height.
In one embodiment, in the step of determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area, the target operation area is rectangular; the GPS information comprises length information and width information of a target operation area; the steps specifically include: acquiring the storage capacity of a medicine box of the unmanned aerial vehicle; generating a corresponding relation table of spraying amplitude and single-operation running distance of the unmanned aerial vehicle according to the storage capacity of the pesticide box; the single-operation driving path is an integral multiple of the length or the width of the target operation area; determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table; and determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance.
In one embodiment, in the step of controlling each unmanned aerial vehicle to perform spraying operation according to the corresponding operation path, each unmanned aerial vehicle synchronously takes off or takes off successively at preset time intervals; the preset time interval is more than or equal to the time for the unmanned aerial vehicle to change the pesticide box or the battery.
A spraying operation system for a plant protection unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles; be provided with medical kit and battery on the unmanned aerial vehicle, plant protection unmanned aerial vehicle spraying operating system still includes: the acquisition module is used for acquiring GPS information of the target operation area; the GPS information at least comprises boundary position information of the target operation area; the formation setting module is used for determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area; the formation setting module is also used for setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in the formation as a main plant protection machine, and the other unmanned aerial vehicles as auxiliary plant protection machines; the first path setting module is used for determining the operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles; the second path setting module is used for determining the operation path of the slave plant protection machine according to the operation path of the master plant protection machine; and the flight control module is used for controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path.
In one embodiment, the acquisition module comprises a mapper or an image acquisition device.
In one embodiment, the obtaining module is further configured to obtain vegetation growth information of the target working area; the formation setting module is also used for determining the flight height of the unmanned aerial vehicle according to the vegetation growth information and the spraying amplitude of the unmanned aerial vehicle; the flight control module is used for controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path and the flight height.
In one embodiment, the target work area is rectangular; the GPS information obtained by the acquisition module comprises length information and width information of the target operation area; the formation setting module further comprises: the acquisition unit is used for acquiring the storage capacity of a medicine box of the unmanned aerial vehicle; the generating unit is used for generating a corresponding relation table of spraying amplitude and single-operation running distance of the unmanned aerial vehicle according to the storage capacity of the medicine box; the single-operation driving path is an integral multiple of the length or the width of the target operation area; the setting unit is used for determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table; the setting unit is also used for determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance.
In one embodiment, the flight control module is used for controlling each unmanned aerial vehicle to synchronously take off or take off successively at preset time intervals; the preset time interval is more than or equal to the time for the unmanned aerial vehicle to change the pesticide box or the battery.
According to the spraying operation method and the spraying operation system for the plant protection unmanned aerial vehicle, a method of flight operation of a plurality of unmanned aerial vehicles in formation is adopted, and the operation efficiency can be greatly improved. And, the flight state of following the plant protection machine is controlled through the flight state of main plant protection machine to the spraying operation in-process, can ensure that the phase position between the unmanned aerial vehicle is stable, can not take place to collide each other, ensures that spraying operation work can launch smoothly.
Drawings
Fig. 1 is a flowchart of a spraying operation method of a plant protection unmanned aerial vehicle in an embodiment;
fig. 2 is a detailed flowchart of step S120 in fig. 1;
FIG. 3 is a schematic diagram illustrating an embodiment of a spraying operation performed by a synchronous takeoff of an UAV;
FIG. 4 is a schematic diagram of an embodiment of an unmanned aerial vehicle taking off successively at predetermined time intervals for spraying operations;
fig. 5 is a schematic diagram of a spray operation system of a plant protection unmanned aerial vehicle in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A flow chart of a spraying operation method of a plant protection unmanned aerial vehicle is shown in fig. 1. The spraying operation method of the plant protection unmanned aerial vehicle comprises the following steps:
and S110, acquiring the GPS information of the target working area.
The GPS information of the target operation area can be stored in the system in advance, and the GPS information can also be acquired by a worker through a surveying instrument or an image acquisition device before spraying operation is carried out. The target work area may be a farmland, a forest, etc. The GPS information mainly includes position information where the boundary of the target work area is located. In the present embodiment, the target work areas are each rectangular or nearly rectangular in shape. Therefore, the size, length and width of the target working area can be determined through the acquired GPS information.
In one embodiment, the GPS information of the target working area is acquired, and meanwhile, the vegetation growth information of the target working area is also acquired. For example, vegetation growth information in the target work area may be collected by the image capture device. Specifically, the vegetation growth information may include information such as the height of vegetation, insect pest status, and the current growth stage.
And S120, determining the number of the unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area.
In this embodiment, adopt the mode of unmanned aerial vehicle formation flight to carry out the spraying operation, can reduce unmanned aerial vehicle's flight resistance, practice thrift the flight power consumption, increase unmanned aerial vehicle duration, just also increased unmanned aerial vehicle single activity duration to the operating efficiency has been improved. The number and spraying amplitude of the unmanned aerial vehicles can be determined according to the size of the target operation area. Specifically, the method comprises the following substeps, as shown in fig. 2.
And S122, acquiring the storage capacity of the medicine box of the unmanned aerial vehicle.
In the spraying process, no person carries a medicine box, and spraying substances required by spraying operation are stored in the medicine box. The size of the medicine chest storage capacity also determines the area of single spraying operation of the unmanned aerial vehicle, so that the length of the single operation travel distance of the unmanned aerial vehicle is also determined on the premise of determining the spraying amplitude. The medicine-box storage capacity can be set as needed. The concentration of the spraying substance stored in the pesticide box needs to be determined according to the collected vegetation growth information. This work may be done empirically by the worker or determined by pre-stored control parameters.
And S124, generating a corresponding relation table of the spraying amplitude of the unmanned aerial vehicle and the single-operation travel distance according to the storage capacity of the pesticide box.
When the storage capacity of the pesticide box is fixed, the length of the single-operation running path of the unmanned aerial vehicle is inversely proportional to the spraying amplitude. Spraying amplitude refers to the maximum width that unmanned aerial vehicle can spray the vegetation surface when spouting. In this embodiment, the sprayed spraying substance forms a cone shape, and the spraying amplitude is the maximum width of the bottom surface of the cone. During the operation of the unmanned aerial vehicle, the unmanned aerial vehicle generally flies in a straight line along the length direction or the width direction of a target operation area. In the spraying process, the amount of the pesticide to be sprayed on a unit area is determined, namely the vegetation area which can be sprayed by one box of the pesticide (or single operation of the unmanned aerial vehicle) is determined. Therefore, the length of the single-operation travel distance of the unmanned aerial vehicle can be reduced along with the increase of the spraying amplitude, so that a corresponding relation table of the single-operation travel distance and the spraying amplitude of the unmanned aerial vehicle can be obtained. In order to save the time in the process of changing the pesticide box as much as possible, the single-operation running distance of the unmanned aerial vehicle in the corresponding relation table is integral multiple of the length (or width) of the target operation area, so that when the spraying of the pesticide in the pesticide box is finished, the unmanned aerial vehicle is just positioned at the boundary of the operation area instead of the middle position, the pesticide changing time can be greatly saved, and the operation efficiency is improved.
And S126, determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table.
And determining the spraying amplitude of the unmanned aerial vehicle according to the corresponding relation. Spraying amplitude of each unmanned aerial vehicle can be adjusted adaptively according to actual needs. In order to improve the operation efficiency and save the single operation time, the spraying amplitude of the unmanned aerial vehicle is close to the threshold spraying amplitude, and the integral multiple of the selected spraying amplitude is equal to the width (or the length) of the target operation area. In one embodiment, the master plant protection machine may be caused to use one spray amplitude and the slave plant protection machine may be caused to use another spray amplitude.
And S128, determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance.
After the spraying amplitude of the unmanned aerial vehicle and the single operation running distance of the unmanned aerial vehicle are determined, the spraying area of the single unmanned aerial vehicle can be determined, so that the number of times to be carried out when the spraying operation is carried out by the single unmanned aerial vehicle is determined according to the size of the target operation area, and the number of the unmanned aerial vehicles is determined according to the number of times. The number of unmanned aerial vehicles can be equal to the number of times of seeking, or its integer multiple equals the number of times of seeking. The number of unmanned aerial vehicles can be flexibly set as required, and can be 5 frames, 10 frames and the like.
S130, setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in formation as a main plant protection machine, and setting the other unmanned aerial vehicles as auxiliary plant protection machines.
In this embodiment, a master-slave type formation method is adopted. And determining one unmanned aerial vehicle in the unmanned aerial vehicles as a main plant protection machine and the rest unmanned aerial vehicles as auxiliary plant protection machines. The primary plant protection machine typically selects the drones located at the edge of the formation (i.e., near the boundary of the work area) as the primary plant protection machine, and the remaining ones are the secondary plant protection machines.
S140, generating an operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles.
The spray operation path in the operation path of the drone is generally parallel to the length direction or the width direction of the operation area. The working path of the unmanned aerial vehicle refers to a running path from takeoff to landing of the unmanned aerial vehicle. The spraying operation path of the unmanned aerial vehicle is a path when the unmanned aerial vehicle carries out spraying operation. The width of the adjacent spray job paths for the same drone should be equal to or close to the total spray amplitude of the entire formation of drones. The total spraying amplitude of the whole unmanned aerial vehicle formation is the sum of the spraying amplitudes of all the unmanned aerial vehicles. Therefore, the operation path of the main plant protection machine can be generated according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles.
And S150, generating a working path of the slave plant protection machine according to the working path of the master plant protection machine.
In this embodiment, the working path of the slave plant protection machine is determined relative to the working path of the master plant protection machine, that is, the slave plant protection machine needs to use the flight state of the master plant protection machine as a reference, and is a relative flight working mode, so that mutual collision between unmanned aerial vehicles can be avoided, and the working efficiency is improved. The spraying operation path from the plant protection machine is parallel to the spraying operation path of the main plant protection machine, so that the spraying range of the unmanned aerial vehicle can cover the whole target operation area.
And S160, controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path.
After the operation paths of the unmanned aerial vehicles are determined, the unmanned aerial vehicles can be subjected to flight control according to the operation paths of the unmanned aerial vehicles, and spraying operation is controlled to be carried out. In this embodiment, before spraying operation, the flying height of the unmanned aerial vehicle needs to be determined. Spraying amplitude is influenced jointly by the spraying height, the spraying angle and the spraying speed of the unmanned aerial vehicle. Unmanned aerial vehicle's spraying height and injection speed should coordinate with the weight of spraying material to ensure that the material that sprays out can accurately be attached to the vegetation surface and can not float to other regions under the effect of air pressure. The spraying height of the unmanned aerial vehicle takes the vegetation surface as a reference surface. The flying height of the drone should therefore be the jet height of the drone plus the height of the vegetation. And controlling the unmanned aerial vehicle to perform spraying operation according to a preset operation path, a preset flying height and a preset speed.
The drones may take off synchronously or in succession at preset time intervals. The preset time interval is larger than or equal to the time for the unmanned aerial vehicle to change the medicine box or the battery. In this embodiment, the medicine box and the battery are both of a plug-in type. When the medicine box and the battery are prepared in advance (spraying duration of the medicine box is matched with duration of the battery), one unmanned aerial vehicle is replaced for about 10 seconds, and therefore the preset time interval is set from 10 seconds to 15 seconds. In other embodiments, to ensure sufficient time, the preset time interval may be set to be greater than or equal to 30 seconds. When taking off synchronously, the replacement of the medicine chest and the battery needs to be carried out simultaneously, so that a plurality of self-service replacement devices or a plurality of workers need to be carried out simultaneously. The airplane takes off according to the preset time interval, and then a second airplane can be replaced after the first airplane is replaced, so that the equipment cost and the labor cost are reduced, and the efficiency is improved.
According to the spraying operation method for the plant protection unmanned aerial vehicle, a method of formation flying operation of a plurality of unmanned aerial vehicles is adopted, and the operation efficiency can be greatly improved. Adopt unmanned aerial vehicle formation flight, can reduce the resistance in the flight to save the flight power consumption, increased unmanned aerial vehicle's duration, thereby further improved the operating efficiency. And, the flight state of following the plant protection machine is controlled through the flight state of main plant protection machine at the spraying operation in-process, can ensure that the phase position between the unmanned aerial vehicle is stable, can not take place to collide each other, has further improved the operating efficiency.
An example of a practical application scenario is described below. The existing farmland with 1000 mu is 20 mu by single flight of a single airplane. The single unmanned aerial vehicle operation mode commonly used needs 50 operations of taking off and landing, if take off and land all need carry out once and add the operation of changing the battery at every turn, then the centre still needs 50 times to add the time of changing the battery. By adopting the spraying operation method of the unmanned aerial vehicle in the embodiment, if 10 aircrafts are used for formation flying operation, the single operation area is 200 mu, only 5 times of take-off and landing operation is needed, only 5 times of medicine adding and battery replacing time is needed in the middle, and the efficiency is obviously improved. Fig. 3 is a schematic diagram of spraying operation during formation flying by using a synchronous takeoff control method, wherein 210 is a master plant protection machine, and the rest are slave plant protection machines. Fig. 4 is a schematic diagram of the spraying operation performed during formation flight by using a predetermined time interval takeoff method, wherein 310 is a main plant protection machine.
The invention also provides a spraying operation system of the plant protection unmanned aerial vehicle, and the structural schematic diagram of the spraying operation system is shown in fig. 5. This spraying operation system of plant protection unmanned aerial vehicle includes many unmanned aerial vehicles 400 and control system 500. A medicine box and a battery are provided in the drone 400. The battery is used for providing unmanned aerial vehicle's flight power, and the medical kit is then used for storing spraying material. The control system 500 includes an acquisition module 510, a formation setting module 520, a first path setting module 530, a second path setting module 540, and a flight control module 550.
The acquisition module 510 is used for acquiring GPS information of the target work area. The acquired GPS information includes at least boundary position information of the target work area. In one embodiment, the obtaining module 510 obtains the vegetation growth information of the target working area at the same time as obtaining the GPS information of the target working area. Acquisition module 510 includes a mapper or image acquisition device.
The formation setting module 520 is configured to determine the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area. Specifically, the queuing setting module 520 includes an acquisition unit, a generation unit, and a setting unit. The acquisition unit is used for acquiring the medicine box storage capacity of the unmanned aerial vehicle. The generation unit is used for generating a corresponding relation table of spraying amplitude and single-operation travel distance of the unmanned aerial vehicle according to the storage capacity of the medicine box. The single-job travel distance is an integral multiple of the length or width of the target work area. The setting unit is used for determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table, so that the integral multiple of the spraying amplitude of each unmanned aerial vehicle is the length or the width of the target operation area. The setting unit is also used for determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance. Formation sets up module 520 and is still used for setting up one unmanned aerial vehicle among the unmanned aerial vehicle that the formation flies is main plant protection machine, and all the other unmanned aerial vehicles are for following plant protection machine. In this embodiment, the formation setting module 520 is further configured to determine the flight height of the drone according to the vegetation growth information and the spraying amplitude of the drone.
The first path setting module 530 is configured to determine an operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles, and the spraying amplitude of the unmanned aerial vehicles.
The second path setting module 540 is used for determining the working path of the slave plant protection machine according to the working path of the master plant protection machine.
The flight control module 550 is used for controlling each drone to carry out spraying operation according to the corresponding operation path. The flight control module 550 is used for controlling each drone to take off synchronously or to take off successively at preset time intervals. The preset time interval is more than or equal to the time for the unmanned aerial vehicle to change the medicine box or the battery.
Above-mentioned plant protection unmanned aerial vehicle spraying operation system adopts the method of many unmanned aerial vehicles formation flight operation, can improve the operating efficiency greatly. And adopt unmanned aerial vehicle formation flight, can reduce the resistance in the flight to save the flight power consumption, increased unmanned aerial vehicle's duration, thereby further improved the operating efficiency. Simultaneously, and, the flight state of following the plant protection machine is controlled through the flight state of main plant protection machine to the spraying operation in-process, can ensure that the phase position between the unmanned aerial vehicle is stable, can not take place to collide each other, has further improved the operating efficiency.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A spraying operation method for a plant protection unmanned aerial vehicle comprises the following steps:
acquiring GPS information of a target operation area; the GPS information at least comprises boundary position information of the target operation area;
determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area;
setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in formation as a main plant protection machine, and setting the other unmanned aerial vehicles as auxiliary plant protection machines;
generating an operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles;
generating a working path of a slave plant protection machine according to the working path of the master plant protection machine;
controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path;
the operation route according to GPS information, unmanned aerial vehicle quantity and unmanned aerial vehicle's spraying range generate main plant protection machine specifically includes:
acquiring the storage capacity of a medicine box of the unmanned aerial vehicle;
generating a corresponding relation table of spraying amplitude and single-operation running distance of the unmanned aerial vehicle according to the storage capacity of the pesticide box; the single-operation driving path is an integral multiple of the length or the width of the target operation area;
determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table;
and determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance.
2. The method for spraying work on a plant protection unmanned aerial vehicle according to claim 1, wherein the step of acquiring the GPS information of the target work area is to acquire the GPS information of the target work area by using a surveying instrument or an image acquisition device.
3. The unmanned aerial vehicle spray application method for plant protection according to claim 1, wherein the step of obtaining GPS information of the target operation area further comprises the step of obtaining vegetation growth information of the target operation area;
the step of obtaining the GPS information of the target operation area further comprises the step of determining the flight height of the unmanned aerial vehicle according to the vegetation growth information and the spraying amplitude of the unmanned aerial vehicle;
and the step of controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path comprises the step of controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path and the flight height.
4. The spraying operation method for a plant protection unmanned aerial vehicle according to claim 1, wherein in the step of determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area, the target operation area is rectangular; the GPS information includes length information and width information of the target working area.
5. The spraying operation method for the plant protection unmanned aerial vehicle according to claim 4, wherein in the step of controlling each unmanned aerial vehicle to perform spraying operation according to the corresponding operation path, each unmanned aerial vehicle takes off synchronously or takes off successively at preset time intervals; the preset time interval is more than or equal to the time for the unmanned aerial vehicle to change the pesticide box or the battery.
6. A spraying operation system for a plant protection unmanned aerial vehicle comprises a plurality of unmanned aerial vehicles; be provided with medical kit and battery on the unmanned aerial vehicle, its characterized in that, plant protection unmanned aerial vehicle spraying operating system still includes:
the acquisition module is used for acquiring GPS information of the target operation area; the GPS information at least comprises boundary position information of the target operation area;
the formation setting module is used for determining the number of unmanned aerial vehicles flying in formation and the spraying amplitude of the unmanned aerial vehicles according to the GPS information of the target operation area; the formation setting module is also used for setting one unmanned aerial vehicle in the unmanned aerial vehicles flying in the formation as a main plant protection machine, and the other unmanned aerial vehicles as auxiliary plant protection machines;
the first path setting module is used for determining the operation path of the main plant protection machine according to the GPS information, the number of the unmanned aerial vehicles and the spraying amplitude of the unmanned aerial vehicles;
the second path setting module is used for determining the operation path of the slave plant protection machine according to the operation path of the master plant protection machine; and
the flight control module is used for controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path;
the formation setting module further comprises:
the acquisition unit is used for acquiring the storage capacity of a medicine box of the unmanned aerial vehicle;
the generating unit is used for generating a corresponding relation table of spraying amplitude and single-operation running distance of the unmanned aerial vehicle according to the storage capacity of the medicine box; the single-operation driving path is an integral multiple of the length or the width of the target operation area; and
the setting unit is used for determining the spraying amplitude of each unmanned aerial vehicle according to the corresponding relation table; the setting unit is also used for determining the number of the unmanned aerial vehicles according to the GPS information of the target operation area, the spraying amplitude of the unmanned aerial vehicles and the single operation travel distance.
7. The plant protection unmanned aerial vehicle spray operation system of claim 6, wherein the acquisition module comprises a mapper or an image acquisition device.
8. The plant protection unmanned aerial vehicle spray operation system of claim 6, wherein the acquisition module is further configured to acquire vegetation growth information for a target operation area;
the formation setting module is also used for determining the flight height of the unmanned aerial vehicle according to the vegetation growth information and the spraying amplitude of the unmanned aerial vehicle;
the flight control module is used for controlling each unmanned aerial vehicle to carry out spraying operation according to the corresponding operation path and the flight height.
9. The plant protection unmanned aerial vehicle spray operation system of claim 6, wherein the target operation area is rectangular; the GPS information obtained by the acquisition module comprises length information and width information of the target operation area.
10. The plant protection unmanned aerial vehicle spray operation system of claim 9, wherein the flight control module is configured to control each unmanned aerial vehicle to take off synchronously or sequentially at preset time intervals; the preset time interval is more than or equal to the time for the unmanned aerial vehicle to change the pesticide box or the battery.
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| IT201800003790A1 (en) * | 2018-03-20 | 2019-09-20 | Skyx Ltd | Management of a fleet of aerial spraying vehicles |
| CN109445461A (en) * | 2018-11-27 | 2019-03-08 | 山东理工大学 | Single armed trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy |
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