CN107272726A - Operating area based on unmanned plane plant protection operation determines method and device - Google Patents
Operating area based on unmanned plane plant protection operation determines method and device Download PDFInfo
- Publication number
- CN107272726A CN107272726A CN201710684401.7A CN201710684401A CN107272726A CN 107272726 A CN107272726 A CN 107272726A CN 201710684401 A CN201710684401 A CN 201710684401A CN 107272726 A CN107272726 A CN 107272726A
- Authority
- CN
- China
- Prior art keywords
- area
- plot
- operation plot
- segmented areas
- plant protection
- 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
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005507 spraying Methods 0.000 claims description 26
- 239000007921 spray Substances 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000009825 accumulation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000003905 agrochemical Substances 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of operating area based on unmanned plane plant protection operation determines method and device, comprises the following steps：The ground block message in operation farmland region is obtained, and operation plot is created in satellite map according to described ground block message；Course line is planned according to the operation plot created and plant protection operation is carried out；Obtain the flying quality of unmanned plane multiple collection points during plant protection operation；Flying quality based on multiple collection points determines multiple segmented areas；The union of the multiple segmented areas is the operating area in operation plot.Operating area provided by the present invention based on unmanned plane plant protection operation determines method and device, user is conducive to understand the actual sprinkling coverage condition in operation plot, it is easy to carry out follow-up plant protection operation according to actual sprinkling coverage condition, so that all regions are effectively covered in operation plot, meanwhile, further increase plant protection operation mechanization degree and plant protection operation effect.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of operating area based on unmanned plane plant protection operation is determined
Method and device.
Background technology
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.Mesh
Before, with the development of science and technology, unmanned air vehicle technique reaches its maturity, unmanned plane with its speed it is fast, operate flexible the characteristics of extensively should
With.
With the development of plant protection unmanned air vehicle technique, increasing user starts to carry out plant protection operation using unmanned plane, especially
It is to carry out pesticide spraying and chemical fertilizer sprinkling etc. using unmanned plane, and with being damaged to crops, small, agricultural chemicals utilization rate is high, reduce labor
The advantages of fatigue resistance.
But, in current practice, after user carries out plant protection operation using unmanned plane to one piece of farmland, it is difficult to understand
The farmland actual job coverage condition, and then plant protection operation effect can not be judged.
The content of the invention
In order to solve the above-mentioned technical problem there is provided a kind of operating area determination side based on unmanned plane plant protection operation by the present invention
Method and device, it can be easy to the coverage condition in current work plot during user's understanding plant protection operation, be conducive to improving plant protection operation
Effect and quality.
In order to reach above-mentioned technique effect, the present invention includes following technical scheme：It is a kind of based on unmanned plane plant protection operation
Operating area determines method, comprises the following steps：
（1）The ground block message in operation farmland region is obtained, and operation plot is created in satellite map according to described ground block message；
（2）Course line is planned according to the operation plot created and plant protection operation is carried out；
（3）The flying quality of unmanned plane multiple collection points during plant protection operation is obtained, wherein, the flying quality is respectively to adopt
Collect the latitude and longitude information and spraying swath of point；
（4）Flying quality based on multiple collection points determines multiple segmented areas, wherein, each segmented areas is by adjacent collection point
Spraying swath, distance and head north orientation yaw angle determine；The north orientation yaw angle of the head is the suitable of head and direct north
Hour hands angle；
（5）The union of the multiple segmented areas is the operating area in operation plot.
Further, methods described also includes：The working area in operation plot is calculated, the working area is multiple piecemeals
The union of region area.
Further, methods described also includes：The overall area in operation plot is obtained, the overall area in operation plot is subtracted into operation
The operating area in plot, obtains the drain spray region in operation plot；
The gross area in operation plot is subtracted to the working area in operation plot, the drain spray area in operation plot is obtained；
The common factor of the multiple segmented areas area resprays area for operation plot.
In addition, present invention also offers a kind of operating area determining device based on unmanned plane plant protection operation, including：
Operation plot creation module：For creating work in satellite map according to the ground block message in acquired operation farmland region
Industry plot；
Flight course planning module：For planning course line according to the spraying swath in the operation plot and setting created；
Flying quality acquisition module：Flying quality for obtaining multiple collection points during unmanned plane plant protection operation, wherein, institute
State latitude and longitude information and spraying swath that flying quality is each collection point；
Segmented areas determining module：For determining multiple segmented areas according to the flying quality of multiple collection points, wherein, Mei Gefen
Block region is determined by the north orientation yaw angle of the spraying swath of adjacent collection point, distance and head；
Operating area determining module：Using the union of multiple segmented areas as operation plot operating area.
Using above-mentioned technical proposal, including following beneficial effect：It is provided by the present invention based on unmanned plane plant protection operation
Operating area determines method and device, can determine multiple piecemeals by the flying quality of multiple collection points during plant protection operation
Region, and the actual job region in operation plot is determined by the union of segmented areas, and then obtain the actual work in operation plot
Industry area, is conducive to user to understand the actual sprinkling coverage condition in operation plot, is easy to be carried out according to actual sprinkling coverage condition
Follow-up plant protection operation, so that all regions are effectively covered in operation plot, meanwhile, further increase plant protection operation machinery
Change degree and plant protection operation effect.
Brief description of the drawings
The operating area based on unmanned plane plant protection operation that Fig. 1 is provided by the embodiment of the present invention determines method flow diagram；
Fig. 2 is that the schematic diagram in course line is cooked up on the operation plot of establishment in the embodiment of the present invention；
Fig. 3 is the schematic diagram of determination segmented areas in the embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the utility model embodiment
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is this
Invent a part of embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the present invention, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instruction such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
Put, element or part there must be particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His implication, such as term " on " also be likely used for representing certain relations of dependence or annexation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being provided with ", " connection ", " connected " " socket " should be interpreted broadly.For example, can
To be to be fixedly connected, it is detachably connected, or monolithic construction；Can mechanically connect, or electrical connection；Can be joined directly together,
Either it is indirectly connected to by intermediary, or is connection internal between two devices, element or parts.For
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Unless otherwise indicated, the implication of " multiple " is two or more.
The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.
The embodiment of the present invention 1 determines method there is provided a kind of operating area based on unmanned plane plant protection operation, refering to Fig. 1,
The operating area based on unmanned plane plant protection operation provided by the present embodiment determines the flow chart of method, comprises the following steps：
S101, obtain operation farmland region ground block message, and according to described ground block message in satellite map with creating operation
Block；
The ground block message for obtaining operation farmland region refers to what is proposed in the geographical location information for obtaining operation plot, the present embodiment
Geographical location information refers to the latitude and longitude information in the operation farmland region, obtains each by related algorithm according to latitude and longitude information
The point value of the 2-D data information, i.e. X, Y of point, so that dummy activity plot, life can be created in the satellite map of computer
Into operation boundary of land block line, the wherein latitude and longitude information in the operation plot is the border to operation farmland region according to mapping worker
The information that the surveying and mapping data of obtained multiple collection points is generated is surveyed and drawn on the spot.Related algorithm is more in the prior art,
As long as latitude and longitude information can be converted into be not particularly limited in two-dimensional coordinate information, the present embodiment；
S102, course line is planned according to the operation plot that is created and plant protection operation is carried out；
Wherein, the course line cooked up be unmanned plane flight path, by it is a plurality of at equal intervals and be parallel to each other straightway head and the tail
It is sequentially connected with and forms, as shown in Fig. 2 the distance between adjacent straightway is a spraying swath, i.e. unmanned plane spray width, specific behaviour
When making, user cooks up the line of flight on existing user terminal according to the flight parameter in the operation plot of establishment and setting, plants
When protecting operation, unmanned plane according to the course line plant protection operation cooked up, the flight parameter be flying speed, spray width and
Flying height etc..
S103, the flying quality for obtaining unmanned plane multiple collection points during plant protection operation, wherein, the flying quality
For the latitude and longitude information and spraying swath of each collection point；
When implementing, the GPS/ Big Dipper and sensor assembly on unmanned plane can be passed through（Three axis accelerometer, three axles
Gyroscope, magnetic compass and barometer etc.）The space flight posture and elevation information of aircraft, the flying quality gathered are obtained in real time
It can be stored in the memory space that data recording equipment is recorded on unmanned plane, can also will be gathered by on-board controller
Flying quality is packaged into packet and uploaded onto the server by network communication module.
When implementing, the GPS/ Big Dipper and sensor assembly on unmanned plane can be passed through（Three axis accelerometer,
Three-axis gyroscope, magnetic compass and barometer etc.）The space flight posture and elevation information of aircraft, the flight gathered are obtained in real time
Data can be stored in the memory space for recording data recording equipment, can also be by on-board controller by the flight gathered
Data are packaged into packet and upload to remote server by network communication module.During plant protection operation, typically every
It is collection point that 0.2S, which is gathered at a data, gathered data,.
Flying quality also includes horizontal velocity, vertical speed, flying height and activity duration etc..
S104, the flying quality based on multiple collection points determine multiple segmented areas, wherein, each segmented areas is by adjacent
The north orientation yaw angle of the spraying swath of collection point, distance and head is determined；The north orientation yaw angle of the head is head and the positive north
To angle clockwise；
S105, the union of the multiple segmented areas are the operating area in operation plot.
The operating area in operation plot is the region that covering is actually sprayed during plant protection operation, what collection point was formed
Multiple segmented areas during intersecting situation, i.e. plant protection operation it is possible that occur that phenomenon is sprayed in repetition, and therefore, plant protection is made
The summation of segmented areas is not necessarily the region of actual sprinkling covering in industry, and the region of actual sprinkling covering is each segmented areas
Union.
Multiple segmented areas areas are calculated respectively, and the working area in the operation plot is the multiple segmented areas area
Union.
The present invention is the determination method that embodiment 2 provides segmented areas and area, due to during plant protection operation,
Generally, unmanned plane is flown along the straightway being parallel to each other, and collection point is located on straightway, the distance of adjacent collection point with
And the region that spraying swath is formed is rectangular region, i.e., using the connecting line of adjacent collection point as length, wide institute's shape is used as using spraying swath
Into region, area for adjacent collection point connecting line length and spraying swath product, as shown in figure 3, collection point 1 and 2 be course line
In two adjacent collection points on the section AB of same course line, line segment 34 and 56 is spraying swath, head towards along course line section AB, wherein,
Head direction is that the north orientation yaw angle of head can be measured by the attitude transducer on unmanned plane, rectangular region 3-4-
5-6 is the segmented areas that collection point 12 is formed.
The center line for multiple rectangular regions that collection point is formed is identical on same straightway, all rectangular regions
Union is the operating area in operation plot, still, during actual plant protection operation, collection point it is possible that drift situation, i.e., without
Course line where man-machine course drift, so that straightway, these collection points and adjacent collection point institute are deviateed in some collection points
The region of formation also has offset, formation irregular polygon region, and the plant protection operation in the case of this kind will duplicate spray
Spill or drain spray phenomenon.Offset and imagine for above-mentioned collection point, present embodiments provide a kind of segmented areas and area of determining
Method：
S201, head direction determined according to the north orientation yaw angle of head；
S202, according at head direction and two collection points spraying swath determine respectively through two collection points and with head place side
To vertical boundary line A and B；
S203, the end points acquisition boundary line C and boundary line D for being sequentially connected with two boundary line A and B；
S204, the boundary line A, boundary line B, boundary line C and boundary line D-shaped are into polygon segmented areas；
S205, pass through geometric algorithm calculate segmented areas area.
Refering to Fig. 3, collection point 11 and collection point 12 are two adjacent collection points, wherein, collection point 12 drifts about, partially
From script course line AB, head direction is determined by the head north orientation yaw angle measured by attitude transducer, according to head direction
The two-end-point 1 and 8 of spraying swath at collection point 11 is determined, the two-end-point 10 and 9 of spraying swath at collection point 12 is similarly tried to achieve, so as to form many
In side shape region 7-8-9-10, the present embodiment, collection point 11 is consistent with 12 head direction, and spraying swath is identical, therefore, collection point
11 and 12 segmented areas formed are parallelogram region, according to geometrical relationship, it is easy to try to achieve the spray of the segmented areas
Area is spilt, similarly, other segmented areas areas are tried to achieve.In other embodiments, the segmented areas formed is probably irregular
Polygonal region, similarly, polygonal region area can be tried to achieve using geometric algorithm, here is omitted.
In addition, the working area in the operation plot is by obtained by following methods：
S301, the actual job area for calculating each segmented areas successively；Wherein, the actual job area of current segmented areas is to work as
Preceding segmented areasCarry out intersecting matching, the acquired area without intersection area with preceding n-1 segmented areas；
Specifically, the actual job region of the actual job area correspondence segmented areas of segmented areas, the actual work of segmented areas
Industry region is the region do not intersected in the segmented areas with other segmented areas, i.e. the region resprayed do not occur.
S302, the actual job area accumulation by each segmented areas, obtain the union of the multiple segmented areas area, from
And obtain the working area in operation plot.
The method that the embodiment of the present invention 3 provides another calculating operation plot working area, it is specific as follows：
S401, the satellite map for creating operation plot zoomed to 28-29 grades, under the level of zoom, operation is included in plot
Multiple GPS points, count all GPS point quantity；
Map is zoomed to the 6th after 28-29 grades, longitude and latitude decimal point, under the level of zoom, operation is contained in plot
The GPS point of lid is more intensive, is conducive to calculating the working area in operation plot exactly.
S402, the effective GPS point searched respectively in each segmented areas, wherein, effective GPS point is to be distributed only over wherein
GPS point in one segmented areas；
Specifically, effective GPS point is not sprayed repeatedly and the longitude and latitude decimal point under map scaling in segmented areas
Afterwards to the GPS point of the 6th.
S403, effective GPS point in each segmented areas added up, obtain effective GPS point total amount in operation plot；
S404, the acquisition operation plot gross area, the working area is effective GPS point proportion and the operation plot gross area
Product.
The ratio of all GPS points in operation plot is accounted for by effective GPS point so that trying to achieve actual job area does the ratio accounted for
Example, the working area of actual job area proportion and the product, as operation plot of the operation plot gross area.
In the present embodiment, further, include the overall area in acquisition operation plot, the overall area in operation plot is subtracted
The operating area in operation plot is gone to, the drain spray region in operation plot is obtained；
The gross area in operation plot is subtracted to the working area in operation plot, the drain spray area in operation plot is obtained；
The region of respraying in operation plot is obtained, the common factor of the multiple segmented areas resprays region for operation plot；
The area of respraying in operation plot is obtained, the common factor of the multiple segmented areas area resprays area for operation plot.
During actual plant protection operation, by the flight path that the line of flight is formed is not necessarily uniform, collection point meeting
There is shift phenomenon, by the above method while actual job area is tried to achieve, obtain drain spray area and respray area, favorably
Understand plant protection operation situation in user.
The present invention is that embodiment 4 provides a kind of operating area determining device based on unmanned plane plant protection operation, including：
Operation plot creation module：For creating work in satellite map according to the ground block message in acquired operation farmland region
Industry plot；
Flight course planning module：For planning course line according to the spraying swath in the operation plot and setting created；
Flying quality acquisition module：Flying quality for obtaining multiple collection points during unmanned plane plant protection operation, wherein, institute
State latitude and longitude information and spraying swath that flying quality is each collection point；
Segmented areas determining module：For determining multiple segmented areas according to the flying quality of multiple collection points, wherein, Mei Gefen
Block region is determined by the north orientation yaw angle of the spraying swath of adjacent collection point, distance and head；
Operating area determining module：Using the union of multiple segmented areas as operation plot operating area.
In a kind of preferred embodiment of the embodiment of the present invention, the device includes：
Segmented areas area calculation module：For calculating the corresponding area of each segmented areas respectively；
Operation plot gross area computing module：The gross area for calculating operation plot；
Working area computing module：For using the union of the multiple segmented areas area as operation plot working area.
In another preferred embodiment of the embodiment of the present invention, the device also includes:
Drain spray area determination module：Operating area for the overall area in operation plot to be subtracted to operation plot；
Wherein the overall area in operation plot can create the mode in operation plot taking human as measurement gained, real by survey crew
The mode that ground is got ready obtains multiple collection points, and multiple collection points form the border in operation plot, so that it is determined that operation plot is total
Region.
Drain spray area calculation module：Working area for the gross area in operation plot to be subtracted to operation plot；
Respray area determination module：Working area for the gross area in operation plot to be subtracted to operation plot, with obtaining operation
Block resprays area；
Respray area calculation module：Common factor for multiple segmented areas areas resprays area for operation plot.
In the present embodiment, further, in addition to：
GPS point statistical module：For all GPS points in assignment statisticses plot and effective GPS point；
First computing module：The ratio of all GPS point quantity is accounted for for calculating effective GPS point；
Second computing module：Product for calculating effective GPS point proportion and the operation plot gross area, obtains operation plot
Working area, i.e., actual spray area.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of operating area based on unmanned plane plant protection operation determines method, it is characterised in that comprise the following steps：
（1）The ground block message in operation farmland region is obtained, and operation plot is created in satellite map according to described ground block message；
（2）Course line is planned according to the operation plot created and plant protection operation is carried out；
（3）The flying quality of unmanned plane multiple collection points during plant protection operation is obtained, wherein, the flying quality is respectively to adopt
Collect the latitude and longitude information and spraying swath of point；
（4）Flying quality based on multiple collection points determines multiple segmented areas, wherein, each segmented areas is by adjacent collection point
Spraying swath, distance and head north orientation yaw angle determine；The north orientation yaw angle of the head is the suitable of head and direct north
Hour hands angle；
（5）The union of the multiple segmented areas is the operating area in operation plot.
2. operating area according to claim 1 determines method, it is characterised in that methods described also includes：
The working area in operation plot is calculated, the working area is the union of multiple segmented areas areas.
3. operating area according to claim 2 determines method, it is characterised in that the segmented areas and its area by with
Lower method is determined:
Head direction is determined according to the north orientation yaw angle of head；
Determined to hang down respectively through two collection points and with direction where head according to the spraying swath at head direction and two collection points
Straight boundary line A and B；
The end points for being sequentially connected with two boundary line A and B obtains boundary line C and boundary line D；
The boundary line A, boundary line B, boundary line C and boundary line D-shaped are into polygon segmented areas；
Segmented areas area is calculated by geometric algorithm.
4. operating area according to claim 3 determines method, it is characterised in that the working area in the operation plot by
Obtained by following methods：
The actual job area of each segmented areas is calculated successively；Wherein, the actual job area of current segmented areas is current point
Block regionCarry out intersecting matching, the acquired area without intersection area with preceding n-1 segmented areas；
By the actual job area accumulation of each segmented areas, the union of the multiple segmented areas area is obtained, so as to be made
The working area in industry plot.
5. operating area according to claim 2 determines method, it is characterised in that the working area in the operation plot by
Obtained by following methods：
（1）The satellite map for creating operation plot is zoomed to 28-29 grades, under the level of zoom, comprising many in operation plot
Individual GPS point, counts all GPS point quantity；
（2）Effective GPS point in each segmented areas is searched respectively, wherein, effective GPS point is to be distributed only over a wherein piecemeal
GPS point in region；
（4）Effective GPS point in each segmented areas is added up, effective GPS point total amount in operation plot is obtained；
（5）Obtain the operation plot gross area, the working area is effective GPS point proportion and the operation plot gross area multiplies
Product.
6. operating area according to claim 2 determines method, it is characterised in that also include：
The overall area in operation plot is obtained, the overall area in operation plot is subtracted to the operating area in operation plot, with obtaining operation
The drain spray region of block；
The gross area in operation plot is subtracted to the working area in operation plot, the drain spray area in operation plot is obtained.
7. operating area according to claim 2 determines method, it is characterised in that also include:
The region of respraying in operation plot is obtained, the common factor of the multiple segmented areas resprays region for operation plot；
The area of respraying in operation plot is obtained, the common factor of the multiple segmented areas area resprays area for operation plot.
8. a kind of operating area determining device based on unmanned plane plant protection operation, it is characterised in that including：
Operation plot creation module：For creating work in satellite map according to the ground block message in acquired operation farmland region
Industry plot；
Flight course planning module：For planning course line according to the spraying swath in the operation plot and setting created；
Flying quality acquisition module：Flying quality for obtaining multiple collection points during unmanned plane plant protection operation, wherein, institute
State latitude and longitude information and spraying swath that flying quality is each collection point；
Segmented areas determining module：For determining multiple segmented areas according to the flying quality of multiple collection points, wherein, Mei Gefen
Block region is determined by the north orientation yaw angle of the spraying swath of adjacent collection point, distance and head；
Operating area determining module：Using the union of multiple segmented areas as operation plot operating area.
9. device according to claim 8, it is characterised in that also include:
Segmented areas area calculation module：For calculating the corresponding area of each segmented areas respectively；
Operation plot gross area computing module：The gross area for calculating operation plot；
Working area computing module：For using the union of the multiple segmented areas area as operation plot working area.
10. device according to claim 9, it is characterised in that also include:
Drain spray area determination module：Operating area for the overall area in operation plot to be subtracted to operation plot,
Drain spray area calculation module：Working area for the gross area in operation plot to be subtracted to operation plot；
Respray area determination module：Working area for the gross area in operation plot to be subtracted to operation plot, with obtaining operation
Block resprays area；
Respray area calculation module：Common factor for multiple segmented areas areas resprays area for operation plot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710684401.7A CN107272726A (en) | 2017-08-11 | 2017-08-11 | Operating area based on unmanned plane plant protection operation determines method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710684401.7A CN107272726A (en) | 2017-08-11 | 2017-08-11 | Operating area based on unmanned plane plant protection operation determines method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107272726A true CN107272726A (en) | 2017-10-20 |
Family
ID=60080283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710684401.7A Pending CN107272726A (en) | 2017-08-11 | 2017-08-11 | Operating area based on unmanned plane plant protection operation determines method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107272726A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933921A (en) * | 2017-10-30 | 2018-04-20 | 广州极飞科技有限公司 | Aircraft and its sprinkling Route Generation and execution method, apparatus, control terminal |
| CN107966709A (en) * | 2017-11-15 | 2018-04-27 | 成都天麒科技有限公司 | A kind of plant protection operation method based on laser radar mapping |
| CN107977520A (en) * | 2017-12-11 | 2018-05-01 | 中联重机股份有限公司 | Operating area area determines method and device |
| CN108803665A (en) * | 2018-09-10 | 2018-11-13 | 朱彬 | Full-automatic unmanned machine group operation device and method |
| CN108805410A (en) * | 2018-05-11 | 2018-11-13 | 农业部南京农业机械化研究所 | Plant protection drone operation effectiveness evaluation method |
| CN108917590A (en) * | 2018-05-11 | 2018-11-30 | 农业部南京农业机械化研究所 | Plant protection drone operation quality detection device and its detection method |
| CN109073375A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The measurement method and equipment of spray area |
| CN109709971A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | For the method and apparatus of plant protection, storage medium and electronic equipment |
| CN109766049A (en) * | 2018-12-14 | 2019-05-17 | 广州极飞科技有限公司 | The method and control equipment in target plot are distributed for operating equipment |
| CN109785168A (en) * | 2019-01-08 | 2019-05-21 | 北京佰信蓝图科技股份公司 | A kind of information collecting method in agricultural insurance plot |
| CN110069073A (en) * | 2018-11-30 | 2019-07-30 | 广州极飞科技有限公司 | Job control method, device and plant protection system |
| WO2019237412A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Monitoring system and method for automatically operated unmanned aerial vehicle for plant protection |
| CN110692026A (en) * | 2018-08-02 | 2020-01-14 | 广州极飞科技有限公司 | Route planning and operation method, device, equipment and medium for land operation |
| CN110968110A (en) * | 2018-09-29 | 2020-04-07 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| CN110989684A (en) * | 2019-12-31 | 2020-04-10 | 广州极飞科技有限公司 | Spraying operation control method, device, ground station and storage medium |
| CN112034850A (en) * | 2020-09-01 | 2020-12-04 | 青岛悟牛智能科技有限公司 | Method for realizing unmanned production of farm |
| CN112650278A (en) * | 2020-12-11 | 2021-04-13 | 广州极飞科技有限公司 | Method and device for generating boundary of working area |
| CN113439726A (en) * | 2021-06-21 | 2021-09-28 | 华南农业大学 | Plant protection unmanned aerial vehicle accurate target-aiming spraying method and device based on 5G network |
| WO2021213387A1 (en) * | 2020-04-21 | 2021-10-28 | 北京三快在线科技有限公司 | Aviation region construction |
| CN115316172A (en) * | 2022-10-12 | 2022-11-11 | 广东省农业科学院植物保护研究所 | Nano pesticide application method and system based on plant protection unmanned aerial vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140018979A1 (en) * | 2012-07-13 | 2014-01-16 | Honeywell International Inc. | Autonomous airspace flight planning and virtual airspace containment system |
| DE202014002338U1 (en) * | 2014-03-15 | 2014-05-14 | Volker Jung | Largely autonomous flying UAV helicopter drone for application of pesticides in agriculture, forestry and viticulture (up to a maximum take-off weight of 150kg) |
| CN104503464A (en) * | 2014-12-30 | 2015-04-08 | 中南大学 | Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method |
| CN105159319A (en) * | 2015-09-29 | 2015-12-16 | 广州极飞电子科技有限公司 | Spraying method of unmanned plane and unmanned plane |
| CN105955294A (en) * | 2016-05-26 | 2016-09-21 | 北京大工科技有限公司 | Method and device used for controlling plant protection work of unmanned plane |
| CN205899390U (en) * | 2016-08-09 | 2017-01-18 | 青海北斗开阳航空科技有限公司 | Agriculture and forestry plant protection unmanned aerial vehicle automatic flight control system |
| CN106382933A (en) * | 2016-11-04 | 2017-02-08 | 北京农业智能装备技术研究中心 | Operation air route acquiring method and system for aviation plant protection aircraft |
| CN106444834A (en) * | 2016-10-10 | 2017-02-22 | 上海拓攻机器人有限公司 | Plant protective unmanned plane and spraying method thereof |
| CN106483975A (en) * | 2016-10-26 | 2017-03-08 | 广州极飞科技有限公司 | Determine the method and device in unmanned plane course line |
| CN106503433A (en) * | 2016-10-18 | 2017-03-15 | 广州极飞科技有限公司 | Sprinkling area determination method and device based on unmanned machine operation |
-
2017
- 2017-08-11 CN CN201710684401.7A patent/CN107272726A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140018979A1 (en) * | 2012-07-13 | 2014-01-16 | Honeywell International Inc. | Autonomous airspace flight planning and virtual airspace containment system |
| DE202014002338U1 (en) * | 2014-03-15 | 2014-05-14 | Volker Jung | Largely autonomous flying UAV helicopter drone for application of pesticides in agriculture, forestry and viticulture (up to a maximum take-off weight of 150kg) |
| CN104503464A (en) * | 2014-12-30 | 2015-04-08 | 中南大学 | Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method |
| CN105159319A (en) * | 2015-09-29 | 2015-12-16 | 广州极飞电子科技有限公司 | Spraying method of unmanned plane and unmanned plane |
| CN105955294A (en) * | 2016-05-26 | 2016-09-21 | 北京大工科技有限公司 | Method and device used for controlling plant protection work of unmanned plane |
| CN205899390U (en) * | 2016-08-09 | 2017-01-18 | 青海北斗开阳航空科技有限公司 | Agriculture and forestry plant protection unmanned aerial vehicle automatic flight control system |
| CN106444834A (en) * | 2016-10-10 | 2017-02-22 | 上海拓攻机器人有限公司 | Plant protective unmanned plane and spraying method thereof |
| CN106503433A (en) * | 2016-10-18 | 2017-03-15 | 广州极飞科技有限公司 | Sprinkling area determination method and device based on unmanned machine operation |
| CN106483975A (en) * | 2016-10-26 | 2017-03-08 | 广州极飞科技有限公司 | Determine the method and device in unmanned plane course line |
| CN106382933A (en) * | 2016-11-04 | 2017-02-08 | 北京农业智能装备技术研究中心 | Operation air route acquiring method and system for aviation plant protection aircraft |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933921A (en) * | 2017-10-30 | 2018-04-20 | 广州极飞科技有限公司 | Aircraft and its sprinkling Route Generation and execution method, apparatus, control terminal |
| CN107966709A (en) * | 2017-11-15 | 2018-04-27 | 成都天麒科技有限公司 | A kind of plant protection operation method based on laser radar mapping |
| CN107977520A (en) * | 2017-12-11 | 2018-05-01 | 中联重机股份有限公司 | Operating area area determines method and device |
| CN107977520B (en) * | 2017-12-11 | 2021-04-20 | 中联农业机械股份有限公司 | Method and device for determining area of operation area |
| WO2019119239A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Method and device for measuring spray area |
| CN109073375A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | The measurement method and equipment of spray area |
| CN108805410B (en) * | 2018-05-11 | 2022-05-27 | 农业农村部南京农业机械化研究所 | Method for evaluating operation effect of plant protection unmanned aerial vehicle |
| CN108805410A (en) * | 2018-05-11 | 2018-11-13 | 农业部南京农业机械化研究所 | Plant protection drone operation effectiveness evaluation method |
| CN108917590A (en) * | 2018-05-11 | 2018-11-30 | 农业部南京农业机械化研究所 | Plant protection drone operation quality detection device and its detection method |
| WO2019237412A1 (en) * | 2018-06-13 | 2019-12-19 | 仲恺农业工程学院 | Monitoring system and method for automatically operated unmanned aerial vehicle for plant protection |
| CN110692026A (en) * | 2018-08-02 | 2020-01-14 | 广州极飞科技有限公司 | Route planning and operation method, device, equipment and medium for land operation |
| CN108803665B (en) * | 2018-09-10 | 2024-05-14 | 朱彬 | Full-automatic unmanned aerial vehicle cluster operation device and method |
| CN108803665A (en) * | 2018-09-10 | 2018-11-13 | 朱彬 | Full-automatic unmanned machine group operation device and method |
| CN110968110A (en) * | 2018-09-29 | 2020-04-07 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| CN110968110B (en) * | 2018-09-29 | 2021-04-06 | 广州极飞科技有限公司 | Method and device for determining operation area, unmanned aerial vehicle and storage medium |
| CN110069073A (en) * | 2018-11-30 | 2019-07-30 | 广州极飞科技有限公司 | Job control method, device and plant protection system |
| CN109709971A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | For the method and apparatus of plant protection, storage medium and electronic equipment |
| CN109766049A (en) * | 2018-12-14 | 2019-05-17 | 广州极飞科技有限公司 | The method and control equipment in target plot are distributed for operating equipment |
| CN109785168A (en) * | 2019-01-08 | 2019-05-21 | 北京佰信蓝图科技股份公司 | A kind of information collecting method in agricultural insurance plot |
| CN110989684A (en) * | 2019-12-31 | 2020-04-10 | 广州极飞科技有限公司 | Spraying operation control method, device, ground station and storage medium |
| CN110989684B (en) * | 2019-12-31 | 2021-06-15 | 广州极飞科技股份有限公司 | Spraying operation control method, device, ground station and storage medium |
| WO2021213387A1 (en) * | 2020-04-21 | 2021-10-28 | 北京三快在线科技有限公司 | Aviation region construction |
| CN112034850A (en) * | 2020-09-01 | 2020-12-04 | 青岛悟牛智能科技有限公司 | Method for realizing unmanned production of farm |
| CN112650278A (en) * | 2020-12-11 | 2021-04-13 | 广州极飞科技有限公司 | Method and device for generating boundary of working area |
| CN112650278B (en) * | 2020-12-11 | 2024-04-12 | 广州极飞科技股份有限公司 | Method and device for generating boundary of operation area |
| CN113439726A (en) * | 2021-06-21 | 2021-09-28 | 华南农业大学 | Plant protection unmanned aerial vehicle accurate target-aiming spraying method and device based on 5G network |
| CN115316172A (en) * | 2022-10-12 | 2022-11-11 | 广东省农业科学院植物保护研究所 | Nano pesticide application method and system based on plant protection unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107272726A (en) | Operating area based on unmanned plane plant protection operation determines method and device | |
| CN107368094A (en) | A kind of unmanned plane plant protection operation flight course planning method and device | |
| CN107390709B (en) | A kind of plant protection drone multi-machine collaborative operational method and system | |
| CN105159319B (en) | The spray method and unmanned plane of a kind of unmanned plane | |
| CN106716062B (en) | The flight course planning method and ground control terminal of agriculture unmanned vehicle | |
| US11703865B2 (en) | Aerial operation support and real-time management | |
| CN207096463U (en) | A kind of agricultural Big Dipper difference direction finding navigation control system | |
| CN106020237B (en) | The multimachine operation flight course planning and its spraying operation method and system of plant protection drone | |
| CN106873631B (en) | Unmanned aerial vehicle control method, plant protection operation method, unmanned aerial vehicle and ground station | |
| CN110554711B (en) | Unmanned aerial vehicle operation method and device, unmanned aerial vehicle and storage medium | |
| CN106327024A (en) | Unmanned aerial vehicle pesticide spray path planning system and unmanned aerial vehicle pesticide spray path planning method | |
| CN106547276A (en) | The three-back-shaped paths planning method of automatic spraying and fog machine spraying operation method | |
| CN108897312A (en) | Lasting supervised path planing method of more unmanned vehicles to extensive environment | |
| CN107289950A (en) | The unmanned machine operation flight course planning method of plant protection and plant protection unmanned plane | |
| CN103499346A (en) | Implementation method of ground station three-dimensional navigation map of small unmanned air vehicle | |
| CN107289944A (en) | A kind of method and device of control unmanned plane plant protection operation | |
| CN101335431A (en) | Overhead power transmission line optimized line selection method based on airborne laser radar data | |
| CN107808550A (en) | A kind of unmanned machine management system of plant protection | |
| CN112154447A (en) | Surface feature recognition method and device, unmanned aerial vehicle and computer-readable storage medium | |
| TW201908693A (en) | System for measuring three-dimensional environment data, particularly for plant care, as well as sensor module | |
| CN107437250A (en) | A kind of charge book generation method and device based on unmanned machine operation | |
| CN103714563A (en) | Modeling method of boundary of curve type farmland operation area | |
| CN110175793B (en) | Artificial precipitation aircraft route design method based on ground demand analysis | |
| CN104833343A (en) | Multi-rotor aircraft based complex terrain boundary and area estimation system and method | |
| CN107402011B (en) | Composite grid map construction method for greenhouse mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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: 20171020 |
|
| RJ01 | Rejection of invention patent application after publication |