CN110573982A - Control method and control device for operation of plant protection unmanned aerial vehicle - Google Patents
Control method and control device for operation of plant protection unmanned aerial vehicle Download PDFInfo
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- CN110573982A CN110573982A CN201880014839.7A CN201880014839A CN110573982A CN 110573982 A CN110573982 A CN 110573982A CN 201880014839 A CN201880014839 A CN 201880014839A CN 110573982 A CN110573982 A CN 110573982A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000007921 spray Substances 0.000 claims description 8
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 description 15
- 239000003814 drug Substances 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 3
- 238000009331 sowing Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- 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
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- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
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Abstract
a control method and a control device for operation of a plant protection unmanned aerial vehicle are provided, wherein the control method comprises the following steps: acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation end point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area (S101); generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse movement distance of the operation (S201); controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point (S301); the coordinates of the points a, B, and E are saved, and when the plant protection work is performed again in the same work area, the coordinates of the points a, B, and E are read to generate a work line, the work is performed according to the generated work line, and the work is terminated when the work reaches the point E (S401). The control method and the control device avoid the repeated setting of the coordinates of the point A, the point B and the point E, thereby obviously improving the working efficiency of plant protection operation.
Description
Technical Field
the disclosure belongs to the technical field of unmanned aerial vehicles, and particularly relates to a control method and a control device for operation of a plant protection unmanned aerial vehicle.
Background
in agriculture and forestry plant protection operation, often can use plant protection unmanned aerial vehicle to realize spraying the operation, can spray medicament, seed etc.. In order to reduce the workload of an operator, the plant protection unmanned aerial vehicle generally operates in an AB point operation mode in actual operation. The AB point operation is to record a take-off boundary point as the point A, fly linearly for a certain distance to reach the point B, then enable the plant protection unmanned aerial vehicle to transversely move for a set distance, and automatically spray the plant protection unmanned aerial vehicle according to the linear distance between the point AB and the point B without manual operation. In the process, manual intervention can be performed at any time, so that the flexibility of spraying operation is ensured.
In actual work, the operation of setting the AB point is complicated, and the user can accurately operate after accurately setting the AB point with naked eyes. At present, when the AB point operation is executed for multiple times in the same block area, the complex operations are repeated, and the operation efficiency is seriously influenced.
disclosure of Invention
One aspect of the present disclosure provides a method for controlling operation of a plant protection unmanned aerial vehicle, including:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
Generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
The coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
another aspect of the present disclosure provides a plant protection unmanned aerial vehicle's controlling means, includes:
a memory for storing executable instructions;
A processor to execute executable instructions stored in the memory to perform the following operations:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
Generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
Controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
Yet another aspect of the disclosure provides a computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to:
acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
Generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
Yet another aspect of the present disclosure provides a plant protection drone, including the control device.
according to the technical scheme, the embodiment of the disclosure has at least the following beneficial effects: the user can avoid repeatedly setting the coordinates of the point A, the point B and the point E of the AB point operation, thereby obviously improving the operation efficiency of the plant protection operation.
Drawings
the accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
Fig. 1 is a flowchart of a method of controlling plant protection unmanned aerial vehicle operations according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates an AB work route according to an embodiment of the present disclosure;
fig. 3 schematically illustrates an AB work route according to another embodiment of the present disclosure.
Detailed Description
for the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
as shown in fig. 1, an embodiment of the present disclosure provides a method for controlling operation of a plant protection unmanned aerial vehicle, including:
S101: and coordinates of an operation starting boundary point A and an operation starting boundary point B of the plant protection unmanned aerial vehicle in the operation area, coordinates of an operation terminal point E and a transverse moving distance of the operation are obtained.
The point A, the point B and the point E are usually located on the boundary of the operation area, the plant protection unmanned aerial vehicle can fly to a designated place through the control device, the plant protection unmanned aerial vehicle is set to be the point A, the point B and the point E respectively, and coordinates of the plant protection unmanned aerial vehicle are recorded respectively.
the traverse distance of the work may be set according to the kind of the spraying work, the flying height, and the like.
s201: and generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse movement distance of the operation.
after the coordinates of the point A, the point B and the point E and the traversing distance of the operation are determined, the operation route can be determined, and the step can be automatically completed by a processor in the control device.
S301: and controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point.
when spraying the operation, can set up flying height, airspeed, spraying speed isoparametric, if there is the topography of height fluctuation in the operation region, can also set up plant protection unmanned aerial vehicle's pitch angle isoparametric to ensure the homogeneity and the integrality of spraying the operation.
S401: the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
After the plant protection operation is finished, the operation parameters in the operation area are automatically stored for use when the plant protection operation is carried out again. The coordinates of point a, point B, and point E are necessary parameters for plant protection work, and should be stored as data by default. Other operational parameters, such as traverse distance, flight speed, flight altitude, spray rate, etc., may be optionally stored as desired. For example, when the same plant protection job may be performed again in the job area, all the parameters may be saved, and when the job is performed again, the plant protection job may be performed without any setting. If the same plant protection operation is not needed any more, only key data such as coordinates of the point A, the point B and the point E can be stored.
the embodiment of the present disclosure provides a plant protection unmanned aerial vehicle's controlling means, include:
A memory for storing executable instructions;
A processor to execute executable instructions stored in the memory to perform the following operations:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
Controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
Fig. 3 is a route of a medication spraying operation according to an embodiment of the present disclosure. The operation area is rectangular, two ends of a boundary of a certain edge of the operation area can be respectively used as an initial boundary point A and a point B before operation, and one end point of the other boundary opposite to the boundary of the edge can be used as an operation end point E. And determining the traversing distance according to the flying height of the plant protection unmanned aerial vehicle, the medicament spraying width and the like. And the plant protection unmanned aerial vehicle transversely moves in the direction vertical to the starting edge AB at the point B.
After the coordinates of the point A, the point B and the point E and the traversing distance of the operation are determined, the operation route can be determined, and the step can be automatically completed by a processor in the control device.
After the operation begins, plant protection unmanned aerial vehicle sprays the operation along the operation line according to parameters such as altitude, airspeed, the speed of spraying that set up in advance, when plant protection unmanned aerial vehicle reachs the E point, finishes the operation. At this time, all the job parameters in the job region are automatically saved. When the medicine spraying operation is performed again in the area, the saved operation parameters are directly read, and the medicine spraying operation can be performed without any setting.
in another embodiment of the present disclosure, seeding operation, spraying operation of chemicals, etc. are performed in sequence in an operation area.
During sowing operation, firstly, an operation line is generated according to the coordinates of the point A and the point B of the operation starting boundary point, the coordinates of the point E of the operation end point and the transverse moving distance of the sowing operation, then the plant protection unmanned aerial vehicle is controlled to carry out the sowing operation according to the operation line, when the plant protection unmanned aerial vehicle reaches the point E, the operation is finished, and the coordinates of the point A, the point B and the point E are automatically stored.
When the pesticide spraying operation is carried out in the operation area, the coordinates of the point A, the point B and the point E are read, then an operation line is regenerated according to the traversing distance of the pesticide spraying operation, then the plant protection unmanned aerial vehicle is controlled to carry out the pesticide spraying operation according to the new operation line, and when the plant protection unmanned aerial vehicle reaches the point E, the operation is finished.
Fig. 4 is a route for another plant protection operation according to an embodiment of the present disclosure. The working area is a parallelogram, two ends of a boundary of a certain side of the working area can be respectively used as an initial boundary point A and a point B before working, and one end point of the other boundary opposite to the boundary of the side can be used as a working end point E. And determining the traversing distance according to the actual plant protection operation. And the plant protection unmanned aerial vehicle transversely moves in the direction forming a preset angle alpha with the starting edge AB at the point B, wherein the preset angle is an acute angle alpha formed by two adjacent edges of the parallelogram.
In actual operation, the positions of the point a and the point B can be interchanged, that is, when plant protection operation is performed again in the same operation area, the plant protection unmanned aerial vehicle can start operation from the point B and perform traversing at the point a.
in another embodiment of the present disclosure, after coordinates of point a, point B, and point E are read, a current position of the plant protection unmanned aerial vehicle is first obtained, relative distances between the current position of the plant protection unmanned aerial vehicle and the starting boundary points a and B are calculated, a point closer to the current position of the plant protection unmanned aerial vehicle from among the starting boundary points a and B is used as a starting point, and a working line using AB as a starting edge and E as an end point is generated. And then, the plant protection unmanned aerial vehicle operates according to the generated operation line, and when the plant protection unmanned aerial vehicle reaches the point E, the operation is finished.
at this time, the traversing distance may be adjusted according to the trend of the starting side AB so as to end at point E.
when the control method and the control device are used for plant protection operation, a user can avoid repeatedly setting coordinates of a point A, a point B and a point E of the point AB operation, so that the operation efficiency of the plant protection operation is obviously improved, the flight parameters of the plant protection unmanned aerial vehicle can read stored data or can be reset according to needs, and the plant protection unmanned aerial vehicle has better flexibility, and therefore the application range of the plant protection unmanned aerial vehicle is wider.
Another embodiment of the present disclosure provides a computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
Generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
Controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
It should be understood that the methods in the embodiments of the present disclosure may be implemented by executable instructions. These executable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus.
accordingly, the methods of the disclosed embodiments may be implemented in hardware and/or software (including firmware, microcode, etc.). Additionally, embodiments of the disclosure may take the form of a computer-readable storage medium having executable instructions stored thereon, for use by or in connection with an instruction execution system (e.g., one or more processors). In the context of the disclosed embodiments, a computer-readable storage medium may be any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the computer-readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (18)
1. A control method for operation of a plant protection unmanned aerial vehicle comprises the following steps:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
Controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
The coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
2. The control method according to claim 1, wherein the control method further comprises saving the operation line for selection for a plant protection operation again.
3. The control method according to claim 1, wherein when the plant protection work is performed again, after the coordinates of the points a, B, and E are read, the method further comprises: and acquiring the reset traversing distance of the operation to generate a new flight path.
4. the control method of claim 1, further comprising saving one or more of flight speed, altitude, and spray rate for further plant protection operations.
5. A control method according to claim 1, wherein one or more of the parameters of airspeed, altitude and spray rate are retrieved at work.
6. The control method according to claim 1, wherein when the working area is rectangular, the plant protection unmanned aerial vehicle is controlled to traverse in a direction perpendicular to the starting edge AB at point B.
7. The control method according to claim 1, wherein when the working area is a parallelogram, the plant protection unmanned aerial vehicle is controlled to traverse in a direction forming a preset angle with the starting edge AB at the point B, and the preset angle is an acute angle formed by two adjacent edges of the parallelogram.
8. The control method according to claim 1, wherein when plant protection work is performed again in the same work area, the current position of the plant protection unmanned aerial vehicle is acquired, and a point closer to the current position of the plant protection unmanned aerial vehicle from among a start boundary point a and a start boundary point B is used as a start point to generate a work line with AB as a start edge and E as an end point.
9. A control device of a plant protection unmanned aerial vehicle, comprising:
A memory for storing executable instructions;
a processor to execute executable instructions stored in the memory to perform the following operations:
acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
The coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
10. the control device of claim 9, wherein the processor further saves the work line for further plant protection.
11. The control device according to claim 9, wherein when the plant protection work is performed again, the processor reads coordinates of points a, B, and E, acquires the traverse distance of the reset work, and generates a new flight path.
12. the control device of claim 9, wherein the processor further stores one or more of the flight speed, flight altitude, and spray speed for further plant protection operations.
13. The control device of claim 9, wherein the processor regains one or more of flight speed, altitude and spray speed while in operation.
14. The control device of claim 9, wherein when the working area is rectangular, the control device controls the plant protection drone to traverse in a direction perpendicular to the starting edge AB at point B.
15. The control device of claim 9, wherein when the working area is a parallelogram, the control device controls the plant protection drone to traverse at point B in a direction that is at a preset angle to the starting edge AB, the preset angle being an acute angle formed by two adjacent sides of the parallelogram.
16. the control device according to claim 9, wherein when plant protection work is performed again in the same work area, the processor acquires the current position of the plant protection unmanned aerial vehicle, and generates a work line with AB as a start edge and E as an end point, using a point closer to the current position of the plant protection unmanned aerial vehicle from among start boundary points a and B as a start point.
17. A computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to:
Acquiring coordinates of an operation starting boundary point A and an operation starting boundary point B, coordinates of an operation terminal point E and a transverse movement distance of operation of the plant protection unmanned aerial vehicle in an operation area;
Generating an operation line according to the coordinates of the point A, the point B and the point E and the transverse moving distance of the operation;
Controlling the plant protection unmanned aerial vehicle to operate according to the operation line, and finishing the operation when the plant protection unmanned aerial vehicle reaches the E point;
the coordinates of the points A, B and E are saved, when plant protection work is performed again in the same work area, the coordinates of the points A, B and E are read to generate a work line, work is performed according to the generated work line, and the work is finished when the work reaches the point E.
18. A plant protection drone comprising the control device of any one of claims 9-16.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/080955 WO2019183856A1 (en) | 2018-03-28 | 2018-03-28 | Control method and apparatus for operation of plant protection unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN110573982A true CN110573982A (en) | 2019-12-13 |
| CN110573982B CN110573982B (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880014839.7A Active CN110573982B (en) | 2018-03-28 | 2018-03-28 | Control method and control device for operation of plant protection unmanned aerial vehicle |
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| CN (1) | CN110573982B (en) |
| WO (1) | WO2019183856A1 (en) |
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| CN113589841A (en) * | 2021-07-21 | 2021-11-02 | 杭州启飞智能科技有限公司 | Unmanned aerial vehicle route generation method, unmanned aerial vehicle and computer readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019183856A1 (en) | 2019-10-03 |
| CN110573982B (en) | 2022-09-23 |
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