CN105116911B - Unmanned plane spray method - Google Patents
Unmanned plane spray method Download PDFInfo
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- CN105116911B CN105116911B CN201510427547.4A CN201510427547A CN105116911B CN 105116911 B CN105116911 B CN 105116911B CN 201510427547 A CN201510427547 A CN 201510427547A CN 105116911 B CN105116911 B CN 105116911B
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Abstract
The invention provides a kind of unmanned plane spray method, including step：Obtain the scope to be sprayed of each manipulating object in the line of flight and the line of flight；Flown to successively by the line of flight at each manipulating object；The entirety of the manipulating object is sprayed according to scope to be sprayed.Present invention optimizes spraying method, the spray demand of manipulating object individual is focused on, integrally individually sprayed by its scope to be sprayed for each manipulating object, it is ensured that the scope of spray covers the scope that each manipulating object need to spray, and meets the spray demand of manipulating object.Method of the invention is particularly suitable for the spray drug operation for the large-scale sapling planted to discretization.
Description
Technical field
The present invention relates to unmanned plane technical field of operation, more particularly to a kind of unmanned plane spray method.
Background technology
Existing unmanned plane dispenser scheme is both for continuously without being spaced or be spaced less field-crop as sprinkling
Object, and the object of institute's operation is often shorter and smaller, it is only necessary to and from the top of crop to crop, sprinkling can complete higher
Spray coverage rate.But for discrete and trees tall trees woods, this method can not carry out complete spray drug operation to sapling, and it is former
Because being that the sapling to be sprayed is very tall and big (such as large-scale fruit tree), only medicine can not in large area be covered from top spray
Sapling, because most sapling needs discretization to plant, the interval between setting and setting is very big.If using existing technology not only
Can not completely cover sapling to be sprayed, and due to continuous sprinkling can waste medicine can also welding.
Traditional manual work method is sprayed from ground shower nozzle towards sapling in addition, and which can not completely be covered
Lid sapling and to people know from experience damage.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane spray method, the large-scale sapling of discretization plantation is applicable to
Spray drug operation, the problem of in the prior art sapling to be sprayed can not be completely covered in solution.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：A kind of unmanned plane spray method, including step
Suddenly：
Obtain the scope to be sprayed of each manipulating object in the line of flight and the line of flight；
Flown to successively by the line of flight at each manipulating object；
The entirety of the manipulating object is sprayed according to scope to be sprayed.
Preferably, the step of described " scope to be sprayed for obtaining each manipulating object in the line of flight and the line of flight ", wraps
Include：
Obtain the coordinate of each manipulating object in operating area, the coordinate of the marginal point of the coordinate including each manipulating object and
The coordinate of central point；
The central point line of each manipulating object is generated into the line of flight using default path planning algorithm, made each
The marginal point of industry object encloses the scope to be sprayed for obtaining the manipulating object.
Preferably, the step of described " coordinate for obtaining each manipulating object in operating area ", includes：
Obtain the image of complete operating area；
Determine the edge point coordinates and center point coordinate of each manipulating object in the picture in image；
Determine each manipulating object in reality according to each manipulating object edge point coordinates in the picture and center point coordinate
Edge point coordinates and center point coordinate.
Preferably, it is described " each operation to be determined according to each manipulating object edge point coordinates in the picture and center point coordinate
In the step of edge point coordinates and center point coordinate of the object in reality ", using the projective transformation principle of imaging to each operation
Object edge point coordinates in the picture and center point coordinate carry out coordinate transform, so that it is determined that each manipulating object is in reality
Edge point coordinates and center point coordinate.
Preferably, the step of described " image for obtaining complete operating area ", includes：
Operating area is divided into some, the image of various pieces is obtained respectively；Wherein, operating area is partitioned into
Adjacent two parts have overlapping region in some；
The image of operating area each several part is spliced, so as to obtain the image of complete operating area.
Preferably, the step of described " being sprayed according to scope to be sprayed to the entirety of the manipulating object ", includes：
First the top of the manipulating object is sprayed according to scope to be sprayed, then around operation in the way of spiral declines
Object flies and other positions to be sprayed of the manipulating object is sprayed.
Preferably, the step of described " being sprayed according to scope to be sprayed to the entirety of the manipulating object ", includes：
First the top of the manipulating object is sprayed according to scope to be sprayed, then by other positions to be sprayed of manipulating object
Dried noodle is divided vertically into if putting, is flown in the way of being lifted along manipulating object and the manipulating object is sprayed per one side.
Preferably, the step of described " being sprayed according to scope to be sprayed to the entirety of the manipulating object ", includes：
First the top of the manipulating object is sprayed according to scope to be sprayed, then by other positions to be sprayed of manipulating object
Dried noodle laterally is divided into if putting, is flown in the way of being flown around manipulating object and the manipulating object is sprayed per one side.
Preferably, described " flown and sprayed to the manipulating object per one side in the way of being flown around manipulating object "
The step of in, every time around manipulating object fly path it is similar to the contour curve of manipulating object scope to be sprayed.
Preferably, the step of described " being sprayed according to scope to be sprayed to the entirety of the manipulating object ", includes：
The working path for determining to spray to the entirety of manipulating object according to the scope to be sprayed；
The top of manipulating object and other medicine positions to be painted are sprayed successively according to working path.
Preferably, described " working path for determining to spray to the entirety of manipulating object according to the scope to be sprayed "
The step of include：
The altitude information of manipulating object is obtained, the top to manipulating object is determined according to the altitude information and scope to be sprayed
The initial path sprayed；
The spray path to other positions to be sprayed of manipulating object is determined according to initial path and scope to be sprayed.
Preferably, it is described " to obtain the altitude information of manipulating object, determined according to the altitude information and scope to be sprayed to making
The step of initial path that the top of industry object is sprayed ", includes：Obtain manipulating object at least one maximum height value and
Maximum height value point corresponding to each maximum height value, and generated using default fitting formula through the maximum height value point
With the initial path of the central point of the scope to be sprayed.
Preferably, in the step of described " being sprayed according to scope to be sprayed to the entirety of the manipulating object ", flight is worked as
Beyond manipulating object wait spray scope when stop spray.
As shown from the above technical solution, advantages and positive effects of the present invention are：In the present invention, unmanned plane is obtaining winged
The scope to be sprayed of each manipulating object in operating area is also obtained during row course line, is flown according to the line of flight to any operation pair
During as place, the entirety of manipulating object is sprayed all in accordance with scope to be sprayed.Compared in the prior art only to operating area
Overall cloth, which spills presence, can not take into account the defect of each manipulating object, present invention optimizes spraying method, focus on manipulating object
The spray demand of body, is integrally individually sprayed, it is ensured that the model of spray for each manipulating object by its scope to be sprayed
Enclose and cover the scope that each manipulating object need to spray, meet the spray demand of manipulating object.Method of the invention is particularly suitable for
The spray drug operation for the large-scale sapling planted to discretization.
Further, the position for the manipulating object that method of the invention can also be in automatic identification operating area and size, and
Automatic planning working path.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of unmanned plane spray method preferred embodiment of the present invention.
Fig. 2 is the acquisition line of flight and the stream of scope step to be sprayed in unmanned plane spray method preferred embodiment of the present invention
Journey schematic diagram.
Fig. 3 is that each manipulating object coordinate step in operating area is obtained in unmanned plane spray method preferred embodiment of the present invention
Schematic flow sheet.
Fig. 4 is that sprayed to single manipulating object in the unmanned plane spray method preferred embodiment of the present invention flow of step is illustrated
Figure.
Fig. 5 is to single manipulating object spray drug operation path planning in unmanned plane spray method preferred embodiment of the present invention
Schematic flow sheet.
Fig. 6 is used more preferably when being and single manipulating object being sprayed in unmanned plane spray method preferred embodiment of the present invention
Working path floor map.
Fig. 7 be when being sprayed to single manipulating object in unmanned plane spray method preferred embodiment of the present invention spray radius with away from
From relation schematic diagram.
Embodiment
Embodying the exemplary embodiment of feature of present invention and advantage will describe in detail in the following description.It should be understood that
The present invention can have various changes in different embodiments, and it is neither departed from the scope of the present invention, and theory therein
Bright and diagram is treated as purposes of discussion in itself, and is not used to the limitation present invention.
The present invention provides a kind of unmanned plane spray method, and the spray of the large-scale sapling of the discretization that is particularly suitable for use in plantation is made
Industry, following embodiments will be specifically introduced using the woods as operating area, by manipulating object of sapling.
Fig. 1 illustrates the flow chart of unmanned plane spray method preferred embodiment of the present invention.
This method mainly includes step：
S1：Obtain the scope to be sprayed of each manipulating object (i.e. sapling) in the line of flight and the line of flight.
S2：Flown to successively by the line of flight each manipulating object (i.e. sapling) place.
S3：The entirety of the manipulating object is sprayed according to scope to be sprayed.
According to the above method, unmanned plane is pressed the line of flight from and flown to first at first sapling, according to the sapling
Scope to be sprayed is flown to after carrying out comprehensive spray drug operation, the spray drug operation for completing the sapling to the sapling further according to the line of flight
Implement spray drug operation at next tree seedling, repeat the process until completing the spray drug operation of all saplings in the woods.
In the above-mentioned spray method of the present invention, the spray demand of manipulating object individual is focused on, for each manipulating object
It is overall individually to be sprayed by its scope to be sprayed, it is ensured that the scope of spray covers the model that each manipulating object need to spray
Enclose, meet the spray demand of manipulating object, effectively solving in the prior art only to spill the overall cloth in operating area can not take into account each
The problem of manipulating object.
In above-mentioned steps S1, the line of flight of unmanned plane is according to point of the sapling in operating area (woods i.e. to be sprayed)
Planned that the line of flight covers each sapling in the woods in cloth position.For each sapling, its scope foundation to be sprayed
Depending on the size of the sapling, shape；For large-scale sapling, its scope to be sprayed is often its tree crown scope, must
When wanting, it is also possible to the bottom including sapling.
Refering to Fig. 2, more preferably, step S1 includes：
S11：The coordinate of each manipulating object (i.e. sapling) in operating area (loblolly tree woods i.e. to be painted) is obtained, coordinate includes each tree
The coordinate of the marginal point of seedling and the coordinate of central point；Each coordinate can be gps coordinate or Big Dipper coordinate etc..The coordinate of central point can
Be artificial mark and obtained from obtaining or being computed by the coordinate of marginal point.
S12：The central point line of each sapling is generated into the line of flight using default path planning algorithm；By each sapling
Marginal point encloses the scope to be sprayed for obtaining the sapling.Path planning algorithm can be using minimal path law of planning or other are feasible
Method.
Referring again to Fig. 3, further, above-mentioned steps S11 includes：
S111：Obtain the image of complete operating area.
In step S111, unmanned plane can be made to be taken off from certain point of the woods, the point is designated as actual origin, and record takes off
The coordinate of point is qg(xo,yo), unmanned plane is risen into certain altitude and using the photographing device carried on unmanned plane to operation area
Domain is taken pictures, and it is highly origin height, and be designated as H to remember this.
Unmanned plane, which is tried one's best, selects the point for being capable of overwrite job region once to shoot completion, but if single shot can not be complete
When covering is that operating area can not be completely covered in a pictures, operating area can be also divided into several parts, respectively to each
Part is taken pictures, and this process needs to ensure have certain overlapping region, i.e. operating area to be partitioned between adjacent image
Adjacent two parts have overlapping region between several parts, then the image of separated shooting is spelled using image mosaic technology
Connect, so as to obtain the image of complete operating area.
The unmanned plane of image acquisition is carried out herein with subsequently carrying out the unmanned plane of spray drug operation for same frame, but some situations
Under other aircraft can also be used carry photographing devices and shot.
S112：Determine the edge point coordinates and center point coordinate of each manipulating object in the picture in image.
In step S112, using photo coordinate system as image coordinate system, unmanned plane takeoff point is marked (i.e. in the picture
Actual origin) location of pixels be qt(xt,yt), and using the point as image origin, the coordinate q of the image origint(xt,yt) and it is real
The coordinate q of border origing(xo,yo) correspondence.
The technology split using image is split sapling all in image, records the boundary pixel of each sapling
Coordinate is qb1(x1,y1),qb1(x2,y2),...,qb1(xn,yn), according to each boundary pixel coordinate by asking for center of gravity or its other party
Method determines that the coordinate of central point pixel is qz1(x1,y1), in some cases, the coordinate of central point pixel can also directly pass through
Artificial mark, which is marked off, to be come.All sapling is split if the mode split using image can not completely be reached, can be
Hand inspection is with the presence or absence of omission and the completion by the way of manually splitting after image segmentation.The process of image segmentation can also
Manually segmentation is substituted.
S113：According to the edge point coordinates and center point coordinate of each manipulating object in the picture, determine that each manipulating object exists
Edge point coordinates and center point coordinate in reality.
Obtained by step S112 after each sapling edge point coordinates in the picture and center point coordinate, in this step S113
In, that is, need the Coordinate Conversion of each characteristic point of sapling in image into actual coordinate, the conversion of coordinate can be using the throwing being imaged
Shadow shift theory is carried out, and is introduced in detail below.
First, the distance between pixel and the relation of actual range, each sapling are derived using the projective transformation principle of imaging
The actual range of marginal point and central point away from actual origin calculate as follows：
Wherein, R is actual range to be asked, and r is the point and the pixel distance of image origin in image, and H is origin height, f
For the focal length of photographing device.
Ground reference origin, the X of earth axes, Y-axis are used as using the actual takeoff point (actual origin) on ground
X, Y direction with image coordinate system is consistent, and the point in image coordinate system is transformed into ground reference coordinate using above-mentioned formula
After in system, the corresponding relation according to image origin coordinate and actual origin, you can the marginal point of each sapling, central point exist
Coordinate Conversion in image is the coordinate in reality.
Obtained according to above-mentioned steps S111 to S113 after the coordinate of the marginal point of each sapling and the coordinate of central point, you can logical
The planning that step 12 carries out the line of flight is crossed, while obtaining the scope to be sprayed of sapling.In one embodiment, it can nobody
The coordinate of machine takeoff point is starting point, is to be advised to the coordinate line of the central point of each sapling with shortest path planning method
The line of flight drawn.And be the edge shape of sapling to the coordinate closed curve that line is formed successively of the marginal point of sapling
Shape, the size that the closed curve is included is the size of sapling, what the scope to be sprayed of sapling was then enclosed for the closed curve
Scope.
According to above-mentioned steps S1, the present invention can position position and the size of sapling using computer vision technique, first may be used
The line of flight of unmanned plane is planned automatically, efficiency is improved, the scope to be sprayed of each sapling is second determined, is nothing
Man-machine spray provides foundation.
Unmanned plane takes off when implementing spray drug operation from origin, according to the line of flight and the height to be slightly above all saplings
Angle value starts flight operation as elemental height.
Unmanned plane is reached after at the sapling sprayed, and according to the step S3 of spray method of the present invention, the entirety to sapling is entered
Row spray.More preferably, refering to Fig. 4, step S3 includes：
S31, the working path for determining to spray to the entirety of sapling according to the scope to be sprayed of sapling；
S32, according to working path the top of sapling and other medicine positions to be painted are sprayed successively.
According to this method, for single tree seedling, unmanned plane obtains the operation that disclosure satisfy that single tree seedling spray demand first
Path, then flies according to working path and completes the spray drug operation to single tree seedling.
Refering to Fig. 5, the determination of working path can specifically be carried out using following steps：
S311：The altitude information of manipulating object is obtained, the top to sapling is determined according to the altitude information and scope to be sprayed
The initial path that portion is sprayed.
S312：The spray path to other positions to be sprayed of sapling is determined according to initial path and scope to be sprayed.
For step S311, in order to measure the elevation information of sapling, range unit, range unit can be installed on unmanned plane
It is installed together with shower nozzle, range unit can use such as RGBD cameras, TOF (Time offlight, flight time telemetry) to survey
Away from device etc..
In a preferred embodiment, step S311 is specially：Obtain sapling at least one maximum height value and it is each greatly
Maximum height value point corresponding to height value, and generated using default fitting formula through maximum height value point and model to be sprayed
The initial path of the central point enclosed.
Specifically, sapling wait spray in the range of ask for by the nose of central point section, and in this, as unmanned plane
Measure the path of height.Unmanned plane flies to sapling along above-mentioned path, when unmanned plane is close to sapling, and range unit is with certain frequency
Rate measurement distance simultaneously records M maximum point before coordinate when measuring each time, record.Initialization pole is used as using this M distance
Big distance, and it is G to record the coordinate of each current maximum pointM1, GM2..., GMM, unmanned plane moves on simultaneously towards central point
Central point is passed through until the border for the current work sapling that flies out.In this process, continuous M maximum of iterative and will most
M whole maximum as the sapling M maximum height, while the maximum height value point corresponding to M maximum height of record
Coordinate.Wherein, M big I is determined by asking for the partial derivative extreme point number of two dimensional height, can also be by artificial
Observed object sapling has several summits to determine.According to the form of sapling, the maximum height value of sapling can be one, can also
For multiple, M≤1.Unmanned plane is leapt behind the region of current loblolly tree seedling to be painted, you can obtain the M maximum height value of sapling and right
The maximum height value point answered, is fitted according to these maximum height value points and central point and obtains a song by central point
Line, unmanned plane is using the curve as initial path with to the top of sapling progress spray drug operation.
For step S312, to sapling except the spray path of other positions to be sprayed at top can be planned to various ways,
The scope to be sprayed of sapling can be covered.
Several preferably working paths are first introduced below.
In one embodiment, working path includes the initial path skimmed at the top of sapling and the spray declined around sapling spiral
Medicine path.According to the working path, unmanned plane first flies according to initial path and the top of sapling is sprayed, further according to spray
Flown in the way of spiral declines around sapling and other positions to be sprayed of the sapling are sprayed in path.
In another embodiment, working path includes the initial path skimmed at the top of sapling and the spray gradually lifted along sapling
Medicine path.In the working path, if other position vertical divisions to be sprayed of manipulating object in addition to top are turned into dried noodle, on edge
Sapling lifting direction on skim over every one side curve constitute described in spray path.According to the manipulating object, unmanned plane is first
Flown according to initial path and the top of sapling is sprayed, flown according still further to spray path in the way of being lifted along sapling to tree
What seedling vertical division came out is sprayed per one side.
In another embodiment, working path includes the initial path skimmed at the top of sapling and simultaneously from coil to coil is outside around sapling
The spray path of expansion.In the working path, if other positions to be sprayed of manipulating object in addition to top are laterally divided into
Dried noodle, around sapling skim over every one side curve constitute described in spray path.According to the working path, unmanned plane elder generation basis
Initial path flies and the top of sapling is sprayed, and is flown further according to spray path in the way of around sapling flight to the tree
Seedling laterally marks off the every one side come and sprayed.The schematic diagram of the working path of the present embodiment is as shown in Figure 6.
Initial path is represented with continued reference to Fig. 6, PT0, it passes through the central point Z of sapling.According to the initial path and sapling
Scope to be sprayed planning spray path can carry out in the following manner：By the contour curve SP of scope to be sprayed with the radius D that spraysp
Gradually reduce and approached to initial path PT0 for step-length, distance is most between the curve shape and initial path PT0 after diminution
Big value is not more than spray radius DpWhen, that is, obtain the spray path P T1 flown for the first time around sapling.Using spray path P T1 as
With reference to the radius D that sprayspFor step-length, gradually expand outwardly generation spray path P T2 ..., PTN, until sapling can be covered
Scope to be sprayed.
In the present embodiment, the spray path P T1 that is flown every time around sapling, PT2 ..., the model to be sprayed of PTN and sapling
The contour curve SP enclosed is similar.Sapling is sprayed according to this working path, higher operating efficiency, and energy can be obtained
Ensure to meet the demand for integrally spraying to sapling.
More preferably, in step s3, sapling is exceeded when flying stops spray when spray scope.In the method, nothing
Man-machine to be sprayed model of the scope beyond the sapling that sprayed when carrying out spray drug operation to a certain sapling, during such as unmanned plane during flying
When enclosing, the spray shower nozzle of unmanned plane is converted to close off in state, such as working path shown in Fig. 6, unmanned plane edge spray path
During PTN flights, some path (part illustrated see center line) is fallen into the range profile curve SP to be sprayed in sapling
Outside, now, unmanned plane can close shower nozzle, it is to avoid be sprayed in unnecessary scope.In addition, unmanned plane completes the spray of one tree seedling
Next tree of being flown to after medicine operation seedling starts in the flight way before spray, and the spray shower nozzle of unmanned plane is also closed mode.So
Unnecessary spray drug operation can be avoided, the destruction to environment is also avoided while saving agricultural chemicals.
During unmanned plane sprays to sapling, the angle of shower nozzle is adjusted according to actual needs.Usually, pushed up to sapling
When portion is sprayed, shower nozzle can be made to be remained straight down with range unit., can when being sprayed to sapling other positions
Shower nozzle and range unit are adjusted to certain angle over the ground, the angle for example can be 45 °.
When unmanned plane flies along spray path and sprayed to sapling, ensure unmanned plane shower nozzle with making by range unit
Safe distance between industry object.Specifically, unmanned plane measures the distance with sapling by range unit in real time, according to the distance
The flying height flown along working path is adjusted, so as to ensure peace of the unmanned plane shower nozzle to the distance between manipulating object to set
Full distance.
Refering to Fig. 7, spray radius DpWith the distance between unmanned plane shower nozzle to sapling DpsThere is following relation：
Dp=2DpsTan θ, wherein, θ is the spray angle of shower nozzle.
Wherein this distance is determined and this distance have to be larger than in each highly initial distance with unmanned plane
The safe distance of work, the determination principle of optimum distance is to maximize the distance under conditions of spray density is ensured, spray
Density need to be determined by experiment and experience.
Although describing the present invention with reference to several exemplary embodiments, it is to be understood that, term used be explanation and
Exemplary and nonrestrictive term.Due to the present invention can be embodied in a variety of forms without departing from invention spirit or
Essence, it should therefore be appreciated that above-mentioned embodiment is not limited to any foregoing details, and should be limited in appended claims
Widely explained in spirit and scope, thus the whole changes fallen into claim or its equivalent scope and remodeling all should be with
Attached claim is covered.
Claims (10)
1. a kind of unmanned plane spray method, it is characterised in that including step：
The scope to be sprayed of each manipulating object in the line of flight and the line of flight is obtained, wherein, the plantation of manipulating object discretization；
Flown to successively by the line of flight at each manipulating object；
The entirety of the manipulating object is sprayed according to scope to be sprayed, it is described " according to scope to be sprayed to the manipulating object
Entirety sprayed " the step of include：The work for determining to spray to the entirety of manipulating object according to the scope to be sprayed
Industry path；The top of manipulating object and other medicine positions to be painted are sprayed successively according to working path；
Wherein, the step of described " working path for determining to spray to the entirety of manipulating object according to the scope to be sprayed "
Including：The altitude information of manipulating object is obtained, is determined according to the altitude information with scope to be sprayed to entering at the top of manipulating object
The initial path of row spray；The spray to other positions to be sprayed of manipulating object is determined according to initial path and scope to be sprayed
Path；
Also, it is described " to obtain the altitude information of manipulating object, determined according to the altitude information and scope to be sprayed to manipulating object
The initial path that is sprayed of top " the step of include：Obtain manipulating object at least one maximum height value and it is each greatly
Maximum height value point corresponding to height value, and using the generation of default fitting formula through the maximum height value point and described
The initial path of the central point of scope to be sprayed.
2. unmanned plane spray method according to claim 1, it is characterised in that described " to obtain the line of flight and flight boat
The step of scope to be sprayed of each manipulating object in line ", includes：
The coordinate of each manipulating object in operating area is obtained, the coordinate includes coordinate and the center of the marginal point of each manipulating object
The coordinate of point；
The central point line of each manipulating object is generated into the line of flight using default path planning algorithm, by each operation pair
The marginal point of elephant encloses the scope to be sprayed for obtaining the manipulating object.
3. unmanned plane spray method according to claim 2, it is characterised in that described " to obtain each operation in operating area
The step of coordinate of object ", includes：
Obtain the image of complete operating area；
Determine the edge point coordinates and center point coordinate of each manipulating object in the picture in image；
Side of each manipulating object in reality is determined according to each manipulating object edge point coordinates in the picture and center point coordinate
Edge point coordinates and center point coordinate.
4. unmanned plane spray method according to claim 3, it is characterised in that
It is described " to determine each manipulating object in reality according to each manipulating object edge point coordinates in the picture and center point coordinate
Edge point coordinates and center point coordinate " the step of in, using the projective transformation principle of imaging to each manipulating object in the picture
Edge point coordinates and center point coordinate carry out coordinate transform, so that it is determined that edge point coordinates of each manipulating object in reality and
Center point coordinate.
5. unmanned plane spray method according to claim 3, it is characterised in that described " to obtain complete operating area
The step of image ", includes：
Operating area is divided into some, the image of various pieces is obtained respectively；Wherein, what operating area was partitioned into is multiple
Adjacent two parts have overlapping region in part；
The image of operating area each several part is spliced, so as to obtain the image of complete operating area.
6. unmanned plane spray method according to claim 1, it is characterised in that described " according to working path successively to making
The top of industry object and other medicine positions to be painted are sprayed " the step of include：
First the top of the manipulating object is sprayed according to working path, then manipulating object is surround in the way of spiral declines and is flown
Row sprays to other positions to be sprayed of the manipulating object.
7. unmanned plane spray method according to claim 1, it is characterised in that described " according to working path successively to making
The top of industry object and other medicine positions to be painted are sprayed " the step of include：
First the top of the manipulating object is sprayed according to working path, then other positions to be sprayed of manipulating object are vertical
If being divided into dried noodle, flown in the way of being lifted along manipulating object and the manipulating object is sprayed per one side.
8. unmanned plane spray method according to claim 1, it is characterised in that described " according to working path successively to making
The top of industry object and other medicine positions to be painted are sprayed " the step of include：
First the top of the manipulating object is sprayed according to working path, then other positions to be sprayed of manipulating object are horizontal
If being divided into dried noodle, flown in the way of being flown around manipulating object and the manipulating object is sprayed per one side.
9. unmanned plane spray method according to claim 8, it is characterised in that described " to surround manipulating object flight
Mode is flown and the manipulating object is sprayed per one side " the step of in, every time around the path of manipulating object flight and work
The contour curve of industry object scope to be sprayed is similar.
10. the unmanned plane spray method according to claim any one of 1-9, it is characterised in that described " according to model to be sprayed
Enclose and the entirety of the manipulating object sprayed " the step of in, when flight beyond manipulating object wait spray scope when stop spraying
Medicine.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019080067A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市大疆创新科技有限公司 | Agricultural machine control method, apparatus and system |
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| WO2019080067A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市大疆创新科技有限公司 | Agricultural machine control method, apparatus and system |
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Address after: 510000, Tianhe District, Guangzhou, Gaotang Software Park, No. 3A01, thinking road, No. 1, No. Applicant after: Guangzhou flying Technology Co., Ltd. Address before: 510000, Tianhe District, Guangzhou, Gaotang Software Park, No. 3A01, thinking road, No. 1, No. Applicant before: GUANGZHOU XAIRCRAFT ELECTRONIC TECHNOLOGY CO., LTD. |
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Effective date of registration: 20180920 Address after: 841500 Cotton Textile and Agricultural Byproduct Processing Park, Weili County, Bayinguoleng Mongolian Autonomous Prefecture, Xinjiang Uygur Autonomous Region Patentee after: BAZHOU JIFEI AGRICULTURAL AVIATION TECHNOLOGY CO., LTD. Address before: 510000 No. 1, Si Cheng Road, Gaotang Software Park, Tianhe District, Guangzhou, Guangdong 3A01 Patentee before: Guangzhou flying Technology Co., Ltd. |