CN105843250A - Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system - Google Patents
Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system Download PDFInfo
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- CN105843250A CN105843250A CN201610181723.5A CN201610181723A CN105843250A CN 105843250 A CN105843250 A CN 105843250A CN 201610181723 A CN201610181723 A CN 201610181723A CN 105843250 A CN105843250 A CN 105843250A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention discloses an unmanned plane-based chemical spraying method, an unmanned plane and an unmanned plane system. The chemical spraying method includes the steps of obtaining a navigation map, obtaining boundary points, selected by a user, on the boundary of a preset area in the navigation map, sequentially connecting the boundary points to form a polygonoun, selecting a first side line of the polygonoun and a second side line connected with the first side line, taking the intersection point of the first side line and the second side line as a starting point, determining waypoints, sending and receiving the waypoints sequences, and sequentially flying all the waypoints sequences while spraying chemicals. The waypoints sequences are determined through an equidistance translation method, and the unmanned plane flies linearly between two waypoints. The unmanned plane-based chemical spraying method has the advantages of optimal waypoint setting strategy, less and excellent waypoints, simple and rapid setting and uniform chemical spraying.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of spray method based on unmanned plane, unmanned plane and UAS.
Background technology
Existing unmanned plane (also referred to as depopulated helicopter) pesticide spraying operation, is to plan unmanned plane during flying course line in advance to set, and control system controls depopulated helicopter and carries out dispenser operation along subscribing airline operation.
But, the problems such as it is not optimal solution that existing flight course planning method exists destination Provisioning Policy, and destination quantity is too much, and destination arranges accurate not, arranges speed slow, operating time length.
Summary of the invention
Embodiment of the present invention technical problem to be solved is, it is provided that a kind of destination Provisioning Policy is optimum, and destination quantity is fewer but better, arranges spray method based on unmanned plane simple, quick, unmanned plane and UAS.
In order to solve above-mentioned technical problem, the embodiment of the present invention proposes spray method based on unmanned plane, and described spray method includes:
Navigation map obtaining step: obtain navigation map；
Polygonal structure step: obtain multiple boundary points that user chooses around the border of predeterminable area on navigation map, be sequentially connected with multiple described boundary point to constitute a polygon；
Starting point determines step: select described polygonal first limit and the second coupled limit, and using the intersection point on the first limit and the second limit as starting point；
Destination determines step: with the first place, limit straight line as translated linear, first using the half of unmanned plane dispenser fabric width as translation distance, thereafter using unmanned plane dispenser fabric width as translation distance, on polygon, multiple translated segments is sequentially formed, using starting point to the direction of another end points on the first limit as initial flight direction and shuttle flight travels through intersection point sequence produced by all translated segments as destination sequence along translated segments track after another end points direction on the second limit translates successively；And
Spray medicine step: send, receive described destination sequence, carries out pesticide spraying while traveling through the flight of described destination sequence successively.
Further, the limit that described first limit is polygonal longest edge or user chooses.
Further, the limit that longer sides during the second limit is two limits being connected with the first limit or user choose.
Further, described boundary point, intersection point all comprise latitude coordinates information.
Correspondingly, the embodiment of the present invention additionally provides a kind of UAS, including unmanned plane as above, also includes the ground control terminal being connected with unmanned plane radio communication.
Further, described ground control terminal is provided with the second communication module for receiving described destination sequence.
The embodiment of the present invention generates translated segments by translation equidistant on polygon, the end points traveling through described translated segments successively generates destination sequence, user has only to click on the outer dead centre of the edge contour of corresponding field on navigation map, the destination required for course line can be automatically generated according to optimal strategy, can control unmanned plane and carry out pesticide spraying according to planning course line, destination Provisioning Policy is optimum, and destination quantity is fewer but better, arranging simple, quick, unmanned plane is sprayed insecticide the advantage such as uniformly.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of embodiment of the present invention spray method based on unmanned plane.
Fig. 2 is the polygonal schematic diagram that the embodiment of the present invention is corresponding.
Fig. 3 is the course line after embodiment of the present invention planning and the schematic diagram of destination.
Fig. 4 is the structural representation of the UAS of the embodiment of the present invention.
Drawing reference numeral explanation
Navigation map obtaining step S1
Polygonal structure step S2
Starting point determines step S3
Destination determines step S4
Spray medicine step S5
Navigation map acquisition module 10
Polygonal structure module 20
Starting point determines module 30
Destination determines module 40
First communication module 50
Ground control terminal 60
Second communication module 61.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other, and are described in further detail the present invention with specific embodiment below in conjunction with the accompanying drawings.
If it addition, the description relating to " first ", " second " etc. in the present invention is only used for describing purpose, and it is not intended that indicate or imply its relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one this feature.
Refer to Fig. 1 to Fig. 3, the spray method based on unmanned plane of the embodiment of the present invention includes following step.
Navigation map obtaining step S1: obtain navigation map.
Polygonal structure step S2: obtain multiple boundary points that user chooses around the border of predeterminable area (i.e. treating operation field) on navigation map, be sequentially connected with multiple described boundary point to constitute a polygon.
Starting point determines step S3: select described polygonal first limit and the second coupled limit, and using the intersection point on the first limit and the second limit as starting point.Preferably, described first limit obtains after being the traversal all of limit of polygon longest edge or the limit chosen of user.Preferably, the limit that longer sides during the second limit is two limits being connected with the first limit or user choose.Specifically; by using acquisition user manually to select the technological means on limit; add the motility of course line setting and the adaptability to field practical situation; such as; after constituting the polygon that field is corresponding; user can be according to the limit of practical situation the most a certain bar main road or the convenient stop that ridge is corresponding greatly as the first limit, in order to unmanned plane is shut down interpolation pesticide on this limit or changes battery, is also convenient for manipulation personnel and stands in the working condition monitoring aircraft above this limit.
Destination determines step S4: with the first place, limit straight line as translated linear, first using the half of unmanned plane dispenser fabric width as translation distance, thereafter using unmanned plane dispenser fabric width as translation distance, on polygon, multiple translated segments is sequentially formed, using starting point to the direction of another end points on the first limit as initial flight direction and shuttle flight travels through intersection point sequence produced by all translated segments as destination sequence along translated segments track after another end points direction on the second limit translates successively.Wherein, described boundary point, intersection point all comprise latitude coordinates information, namely unmanned plane carries out rectilinear flight according to latitude coordinates." dispenser ", " spray medicine " in this specification refers to spray pesticide or the granulated fertilizer of solid-state of liquid.
Spray medicine step S5: send, receive described destination sequence, carries out pesticide spraying while traveling through the flight of described destination sequence successively.
To sum up, the embodiment of the present invention determines destination sequence by the method that geometry teaching moderate distance translates, unmanned plane rectilinear flight between two destinations, and then the purpose reaching uniform, spraying insecticide comprehensively.
Refer to Fig. 4, the embodiment of the present invention additionally provides a kind of unmanned plane, and described unmanned plane includes following module.
Navigation map acquisition module 10: obtain navigation map.
Polygonal structure module 20: obtain multiple boundary points that user chooses around the border of predeterminable area on navigation map, be sequentially connected with multiple described boundary point to constitute a polygon.
Starting point determines module 30: select described polygonal first limit and the second coupled limit, and using the intersection point on the first limit and the second limit as starting point.Preferably, the limit that described first limit is polygonal longest edge or user chooses.Preferably, the limit that longer sides during the second limit is two limits being connected with the first limit or user choose.
Destination determines module 40: with the first place, limit straight line as translated linear, first using the half of unmanned plane dispenser fabric width as translation distance, thereafter using unmanned plane dispenser fabric width as translation distance, on polygon, multiple translated segments is sequentially formed, using starting point to the direction of another end points on the first limit as initial flight direction and shuttle flight travels through intersection point sequence produced by all translated segments as destination sequence along translated segments track after another end points direction on the second limit translates successively.Wherein, described boundary point, intersection point all comprise latitude coordinates information, namely unmanned plane carries out rectilinear flight according to latitude coordinates.
First communication module 50: send described destination sequence.
The UAS of the embodiment of the present invention, including unmanned plane as above, also includes the ground control terminal 60 being connected with unmanned plane radio communication, is provided with the second communication module 61 for receiving described destination sequence in ground control terminal 60.Specifically, radio communication uses MAVLink communication protocol.
Additionally, one of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, the program that can be by completes to instruct relevant hardware, described program can be stored in a computer-readable recording medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc..
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, being appreciated that and these embodiments can carry out multiple change without departing from the principles and spirit of the present invention, revise, replace and modification, the scope of the present invention is limited by claims and equivalency range thereof.
Claims (10)
1. a spray method based on unmanned plane, it is characterised in that described spray method includes:
Navigation map obtaining step: obtain navigation map；
Polygonal structure step: obtain multiple boundary points that user chooses around the border of predeterminable area on navigation map, be sequentially connected with multiple described boundary point to constitute a polygon；
Starting point determines step: select described polygonal first limit and the second coupled limit, and using the intersection point on the first limit and the second limit as starting point；
Destination determines step: with the first place, limit straight line as translated linear, first using the half of unmanned plane dispenser fabric width as translation distance, thereafter using unmanned plane dispenser fabric width as translation distance, on polygon, multiple translated segments is sequentially formed, using starting point to the direction of another end points on the first limit as initial flight direction and shuttle flight travels through intersection point sequence produced by all translated segments as destination sequence along translated segments track after another end points direction on the second limit translates successively；And
Spray medicine step: send, receive described destination sequence, carries out pesticide spraying while traveling through the flight of described destination sequence successively.
2. spray method based on unmanned plane as claimed in claim 1, it is characterised in that the limit that described first limit is polygonal longest edge or user chooses.
3. spray method based on unmanned plane as claimed in claim 1, it is characterised in that the limit that the second limit is the longer sides in two limits being connected with the first limit or user chooses.
4. spray method based on unmanned plane as claimed in claim 1, it is characterised in that described boundary point, intersection point all comprise latitude coordinates information.
5. a unmanned plane, it is characterised in that described unmanned plane includes:
Navigation map acquisition module: obtain navigation map；
Polygonal structure module: obtain multiple boundary points that user chooses around the border of predeterminable area on navigation map, be sequentially connected with multiple described boundary point to constitute a polygon；
Starting point determines module: select described polygonal first limit and the second coupled limit, and using the intersection point on the first limit and the second limit as starting point；
Destination determines module: with the first place, limit straight line as translated linear, first using the half of unmanned plane dispenser fabric width as translation distance, thereafter using unmanned plane dispenser fabric width as translation distance, on polygon, multiple translated segments is sequentially formed, using starting point to the direction of another end points on the first limit as initial flight direction and shuttle flight travels through intersection point sequence produced by all translated segments as destination sequence along translated segments track after another end points direction on the second limit translates successively；And
First communication module: send described destination sequence.
6. unmanned plane as claimed in claim 5, it is characterised in that the limit that described first limit is polygonal longest edge or user chooses.
7. unmanned plane as claimed in claim 5, it is characterised in that the limit that the second limit is the longer sides in two limits being connected with the first limit or user chooses.
8. unmanned plane as claimed in claim 5, it is characterised in that described boundary point, intersection point all comprise latitude coordinates information.
9. a UAS, it is characterised in that described UAS includes the unmanned plane as according to any one of claim 5 to 8, also includes the ground control terminal being connected with unmanned plane radio communication.
10. UAS as claimed in claim 9, it is characterised in that be provided with the second communication module for receiving described destination sequence in described ground control terminal.
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| CN106249758A (en) * | 2016-09-21 | 2016-12-21 | 江西天祥通用航空股份有限公司 | A kind of determination method and system of airplane spray route |
| CN106327024A (en) * | 2016-09-18 | 2017-01-11 | 成都天麒科技有限公司 | Unmanned aerial vehicle pesticide spray path planning system and unmanned aerial vehicle pesticide spray path planning method |
| CN106335641A (en) * | 2016-09-21 | 2017-01-18 | 江西天祥通用航空股份有限公司 | Intelligent sprinkling method and intelligent sprinkling system for airplane |
| CN106406336A (en) * | 2016-12-14 | 2017-02-15 | 江苏蒲公英无人机有限公司 | Unmanned aerial vehicle used for fruit tree spraying |
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Application publication date: 20160810 |