CN106503433A - Sprinkling area determination method and device based on unmanned machine operation - Google Patents
Sprinkling area determination method and device based on unmanned machine operation Download PDFInfo
- Publication number
- CN106503433A CN106503433A CN201610908358.3A CN201610908358A CN106503433A CN 106503433 A CN106503433 A CN 106503433A CN 201610908358 A CN201610908358 A CN 201610908358A CN 106503433 A CN106503433 A CN 106503433A
- Authority
- CN
- China
- Prior art keywords
- sprinkling
- area
- region
- spray
- unmanned plane
- 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
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
Abstract
A kind of sprinkling area determination method based on unmanned machine operation and device is embodiments provided, wherein methods described includes：The flying quality of unmanned plane in operation process multiple collection points is obtained respectively, and wherein, the flying quality includes longitude information, latitude information, sprinkling fabric width；Based on the flight path that the longitude information and latitude information generate the unmanned plane；Determine multiple sprinkling regions in the flight path, wherein, each sprinkling region is determined by the sprinkling fabric width of two neighboring collection point；The sprinkling overall area that the union in the plurality of sprinkling region is worked as subjob as the unmanned plane.The embodiment of the present invention can improve the automaticity of unmanned machine operation, and can intuitively allow user to understand the sprinkling coverage condition when subjob.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of sprinkling region determination side based on unmanned machine operation
Method and a kind of sprinkling area determining device based on unmanned machine operation.
Background technology
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV), is that one kind utilizes nothing
The not manned aircraft that line electrical remote control equipment and the presetting apparatus that provides for oneself are manipulated.Unmanned plane of many uses, be often employed
In industries such as plant protection, city management, geology, meteorology, electric power, rescue and relief work, video captures.
With the development of unmanned plane plant protection technology so that unmanned plane plant protection is had and crop is damaged little, agricultural chemicals utilization rate height
The features such as.Increasing peasant household or farmer carry out plant protection operation using unmanned plane, carry out agricultural chemicals in particular with unmanned plane
Sprinkling and chemical fertilizer spray.
However, in the prior art, when operating personnel carries out plant protection spraying operation using unmanned plane to a piece of farmland crop
Afterwards, it is difficult to understand the coverage condition of actual sprinkling.
Content of the invention
In view of the above problems, it is proposed that the embodiment of the present invention overcomes the problems referred to above or at least in part to provide one kind
A kind of sprinkling area determination method based on unmanned machine operation for solving the above problems and corresponding one kind are based on unmanned machine operation
Sprinkling area determining device.
In order to solve the above problems, the embodiment of the invention discloses a kind of sprinkling region determination side based on unmanned machine operation
Method, methods described include：
The flying quality of unmanned plane in operation process multiple collection points is obtained respectively, and wherein, the flying quality includes
Longitude information, latitude information, sprinkling fabric width；
Based on the flight path that the longitude information and latitude information generate the unmanned plane；
Determine multiple sprinkling regions in the flight path, wherein, spray of each sprinkling region by two neighboring collection point
Spill fabric width determination；
The sprinkling overall area that the union in the plurality of sprinkling region is worked as subjob as the unmanned plane.
Preferably, methods described also includes：
Using the common factor in the plurality of sprinkling region as the unmanned plane when subjob repeat spray region.
Preferably, methods described also includes：
The sprinkling region corresponding spray area is calculated respectively；
The sprinkling gross area that the union of the plurality of spray area is worked as subjob as the unmanned plane；
The repetition spray area that the common factor of the plurality of spray area is worked as subjob as the unmanned plane.
Preferably, methods described also includes：
The quotient for repeating spray area and the sprinkling gross area is calculated, is obtained and is repeated to spray region accounting.
Preferably, methods described also includes：
Obtain the area in the region and the operation plot in current work plot；
The region in the operation plot is deducted the sprinkling overall area, drain spray region is obtained；And by the operation ground
The area of block deducts the sprinkling gross area, obtains drain spray region area；
The quotient of the drain spray region area and the area in the operation plot is calculated, drain spray region accounting is obtained.
Preferably, described generate the unmanned plane based on the longitude information and latitude information flight path the step of
Including：
The longitude information and latitude information of the collection point are converted into two-dimensional coordinate information respectively；
According to the two-dimensional coordinate information of the plurality of collection point, the flight path of the unmanned plane is generated.
The embodiment of the invention also discloses a kind of sprinkling area determining device based on unmanned machine operation, described device bag
Include：
Flying quality acquisition module, for obtaining the flying quality of unmanned plane multiple collection points in operation process respectively,
Wherein, the flying quality includes longitude information, latitude information, sprinkling fabric width；
Flight path generation module, for generating the flight of the unmanned plane based on the longitude information and latitude information
Track；
Sprinkling area determination module, for determining multiple sprinkling regions in the flight path, wherein, each sprinkling region
Determined by the sprinkling fabric width of two neighboring collection point；
Sprinkling overall area determining module, for working as subjob using the union in the plurality of sprinkling region as the unmanned plane
Sprinkling overall area.
Preferably, described device also includes：
Repeat region determining module, for working as subjob using the common factor in the plurality of sprinkling region as the unmanned plane
Repeat to spray region.
Preferably, described device also includes：
Spray area computing module, for calculating the corresponding spray area in the sprinkling region respectively；
Sprinkling gross area computing module, for working as subjob using the union of the plurality of spray area as the unmanned plane
The sprinkling gross area；
Repeat spray area computing module, for making the common factor of the plurality of spray area as the unmanned plane when secondary
The repetition spray area of industry.
Preferably, described device also includes：
Repeat region accounting computing module, for calculating the quotient for repeating spray area and the sprinkling gross area,
Acquisition repeats to spray region accounting.
Preferably, described device also includes：
Block area acquisition module, for obtaining the area in the region and the operation plot in current work plot；
Drain spray area determination module, for the region in the operation plot is deducted the sprinkling overall area, obtains drain spray
Region；And the area in the operation plot is deducted the sprinkling gross area, obtain drain spray region area；
Drain spray region accounting determining module, for calculating the business of the drain spray region area and the area in the operation plot
Value, obtains drain spray region accounting.
Preferably, the flight path generation module includes：
Two-dimensional coordinate acquisition submodule, for being converted into two dimension by the longitude information and latitude information of the collection point respectively
Coordinate information；
Track Pick-up submodule, for the two-dimensional coordinate information according to the plurality of collection point, generates the unmanned plane
Flight path.
The embodiment of the present invention includes advantages below：
In the embodiment of the present invention, multiple sprinkling areas can be automatically determined according to flying quality of the unmanned plane in flight course
Domain, and determine that unmanned plane, when the sprinkling overall area of subjob, facilitates user and client straight according to the union in multiple sprinkling regions
See ground and understand the sprinkling areas case for working as subjob, improve the automaticity of unmanned machine operation.
Description of the drawings
The step of Fig. 1 is a kind of sprinkling area determination method embodiment based on unmanned machine operation of present invention flow chart；
Fig. 2 is that the sprinkling region in a kind of sprinkling area determination method embodiment based on unmanned machine operation of the present invention shows
It is intended to；
Fig. 3 is that the drafting in a kind of sprinkling area determination method embodiment based on unmanned machine operation of the present invention is illustrated
Figure；
Fig. 4 is a kind of structured flowchart of sprinkling area determining device embodiment based on unmanned machine operation of the present invention.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings and concrete real
The present invention is further detailed explanation to apply mode.
With reference to Fig. 1, a kind of step of sprinkling area determination method embodiment based on unmanned machine operation of the present invention is shown
Rapid flow chart.
With the development of unmanned air vehicle technique, unmanned plane purposes is more and more extensive, can be applied to plant protection, city management,
In the fields such as agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
The embodiment of the present invention is applied to plant protection field with unmanned plane and carries out exemplary explanation.
The features such as little, agricultural chemicals utilization rate is high, increasing peasant household or agriculture are damaged to crop as unmanned plane plant protection has
The main utilization unmanned plane in field carries out plant protection operation, carries out pesticide spraying and chemical fertilizer sprinkling in particular with unmanned plane, and the present invention is implemented
Example during unmanned plane carries out plant protection operation, can gather the flying quality of unmanned plane, and be worked as according to flying quality determination
The sprinkling overall area of the unmanned machine operation of sortie, so that peasant household or user of service intuitively understand the area covered by unmanned plane actual job
Domain situation, solves the problems, such as the coverage condition for being difficult to understand actual sprinkling, while being also the behaviour such as follow-up operation quality monitoring
Make to provide favourable data basis.
The embodiment of the present invention specifically may include steps of：
Step 101, obtains the flying quality of unmanned plane multiple collection points in operation process, wherein, the flight respectively
Data include longitude information, latitude information, sprinkling fabric width；
In implementing, flight number of the unmanned plane in operation process can be gathered by a data recording equipment
According to.The data recording equipment is may be mounted in unmanned plane, and for example, the data recording equipment can be suitable for the black of unmanned plane
Case.
In unmanned plane operation process, it is many in flight course that data recording equipment can periodically gather unmanned plane
The flying quality of individual collection point, i.e., record the flying quality of a collection point at set intervals, for example, recorded every 1 second
Flight data.
Used as a kind of example of the embodiment of the present invention, the flying quality of each collection point can at least include following information：
The longitude information of current collection point, latitude information, sprinkling fabric width, height above sea level, flying speed, beginning acquisition time and end
Acquisition time, etc..
In implementing, after data recording equipment collects flying quality, flying quality can be stored in data
In the memory space of tape deck.
After plant protection operation terminates, the flying quality for storing can be derived, and import in the data recording equipment
The present invention is applied in sprinkling area determining device.Or, data recording equipment can also be by the communication module of unmanned plane
In the flying quality for collecting is uploaded onto the server by a upload cycle, again from clothes when sprinkling area determining device needs
Business device obtains flying quality, and the embodiment of the present invention is not construed as limiting to this.
Step 102, based on the flight path that the longitude information and latitude information generate the unmanned plane；
In embodiments of the present invention, after the flying quality for obtaining each collection point, can be according to each collection point
Longitude information and latitude information, generate the flight path of current sortie unmanned plane.
In a kind of preferred embodiment of the embodiment of the present invention, step 102 can further include following sub-step：
The longitude information and latitude information of the collection point are converted into two-dimensional coordinate information by sub-step S11 respectively；
Sub-step S12, according to the two-dimensional coordinate information of the plurality of collection point, generates the flight path of the unmanned plane.
In practice, the gap of the longitude and latitude between two collection points is generally smaller, and its gap typically has in longitude and latitude
Latter two of effect numeral, in order to expand the data difference between two collection points, so as to improve precision, can be by each collection point
Longitude information and latitude information be converted into two-dimensional coordinate information.
In implementing, can using first collection point as two-dimensional plane coordinate datum mark (0,0), according to the earth
Radius R and the latitude and longitude information of datum mark, first calculate the radius r of latitude circle residing for the datum mark, then select a non-referenced point
Collection point, the arc length that the collection point and datum mark difference of latitude between the two for calculating the non-referenced point is worth going out is the non-base
X coordinate on schedule, calculates according to the mapped point of the non-referenced point and datum mark longitude difference between the two and earth radius
The y-coordinate of the non-referenced point.
It should be noted that the embodiment of the present invention is not limited to the above-mentioned side that longitude and latitude is converted into two-dimensional coordinate information
Method, those skilled in the art are possible using the conversion that additive method carries out longitude and latitude, and the embodiment of the present invention is not made to this
Limit.
After obtaining the two-dimensional coordinate information of multiple collection points, in chronological order two neighboring collection point can be connected
Get up, obtain the flight path of unmanned plane.
Step 103, determines multiple sprinkling regions in the flight path；
Wherein, each sprinkling region is determined by the sprinkling fabric width of two neighboring collection point.Specifically, flying for unmanned plane is obtained
After row track, can according to the distance between 2 points and sprinkling fabric width determine one sprinkling region.
In implementing, sprinkling region can be polygonal region.For example, as shown in the sprinkling area schematic of Fig. 2,
Length can be made with the length of the connecting line between two collection points, make wide, the rectangular region conduct for being formed to spray fabric width
The sprinkling region of airplane spray.
In one embodiment, after obtaining spraying region, the embodiment of the present invention can also further calculate each spray
Spill the corresponding spray area in region.
For example, in fig. 2 it is possible to calculate the spray of the rectangular region according to rectangular areal calculation formula (long * width)
Spill area.
Step 104, the sprinkling overall area that the union in the plurality of sprinkling region is worked as subjob as the unmanned plane.
The union in multiple sprinkling regions after obtaining multiple sprinkling regions, can be calculated, and unmanned plane is obtained when subjob
Sprinkling overall area.
Further, in a kind of preferred embodiment of the embodiment of the present invention, it is also possible that stating multiple spray areas
Union is as the unmanned plane when the sprinkling gross area of subjob.
In one embodiment, the sprinkling gross area can be calculated in the following way：
Wherein, S1 is the sprinkling gross area, SiIt is the spray area in the sprinkling region of the composition per two neighboring collection point.
It should be noted that the sprinkling overall area of above-mentioned calculating or the sprinkling gross area are union refion or area, go
Except the region for repeating to spray or the area for repeating sprinkling.
In a kind of preferred embodiment of the embodiment of the present invention, can also comprise the steps：
Using the common factor in the plurality of sprinkling region as the unmanned plane when subjob repeat spray region.
Specifically, in practice, as the flight path of unmanned plane is not necessarily uniform, it is therefore possible to producing the area that resprays
Domain, and repeat to be sprayed with being likely to result in poisoning, therefore the embodiment of the present invention can also be entered after each sprinkling region is obtained
One step calculates the common factor in all sprinkling regions, with obtain the unmanned plane of a sortie repeat spray region.
Further, after calculating repeats to spray region, the embodiment of the present invention is it is also possible that state multiple spray areas
Common factor as the unmanned plane when subjob repetition spray area.
In one embodiment, repetition spray area can be calculated in the following way：
Wherein, S2 is repetition spray area, SiIt is the spray area in the sprinkling region of the composition per two neighboring collection point.
In a kind of preferred embodiment of the embodiment of the present invention, can also comprise the steps：
The quotient for repeating spray area and the sprinkling gross area is calculated, is obtained and is repeated to spray region accounting.
Specifically, repeat to spray region accounting=repetition spray area/sprinkling gross area.For example, it is 9 to repeat spray area
Mu, the sprinkling gross area is 100 mu, then it is 9% to repeat to spray region accounting.
In a kind of preferred embodiment of the embodiment of the present invention, can also comprise the steps：
Obtain the area in the region and the operation plot in current work plot；The region in the operation plot is deducted
The sprinkling overall area, obtains drain spray region；And the area in the operation plot is deducted the sprinkling gross area, leaked
Spray region area；The quotient of the drain spray region area and the area in the operation plot is calculated, drain spray region accounting is obtained.
In implementing, the region in current work plot can be obtained according to survey crew's field survey, for example, it is possible to
Obtain multiple mapped points by way of survey crew gets ready on the spot, and the border in current plot is determined according to multiple mapped points,
So that it is determined that the region in current work plot.
After determining the region in operation plot, the area in the region in the operation plot can be further calculated.Subsequently, will make
The area in the region in industry plot deducts the sprinkling gross area, it is possible to obtain drain spray region area.
It is further preferred that after obtaining drain spray region area, the area of drain spray region area and operation plot can be calculated
The ratio of the area in domain, obtains drain spray region accounting.
In a kind of preferred embodiment of the embodiment of the present invention, obtain above-mentioned flight path, sprinkling overall area, spray total face
Accumulate, repeat to spray region, repeat spray area, repeat to spray region accounting, drain spray region, drain spray region area, drain spray region
After the data such as accounting, it is also based on these data and obtains from default template database and these Data Matching degree maximums
Report template, and these data are inserted in the report template of the coupling, so as to generate flight report.
In one implementation, above-mentioned matching degree can mating for above-mentioned multiple data and the data variable in template
Data amount check.
In one embodiment, can also include in workpaper by above-mentioned sprinkling overall area, the sprinkling gross area, weight
Spray region again, repeat spray area, repeat to spray region accounting, drain spray region, drain spray region area, drain spray region accounting etc.
The calculated operation quality of data assesses data.
In implementing, operation quality assessment data can be calculated in the following way：
For above-mentioned every kind of data, corresponding multiple grades interval can be pre-set, and determines that the data are corresponding
Grade interval.
Wherein, each grade interval can correspond to a qualitative data and weighted data, as a kind of example, the quality
Data can include credit rating and mass fraction.For example, for repeating spray area accounting, the grade interval of setting and right
The qualitative data that answers and weighted data can be with as shown in table 1 below：
| Grade interval | Qualitative data | Weighted data |
| [1,10] | Excellent (95) | 0.35 |
| [11,30] | Good (75) | 0.35 |
| [31,50] | In (50) | 0.2 |
| [51,99] | Difference (20) | 0.1 |
Table 1
If repeat spray area accounting value be 15%, it is determined that the grade interval be [11,30], corresponding qualitative data
For good (75), corresponding weighted data is 0.35.
Mass number after the qualitative data and weighted data of each data in determination report template, to all of data
Summation operation is weighted according to weighted data, it is possible to obtain the operation quality assessment data of the sortie unmanned plane, according to default
Quality evaluation grade and operation quality assess the relation of data interval, it is possible to obtain the corresponding matter of operation quality assessment data
Amount evaluation grade.
For example, the corresponding qualitative data of above-mentioned partial data is as shown in table 2 below with weighted data：
| Parametric variable | Parameter value | Qualitative data | Weighted data |
| Repeat to spray region accounting | 9% | Excellent (95) | 0.35 |
| Drain spray region accounting | 10% | Good (75) | 0.35 |
Table 2
According to upper table,
Operation quality assesses data=95*0.35+75*0.35=59.5
After obtaining operation quality assessment data, data interval and quality evaluation can be assessed according to default operation quality
The corresponding relation of grade, obtains the interval corresponding quality evaluation grade residing for operation quality assessment data, for example, it is assumed that matter
Amount evaluation grade is that good interval is [50,80], then it is 59.5 quality evaluation etc. that can obtain the operation quality assessment data
Level is good, i.e., good (59.5).
In one embodiment, during workpaper is generated, can be with drafting flight rail in workpaper
Mark, on this basis, is based further on flight path and sprinkling fabric width draws sprinkling overall area, and high in sprinkling overall area
Bright display repeats to spray region.For example, as shown in the drafting schematic diagram of Fig. 3, it is assumed that collection point is respectively A, B, C, D, width is sprayed
A width of 6 meters, figure grey area is sprinkling overall area, and black region is then to repeat to spray region.
In actual applications, the workpaper can be that peasant household's presentation intuitively executes effect to show in display terminal
Fruit data, carry out effect verification with aspect peasant household.
Further, the workpaper can also provide directive function to operating personnel, and quality can be commented by operating personnel
The reference that the parameter that data are higher, quality evaluation grade is excellent or good operation is arranged is estimated as later stage job parameter.
In the embodiment of the present invention, multiple sprinkling areas can be automatically determined according to flying quality of the unmanned plane in flight course
Domain, and determine that unmanned plane, when the sprinkling overall area of subjob, facilitates user and client straight according to the union in multiple sprinkling regions
See ground and understand the sprinkling areas case for working as subjob, improve the automaticity of unmanned machine operation.
It should be noted that for embodiment of the method, in order to be briefly described, therefore which to be all expressed as a series of action group
Close, but those skilled in the art should know, the embodiment of the present invention is not limited by described sequence of movement, because according to
According to the embodiment of the present invention, some steps can be carried out using other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, the involved action not necessarily present invention is implemented
Example is necessary.
With reference to Fig. 4, a kind of knot of sprinkling area determining device embodiment based on unmanned machine operation of the present invention is shown
Structure block diagram, can be included such as lower module：
Flying quality acquisition module 401, for obtaining the flight number of unmanned plane multiple collection points in operation process respectively
According to wherein, the flying quality includes longitude information, latitude information, sprinkling fabric width；
Flight path generation module 402, for generating the unmanned plane based on the longitude information and latitude information
Flight path；
Sprinkling area determination module 403, for determining multiple sprinkling regions in the flight path, wherein, each sprinkling
Region is determined by the sprinkling fabric width of two neighboring collection point；
Sprinkling overall area determining module 404, secondary for working as the union in the plurality of sprinkling region as the unmanned plane
The sprinkling overall area of operation.
In a kind of preferred embodiment of the embodiment of the present invention, described device is also included such as lower module：
Repeat region determining module, for working as subjob using the common factor in the plurality of sprinkling region as the unmanned plane
Repeat to spray region.
In a kind of preferred embodiment of the embodiment of the present invention, described device is also included such as lower module：
Spray area computing module, for calculating the corresponding spray area in the sprinkling region respectively；
Sprinkling gross area computing module, for working as subjob using the union of the plurality of spray area as the unmanned plane
The sprinkling gross area；
Repeat spray area computing module, for making the common factor of the plurality of spray area as the unmanned plane when secondary
The repetition spray area of industry.
In a kind of preferred embodiment of the embodiment of the present invention, described device is also included such as lower module：
Repeat region accounting computing module, for calculating the quotient for repeating spray area and the sprinkling gross area,
Acquisition repeats to spray region accounting.
In a kind of preferred embodiment of the embodiment of the present invention, described device is also included such as lower module：
Block area acquisition module, for obtaining the area in the region and the operation plot in current work plot；
Drain spray area determination module, for the region in the operation plot is deducted the sprinkling overall area, obtains drain spray
Region；And the area in the operation plot is deducted the sprinkling gross area, obtain drain spray region area；
Drain spray region accounting determining module, for calculating the business of the drain spray region area and the area in the operation plot
Value, obtains drain spray region accounting.
In a kind of preferred embodiment of the embodiment of the present invention, the flight path generation module 402 can include as follows
Submodule：
Two-dimensional coordinate acquisition submodule, for being converted into two dimension by the longitude information and latitude information of the collection point respectively
Coordinate information；
Track Pick-up submodule, for the two-dimensional coordinate information according to the plurality of collection point, generates the unmanned plane
Flight path.
In a kind of preferred embodiment of the embodiment of the present invention, the flying quality at least also includes：Height above sea level, flight
Speed, beginning acquisition time and end acquisition time.
Each embodiment in this specification is described by the way of going forward one by one, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present invention can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present invention can adopt complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.And, the embodiment of the present invention can adopt one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) of program code
The form of the computer program of enforcement.
The embodiment of the present invention is with reference to method according to embodiments of the present invention, terminal device (system) and computer program
The flow chart and/or block diagram of product is describing.It should be understood that can be by computer program instructions flowchart and/or block diagram
In each flow process and/or square frame and flow chart and/or the flow process in block diagram and/or square frame combination.These can be provided
Computer program instructions are set to all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is producing a machine so that held by the processor of computer or other programmable data processing terminal equipments
Capable instruction is produced for realization in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames
The device of the function of specifying.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminal equipments
In the computer-readable memory for working in a specific way so that the instruction being stored in the computer-readable memory produces bag
The manufacture of command device is included, the command device is realized in one side of one flow process of flow chart or multiple flow processs and/or block diagram
The function of specifying in frame or multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing terminal equipments so that
On computer or other programmable terminal equipments execute series of operation steps to produce computer implemented process, so as to
The instruction executed on computer or other programmable terminal equipments is provided for realization in one flow process of flow chart or multiple flow processs
And/or specify in one square frame of block diagram or multiple square frames function the step of.
Although having been described for the preferred embodiment of the embodiment of the present invention, those skilled in the art once know base
This creative concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to
Including preferred embodiment and fall into the had altered of range of embodiment of the invention and change.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation are made a distinction with another entity or operation, and are not necessarily required or implied these entities or operation
Between exist any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that a series of process, method, article or terminal device including key elements is not only wrapped
Those key elements, but also other key elements including being not expressly set out are included, or is also included for this process, method, article
Or the key element that terminal device is intrinsic.In the absence of more restrictions, by wanting that sentence "including a ..." is limited
Element, it is not excluded that also there is other identical element in process, method, article or the terminal device for including the key element.
Above a kind of sprinkling area determination method and device based on unmanned machine operation provided by the present invention is carried out
It is discussed in detail, specific case used herein is set forth to the principle of the present invention and embodiment, above example
Illustrate that being only intended to help understands the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to
According to the thought of the present invention, will change in specific embodiments and applications, in sum, this specification content
Should not be construed as limiting the invention.
Claims (12)
1. a kind of sprinkling area determination method based on unmanned machine operation, it is characterised in that methods described includes：
The flying quality of unmanned plane in operation process multiple collection points is obtained respectively, and wherein, the flying quality includes longitude
Information, latitude information, sprinkling fabric width；
Based on the flight path that the longitude information and latitude information generate the unmanned plane；
Determine multiple sprinkling regions in the flight path, wherein, sprinkling width of each sprinkling region by two neighboring collection point
Wide determination；
The sprinkling overall area that the union in the plurality of sprinkling region is worked as subjob as the unmanned plane.
2. method according to claim 1, it is characterised in that also include：
Using the common factor in the plurality of sprinkling region as the unmanned plane when subjob repeat spray region.
3. method according to claim 2, it is characterised in that also include：
The sprinkling region corresponding spray area is calculated respectively；
The sprinkling gross area that the union of the plurality of spray area is worked as subjob as the unmanned plane；
The repetition spray area that the common factor of the plurality of spray area is worked as subjob as the unmanned plane.
4. method according to claim 3, it is characterised in that also include：
The quotient for repeating spray area and the sprinkling gross area is calculated, is obtained and is repeated to spray region accounting.
5. the method according to claim 3 or 4, it is characterised in that also include：
Obtain the area in the region and the operation plot in current work plot；
The region in the operation plot is deducted the sprinkling overall area, drain spray region is obtained；And by the operation plot
Area deducts the sprinkling gross area, obtains drain spray region area；
The quotient of the drain spray region area and the area in the operation plot is calculated, drain spray region accounting is obtained.
6. method according to claim 1, it is characterised in that described generated based on the longitude information and latitude information
The step of flight path of the unmanned plane, includes：
The longitude information and latitude information of the collection point are converted into two-dimensional coordinate information respectively；
According to the two-dimensional coordinate information of the plurality of collection point, the flight path of the unmanned plane is generated.
7. a kind of sprinkling area determining device based on unmanned machine operation, it is characterised in that described device includes：
Flying quality acquisition module, for obtaining the flying quality of unmanned plane multiple collection points in operation process respectively, wherein,
The flying quality includes longitude information, latitude information, sprinkling fabric width；
Flight path generation module, for generating the flight rail of the unmanned plane based on the longitude information and latitude information
Mark；
Sprinkling area determination module, for determining multiple sprinkling regions in the flight path, wherein, each sprinkling region is by phase
The sprinkling fabric width of adjacent two collection points determines；
Sprinkling overall area determining module, for the union in the plurality of sprinkling region to be worked as the spray of subjob as the unmanned plane
Spill overall area.
8. device according to claim 7, it is characterised in that also include：
Repeat region determining module, for the common factor in the plurality of sprinkling region to be worked as the repetition of subjob as the unmanned plane
Sprinkling region.
9. device according to claim 8, it is characterised in that also include：
Spray area computing module, for calculating the corresponding spray area in the sprinkling region respectively；
Sprinkling gross area computing module, for the union of the plurality of spray area to be worked as the spray of subjob as the unmanned plane
Spill the gross area；
Repeat spray area computing module, for the common factor of the plurality of spray area is worked as subjob as the unmanned plane
Repeat spray area.
10. device according to claim 9, it is characterised in that also include：
Repeat region accounting computing module, for calculating the quotient for repeating spray area and the sprinkling gross area, obtains
Repeat to spray region accounting.
11. devices according to claim 9 or 10, it is characterised in that also include：
Block area acquisition module, for obtaining the area in the region and the operation plot in current work plot；
Drain spray area determination module, for the region in the operation plot is deducted the sprinkling overall area, obtains drain spray region；
And the area in the operation plot is deducted the sprinkling gross area, obtain drain spray region area；
Drain spray region accounting determining module, for calculating the quotient of the drain spray region area and the area in the operation plot,
Obtain drain spray region accounting.
12. devices according to claim 7, it is characterised in that the flight path generation module includes：
Two-dimensional coordinate acquisition submodule, for being converted into two-dimensional coordinate by the longitude information and latitude information of the collection point respectively
Information；
Track Pick-up submodule, for the two-dimensional coordinate information according to the plurality of collection point, generates the flight of the unmanned plane
Track.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210343704.3A CN114706933A (en) | 2016-10-18 | 2016-10-18 | Spraying area determining method and device based on unmanned aerial vehicle operation |
| CN201610908358.3A CN106503433A (en) | 2016-10-18 | 2016-10-18 | Sprinkling area determination method and device based on unmanned machine operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610908358.3A CN106503433A (en) | 2016-10-18 | 2016-10-18 | Sprinkling area determination method and device based on unmanned machine operation |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210343704.3A Division CN114706933A (en) | 2016-10-18 | 2016-10-18 | Spraying area determining method and device based on unmanned aerial vehicle operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106503433A true CN106503433A (en) | 2017-03-15 |
Family
ID=58293974
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610908358.3A Pending CN106503433A (en) | 2016-10-18 | 2016-10-18 | Sprinkling area determination method and device based on unmanned machine operation |
| CN202210343704.3A Pending CN114706933A (en) | 2016-10-18 | 2016-10-18 | Spraying area determining method and device based on unmanned aerial vehicle operation |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210343704.3A Pending CN114706933A (en) | 2016-10-18 | 2016-10-18 | Spraying area determining method and device based on unmanned aerial vehicle operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN106503433A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272726A (en) * | 2017-08-11 | 2017-10-20 | 上海拓攻机器人有限公司 | Operating area based on unmanned plane plant protection operation determines method and device |
| CN107437250A (en) * | 2017-06-30 | 2017-12-05 | 上海拓攻机器人有限公司 | A kind of charge book generation method and device based on unmanned machine operation |
| CN108254016A (en) * | 2017-12-26 | 2018-07-06 | 苏州大域无疆航空科技有限公司 | Plant protection Unmanned Aerial Vehicle Data acquisition system |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN108594850A (en) * | 2018-04-20 | 2018-09-28 | 广州极飞科技有限公司 | The method, apparatus of flight course planning and the unmanned machine operation of control based on unmanned plane |
| CN108719242A (en) * | 2018-03-27 | 2018-11-02 | 钟静海 | Pesticide spraying system |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| 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 |
| CN109410288A (en) * | 2018-10-18 | 2019-03-01 | 广州极飞科技有限公司 | Methods of exhibiting, the apparatus and system of spraying operation |
| CN109460892A (en) * | 2018-09-25 | 2019-03-12 | 平安科技（深圳）有限公司 | The determination method and terminal device of advantage business |
| CN109507967A (en) * | 2018-11-30 | 2019-03-22 | 广州极飞科技有限公司 | Job control method and device |
| 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 |
| CN110873557A (en) * | 2018-08-30 | 2020-03-10 | 一飞智控(天津)科技有限公司 | Working area statistical method for agricultural plant protection unmanned aerial vehicle |
| CN111144788A (en) * | 2019-12-31 | 2020-05-12 | 广州极飞科技有限公司 | Hybrid operation method and related device |
| CN112229349A (en) * | 2020-09-23 | 2021-01-15 | 中科云谷科技有限公司 | Method and device for determining working area of agricultural machine and agricultural machine |
| CN112416016A (en) * | 2020-11-16 | 2021-02-26 | 苏州极目机器人科技有限公司 | Method and device for controlling operation based on access area |
| CN113409240A (en) * | 2020-09-01 | 2021-09-17 | 山东省计算中心（国家超级计算济南中心） | Agricultural machinery behavior analysis and operation area statistical method based on Beidou positioning data |
| CN113532434A (en) * | 2020-04-21 | 2021-10-22 | 北京三快在线科技有限公司 | Aviation area construction method and device, storage medium and electronic equipment |
| CN113743908A (en) * | 2021-09-13 | 2021-12-03 | 中化现代农业有限公司 | Method and system for automatically matching plots |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7440846B2 (en) * | 2004-01-30 | 2008-10-21 | Nec Corporation | Vehicle information collection system having point issuing device |
| CN202758071U (en) * | 2012-05-29 | 2013-02-27 | 无锡汉和航空技术有限公司 | Unmanned plane pesticide spraying quality monitoring system |
| CN103699135A (en) * | 2014-01-03 | 2014-04-02 | 中南大学 | Automatic planning method for flight path of unmanned helicopter for spraying pesticide in farmland operation area |
| 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 |
| CN104808660A (en) * | 2015-03-04 | 2015-07-29 | 中南大学 | Concave convex mixed complex polygon farmland unmanned aerial vehicle spraying operation flight path planning method |
| CN105116911A (en) * | 2015-07-20 | 2015-12-02 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle spraying method |
| CN106020233A (en) * | 2016-07-08 | 2016-10-12 | 聂浩然 | Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method |
-
2016
- 2016-10-18 CN CN201610908358.3A patent/CN106503433A/en active Pending
- 2016-10-18 CN CN202210343704.3A patent/CN114706933A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7440846B2 (en) * | 2004-01-30 | 2008-10-21 | Nec Corporation | Vehicle information collection system having point issuing device |
| CN202758071U (en) * | 2012-05-29 | 2013-02-27 | 无锡汉和航空技术有限公司 | Unmanned plane pesticide spraying quality monitoring system |
| CN103699135A (en) * | 2014-01-03 | 2014-04-02 | 中南大学 | Automatic planning method for flight path of unmanned helicopter for spraying pesticide in farmland operation area |
| 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 |
| CN104808660A (en) * | 2015-03-04 | 2015-07-29 | 中南大学 | Concave convex mixed complex polygon farmland unmanned aerial vehicle spraying operation flight path planning method |
| CN105116911A (en) * | 2015-07-20 | 2015-12-02 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle spraying method |
| CN106020233A (en) * | 2016-07-08 | 2016-10-12 | 聂浩然 | Unmanned aerial vehicle (UAV) adopted plant protection system, unmanned aerial vehicle (UAV) for plant protection and its control method |
Non-Patent Citations (1)
| Title |
|---|
| 王亮申 等: "《计算机绘图 ——AutoCAD 2010》", 31 January 2010, 北京：北京交通大学出版社 * |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107437250A (en) * | 2017-06-30 | 2017-12-05 | 上海拓攻机器人有限公司 | A kind of charge book generation method and device based on unmanned machine operation |
| CN107437250B (en) * | 2017-06-30 | 2020-11-10 | 上海拓攻机器人有限公司 | Operation record generation method and device based on unmanned aerial vehicle operation |
| CN107272726A (en) * | 2017-08-11 | 2017-10-20 | 上海拓攻机器人有限公司 | Operating area based on unmanned plane plant protection operation determines method and device |
| 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 |
| CN108254016A (en) * | 2017-12-26 | 2018-07-06 | 苏州大域无疆航空科技有限公司 | Plant protection Unmanned Aerial Vehicle Data acquisition system |
| CN108812589A (en) * | 2018-03-27 | 2018-11-16 | 钟静海 | Pesticide supply arrangement based on unmanned plane |
| CN108719242A (en) * | 2018-03-27 | 2018-11-02 | 钟静海 | Pesticide spraying system |
| CN108719242B (en) * | 2018-03-27 | 2020-12-29 | 钟静海 | Pesticide spraying system |
| CN108516092A (en) * | 2018-03-27 | 2018-09-11 | 钟静海 | The pesticide spraying system of agricultural unmanned plane |
| CN108594850B (en) * | 2018-04-20 | 2021-06-11 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle-based air route planning and unmanned aerial vehicle operation control method and device |
| CN108594850A (en) * | 2018-04-20 | 2018-09-28 | 广州极飞科技有限公司 | The method, apparatus of flight course planning and the unmanned machine operation of control based on unmanned plane |
| 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 |
| CN110873557A (en) * | 2018-08-30 | 2020-03-10 | 一飞智控(天津)科技有限公司 | Working area statistical method for agricultural plant protection unmanned aerial vehicle |
| CN109460892A (en) * | 2018-09-25 | 2019-03-12 | 平安科技（深圳）有限公司 | The determination method and terminal device of advantage business |
| CN109460892B (en) * | 2018-09-25 | 2024-01-30 | 平安科技（深圳）有限公司 | Dominant service determining method and terminal equipment |
| CN109410288A (en) * | 2018-10-18 | 2019-03-01 | 广州极飞科技有限公司 | Methods of exhibiting, the apparatus and system of spraying operation |
| CN109507967A (en) * | 2018-11-30 | 2019-03-22 | 广州极飞科技有限公司 | Job control method and device |
| 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 |
| CN111144788A (en) * | 2019-12-31 | 2020-05-12 | 广州极飞科技有限公司 | Hybrid operation method and related device |
| CN113532434A (en) * | 2020-04-21 | 2021-10-22 | 北京三快在线科技有限公司 | Aviation area construction method and device, storage medium and electronic equipment |
| WO2021213387A1 (en) * | 2020-04-21 | 2021-10-28 | 北京三快在线科技有限公司 | Aviation region construction |
| CN113532434B (en) * | 2020-04-21 | 2023-06-30 | 北京三快在线科技有限公司 | Aviation region construction method and device, storage medium and electronic equipment |
| CN113409240A (en) * | 2020-09-01 | 2021-09-17 | 山东省计算中心（国家超级计算济南中心） | Agricultural machinery behavior analysis and operation area statistical method based on Beidou positioning data |
| CN113409240B (en) * | 2020-09-01 | 2022-09-09 | 山东省计算中心（国家超级计算济南中心） | Agricultural machinery behavior analysis and operation area statistical method based on Beidou positioning data |
| CN112229349A (en) * | 2020-09-23 | 2021-01-15 | 中科云谷科技有限公司 | Method and device for determining working area of agricultural machine and agricultural machine |
| CN112229349B (en) * | 2020-09-23 | 2022-05-06 | 中科云谷科技有限公司 | Method and device for determining working area of agricultural machine and agricultural machine |
| CN112416016A (en) * | 2020-11-16 | 2021-02-26 | 苏州极目机器人科技有限公司 | Method and device for controlling operation based on access area |
| CN113743908A (en) * | 2021-09-13 | 2021-12-03 | 中化现代农业有限公司 | Method and system for automatically matching plots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114706933A (en) | 2022-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106503433A (en) | Sprinkling area determination method and device based on unmanned machine operation | |
| CN106528513A (en) | An unmanned aerial vehicle work-based work report generating method and device | |
| Shengde et al. | Effect of wind field below unmanned helicopter on droplet deposition distribution of aerial spraying | |
| CN106483975B (en) | Determine the method and device in unmanned plane course line | |
| CN106873631A (en) | Unmanned aerial vehicle (UAV) control method, plant protection operation method, unmanned plane and earth station | |
| CN105173085A (en) | Automatic control system and method for variable pesticide spraying of unmanned aerial vehicle | |
| CN106502264A (en) | The operating system of plant protection unmanned plane | |
| CN107657637A (en) | A kind of agricultural machinery working area acquisition methods | |
| McConnell et al. | Precision conservation: A geospatial decision support tool for optimizing conservation and profitability in agricultural landscapes | |
| CN107256293B (en) | Climate-ecosystem coupling modeling method | |
| CN107966709A (en) | A kind of plant protection operation method based on laser radar mapping | |
| Albornoz et al. | Trajectory design for efficient crop irrigation with a UAV | |
| CN107437250A (en) | A kind of charge book generation method and device based on unmanned machine operation | |
| CN107193060A (en) | A kind of multipath Typhoon Storm Surge Over method for quick predicting and system | |
| CN103810639A (en) | Monitoring and control system of agricultural production | |
| CN105120517A (en) | Indoor WLAN signal plan mapping and positioning method based on multidimensional scaling analysis | |
| CN110363176A (en) | A kind of image analysis method and device | |
| CN109857097A (en) | A kind of monitoring method and system of road surface roller compaction process | |
| Muhammad et al. | IoT enabled analysis of irrigation rosters in the Indus basin irrigation system | |
| Siddharth et al. | Precision agriculture with technologies for smart farming towards agriculture 5.0 | |
| CN102998655B (en) | Optimal wave position selecting method of synthetic aperture radar under scanning working mode | |
| CN112180987B (en) | Collaborative operation method, collaborative operation system, collaborative operation device, collaborative operation computer equipment and collaborative operation storage medium | |
| CN116257792B (en) | Smart city carbon neutralization data analysis system | |
| Turner | The economic potential of unmanned aircraft in agricultural and rural electric cooperatives | |
| CN205121343U (en) | Vegetation data collection system and unmanned vehicles based on unmanned vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 No. 1, Si Cheng Road, Gaotang Software Park, Tianhe District, Guangzhou, Guangdong 3A01 Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170315 |
|
| RJ01 | Rejection of invention patent application after publication |