CN106873631B - Unmanned aerial vehicle control method, plant protection operation method, unmanned aerial vehicle and ground station - Google Patents
Unmanned aerial vehicle control method, plant protection operation method, unmanned aerial vehicle and ground station Download PDFInfo
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Abstract
The embodiment of the invention provides an unmanned aerial vehicle control method, a plant protection operation method, an unmanned aerial vehicle and a ground station, wherein the plant protection operation method comprises the following steps: acquiring operation track information sent by a ground station, wherein the operation track information comprises an operation object identifier, an operation sequence, an operation position, a spraying time length and a spraying radius of an operation object corresponding to the operation object identifier; and spraying the operation objects in the operation track information according to the operation sequence, wherein when the unmanned aerial vehicle flies to the corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration aiming at each operation object identifier. The unmanned aerial vehicle in the embodiment of the invention can spray the pesticide on the fruit tree energy crops accurately, so that the labor cost is saved, and the spraying efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for plant protection operation, a method for controlling an unmanned aerial vehicle to perform plant protection operation, the unmanned aerial vehicle and a ground station.
Background
An Unmanned Aerial Vehicle (Unmanned Aerial Vehicle, UAV for short) is an Unmanned Aerial Vehicle. The unmanned aerial vehicle has wide application and is often applied to industries such as plant protection, city management, geology, meteorology, electric power, emergency and disaster relief, video shooting and the like.
Along with the development of unmanned aerial vehicle plant protection technology for unmanned aerial vehicle plant protection has characteristics such as little, the pesticide utilization ratio height of damaging the crop. More and more farmers or farmers use unmanned aerial vehicles for plant protection operations, in particular for pesticide and fertilizer spraying.
The existing agricultural plant protection unmanned aerial vehicle is generally used for short crops like rice, wheat, cotton, tomatoes and the like. The general kind of this kind of crop is on the flat and spacious farmland of relief, and unmanned aerial vehicle scans to come and go according to appointed line spacing and sprays and can cover all operation areas, sprays the purpose that the dose can reach accurate spraying through intelligent control.
And the fruit tree crop that the growth vigor is higher, single plant coverage area is big, such as orange tree, tangerine tree etc. no matter plant on flat farmland or hilly hills and slopes, current fruit tree unmanned aerial vehicle plant protection mode is generally all spraying the operation through artifical manual remote control unmanned aerial vehicle.
If the spraying operation is carried out on the fruit tree crops by adopting the mode of self-flying specified line spacing to carry out reciprocating scanning spraying, the effective attached pesticide amount which can be achieved by one-time flying is little or even can not reach the interior of the vegetation because the leaves of the crops are dense and the coverage area is large.
The method for spraying the fruit tree crops by manually remotely controlling the unmanned aerial vehicle can make up the defects of autonomous flying scanning spraying, but because the fruit tree grows in a high condition and has a large coverage area, the sight of an operator is easily shielded, and errors and accidents are easily caused. The operator needs to pay attention to avoid misoperation during operation, so the operator has to have skilled operation technology and experience is rich, which causes extremely high labor cost. During manual operation, an operator hardly sprays the pesticide amount, the effect of accurate spraying cannot be achieved, and the condition that the spraying amount is too small or excessive is easily generated.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a method of plant protection work, a method of controlling a drone for plant protection work and a corresponding drone and a ground station that overcome or at least partially solve the above problems.
In order to solve the above problems, the embodiment of the present invention discloses a method for plant protection operation, which is applied to an unmanned aerial vehicle, and the method includes:
acquiring operation track information sent by a ground station, wherein the operation track information comprises an operation object identifier, an operation sequence, an operation position, a spraying time length and a spraying radius of an operation object corresponding to the operation object identifier;
and spraying the operation objects in the operation track information according to the operation sequence, wherein when the unmanned aerial vehicle flies to the corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration aiming at each operation object identifier.
Preferably, the operation track information further includes a spraying amount per unit time corresponding to the operation object identifier; when unmanned aerial vehicle flies to the operation position that corresponds, spray radius and spray duration according to the correspondence and right the operation object sprays the step of operation includes:
when the unmanned aerial vehicle flies to a corresponding operation position, a spray head of the unmanned aerial vehicle is opened;
and controlling the spray head to spray the operation object according to the spraying radius and the spraying amount in unit time.
Preferably, the operation track information further includes a flight height corresponding to the operation object identifier; the step of spraying the operation objects in the operation track information in sequence according to the operation sequence comprises the following steps:
after the current operation object is operated, the unmanned aerial vehicle flies to the next operation object, and the flying height of the unmanned aerial vehicle is adjusted to the flying height corresponding to the next operation object in the flying process.
Preferably, the operation track information further includes a flight height corresponding to the operation object identifier; the step of spraying the operation objects in the operation track information in sequence according to the operation sequence comprises the following steps:
after the current operation object is operated, judging whether the flying height of the next operation object is larger than the flying height of the current operation object;
if so, adjusting the flying height of the unmanned aerial vehicle to the flying height of the next operation object in the current operation position, and flying to the operation position of the next operation object according to the adjusted flying height;
if not, flying to the operation position of the next operation object according to the flying height corresponding to the current operation object, and adjusting the flying height to the flying height of the next operation object when reaching the operation position of the next operation object.
Preferably, the method further comprises:
acquiring a starting point position and a return flight height of the unmanned aerial vehicle during takeoff;
when the return flight opportunity is reached, adjusting the flight height of the unmanned aerial vehicle to the return flight height and returning to the starting point position, or adjusting the flight schedule to the return flight height in the process of returning to the starting point position;
the return opportunities include, but are not limited to, the following:
receiving a return flight instruction sent by a ground station;
finishing the operation on the operation object corresponding to the flight path information;
detecting that the medicine of the unmanned aerial vehicle is lower than the total spraying amount of a next operation object;
and detecting that the electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold.
The embodiment of the invention also discloses a method for controlling the unmanned aerial vehicle to carry out plant protection operation, which is applied to the ground station, and the method comprises the following steps:
acquiring operation configuration information of an operation object, wherein the operation configuration information comprises an operation object identifier, and an operation position, a spraying duration and a spraying radius of the operation object corresponding to the operation object identifier;
determining the operation sequence of the operation object;
generating operation track information according to the operation configuration information and the operation sequence;
and sending the operation track information to an unmanned aerial vehicle, wherein the unmanned aerial vehicle is used for sequentially carrying out spraying operation on the operation objects in the operation track information according to the operation sequence, and aiming at each operation object identification when the unmanned aerial vehicle flies to the corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration.
Preferably, the work configuration information further includes a flight height of the work object, and the step of acquiring the work configuration information of the work object to be worked includes:
acquiring the operation height information of the operation object;
and calculating the sum of the operation height information and a preset spraying height to obtain the flying height of the unmanned aerial vehicle based on the operation object, wherein the spraying height is the distance between the unmanned aerial vehicle and the top of the operation object.
Preferably, the step of acquiring the work height information of the work object includes:
acquiring a first height and a second height of the operation object, and determining operation height information of the operation object by adopting the first height and the second height;
alternatively, the first and second electrodes may be,
and receiving the operation height information of the operation object sent by the mapping device.
Preferably, the step of acquiring the job configuration information of the job object includes:
acquiring coordinate information of at least two acquisition points of the operation object;
determining a working area of the working object based on the coordinate information of the acquisition point;
taking the center point of the operation area as the operation position of the unmanned aerial vehicle based on the operation object;
and taking the radius of the operation area as the spraying radius of the unmanned aerial vehicle based on the operation object.
Preferably, the step of acquiring the job configuration information of the job object includes:
calculating the area of the operation object;
calculating the total spraying amount corresponding to the area of the operation object according to the preset spraying amount per unit area;
and determining the spraying amount of the unmanned aerial vehicle to the operation object in unit time based on the total spraying amount and the spraying duration.
The embodiment of the invention also discloses an unmanned aerial vehicle, which comprises:
the system comprises an operation track information acquisition module, a data acquisition module and a data processing module, wherein the operation track information acquisition module is used for acquiring operation track information sent by a ground station, and the operation track information comprises an operation object identifier, an operation sequence, and an operation position, a spraying time length and a spraying radius of an operation object corresponding to the operation object identifier;
and the spraying operation module is used for sequentially spraying the operation objects in the operation track information according to the operation sequence, aiming at each operation object identification during operation, when the unmanned aerial vehicle flies to the corresponding operation position, spraying the operation objects according to the corresponding spraying radius and the spraying duration.
The embodiment of the invention also discloses a ground station, which comprises:
the system comprises an operation configuration acquisition module, a data processing module and a data processing module, wherein the operation configuration acquisition module is used for acquiring operation configuration information of an operation object, and the operation configuration information comprises an operation object identifier, and the operation position, the spraying duration and the spraying radius of the operation object corresponding to the operation object identifier;
the operation sequence determining module is used for determining the operation sequence of the operation object;
the operation track information generation module is used for generating operation track information according to the operation configuration information and the operation sequence;
the information sending module is used for sending the operation track information to the unmanned aerial vehicle, the unmanned aerial vehicle is used for sequentially carrying out spraying operation on the operation objects in the operation track information according to the operation sequence, when the operation is carried out, aiming at each operation object mark, when the unmanned aerial vehicle flies to the corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration.
The embodiment of the invention has the following advantages:
the embodiment of the invention can be applied to unmanned aerial vehicle plant protection operation with complex operation environments, such as uneven and non-spacious crop growth landforms, inconsistent physical heights and physical widths among crops and the like, wherein the unmanned aerial vehicle autonomously flies to each operation for fixed-point hovering spraying operation through the geographic information and growth conditions of each crop obtained from the ground station, and can achieve the effect of accurate spraying.
Meanwhile, the embodiment of the invention does not need manual whole-course participation, saves the labor cost, improves the spraying efficiency, and reduces the error probability, the missing spraying probability and the re-spraying probability caused by manual spraying.
Drawings
FIG. 1 is a flow chart of the steps of one embodiment of a method of plant protection operations of the present invention;
FIG. 2 is a schematic illustration of a fly height adjustment for a method embodiment of a plant protection operation of the present invention 1;
FIG. 3 is a schematic illustration of a fly height adjustment for a method embodiment of a plant protection operation of the present invention 2;
FIG. 4 is a schematic representation of a flight path of a method embodiment of a plant protection operation of the present invention;
FIG. 5 is a flowchart illustrating steps of an embodiment of a method of controlling an unmanned aerial vehicle for plant protection operations according to the present invention;
fig. 6 is a schematic view of the flight altitude of a working object of an embodiment of the method for controlling an unmanned aerial vehicle to perform plant protection operation according to the present invention;
fig. 7 is a schematic diagram of an embodiment of a method for controlling an unmanned aerial vehicle to perform plant protection operations according to the present invention;
FIG. 8 is a block diagram of the structure of an embodiment of a drone of the present invention;
fig. 9 is a block diagram of a ground station embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the unmanned aerial vehicle plant protection operation process, can control unmanned aerial vehicle through flight control system (fly control for short) and accomplish whole flight processes such as take-off, air flight, execution operation task and return journey, fly to control to unmanned aerial vehicle be equivalent to the driver to there being the effect of man-machine, be one of unmanned aerial vehicle most core technique.
This flight control system can include the ground satellite station, and the ground satellite station can communicate with unmanned aerial vehicle through communication module, and in the realization, this ground satellite station can be for handing the ground satellite station, and wherein can embed high accuracy GPS, support the quick survey and drawing on irregular block boundary, when using this ground satellite station, need not to connect the computer, can directly adjust unmanned aerial vehicle flight parameter. The ground station has an intelligent air route planning function, supports the presetting of a spray point switch, and can effectively avoid the phenomenon of heavy spray or missed spray in the operation process. In the spraying process, the user can also fly and spray the state through the real-time supervision of ground satellite station, let spray more accurate, high-efficient.
The embodiment of the invention can be applied to the plant protection operation of the operation objects planted on uneven and/or non-open terrain, the physical height difference between the operation objects is larger than a first preset threshold value, or the difference value of the diameters of circumscribed circles under the orthographic projection between the operation objects is larger than a second preset threshold value, for example, the operation objects can comprise fruit trees with higher growth vigor and large single-plant coverage area, such as orange trees, orange trees and the like.
Aiming at the operation objects of the type, the embodiment of the invention can obtain the operation configuration information of the operation objects through the ground station, generate the operation track information based on the operation configuration information and send the operation track information to the unmanned aerial vehicle, and the unmanned aerial vehicle adopts a fixed-point hovering mode to carry out plant protection operations such as pesticide spraying and chemical fertilizer spraying aiming at each operation object in the operation track information, thereby completing the accurate spraying of the operation objects such as fruit trees and crops, reducing the labor cost, having high automation degree and improving the plant protection efficiency of the unmanned aerial vehicle.
The following describes examples of the present invention in detail.
Referring to fig. 1, a flowchart of steps of an embodiment of a method for plant protection work according to the present invention is shown, and the embodiment of the present invention is described from an unmanned aerial vehicle side, and specifically may include the following steps:
in a specific implementation, the unmanned aerial vehicle can acquire the operation track information to be operated from the ground station through the data link. Specifically, can acquire the operation configuration information of the operation object of treating the operation through surveying and mapping devices such as surveying instrument or survey unmanned aerial vehicle aerial survey, afterwards, surveying and mapping device sends this operation configuration information to the ground station, if the operation object has a plurality ofly, the ground station can confirm the operation order of these a plurality of operation objects, and adopt operation order and operation configuration information to generate operation track information, after ground station generation operation track information, with operation track information send to unmanned aerial vehicle in, carry out the plant protection operation with control unmanned aerial vehicle.
It should be noted that the operation track information may be generated by the ground station and then sent to the unmanned aerial vehicle, or may be generated by the unmanned aerial vehicle, that is, the unmanned aerial vehicle may directly obtain the operation configuration information from the surveying and mapping device, determine the operation sequence of the operation object, and generate the operation track information according to the operation configuration information and the operation sequence, which is not limited in the embodiment of the present invention.
As an example of an embodiment of the present invention, the job track information may include, but is not limited to: the system comprises a working object identifier, a working sequence, a working position, a flying height, a spraying time length, a spraying radius, a spraying amount in unit time and the like of a working object corresponding to the working object identifier.
Specifically, the flight height refers to the height of unmanned aerial vehicle safety barrier-free flight. In practice, the flying height may be the sum of the height of the top of the work object from the sea level and the preset spraying height.
Spray the height and refer to that unmanned aerial vehicle is apart from the high when this height of the top of operation object, and unmanned aerial vehicle can reach the best effect of spraying. This value can be set in advance by an operator or a developer based on experience, for example, the value is set to 2m, which indicates that the best spraying effect is obtained when the unmanned aerial vehicle is 2m away from the topmost end of the working object.
It should be noted that the spraying height of each working object may be the same, or may be set according to the growth attribute and the growth environment of the working object, which is not limited in the embodiment of the present invention.
The operation position may be a longitude and latitude of a center point of the operation object, for example, if the operation object is a fruit tree, the center point of the operation object may be a tree trunk or a center position of an area under a vertical projection plane of the tree.
The spraying radius can be the distance between the outermost layer of leaves and the trunk of the tree or the radius of the area, and the spraying radius is required to be sprayed in place during spraying operation.
The spraying duration refers to the duration of spraying a single operation object by the unmanned aerial vehicle, and may be an experience value set by a developer or an operator, or a default value of the system, which is not limited in the embodiment of the present invention.
The spraying amount in unit time can be calculated according to the area of the projected area, the preset spraying amount in unit area and the spraying duration.
The operation object identification is a number which is input by an operator through the ground station and used for identifying the operation object;
the operation sequence can be the operation sequence of each operation object when the unmanned aerial vehicle executes the operation, and the operation sequence can be automatically generated by the ground station according to the terrain conditions among the operation objects, or the operation sequence input by the operator in the ground station.
It should be noted that, during the operation of unmanned aerial vehicle, operating personnel can also adjust this operation order as required through ground satellite station.
102, spraying operation is sequentially performed on the operation objects in the operation track information according to the operation sequence, and during operation, for each operation object identifier, when the unmanned aerial vehicle flies to a corresponding operation position, the operation objects are sprayed according to a corresponding spraying radius and a corresponding spraying duration.
Specifically, after the unmanned aerial vehicle obtains the operation track information, plant protection operation is started. The method comprises the steps of firstly obtaining the flying height and the working position of a first working object needing to be operated, then adjusting the unmanned aerial vehicle to the flying height, and flying to the working position corresponding to the working object according to the set flying speed.
It should be noted that, the unmanned aerial vehicle may also adjust the flying height in the process of flying to the operation position corresponding to the first operation object, and when reaching the operation position, the flying height of the unmanned aerial vehicle is the flying height of the operation object. The embodiment of the invention does not limit the adjustment mode of the flying height.
In a preferred embodiment of the present invention, when the unmanned aerial vehicle flies to a corresponding operation position, the step of performing a spraying operation on the operation object according to a corresponding spraying radius and a spraying duration may include the following sub-steps:
a substep S11, when the unmanned aerial vehicle flies to a corresponding operation position, opening a spray head of the unmanned aerial vehicle;
and a substep S12 of controlling the spray head to perform a spraying operation on the work object according to the spraying radius and the spraying amount per unit time.
Specifically, after unmanned aerial vehicle flies to the operation position that the operation object corresponds, can open unmanned aerial vehicle's shower nozzle, set up corresponding spraying radius and the quantity of spraying of unit interval to control this shower nozzle and hover the operation of spraying to this operation object.
When unmanned aerial vehicle sprayed the operation to the operation object, the time of record spraying, if the time of spraying reaches and sprays the duration, then closed the shower nozzle, stopped the operation of spraying to this operation object to reach the fixed point and hover the purpose of spraying, thereby improve the accuracy of spraying to the operation object.
In a preferred embodiment of the present invention, if there are a plurality of job objects, the step of sequentially spraying the job objects in the job track information according to the job order may include the following sub-steps:
after the current operation object is operated, judging whether the flying height of the next operation object is larger than the flying height of the current operation object; if so, adjusting the flying height of the unmanned aerial vehicle to the flying height of the next operation object in the current operation position, and flying to the operation position of the next operation object according to the adjusted flying height; if not, flying to the operation position of the next operation object according to the flying height corresponding to the current operation object, and adjusting the flying height to the flying height of the next operation object when reaching the operation position of the next operation object.
In practice, the flying heights of each working object may not be consistent, and after the current working object finishes working, the flying height of the next working object may be read, as shown in fig. 2, if the flying height of the next working object is greater than the flying height of the current working object, the flying height of the unmanned aerial vehicle may be raised to the flying height of the next working object in the current working position, and the next working object may be flown to the working position according to the adjusted flying height. As shown in fig. 3, if the flight height of the next work object is smaller than the flight height of the current work object, the next work object is flown to the work position according to the flight height corresponding to the current work object, and when the next work object reaches the work position, the flight height is lowered to the flight height of the next work object. When the spraying operation of all the operation objects is completed, the flight path of the unmanned aerial vehicle can be as shown in fig. 4.
In another preferred embodiment of the present invention, if there are a plurality of job objects, the step of sequentially spraying the job objects in the job track information according to the job order may include the following sub-steps:
after the current operation object is operated, the unmanned aerial vehicle flies to the next operation object, and the flying height of the unmanned aerial vehicle is adjusted to the flying height corresponding to the next operation object in the flying process.
Different from the previous embodiment, in this embodiment, after the operation of the current operation object by the unmanned aerial vehicle is completed, the flying height can be adjusted in the flying process, so that the flying height of the unmanned aerial vehicle is the flying height of the next operation object when the unmanned aerial vehicle flies to reach the next operation object.
In a preferred embodiment of the present invention, the embodiment of the present invention may further include the following steps:
acquiring a starting point position and a return flight height of the unmanned aerial vehicle during takeoff; when the return flight opportunity is reached, the flight height of the unmanned aerial vehicle is adjusted to the return flight height and returned to the starting point position, or the flight schedule is adjusted to the return flight height in the process of returning to the starting point position.
In the realization, when unmanned aerial vehicle starts, can note the starting point position (like the longitude and latitude of departure point) and the absolute altitude that this starting point position corresponds when unmanned aerial vehicle takes off through the high accuracy GPS mapping ware in the unmanned aerial vehicle automatically, on the basis of the absolute altitude that this starting point position corresponds, increase and preset the height, then can obtain the height of returning a voyage.
Wherein, predetermine highly being used for guaranteeing that unmanned aerial vehicle can return to the journey safely and can not bump into the barrier, this distance can be set for according to actual conditions by operating personnel or developer, for example, can set for 5m, perhaps, when unmanned aerial vehicle's the most significant place of flying site in the operation plot, then predetermine highly can set for 3 m.
It should be noted that the return flight height may be generated by automatic calculation by the unmanned aerial vehicle, or may be acquired by the ground station and sent to the unmanned aerial vehicle, which is not limited in this embodiment of the present invention.
When unmanned aerial vehicle detects and reaches the opportunity of returning to the journey, if the height of returning to the journey is greater than the real-time flying height of unmanned aerial vehicle, then can be in the current position with unmanned aerial vehicle's flying height climb back to the height of returning to the journey, if the height of returning to the journey is less than the real-time flying height of unmanned aerial vehicle, then fly to the starting point position according to the real-time flying height of unmanned aerial vehicle, when reacing the starting point position, descend the flying height to the height of returning to the journey.
Of course, the height adjustment may be performed during the return travel, and the vehicle may be landed when reaching the starting position while adjusting the height.
As an example, the return voyage opportunity may include, but is not limited to, the following:
receiving a return flight instruction sent by a ground station;
finishing the operation on the operation object corresponding to the flight path information;
detecting that the medicine of the unmanned aerial vehicle is lower than the spraying amount of the next operation object;
and detecting that the electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold.
It should be noted that, if all the operation objects corresponding to the current operation track information are not completed when the return time is reached, the ground station may record the operation object identifier when the unmanned aerial vehicle returns, and control the unmanned aerial vehicle to directly fly to the next operation object of the recorded operation object identifier to start continuing the operation when the unmanned aerial vehicle operates next time.
In addition, unmanned aerial vehicle can also communicate with high in the clouds server, and at the in-process of carrying out the plant protection operation, unmanned aerial vehicle can generate log information to with log information transmission to high in the clouds server, so that when unmanned aerial vehicle breaks down, can follow the high in the clouds server and extract log information and carry out fault detection.
The embodiment of the invention can be applied to unmanned aerial vehicle plant protection operation with complex operation environments, such as uneven and non-spacious crop growth landforms, inconsistent physical heights and physical widths among crops and the like, and the unmanned aerial vehicle autonomously flies to each operation to carry out fixed-point hovering spraying operation through the geographic information and growth condition of each crop obtained from the ground station, so that the effect of accurate spraying can be achieved.
Meanwhile, the embodiment of the invention does not need manual whole-course participation, saves the labor cost, improves the spraying efficiency, and reduces the error probability, the missing spraying probability and the re-spraying probability caused by manual spraying.
Referring to fig. 5, a flowchart illustrating steps of an embodiment of a method for controlling an unmanned aerial vehicle to perform plant protection operation according to the present invention is shown, and the embodiment of the present invention is described from a ground station side, which may specifically include the following steps:
as a preferred example of the embodiment of the present invention, the job configuration information may include, but is not limited to: the working object identification comprises a working object identification, and the working position, the flying height, the spraying duration, the spraying radius, the spraying amount in unit time and the like of the working object corresponding to the working object identification.
In one embodiment, the fly height may be obtained as follows:
acquiring the operation height information of the operation object; and calculating the sum of the operation height information and a preset spraying height to obtain the flying height of the unmanned aerial vehicle based on the operation object.
Wherein, it is the unmanned aerial vehicle distance to spray the height of the top of operation object.
In one embodiment, the step of acquiring the job height information of the job object may include:
and acquiring a first height and a second height of the operation object, and determining operation height information of the operation object by adopting the first height and the second height.
In particular implementations, the first height may include an altitude at which the work object is located, e.g., for a fruit tree, the first height may be an altitude at which a surface root of the fruit tree is located.
The second height may be a physical height of the work object itself, for example, for a fruit tree, which may be a height between a ground root of the fruit tree and a topmost end of the fruit tree.
It should be noted that the altitude and the physical height can both be measured by the RTK surveying rod, and after the surveying rod obtains the altitude and the physical height, the surveying rod sends the altitude and the physical height to the ground station through the RTK communication module, and the ground station generates the flying height of the corresponding operation object based on the altitude, the physical height and the preset height.
For example, as shown in the work object flight height diagram of fig. 6, assuming that the altitude h1, the physical height h2, and the set spray height h3 of a certain tree are acquired, the flight height may be set to be greater than or equal to h1+ h2+ h 3.
In practice, if the drone has a ground radar, the flying height may be set to be greater than h1+ h2+ h3, since the tree height is difficult to measure accurately.
Wherein, the sensor of the distance of unmanned aerial vehicle from the object below unmanned aerial vehicle is surveyed to the land radar finger, can include ultrasonic radar, radio radar, TOF (Time of Flight, Time of Flight sensor), lidar etc..
It should be noted that the first height may also be a height from the sea level of the surveying rod when the operator holds the surveying rod, and the second height may also be a height from the topmost end of the surveying rod to the operation object, which is not limited in this embodiment of the present invention.
In another embodiment, the flying height can also be obtained as follows:
and receiving the operation height information of the operation object sent by the mapping device.
In concrete realization, surveying device can include survey and drawing unmanned aerial vehicle, and survey and drawing unmanned aerial vehicle can directly obtain the operation height information of operation object, then sends this operation height information to ground satellite station through RTK.
Of course, a person skilled in the art may also obtain the operation height information of the operation object in other manners, which is not limited in the embodiment of the present invention.
In one embodiment, the working position and spray radius may be obtained as follows:
acquiring coordinate information of at least two acquisition points of the operation object; determining a working area of the working object based on the coordinate information of the acquisition point; taking the center point of the operation area as the operation position of the unmanned aerial vehicle based on the operation object; and taking the radius of the operation area as the spraying radius of the unmanned aerial vehicle based on the operation object.
In a specific implementation, when the growth vigor of a plurality of working objects is not consistent, the operator may use the surveying rod to collect coordinate information of at least two collection points along the outer edge of the current working object, for example, as shown in the collection diagram of fig. 7, 3 coordinate points along the edge of a crop are collected.
After the surveying rod obtains the coordinate information of the acquisition points, the coordinate information of the acquisition points can be sent to the ground station, and then the ground station can determine the operation area of the operation object according to the coordinate information.
As an example, the shape of the work area may include, but is not limited to: circular, oval, square, fan-shaped, and the like.
After the operation area is obtained, the ground station can acquire the central point of the operation area as the operation position of the unmanned aerial vehicle based on the operation object, and acquire the radius of the operation area as the spraying radius of the unmanned aerial vehicle based on the operation object.
For example, as shown in fig. 7, according to the principle that one circumscribed circle is determined by three points, it may be determined that the working area of the working object is a circumscribed circle formed by three acquisition points, and the circle center position and the radius of the circumscribed circle are calculated, where the circle center position may be used as the working position of the unmanned aerial vehicle based on the working object, and the radius of the circumscribed circle may be used as the spraying radius of the unmanned aerial vehicle based on the working object.
In another embodiment, for the case that the growth of a plurality of operation objects is consistent and the vegetation is sparse, the coordinate position of the trunk can be directly measured by a surveying and mapping rod, the coordinate position is sent to the ground station as the operation position, the horizontal distance from the trunk to the outer edge of the vegetation is measured, and the horizontal distance is sent to the ground station as the spraying radius.
It should be noted that, in addition to the above-described manner of determining the working position and the spray radius, the working position and the spray radius may be determined in other manners, and the embodiment of the present invention is not limited thereto.
In one embodiment, the amount of spray per unit time may be obtained as follows:
calculating the area of the operation object; calculating the total spraying amount corresponding to the area of the operation object according to the preset spraying amount per unit area; and determining the spraying amount of the unmanned aerial vehicle to the operation object in unit time based on the total spraying amount and the spraying duration.
For example, the following formula can be used to calculate the amount of spray per unit time:
Dt＝D×S÷t；
wherein D is the spraying dosage per unit area, and the unit is milliliter/square meter; s is the area of the working area, e.g. if the working area is a circular area, S ═ tr2R spraying radius, D × S is the total spraying amount of the operation object, t is the spraying duration, and Dt is the spraying amount in unit time.
in a specific implementation, the ground station may automatically generate the work order of the work objects according to the work positions of the work objects, for example, sorting the work object closest to the starting point position in the first place, sorting the next work object closest to the first work object in the second place, and so on, to obtain the sorting of all the work objects of the current operation.
Of course, the operation sequence may be a sequence input by an operator through the ground station, and the embodiment of the present invention is not limited thereto.
In practice, in the unmanned aerial vehicle operation process, operating personnel can also revise this operation order according to actual need.
after the ground station obtains the operation configuration information and determines the operation sequence, the ground station can plan the routes of a plurality of operation objects to be operated according to the operation sequence to generate operation track information, and the operation track information can carry the operation configuration information of each operation object.
And step 504, sending the operation track information to the unmanned aerial vehicle.
After the ground station generates the operation track information, the operation track information can be sent to the unmanned aerial vehicle through the data link, the unmanned aerial vehicle is used for sequentially spraying operation objects in the operation track information according to the operation sequence, and when the unmanned aerial vehicle flies to a corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration aiming at each operation object identifier.
In the embodiment of the invention, the operation track information sent by the ground station to the unmanned aerial vehicle can include the flight height of an operation object, an operation position, a spraying radius when spraying operation is carried out, spraying duration, spraying amount in unit time and the like, and the functions of the ground station are expanded, so that the spraying precision and the spraying efficiency of the unmanned aerial vehicle can be improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 8, a block diagram of an embodiment of the drone of the present invention is shown, which may include the following modules:
an operation track information obtaining module 801, configured to obtain operation track information sent by a ground station, where the operation track information includes an operation object identifier, an operation sequence, and an operation position, a spraying duration, and a spraying radius of an operation object corresponding to the operation object identifier;
and the spraying operation module 802 is configured to sequentially spray the operation objects in the operation track information according to the operation sequence, and when the unmanned aerial vehicle flies to a corresponding operation position, the operation objects are sprayed according to a corresponding spraying radius and a spraying duration for each operation object identifier.
In a preferred embodiment of the present invention, the operation track information further includes a spraying amount per unit time corresponding to the operation object identifier; the spray job module 802 may include the following sub-modules:
the nozzle opening sub-module is used for opening a nozzle of the unmanned aerial vehicle when the unmanned aerial vehicle flies to a corresponding operation position;
and the spraying submodule is used for controlling the spray head to spray the operation object according to the spraying radius and the spraying amount in unit time.
In a preferred embodiment of the present invention, the operation track information further includes a flight height corresponding to the operation object identifier; the spray operation module 802 may also include the following sub-modules:
and the height adjusting submodule is used for flying to the next operation object after the current operation object is operated, and adjusting the flying height of the unmanned aerial vehicle to the flying height corresponding to the next operation object in the flying process.
In another preferred embodiment of the present invention, the operation track information further includes a flight height corresponding to the operation object identifier; the spray operation module 802 may also include the following sub-modules:
the judging submodule is used for judging whether the flying height of the next operation object is larger than the flying height of the current operation object or not after the current operation object is operated; if yes, calling a first adjusting module; if not, calling a second adjusting module;
the first adjusting module is used for adjusting the flying height of the unmanned aerial vehicle to the flying height of the next operation object in the current operation position and flying to the operation position of the next operation object according to the adjusted flying height;
and the second adjusting module is used for flying to the operation position of the next operation object according to the flying height corresponding to the current operation object, and adjusting the flying height to the flying height of the next operation object when the next operation object reaches the operation position of the next operation object.
In a preferred embodiment of the present invention, the unmanned aerial vehicle may further include the following modules:
the starting point information acquisition module is used for acquiring a starting point position and a return flight height of the unmanned aerial vehicle during takeoff;
and the return flight module is used for adjusting the flight height of the unmanned aerial vehicle to the return flight height and returning the unmanned aerial vehicle to the starting point position when the return flight opportunity is reached, or adjusting the flight schedule to the return flight height in the process of returning the unmanned aerial vehicle to the starting point position.
In a preferred embodiment of the present invention, the return voyage opportunity includes, but is not limited to, the following:
receiving a return flight instruction sent by a ground station;
finishing the operation on the operation object corresponding to the flight path information;
detecting that the medicine of the unmanned aerial vehicle is lower than the spraying amount of the next operation object;
and detecting that the electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold.
As for the method embodiment of fig. 8, since it is basically similar to the method embodiment of fig. 1, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
Referring to fig. 9, a block diagram of a ground station embodiment of the present invention is shown, which may include the following modules:
a job configuration obtaining module 901, configured to obtain job configuration information of a job object, where the job configuration information includes a job object identifier, and a job position, a spraying duration and a spraying radius of the job object corresponding to the job object identifier;
a job order determination module 902 for determining a job order of the job objects;
an operation track information generating module 903, configured to generate operation track information according to the operation configuration information and the operation sequence;
In a preferred embodiment of the present invention, the operation configuration information further includes a flight height of the operation object, and the operation configuration acquiring module 901 includes the following sub-modules:
the operation height information acquisition submodule is used for acquiring the operation height information of the operation object;
and the flying height determining submodule is used for calculating the sum of the operation height information and the preset spraying height to obtain the flying height of the unmanned aerial vehicle based on the operation object, wherein the spraying height is the distance between the unmanned aerial vehicle and the top end of the operation object.
In a preferred embodiment of the present invention, the operation height information obtaining sub-module may include the following units:
the height information acquisition unit is used for acquiring a first height and a second height of the operation object and determining operation height information of the operation object by adopting the first height and the second height;
alternatively, the first and second electrodes may be,
and the height information receiving unit is used for receiving the operation height information of the operation object sent by the mapping device.
In a preferred embodiment of the present invention, the job configuration acquiring module 901 may further include the following sub-modules:
the acquisition submodule is used for acquiring coordinate information of at least two acquisition points of the operation object;
the working area determining submodule is used for determining the working area of the working object based on the coordinate information of the acquisition point;
the operation position determining submodule is used for taking the operation area center point as an operation position of the unmanned aerial vehicle based on the operation object;
and the spraying radius determining submodule is used for taking the radius of the working area as the spraying radius of the unmanned aerial vehicle based on the working object.
In a preferred embodiment of the present invention, the job configuration acquiring module 901 may further include the following sub-modules:
the area calculation submodule is used for calculating the area of the operation object;
the spraying amount calculation submodule is used for calculating the spraying total amount corresponding to the area of the operation object according to the preset spraying amount per unit area;
and the spraying amount determining submodule in unit time is used for determining the spraying amount of the unmanned aerial vehicle to the operation object in unit time based on the total spraying amount and the spraying duration.
As for the method embodiment of fig. 9, since it is basically similar to the method embodiment of fig. 5, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The unmanned aerial vehicle control method, the plant protection operation method, the unmanned aerial vehicle and the ground station provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A method for plant protection operation is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps:
acquiring operation track information sent by a ground station, wherein the operation track information comprises an operation object identifier, an operation sequence, and the flight height, the operation position, the spraying time length and the spraying radius of an operation object corresponding to the operation object identifier;
spraying operation is carried out on the operation objects in the operation track information in sequence according to the operation sequence, and during operation, aiming at each operation object identification, when the unmanned aerial vehicle flies to the corresponding operation position, the operation objects are sprayed according to the corresponding spraying radius and the spraying duration; the physical height difference between the operation objects is larger than a first preset threshold, or the difference value of the diameters of circumscribed circles under orthographic projection between the operation objects is larger than a second preset threshold;
the operation track information also comprises the spraying amount in unit time corresponding to the operation object identification; when unmanned aerial vehicle flies to the operation position that corresponds, spray radius and spray duration according to the correspondence and right the operation object sprays the step of operation includes:
when the unmanned aerial vehicle flies to a corresponding operation position, a spray head of the unmanned aerial vehicle is opened;
controlling the spray head to spray the operation object according to the spraying radius and the spraying amount in unit time;
the spraying amount in unit time is calculated by a formula Dt ═ D × S ÷ t;
wherein D is the spraying dosage per unit area; s is the area of the working area, if the working area is a circular area, the working area is divided into a plurality of working areasS＝πr2R is the spray radius; t is the spraying duration; and Dt is the spraying dosage in unit time.
2. The method according to claim 1, wherein the step of sequentially performing the spraying operation on the operation objects in the operation track information according to the operation sequence comprises:
after the current operation object is operated, the unmanned aerial vehicle flies to the next operation object, and the flying height of the unmanned aerial vehicle is adjusted to the flying height corresponding to the next operation object in the flying process.
3. The method according to claim 1, wherein the step of sequentially performing the spraying operation on the operation objects in the operation track information according to the operation sequence comprises:
after the current operation object is operated, judging whether the flying height of the next operation object is larger than the flying height of the current operation object;
if so, adjusting the flying height of the unmanned aerial vehicle to the flying height of the next operation object in the current operation position, and flying to the operation position of the next operation object according to the adjusted flying height;
if not, flying to the operation position of the next operation object according to the flying height corresponding to the current operation object, and adjusting the flying height to the flying height of the next operation object when reaching the operation position of the next operation object.
4. The method of claim 2 or 3, further comprising:
acquiring a starting point position and a return flight height of the unmanned aerial vehicle during takeoff;
when the return flight opportunity is reached, adjusting the flight height of the unmanned aerial vehicle to the return flight height and returning to the starting point position, or adjusting the flight schedule to the return flight height in the process of returning to the starting point position;
the return opportunities include, but are not limited to, the following:
receiving a return flight instruction sent by a ground station;
finishing the operation on the operation object corresponding to the flight path information;
detecting that the medicine of the unmanned aerial vehicle is lower than the total spraying amount of a next operation object;
and detecting that the electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold.
5. A method for controlling an unmanned aerial vehicle to perform plant protection operation is applied to a ground station, and is characterized by comprising the following steps:
acquiring operation configuration information of an operation object, wherein the operation configuration information comprises an operation object identifier, and the flight height, the operation position, the spraying duration and the spraying radius of the operation object corresponding to the operation object identifier;
determining the operation sequence of the operation object; the physical height difference between the operation objects is larger than a first preset threshold, or the difference value of the diameters of circumscribed circles under orthographic projection between the operation objects is larger than a second preset threshold;
generating operation track information according to the operation configuration information and the operation sequence;
the operation flight path information is sent to an unmanned aerial vehicle, the unmanned aerial vehicle is used for sequentially spraying operation objects in the operation flight path information according to the operation sequence, and when the unmanned aerial vehicle flies to a corresponding operation position, the operation objects are sprayed according to corresponding spraying radiuses and spraying duration aiming at each operation object identifier;
the operation track information also comprises the spraying amount in unit time corresponding to the operation object identification; when unmanned aerial vehicle flies to the operation position that corresponds, spray radius and spray duration according to the correspondence and right the operation object sprays the step of operation includes:
when the unmanned aerial vehicle flies to a corresponding operation position, a spray head of the unmanned aerial vehicle is opened;
controlling the spray head to spray the operation object according to the spraying radius and the spraying amount in unit time;
the spraying amount in unit time is calculated by a formula Dt ═ D × S ÷ t;
wherein D is the spraying dosage per unit area; s is the area of the operation area, and if the operation area is a circular area, S-pi r2R is the spray radius; t is the spraying duration; and Dt is the spraying dosage in unit time.
6. The method according to claim 5, wherein the step of acquiring job configuration information of a job object to be worked comprises:
acquiring the operation height information of the operation object;
and calculating the sum of the operation height information and a preset spraying height to obtain the flying height of the unmanned aerial vehicle based on the operation object, wherein the spraying height is the distance between the unmanned aerial vehicle and the top of the operation object.
7. The method according to claim 6, wherein the step of acquiring the work height information of the work object includes:
acquiring a first height and a second height of the operation object, and determining operation height information of the operation object by adopting the first height and the second height;
alternatively, the first and second electrodes may be,
and receiving the operation height information of the operation object sent by the mapping device.
8. The method according to claim 5, wherein the step of acquiring job configuration information of a job object comprises:
acquiring coordinate information of at least two acquisition points of the operation object;
determining a working area of the working object based on the coordinate information of the acquisition point;
taking the center point of the operation area as the operation position of the unmanned aerial vehicle based on the operation object;
and taking the radius of the operation area as the spraying radius of the unmanned aerial vehicle based on the operation object.
9. The method according to claim 8, wherein the step of acquiring job configuration information of a job object comprises:
calculating the area of the operation object;
calculating the total spraying amount corresponding to the area of the operation object according to the preset spraying amount per unit area;
and determining the spraying amount of the unmanned aerial vehicle to the operation object in unit time based on the total spraying amount and the spraying duration.
10. A drone, characterized in that it comprises:
the system comprises an operation track information acquisition module, a data acquisition module and a data processing module, wherein the operation track information acquisition module is used for acquiring operation track information sent by a ground station, and the operation track information comprises an operation object identifier, an operation sequence, and the flight height, the operation position, the spraying time length and the spraying radius of an operation object corresponding to the operation object identifier;
the spraying operation module is used for sequentially spraying operation objects in the operation track information according to the operation sequence, and when the unmanned aerial vehicle flies to a corresponding operation position, spraying operation is carried out on the operation objects according to a corresponding spraying radius and a spraying duration aiming at each operation object identifier;
the physical height difference between the operation objects is larger than a first preset threshold, or the difference value of the diameters of circumscribed circles under orthographic projection between the operation objects is larger than a second preset threshold;
the operation track information also comprises the spraying amount in unit time corresponding to the operation object identification; the spraying operation module includes:
the nozzle opening module is used for opening a nozzle of the unmanned aerial vehicle when the unmanned aerial vehicle flies to a corresponding operation position;
the spray head control module is used for controlling the spray head and spraying the operation object according to the spraying radius and the spraying amount in unit time;
the spraying amount in unit time is calculated by a formula Dt ═ D × S ÷ t;
wherein D is the spraying dosage per unit area; s is the area of the operation area, and if the operation area is a circular area, S-pi r2R is the spray radius; t is the spraying duration; and Dt is the spraying dosage in unit time.
11. A ground station, characterized in that the ground station comprises:
the system comprises an operation configuration acquisition module, a data processing module and a data processing module, wherein the operation configuration acquisition module is used for acquiring operation configuration information of an operation object, and the operation configuration information comprises an operation object identifier, and the flight height, the operation position, the spraying duration and the spraying radius of the operation object corresponding to the operation object identifier;
the operation sequence determining module is used for determining the operation sequence of the operation object; the physical height difference between the operation objects is larger than a first preset threshold, or the difference value of the diameters of circumscribed circles under orthographic projection between the operation objects is larger than a second preset threshold;
the operation track information generation module is used for generating operation track information according to the operation configuration information and the operation sequence;
the information sending module is used for sending the operation track information to an unmanned aerial vehicle, the unmanned aerial vehicle is used for sequentially spraying operation objects in the operation track information according to the operation sequence, and when the unmanned aerial vehicle flies to a corresponding operation position, the unmanned aerial vehicle sprays the operation objects according to the corresponding spraying radius and the spraying duration aiming at each operation object identifier;
the operation track information also comprises the spraying amount in unit time corresponding to the operation object identification; the information sending module comprises:
the starting module is used for starting a spray head of the unmanned aerial vehicle when the unmanned aerial vehicle flies to a corresponding operation position;
the control module is used for controlling the spray head and spraying the operation object according to the spraying radius and the spraying amount in unit time;
the spraying amount in unit time is calculated by a formula Dt ═ D × S ÷ t;
wherein D is the spraying dosage per unit area; s is the area of the operation area, and if the operation area is a circular area, S-pi r2R is the spray radius; t is the spraying duration; and Dt is the spraying dosage in unit time.
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