CN106997209A - Plant protection unmanned plane sprays operational method and system - Google Patents
Plant protection unmanned plane sprays operational method and system Download PDFInfo
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- CN106997209A CN106997209A CN201610049418.0A CN201610049418A CN106997209A CN 106997209 A CN106997209 A CN 106997209A CN 201610049418 A CN201610049418 A CN 201610049418A CN 106997209 A CN106997209 A CN 106997209A
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- 238000005507 spraying Methods 0.000 claims abstract description 38
- 230000012010 growth Effects 0.000 claims description 14
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
A kind of plant protection unmanned plane sprays operational method, including：Obtain the GPS information in target job region；The unmanned plane quantity and unmanned plane for determining formation flight according to the GPS information in target job region spray amplitude；It is main fog machine to set the unmanned plane in the unmanned plane of formation flight, and remaining unmanned plane is from fog machine；According to the working path that amplitude generates main fog machine that sprays of GPS information, unmanned plane quantity and unmanned plane；Working path from fog machine is generated according to the working path of main fog machine；Each unmanned plane is controlled to carry out spraying operation according to corresponding working path.Above-mentioned plant protection unmanned plane sprays operational method, using the method for multiple UAVs formation flight operation, can greatly improve operating efficiency.Also, the state of flight from fog machine is controlled by the state of flight of main fog machine, it can be ensured that spraying work operations can smoothly carry out.Operating system is sprayed the invention further relates to a kind of plant protection unmanned plane.
Description
Technical field
The present invention relates to plant protection operation technical field, more particularly to a kind of plant protection unmanned plane sprays operational method
And system.
Background technology
Requirement with the progress and people of science and technology to operating efficiency, increasing ground fog machine
Tool is applied to during plant protection.Traditional ground equipment for plant protection needs to take certain ground space, from
And cause the utilization rate reduction in the regions such as farmland, and the flexibility of ground equipment for plant protection is not high.With unmanned plane
Continuing to develop for technology, also gradually begins with unmanned plane and is sprayed for plant protection in operation process, but its operation
It is less efficient.
The content of the invention
Based on this, it is necessary to provide a kind of higher plant protection unmanned plane of operating efficiency and spray operational method and system.
A kind of plant protection unmanned plane sprays operational method, including：Obtain the GPS information in target job region；Institute
Stating GPS information at least includes the boundary position information in the target job region；According to the target job area
The GPS information in domain determines that the unmanned plane quantity and unmanned plane of formation flight spray amplitude；Set to form into columns and fly
A unmanned plane in capable unmanned plane is main fog machine, and remaining unmanned plane is from fog machine；According to the GPS
The working path for spraying the amplitude generation main fog machine of information, unmanned plane quantity and unmanned plane；According to
Working path of the working path generation of the main fog machine from fog machine；Each unmanned plane is controlled according to corresponding
Working path carries out spraying operation.
In one of the embodiments, the step of GPS information in the acquisition target job region is using survey
Paint instrument or image collecting device obtains the GPS information in target job region.
In one of the embodiments, the step of GPS information in the acquisition target job region also includes obtaining
The step of taking the vegetation growth information in target job region；The GPS information for obtaining target job region
Also include determining flying for unmanned plane according to the amplitude that sprays of the vegetation growth information and unmanned plane after step
The step of row height；It is described control each unmanned plane according to corresponding working path carry out spray operation the step of be,
Each unmanned plane is controlled to carry out spraying operation according to corresponding working path and flying height.
In one of the embodiments, it is described to be determined to form into columns winged according to the GPS information in the target job region
Capable unmanned plane quantity and unmanned plane the step of spraying amplitude in, the target job region is rectangle；
The GPS information includes the length information and width information in target job region；The step is specifically included：
Obtain the medicine-chest memory capacity of unmanned plane；According to the medicine-chest memory capacity generate unmanned plane spray amplitude and
Single operation travels the mapping table of distance；The single operation traveling distance is the length in target job region
The integral multiple of degree or width；Amplitude is sprayed according to what the mapping table determined each unmanned plane；According to institute
State the GPS information in target job region, unmanned plane spray amplitude and single operation traveling distance determines nothing
Man-machine quantity.
In one of the embodiments, each unmanned plane of control carries out spraying work according to corresponding working path
In the step of industry, each unmanned plane takes off or with prefixed time interval continued takeoff to be synchronous；When described default
Between interval more than or equal to unmanned plane dressing case or battery time.
A kind of plant protection unmanned plane sprays operating system, including multiple UAVs；Medicine is provided with the unmanned plane
Case and battery, the plant protection unmanned plane, which sprays operating system, also to be included：Acquisition module, for obtaining target
The GPS information of operating area；The GPS information at least includes the boundary bit confidence in the target job region
Breath；Formation setup module, the nothing for determining formation flight according to the GPS information in the target job region
Man-machine quantity and unmanned plane spray amplitude；The formation setup module is additionally operable to set the nothing of formation flight
A unmanned plane in man-machine is main fog machine, and remaining unmanned plane is from fog machine；First path setup module,
The main fog machine is determined for the amplitude that sprays according to the GPS information, unmanned plane quantity and unmanned plane
Working path；Second path setup module, for being determined according to the working path of the main fog machine from plant
The working path of guarantor's machine；And flight control modules, for controlling each unmanned plane according to corresponding working path
Progress sprays operation.
In one of the embodiments, the acquisition module includes surveying instrument or image collecting device.
In one of the embodiments, the acquisition module is additionally operable to obtain the vegetation growth in target job region
Information；The formation setup module is additionally operable to spray amplitude according to the vegetation growth information and unmanned plane
Determine the flying height of unmanned plane；The flight control modules are used to control each unmanned plane according to corresponding operation
Path and flying height carry out spraying operation.
In one of the embodiments, the target job region is rectangle；What the acquisition module was acquired
GPS information includes the length information and width information in the target job region；The formation setup module is also
Including：Acquiring unit, the medicine-chest memory capacity for obtaining unmanned plane；Generation unit, for according to described
The mapping table for spraying amplitude and single operation traveling distance of medicine-chest memory capacity generation unmanned plane；It is described
Single operation traveling distance is the length in target job region or the integral multiple of width；And setting unit,
Amplitude is sprayed for determine each unmanned plane according to the mapping table；The setting unit is additionally operable to basis
The GPS information in the target job region, unmanned plane spray amplitude and single operation traveling distance is determined
The quantity of unmanned plane.
In one of the embodiments, the flight control modules be used for control each unmanned plane synchronously take off or
With prefixed time interval continued takeoff；The prefixed time interval is more than or equal to unmanned plane dressing case or battery
Time.
Above-mentioned plant protection unmanned plane sprays operational method and system, using the side of multiple UAVs formation flight operation
Method, can greatly improve operating efficiency.Also, spray the state of flight by main fog machine in operation process
To control the state of flight from fog machine, it can be ensured that the phase position between unmanned plane is stable, will not occur
Mutually collision, it is ensured that spraying work operations can smoothly carry out.
Brief description of the drawings
Fig. 1 sprays the flow chart of operational method for the plant protection unmanned plane in an embodiment；
Fig. 2 be Fig. 1 in step S120 particular flow sheet；
Fig. 3 is that the unmanned plane synchronization onwards in an embodiment fly into the schematic diagram that row sprays operation；
Fig. 4 with prefixed time interval continued takeoff spray the signal of operation for the unmanned plane in an embodiment
Figure；
Fig. 5 sprays the schematic diagram of operating system for the plant protection unmanned plane in an embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
The flow chart that a kind of plant protection unmanned plane sprays operational method is as shown in Figure 1.The plant protection unmanned plane sprays operation
Method comprises the following steps：
S110, obtains the GPS information in target job region.
The GPS information in target job region can be prestored in systems, before can also being carried out spraying operation
GPS information is obtained by surveying instrument or image collecting device by staff.Target job region can be agriculture
Field, forest etc..The GPS information mainly includes the border position information in target job region.In this implementation
In example, target job region is rectangle or close to rectangular shape.Therefore, the GPS by getting
Information can also determine the size in the target job region, length and width.
In one embodiment, while the GPS information in target job region is obtained, target job can also be obtained
The vegetation growth information in region.For example, can be by the plant in image acquisition device target job region
By growth information.Specifically, vegetation growth information can include the height of vegetation, insect pest situation and current
The information such as residing growth phase.
S120, the unmanned plane quantity and unmanned plane of formation flight are determined according to the GPS information in target job region
Spray amplitude.
In the present embodiment, carry out spraying operation by the way of UAV Formation Flight, nobody can be reduced
The flight resistance of machine, saves flight electricity consumption, increases unmanned plane endurance, also increases unmanned plane single
Activity duration, so as to improve operating efficiency.The quantity of unmanned plane and spray amplitude can be according to target job
The size in region is determined.Specifically, including following sub-step, as shown in Figure 2.
S122, obtains the medicine-chest memory capacity of unmanned plane.
During spraying, unmanned plane can carry medicine-chest, and medicine-chest internal memory, which contains to spray, sprays thing required for operation
Matter.The size of medicine-chest memory capacity also determines that unmanned plane single sprays the area of operation, therefore it is determined that spray
Also determine that unmanned plane single operation travels the length of distance on the premise of applying amplitude.Medicine-chest memory capacity can be with
It is configured as needed.The concentration for spraying material of medicine-chest memory storage is needed according to the vegetation growth collected
Information is determined.The work can rule of thumb complete by staff, or by prestoring
Control parameter is determined.
S124, pair for spraying amplitude and single operation traveling distance of unmanned plane is generated according to medicine-chest memory capacity
Answer relation table.
When the timing of medicine-chest memory capacity one, unmanned plane single operation traveling path length is inversely proportional with spraying amplitude.
The amplitude of spraying refers to that unmanned plane can be ejected into the Breadth Maximum on vegetation surface when being sprayed.In the present embodiment
In, the material that sprays ejected forms coniform, and the amplitude of spraying is the Breadth Maximum of circular cone bottom surface.Nothing
During man-machine operation, generally rectilinear flight is done along the length or width in target job region.Due to
Need what the amount of the medicine sprayed was to determine during spraying, in unit area, i.e., one case medicine (or nothing
Man-machine single operation) tree and grass coverage that can spray is to determine.Therefore, unmanned plane single operation traveling road
Cheng Changdu can follow the increase for the amplitude of spraying and reduce, so as to show that unmanned plane single operation travels distance
With the mapping table for the amplitude that sprays.To save in the time during dressing case, mapping table as far as possible
Unmanned plane single operation traveling distance is the integral multiple of the length (or width) in target job region, from
And ensure the medicine in medicine-chest and spray when finishing, boundary rather than centre of the unmanned plane just at operating area
Position, so as to greatly save the dressing time, improves operating efficiency.
S126, amplitude is sprayed according to what mapping table determined each unmanned plane.
According to the corresponding relation, determine unmanned plane sprays amplitude.The amplitude that sprays of each unmanned plane can root
The adjustment for carrying out adaptability according to being actually needed.To improve operating efficiency, the single operation time is saved, unmanned plane
The amplitude that sprays preferably spray amplitude close to its threshold value, and the integral multiple for spraying amplitude chosen preferably is equal to target and made
The width (or length) in industry region.In one embodiment, main fog machine can be made to spray amplitude using one
Remaining then sprays amplitude from fog machine using another.
S128, is travelled according to the GPS information in target job region, spray amplitude and the single operation of unmanned plane
Distance determines the quantity of unmanned plane.
After the single operation traveling distance determination for spraying amplitude and unmanned plane of unmanned plane, you can to determine
Single rack unmanned plane sprays area, so as to be determined to be carried out by single rack unmanned plane according to the size in target job region
The number of times to be carried out when spraying operation, and then determine according to number of times the quantity of unmanned plane.The quantity of unmanned plane
The number of times tried to achieve can be equal to, or its integral multiple is equal to the number of times tried to achieve.The quantity of unmanned plane can be with
Flexibly set as needed, can be 5 framves, 10 framves etc..
S130, set formation flight unmanned plane in a unmanned plane be main fog machine, remaining unmanned plane be from
Fog machine.
In the present embodiment, using Leader-Follower Formation's mode.Determine based on the wherein unmanned plane in unmanned plane
Fog machine, remaining unmanned plane is from fog machine.Main fog machine is generally selected on formation side (i.e. close to work
The border in industry region) unmanned plane as main fog machine, remaining is then from fog machine.
S140, main fog machine is generated according to the amplitude that sprays of GPS information, unmanned plane quantity and unmanned plane
Working path.
In the working path of unmanned plane spray working path be typically parallel to operating area length direction or
Width.The working path of unmanned plane refers to the driving path of unmanned plane from take-off to landing.Unmanned plane
Spray working path and refer to path when unmanned plane carries out spraying operation.The adjacent of same unmanned plane sprays operation
The width in path should form into columns equal or close to whole unmanned plane total sprays amplitude.Whole unmanned plane is formed into columns
Total amplitude that sprays is that each unmanned plane sprays amplitude sum.Therefore, according to GPS information, unmanned plane number
Amount and unmanned plane spray amplitude and can generate the working path of main fog machine.
S150, the working path from fog machine is generated according to the working path of main fog machine.
In the present embodiment, determined from the working path of fog machine is the working path relative to main fog machine
, i.e., needed from fog machine using the state of flight of main fog machine as reference, be a kind of relative flight operation
Pattern, so as to avoid the mutual collision between unmanned plane, improves operating efficiency.From the spray of fog machine
Apply working path and spray working path parallel to main fog machine, so that it is guaranteed that the scope that sprays of unmanned plane can
Cover whole target job region.
S160, controls each unmanned plane to carry out spraying operation according to corresponding working path.
It is determined that after the working path of unmanned plane flight control can be carried out to it according to the working path of each unmanned plane
System, controls its development to spray operation.In the present embodiment, before carrying out spraying operation, in addition it is also necessary to it is determined that
The flying height of unmanned plane.Jetting height, spray angle and the jet velocity joint effect of unmanned plane are sprayed
Amplitude.The jetting height and jet velocity of unmanned plane should be coordinated with spraying the weight of material, so that it is guaranteed that spray
The material for applying out can be attached to vegetation surface exactly without being floated in the presence of air pressure to other
Region.The jetting height of unmanned plane is using vegetation surface as the plane of reference.Therefore the flying height of unmanned plane should
The height of vegetation is added for the jetting height of unmanned plane.Unmanned plane is controlled according to default working path and is flown
Row height and speed carry out spraying operation.
Unmanned plane can synchronously take off, or with prefixed time interval continued takeoff.Prefixed time interval should
More than or equal to the time of unmanned plane dressing case or battery.In the present embodiment, medicine-chest and battery are
Plug-in.In the case where getting out medicine-chest and battery in advance, (medicine-chest sprays duration and battery
Cruising time matches), change unmanned plane at 10 seconds or so, therefore, prefixed time interval is arranged on
10 seconds to 15 seconds.In other examples, can also be by between preset time to ensure that the time enough
Every be set greater than be equal to 30 seconds., it is necessary to carry out the replacing of medicine-chest and battery simultaneously, therefore when synchronously taking off
Many self-help replacing equipment or multiple staff is needed to carry out simultaneously.Interval is taken off at preset timed intervals, then
An airplane can be waited to change the second airplane again after the completion of changing, equipment cost and people is advantageously reduced
Work cost, improves efficiency.
Above-mentioned plant protection unmanned plane sprays operational method, can using the method for multiple UAVs formation flight operation
To greatly improve operating efficiency.Using UAV Formation Flight, it is possible to reduce resistance in-flight, so as to save
Flight electricity consumption is saved, the endurance of unmanned plane is added, so as to further increase operating efficiency.Also,
The state of flight from fog machine is controlled by the state of flight of main fog machine in operation process is sprayed, can be with
Ensure that the phase position between unmanned plane is stable, will not occur mutually collision, further increase operating efficiency.
Illustrated below by taking a practical application scene as an example.Existing 1000 mu of farmland, single rack aircraft single
Fly 20 mu of ground.Conventional single rack unmanned plane operating type is, it is necessary to 50 landing operations, if landing every time
It is required for carrying out the operation that battery is changed in a dosing, then the middle time for also needing 50 dosings to change battery.Using
Unmanned plane in the present embodiment sprays operational method, if using 10 airplane formation flight operations, single operation
Area is 200 mu, then 5 landing operations of landing is only needed to, when battery is changed in the dosing that centre only needs to 5 times
Between, it is significantly improved in efficiency.Fig. 3 is spray when formation flight is carried out using synchronous control method of taking off
Industry schematic diagram is applied, wherein 210 be main fog machine, remaining is from fog machine.When Fig. 4 is then using presetting
Between interval takeoff method carry out formation flight when spray operation schematic diagram, wherein 310 be main fog machine.
The present invention also provides a kind of plant protection unmanned plane and sprays operating system, and its structural representation is as shown in Figure 5.
The plant protection unmanned plane, which sprays operating system, includes multiple UAVs 400 and control system 500.Unmanned plane 400
In be provided with medicine-chest and battery.Battery is used for the flying power for providing unmanned plane, and medicine-chest is then used to store spray
Apply material.Control system 500 includes acquisition module 510, formation setup module 520, first path and sets mould
Block 530, the second path setup module 540 and flight control modules 550.
Acquisition module 510 is used for the GPS information for obtaining target job region.The GPS information got is at least
Include the boundary position information in target job region.In one embodiment, acquisition module 510 is obtaining target
While the GPS information of operating area, the vegetation growth information in target job region can be also obtained.Obtain mould
Block 510 includes surveying instrument or image collecting device.
Formation setup module 520 be used for according to the GPS information in target job region determine formation flight nobody
Machine quantity and unmanned plane spray amplitude.Specifically, formation setup module 520 includes acquiring unit, life
Into unit and setting unit.Acquiring unit is used for the medicine-chest memory capacity for obtaining unmanned plane.Generation unit is used for
The mapping table for spraying amplitude and single operation traveling distance of unmanned plane is generated according to medicine-chest memory capacity.
Single operation traveling distance is the length in target job region or the integral multiple of width.Setting unit is used for root
According to what mapping table determined each unmanned plane amplitude is sprayed, so that each unmanned plane sprays amplitude sum
Integral multiple is the length or width in target job region.Setting unit is additionally operable to according to target job region
GPS information, unmanned plane spray amplitude and single operation traveling distance determines the quantity of unmanned plane.Form into columns
Setup module 520 is additionally operable to set the unmanned plane in the unmanned plane of formation flight to be main fog machine, remaining nothing
Man-machine is from fog machine.In the present embodiment, formation setup module 520 is additionally operable to according to vegetation growth information
And unmanned plane sprays the flying height that amplitude determines unmanned plane.
First path setup module 530 is used for spraying according to GPS information, unmanned plane quantity and unmanned plane
Amplitude determines the working path of main fog machine.
Second path setup module 540 is used to determine the operation from fog machine according to the working path of main fog machine
Path.
Flight control modules 550 are used to control each unmanned plane to carry out spraying operation according to corresponding working path.
Flight control modules 550 are used to control each unmanned plane synchronously to take off or with prefixed time interval continued takeoff.
Prefixed time interval is more than or equal to the time of unmanned plane dressing case or battery.
Above-mentioned plant protection unmanned plane sprays operating system, can using the method for multiple UAVs formation flight operation
To greatly improve operating efficiency.And use UAV Formation Flight, it is possible to reduce resistance in-flight, from
And flight electricity consumption is saved, the endurance of unmanned plane is added, so as to further increase operating efficiency.Together
When, also, spray the flight shape controlled in operation process by the state of flight of main fog machine from fog machine
State, it can be ensured that the phase position between unmanned plane is stable, will not occur mutually collision, further increase
Operating efficiency.
Each technical characteristic of embodiment described above can be combined arbitrarily, not right to make description succinct
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
Contradiction is not present in the combination of art feature, is all considered to be the scope of this specification record.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed,
But can not therefore it be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, some deformations can also be made and changed
Enter, these belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (10)
1. a kind of plant protection unmanned plane sprays operational method, including：
Obtain the GPS information in target job region；The GPS information at least includes the target job region
Boundary position information；
The unmanned plane quantity and unmanned plane of formation flight are determined according to the GPS information in the target job region
Spray amplitude；
It is main fog machine to set the unmanned plane in the unmanned plane of formation flight, and remaining unmanned plane is from fog machine；
The main fog machine is generated according to the amplitude that sprays of the GPS information, unmanned plane quantity and unmanned plane
Working path；
Working path from fog machine is generated according to the working path of the main fog machine；
Each unmanned plane is controlled to carry out spraying operation according to corresponding working path.
2. plant protection unmanned plane according to claim 1 sprays operational method, it is characterised in that described to obtain
The step of GPS information for taking target job region is to obtain target using surveying instrument or image collecting device to make
The GPS information in industry region.
3. plant protection unmanned plane according to claim 1 sprays operational method, it is characterised in that described to obtain
The step of taking the GPS information in target job region also includes the vegetation growth information for obtaining target job region
Step；
Also include being believed according to the vegetation growth after the step of GPS information in the acquisition target job region
Breath and unmanned plane spray the step of amplitude determines the flying height of unmanned plane；
Described is to control each nothing the step of control each unmanned plane to carry out according to corresponding working path and spray operation
It is man-machine to carry out spraying operation according to corresponding working path and flying height.
4. plant protection unmanned plane according to claim 1 sprays operational method, it is characterised in that described
The unmanned plane quantity of formation flight and spraying for unmanned plane are determined according to the GPS information in the target job region
In the step of amplitude, the target job region is rectangle；The GPS information includes target job region
Length information and width information；The step is specifically included：
Obtain the medicine-chest memory capacity of unmanned plane；
The correspondence for spraying amplitude and single operation traveling distance of unmanned plane is generated according to the medicine-chest memory capacity
Relation table；The single operation traveling distance is the length in target job region or the integral multiple of width；
Amplitude is sprayed according to what the mapping table determined each unmanned plane；
According to the GPS information in the target job region, unmanned plane spray amplitude and single operation traveling
Distance determines the quantity of unmanned plane.
5. plant protection unmanned plane according to claim 4 sprays operational method, it is characterised in that the control
Make in the step of each unmanned plane carries out spraying operation according to corresponding working path, each unmanned plane takes off to be synchronous
Or with prefixed time interval continued takeoff；The prefixed time interval be more than or equal to unmanned plane dressing case or
The time of battery.
6. a kind of plant protection unmanned plane sprays operating system, including multiple UAVs；It is provided with the unmanned plane
Medicine-chest and battery, it is characterised in that the plant protection unmanned plane, which sprays operating system, also to be included：
Acquisition module, the GPS information for obtaining target job region；The GPS information at least includes institute
State the boundary position information in target job region；
Formation setup module, the nothing for determining formation flight according to the GPS information in the target job region
Man-machine quantity and unmanned plane spray amplitude；The formation setup module is additionally operable to set the nothing of formation flight
A unmanned plane in man-machine is main fog machine, and remaining unmanned plane is from fog machine；
First path setup module, for the spray according to the GPS information, unmanned plane quantity and unmanned plane
The amplitude of applying determines the working path of the main fog machine；
Second path setup module, for determining the work from fog machine according to the working path of the main fog machine
Industry path；And
Flight control modules, for controlling each unmanned plane to carry out spraying operation according to corresponding working path.
7. plant protection unmanned plane according to claim 6 sprays operating system, it is characterised in that described to obtain
Modulus block includes surveying instrument or image collecting device.
8. plant protection unmanned plane according to claim 6 sprays operating system, it is characterised in that described to obtain
Modulus block is additionally operable to obtain the vegetation growth information in target job region；
The formation setup module be additionally operable to according to the vegetation growth information and unmanned plane to spray amplitude true
Determine the flying height of unmanned plane；
The flight control modules are used to control each unmanned plane according to corresponding working path and flying height to enter
Row sprays operation.
9. plant protection unmanned plane according to claim 6 sprays operating system, it is characterised in that the mesh
Mark operating area is rectangle；The GPS information that the acquisition module is acquired includes the target job region
Length information and width information；
The formation setup module also includes：
Acquiring unit, the medicine-chest memory capacity for obtaining unmanned plane；
Generation unit, for spraying amplitude and single operation according to medicine-chest memory capacity generation unmanned plane
Travel the mapping table of distance；The single operation traveling distance is the length or width in target job region
The integral multiple of degree；And
Setting unit, amplitude is sprayed for determine each unmanned plane according to the mapping table；It is described to set
Unit be additionally operable to GPS information according to the target job region, unmanned plane spray amplitude and single is made
Industry traveling distance determines the quantity of unmanned plane.
10. plant protection unmanned plane according to claim 9 sprays operating system, it is characterised in that described
Flight control modules are used to control each unmanned plane synchronously to take off or with prefixed time interval continued takeoff；It is described
Prefixed time interval is more than or equal to the time of unmanned plane dressing case or battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610049418.0A CN106997209B (en) | 2016-01-25 | 2016-01-25 | Spraying operation method and system for plant protection unmanned aerial vehicle |
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| CN201610049418.0A CN106997209B (en) | 2016-01-25 | 2016-01-25 | Spraying operation method and system for plant protection unmanned aerial vehicle |
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| CN106997209A true CN106997209A (en) | 2017-08-01 |
| CN106997209B CN106997209B (en) | 2020-09-08 |
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| CN108415458A (en) * | 2018-05-21 | 2018-08-17 | 深圳市易飞方达科技有限公司 | Unmanned plane pesticide spraying system and method |
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| CN107368094A (en) * | 2017-08-25 | 2017-11-21 | 上海拓攻机器人有限公司 | A kind of unmanned plane plant protection operation flight course planning method and device |
| CN108427433A (en) * | 2018-02-05 | 2018-08-21 | 中山大学 | A kind of form into columns towards multi rack plant protection drone cooperates with the unmanned plane quantity optimization method for spraying drug |
| CN108427433B (en) * | 2018-02-05 | 2021-04-16 | 中山大学 | Unmanned aerial vehicle quantity optimization method for cooperative spraying of medicine by formation of multiple plant protection unmanned aerial vehicles |
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| CN108415458A (en) * | 2018-05-21 | 2018-08-17 | 深圳市易飞方达科技有限公司 | Unmanned plane pesticide spraying system and method |
| CN109445461A (en) * | 2018-11-27 | 2019-03-08 | 山东理工大学 | Single armed trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy |
| CN109407701A (en) * | 2018-11-30 | 2019-03-01 | 广州极飞科技有限公司 | Control the method, system and device of operation |
| CN111684385A (en) * | 2019-05-27 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Flight control method, control terminal and unmanned aerial vehicle |
| CN111684385B (en) * | 2019-05-27 | 2023-03-28 | 深圳市大疆创新科技有限公司 | Flight control method, control terminal and unmanned aerial vehicle |
| CN110597279A (en) * | 2019-08-30 | 2019-12-20 | 南京精微迅智能科技有限公司 | Operation method of agricultural unmanned aerial vehicle and control method thereof |
| CN111273693A (en) * | 2020-02-27 | 2020-06-12 | 辽宁壮龙无人机科技有限公司 | Control method and system for operation of plant protection unmanned aerial vehicle |
| CN111273693B (en) * | 2020-02-27 | 2023-11-03 | 辽宁壮龙无人机科技有限公司 | Control method and system for operation of plant protection unmanned aerial vehicle |
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| CN111461464A (en) * | 2020-05-06 | 2020-07-28 | 农业农村部南京农业机械化研究所 | Plant protection unmanned aerial vehicle cluster operation task allocation method and device |
| CN111461464B (en) * | 2020-05-06 | 2021-06-08 | 农业农村部南京农业机械化研究所 | Plant protection unmanned aerial vehicle cluster operation task allocation method and device |
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| CN111744690A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Spraying operation control method, device, carrier and storage medium |
| CN111880558A (en) * | 2020-07-06 | 2020-11-03 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
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| CN113534839A (en) * | 2021-07-21 | 2021-10-22 | 武昌理工学院 | Air route intervention guiding method and device for linkage surveying and mapping of unmanned aerial vehicle group |
| CN114089650A (en) * | 2021-09-28 | 2022-02-25 | 游佳凝 | Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things |
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