CN107368094A - A kind of unmanned plane plant protection operation flight course planning method and device - Google Patents
A kind of unmanned plane plant protection operation flight course planning method and device Download PDFInfo
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- CN107368094A CN107368094A CN201710740644.8A CN201710740644A CN107368094A CN 107368094 A CN107368094 A CN 107368094A CN 201710740644 A CN201710740644 A CN 201710740644A CN 107368094 A CN107368094 A CN 107368094A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of unmanned plane plant protection operation flight course planning method and device, comprises the following steps：The ground block message in operation farmland region is obtained, and according to the plot information creating operation plot；The operation plot includes boundary of land block；Back gauge according to setting generates inner boundary after boundary of land block is reduced into certain proportion；The first course line of unmanned plane plant protection operation is cooked up according to inner boundary, control unmanned plane is according to first course line plant protection operation；Second course line is cooked up according to the boundary of land block and inner boundary, control unmanned plane is according to second course line plant protection operation.The flight course planning method and device, during plant protection operation, side operation can be swept automatically, the fringe region in operation plot is sprayed into covering, drain spray situation is avoided the occurrence of, and spraying range improves plant protection operation effect, ensure that the security of plant protection operation without departing from operation outside block edge.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of unmanned plane plant protection operation flight course planning method and dress
Put.
Background technology
With the development of plant protection unmanned air vehicle technique, increasing user starts to carry out plant protection operation using unmanned plane, especially
It is to carry out pesticide spraying and chemical fertilizer sprinkling etc. using unmanned plane, has and crops are damaged with small, agricultural chemicals utilization rate height, reduces labor
The advantages that fatigue resistance.
Plant protection unmanned plane typically carries out operation or by manipulating when carrying out plant protection operation according to the set line of flight
Member passes through remote control control unmanned plane during flying.If so that unmanned plane is flown according to the set line of flight, it is necessary to enter in advance
Row flight course planning, i.e. computer software base area block message, the reasonable course line in covering plot is calculated, the course line is by a plurality of
The course line section composition turned back back and forth in plot.
However, in the prior art, the spraying range of unmanned plane plant protection operation is confined to inside plot, and cause ground block edge
There is drain spray situation in region, so as to have impact on plant protection operation quality.
The content of the invention
In order to solve the above technical problems, The present invention provides a kind of unmanned plane plant protection operation flight course planning method and dress
Put, massif marginarium domain can be covered comprehensively, avoid the occurrence of drain spray situation.
In order to reach above-mentioned technique effect, the present invention includes following technical scheme：A kind of unmanned plane plant protection operation course line rule
The method of drawing, comprises the following steps：
（1）The ground block message in operation farmland region is obtained, and according to the plot information creating operation plot；The operation plot
Including boundary of land block；
（2）Back gauge according to setting generates inner boundary after boundary of land block is reduced into certain proportion；
（3）The first course line of unmanned plane plant protection operation is cooked up according to inner boundary, control unmanned plane is planted according to first course line
Operation is protected, so as to by the plot region overlay in inner boundary；
（4）When detecting when sweeping side Job Operations of user's triggering, the second boat is cooked up according to the boundary of land block and inner boundary
Line, control unmanned plane is according to second course line plant protection operation, so as to which the plot region between boundary of land block and inner boundary be covered
Lid.
Further, described ground block message is the latitude and longitude information of border destination, and the boundary of land block is by a plurality of boundary line
Section, which is sequentially connected with, to be formed, and the intersection point of adjacent boundary line segment is border destination.
Further, generation inner boundary is specially after boundary of land block is reduced certain proportion by the back gauge according to setting：
Receive the back gauge parameter of input；
According to the back gauge parameter, the border destination of inner boundary is determined；
The sequentially border destination of straight line connection inner boundary, obtains inner boundary.
Further, the first course line for unmanned plane plant protection operation being cooked up according to inner boundary is specially：
Detect that the operation of user's triggering plays the selected operation of initial line；
Receive the spraying swath parameter of user's setting；
Initial line, inner boundary and spraying swath parameter are played based on operation and generate one group of at equal intervals navigation path parallel with operation initial line
Line segment；The spacing of wherein adjacent navigation path line segment is a spraying swath；
Adjacent navigation path line segment head and the tail are sequentially connected with, and generate the first course line.
In addition, present invention also offers a kind of unmanned plane plant protection operation flight course planning device, described device is with including operation
Block creation module：For according to acquired plot information creating operation plot；
Inner boundary generation module：Inner boundary is generated after boundary of land block is reduced into certain proportion for the back gauge according to setting；
Flight course planning module：For cooking up the first course line and the second course line of unmanned plane plant protection operation；
Control operation module：Unmanned plane is controlled to carry out plant protection operation according to first course line and the second course line.
Using above-mentioned technical proposal, including following beneficial effect：Unmanned plane plant protection operation course line rule provided by the present invention
Method and device is drawn, during plant protection operation, side operation can be swept automatically, the fringe region sprinkling in operation plot is covered
Lid, has avoided the occurrence of drain spray situation, and spraying range is without departing from operation outside block edge, meanwhile, during plant protection operation
Unmanned plane can be avoided to touch the barrier outside plot, improve plant protection operation effect, ensure that the security of plant protection operation.
Brief description of the drawings
Fig. 1 is provided the step flow chart of unmanned plane plant protection operation flight course planning method by the embodiment of the present invention；
Fig. 2 is the plot schematic diagram that the embodiment of the present invention carries out flight course planning by flight course planning method provided by the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the utility model embodiment
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is this
Invention part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the present invention, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instruction such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably the description present invention and embodiment
Put, element or part there must be particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His implication, such as term " on " also be likely used for representing certain relations of dependence or annexation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being provided with ", " connection ", " connected " " socket " should be interpreted broadly.For example, can
To be to be fixedly connected, it is detachably connected, or monolithic construction；Can mechanically connect, or electrical connection；Can be joined directly together,
Either it is indirectly connected by intermediary, or is connection internal between two devices, element or parts.For
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Unless otherwise indicated, the implication of " multiple " is two or more.
The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.
The embodiments of the invention provide a kind of unmanned plane plant protection operation flight course planning method, refering to Fig. 1, including walks as follows
Suddenly：
S1, the ground block message for obtaining operation farmland region, and according to the plot information creating operation plot；The operation plot
Including boundary of land block；
Described ground block message is the latitude and longitude information of border destination, the boundary of land block be sequentially connected with by a plurality of boundary sections and
Into the intersection point of adjacent boundary line segment is border destination.
Refering to Fig. 2, border destination is 1,2,3 and 4, and by border destination, sequentially straight line connection is formed boundary of land block.
The 2-D data information each put by related algorithm acquisition according to the latitude and longitude information of border destination, i.e. X, Y
Point value, so as to which dummy activity plot, generation boundary of land block line can be created in the satellite map of computer, wherein, border boat
The latitude and longitude information of point is the multiple collection points for being surveyed and drawn to obtain on the spot to the border in operation farmland region according to mapping worker
The information that is generated of surveying and mapping data.Related algorithm is more in the prior art, as long as latitude and longitude information can be converted into two
Dimension coordinate information, it is not particularly limited in the present embodiment；
In the embodiment of the present invention, plant protection operation APP can be installed in user terminal, the latitude and longitude coordinates of the border destination of acquisition are defeated
Enter to plant protection operation APP, plant protection operation APP and generate boundary of land block according to the latitude and longitude coordinates of each boundary point, closed so as to be created that
Close region job plot.
S2, generate inner boundary after boundary of land block is reduced into certain proportion according to the back gauge of setting；
Existing plant protection operation method directly draws course line according to boundary of land block, and unmanned plane carries out plant protection work according to the course line of drafting
Industry, but in actual job, when unmanned plane carries out plant protection operation in ground block edge, easily bump against by mistake outside ground block edge
Barrier, so as to cause unmanned plane to damage.In order to overcome the defect, the present embodiment, set according to boundary of land block and user
Safe edge is away from reducing certain proportion by boundary of land block, obtain the operating area that inner boundary is formed.
User can be according to being actually needed sets itself back gauge, spacing of the back gauge between boundary of land block and inner boundary.
The polygon that polygon that boundary of land block is formed is formed with inner boundary similar polygon each other.Refering to Fig. 2, what is formed is interior
Border is 1 ' 2 ' 3 ' 4 ', the back gauge set according to user, is reduced and formed according to a certain percentage by boundary of land block 1234.
In a kind of preferred embodiment of the embodiment of the present invention, the step includes following sub-step：
S21, the back gauge parameter for receiving input；
Input needs the back gauge set on user terminal interface.
S22, according to the back gauge parameter, determine the border destination of inner boundary；
The latitude and longitude information and the spacing of inner boundary and boundary of land block of each border destination of boundary of land block are, it is known that so as to true
Surely the border destination of rear inner boundary is inside contracted.
Refering to Fig. 2, the border destination of inner boundary is 1 ', 2 ', 3 ' and 4 '.
The border destination of S23, sequentially straight line connection inner boundary, obtains inner boundary.
S3, the first course line for cooking up according to inner boundary unmanned plane plant protection operation, control unmanned plane is according to the described first boat
Line plant protection operation, so as to by the plot region overlay in inner boundary；
In a kind of preferred embodiment of the embodiment of the present invention, the step is specially：
S31, detect that the operation of user's triggering plays the selected operation of initial line；
In certain embodiments, it can be that user is being provided with plant protection operation APP that the operation of user's triggering, which plays initial line and selectes operation,
User terminal interface on click on a line boundary line section in created boundary of land block.
S32, the spraying swath parameter for receiving user's setting；
Input spraying swath on user terminal interface, spraying swath by user's sets itself as needed and can be shown on interface.Spraying swath
For the width of unmanned plane sprinkling covering.
S33, initial line played based on operation, inner boundary and spraying swath parameter generate one group it is parallel at equal intervals with operation initial line
Navigation path line segment；The spacing of wherein adjacent navigation path line segment is a spraying swath；
Refering to Fig. 2, it is that operation plays initial line to select boundary sections 1 ' 2 ' in inner boundary, and one group of generation is parallel with operation initial line 1 ' 2 '
Navigation path line segment at equal intervals.
S34, adjacent navigation path line segment head and the tail are sequentially connected with, and generate the first course line.
After completing the first flight course planning, when detecting the beginning plant protection operation operation of user's triggering, unmanned plane is according to choosing
Fixed operation plays initial line and operation starting point, plant protection operation is carried out along the first course line planned, until by inner boundary
The spraying swath covering of block region.
Refering to 2, it is 1 ' 2 ' that operation, which plays initial line, if 1 ' is operation starting point, then unmanned plane flies by starting point 1 ' to 2 ',
Then flown by 2 ' to next navigation path line segment, come and gone successively between boundary sections 1 ' 4 ' and 2 ' 3 ', carry out plant protection operation.
S4, when detecting when sweeping side Job Operations of user's triggering, cook up the according to the boundary of land block and inner boundary
Two course lines, control unmanned plane is according to second course line plant protection operation, so as to by the plot area between boundary of land block and inner boundary
Domain covers.
In a kind of two kinds of preferred embodiment of the embodiment of the present invention, control unmanned plane is according to first course line plant protection operation
Before, in addition to step：The flying speed parameter and flying height parameter of input are received, wherein flying speed parameter and flight is high
Degree parameter can have user to be directly inputted on user terminal interface, and user terminal can be by the flying speed parameter received and flight
Height parameter is sent to unmanned plane by communication module.
In another preferred embodiment of the embodiment of the present invention, second is cooked up according to the boundary of land block and inner boundary
Course line is specially：
Receive the spraying swath parameter of input；
Detect that the side operation of sweeping of user's triggering plays initial line and the selected operation of starting point；
Each border course line in the second course line of composition is determined according to spraying swath parameter and the back gauge of setting；Wherein, each border course line point
Formed after not reducing certain proportion successively by boundary of land block.
Wherein, each border course line includes starting course line and a plurality of point of course line, the starting course line and peripheral plot side
The spacing on boundary is half of spraying swath, and the spacing in starting course line and adjacent point of course line is a spraying swath, and the spacing in adjacent point of course line is one
Individual spraying swath.
Because starting course line and the spacing of peripheral boundary of land block are half of spraying swath, and originate course line and divide course line to be plot side
Boundary is formed after reducing according to a certain percentage, thus unmanned plane along starting course line carry out plant protection operation when, on the inside of boundary of land block
Flight, the barrier that will not be bumped against by mistake outside ground block edge.
It is described to be determined according to spraying swath parameter and the back gauge of setting in a kind of preferred embodiment in embodiments of the present invention
Each border course line for forming the second course line is specially：
S41, determined according to the border destination of boundary of land block and half of spraying swath it is corresponding with border destination multiple on starting course line
Collection point A；
Wherein, it is to be formed after boundary of land block reduces certain proportion to originate course line, and the spacing for originating course line and boundary of land block is half
Spraying swath, the multiple collection point A originated on course line correspond with the border destination on boundary of land block.
Refering to Fig. 2, according to the border destination 1,2,3,4 and half of spraying swath on boundary of land block, it may be determined that navigated with border
Collection point 1 ', 2 ', 3 ', 4 ' on the corresponding starting course line of point.
S42, the operation initial line for receiving user's triggering and the selected operation of starting point, from multiple collection points on starting course line
Starting point is chosen in A, determines prime direction；
Specifically, the operation of user's triggering plays initial line and starting point selectes operation and can be provided with plant protection operation for user
A wherein boundary sections and border destination in boundary of land block are clicked on APP user terminal interface.
Refering to Fig. 2, the boundary sections 14 of boundary of land block play initial line for operation on selection starting course line, and border destination 4 is
Initial point, correspond on starting course line, collection point 5 is starting point, and 58 be initial line.
S43, since starting point along prime direction sequentially by the A connections of remaining collection point, draw out starting course line；
During unmanned plane plant protection operation, fly automatically on starting course line with the collection point A corresponding to the border destination, and according to institute
Selected starting point and prime direction, along starting airline operation.
Refering to Fig. 2, by starting point 5, along 58 directions, 58765 are sequentially connected with counterclockwise, draw out starting course line.Starting
Class polygon, spacing are half of spraying swath each other with boundary of land block in course line, when thus can guarantee that unmanned plane according to starting airline operation,
It will be covered at boundary of land block and the barrier outside boundary of land block will not be collided.
S44, determined with originating on the course line of adjacent point of course line according to multiple collection point A on starting course line and spraying swath
Multiple collection point B, be sequentially connected with multiple collection point B, draw out and the adjacent point course line in starting course line；
Originate that the starting point in course line is identical with cut off, by originating the starting point in course line during unmanned plane plant protection operation, along
The direction of determination, i.e., counterclockwise or clockwise, flown back according to starting course line to starting point, when the starting point from originating course line is to phase
When neighbour point course line switches, flown by the starting point for originating course line to corresponding starting point on adjacent course line.
Refering to Fig. 2, determined respectively according to collection point 5678 and a spraying swath on starting course line more on next point of course line
Individual collection point 5 ' 6 ' 7 ' 8 ', according to above-mentioned selected starting point and initial line being played, is sequentially connected with 5 ' 8 ' 7 ' 6 ' 5 ', acquisition divides course line,
Collection point 5 is connected with collection point 5 ', when plant protection unmanned plane along starting course line by starting point 5 fly to one circle be back to starting point
Afterwards, a point course line is switched to by originating course line, i.e., flown from starting point 5 to corresponding starting point 5 ' on point course line, and by originating
Point 5 ' returns to starting point 5 ' after flight one is enclosed counterclockwise.
S45, remaining point of course line is drawn out successively, until by the plot region overlay between boundary of land block and inner boundary.This
In embodiment, border course line includes starting course line and a point of course line.
In addition, another embodiment of the present invention provides a kind of unmanned plane plant protection operation flight course planning device, its described dress
Put including
Operation plot creation module：For according to acquired plot information creating operation plot；
Inner boundary generation module：Inner boundary is generated after boundary of land block is reduced into certain proportion for the back gauge according to setting；
Flight course planning module：For cooking up the first course line and the second course line of unmanned plane plant protection operation；
Control operation module：Unmanned plane is controlled to carry out plant protection operation according to first course line and the second course line.
In the present embodiment, described device also includes：
Selected operation detection module：For detecting the selected operation of Client-initiated；
Parameter receiving module：For receiving flying speed parameter, flying height parameter, spraying swath parameter and the back gauge ginseng of input
Number.
Collection point determining module：For determining each border destination on inner boundary and multiple collections on each border course line
Point.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. unmanned plane plant protection operation flight course planning method, it is characterised in that comprise the following steps：（1）The ground block message in operation farmland region is obtained, and according to the plot information creating operation plot；The operation plot Including boundary of land block；（2）Back gauge according to setting generates inner boundary after boundary of land block is reduced into certain proportion；（3）The first course line of unmanned plane plant protection operation is cooked up according to inner boundary, control unmanned plane is planted according to first course line Operation is protected, so as to by the plot region overlay in inner boundary；（4）When detecting when sweeping side Job Operations of user's triggering, the second boat is cooked up according to the boundary of land block and inner boundary Line, control unmanned plane is according to second course line plant protection operation, so as to which the plot region between boundary of land block and inner boundary be covered Lid.
- 2. according to the method for claim 1, it is characterised in that described ground block message is borderThe latitude and longitude information of destination, the boundary of land block are sequentially connected with by a plurality of boundary sections and formed, the friendship of adjacent boundary line segment Point is border destination.
- 3. according to the method for claim 2, it is characterised in that the back gauge according to setting reduces boundary of land block certain Inner boundary is generated after ratio is specially：Receive the back gauge parameter of input；According to the back gauge parameter, the border destination of inner boundary is determined；The sequentially border destination of straight line connection inner boundary, obtains inner boundary.
- 4. according to the method for claim 1, it is characterised in that cook up the first of unmanned plane plant protection operation according to inner boundary Course line is specially：Detect that the operation of user's triggering plays the selected operation of initial line；Receive the spraying swath parameter of user's setting；Initial line, inner boundary and spraying swath parameter are played based on operation and generate one group of at equal intervals navigation path parallel with operation initial line Line segment；The spacing of wherein adjacent navigation path line segment is a spraying swath；Adjacent navigation path line segment head and the tail are sequentially connected with, and generate the first course line.
- 5. according to the method for claim 1, it is characterised in that control unmanned plane according to first course line plant protection operation it Before, in addition to step：Receive the flying speed parameter and flying height parameter of input.
- 6. according to the method for claim 2, it is characterised in that the second boat is cooked up according to the boundary of land block and inner boundary Line is specially：Receive the spraying swath parameter of input；Detect that the side operation of sweeping of user's triggering plays initial line and the selected operation of starting point；Each border course line in the second course line of composition is determined according to spraying swath parameter and the back gauge of setting；Wherein, each border course line point Formed after not reducing certain proportion successively by boundary of land block.
- 7. according to the method for claim 6, it is characterised in that each border course line includes starting course line and a plurality of point of boat Line, the starting course line and the spacing of peripheral boundary of land block are half of spraying swath, and the spacing in starting course line and adjacent point of course line is one Individual spraying swath, the spacing in adjacent point of course line is a spraying swath.
- 8. according to the method for claim 7, it is characterised in that the back gauge according to spraying swath parameter and setting determines group Each border course line into the second course line is specially：Multiple collections corresponding with border destination on starting course line are determined according to the border destination of boundary of land block and half of spraying swath Point A；The operation of reception user's triggering plays initial line and the selected operation of starting point, is chosen from originating on course line in multiple collection point A Starting point, determine prime direction；Since starting point starting course line is drawn out along prime direction sequentially by the A connections of remaining collection point；Determine multiple to adopt with originate on the course line of adjacent point of course line according to multiple collection point A on starting course line and spraying swath Collect point B, be sequentially connected with multiple collection point B, draw out point course line adjacent with starting course line；Remaining point of course line is drawn out successively, until by the plot region overlay between boundary of land block and inner boundary.
- 9. a kind of unmanned plane plant protection operation flight course planning device, it is characterised in that described device includesOperation plot creation module：For according to acquired plot information creating operation plot；Inner boundary generation module：Inner boundary is generated after boundary of land block is reduced into certain proportion for the back gauge according to setting；Flight course planning module：For cooking up the first course line and the second course line of unmanned plane plant protection operation；Control operation module：Unmanned plane is controlled to carry out plant protection operation according to first course line and the second course line.
- 10. device according to claim 9, it is characterised in that described device also includes：Selected operation detection module：For detecting the selected operation of Client-initiated；Parameter receiving module：For receiving flying speed parameter, flying height parameter, spraying swath parameter and the back gauge ginseng of input Number；Collection point determining module：For determining each border destination on inner boundary and multiple collection points on each border course line.
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