CN107632618A - The control method and device sprayed insecticide - Google Patents
The control method and device sprayed insecticide Download PDFInfo
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- CN107632618A CN107632618A CN201710939585.7A CN201710939585A CN107632618A CN 107632618 A CN107632618 A CN 107632618A CN 201710939585 A CN201710939585 A CN 201710939585A CN 107632618 A CN107632618 A CN 107632618A
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Abstract
The present invention relates to unmanned air vehicle technique field, there is provided a kind of control method and device sprayed insecticide, applied to the ground control station being connected with UAV Communication, methods described includes：Obtain the flight parameter pre-set；According to plant protection operation region and flight parameter, flight starting point and starting line feed point that unmanned plane is sprayed insecticide are set；According to flight starting point and starting line feed point, first line of flight is generated；According to first line of flight, a plurality of second line of flight is generated, wherein, the flight path of first line of flight and a plurality of second line of flight composition unmanned plane, a plurality of second line of flight is parallel with first line of flight and length is consistent, and a plurality of line of flight is in the same side of first line of flight；Control unmanned plane flies along flight path, and is sprayed insecticide since flight starting point.Compared with prior art, the embodiment of the present invention improves operating efficiency without carrying out plot mapping to sprinkling region.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of control method and device sprayed insecticide.
Background technology
With the raising of level of farming mechanization, carry out pesticide spraying using unmanned plane and have become pesticide spraying machineryization
Optimal selection.Unmanned plane spray insecticide with speed it is fast, using ultra-low volume pesticide spraying, save agricultural chemicals and water resource, subtract
The residues of pesticides of few crops and environmental pollution, remote operation reduce the advantages such as the harm to dispenser personnel.
Unmanned plane is during sprinkling task is completed, it is necessary to how effectively and safely to complete the task process of oneself
Planned, that is, mission planning.In mission planning, most important and most complicated is exactly to cook up one for unmanned plane
Bar completes the line of flight required for aerial mission.Before line of flight planning, it is necessary first to carry out plot survey to sprinkling region
Paint, still, plot mapping often spends substantial amounts of manpower and time, reduces the speed of unmanned plane spraying operation.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of control method and device sprayed insecticide, to improve above-mentioned ask
Topic.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows：
In a first aspect, the embodiments of the invention provide a kind of control method sprayed insecticide, it is applied to and UAV Communication
The ground control station of connection, methods described include：Obtain the flight parameter pre-set；According to plant protection operation region and it is described fly
Row parameter, flight starting point and starting line feed point that unmanned plane is sprayed insecticide are set；Changed according to the flight starting point and the starting
Row point, generate first line of flight；According to first line of flight, a plurality of second line of flight is generated, wherein, first flight
Course line and a plurality of second line of flight form the flight path of unmanned plane, and a plurality of second line of flight navigates with the described first flight
Line is parallel and length is consistent, and a plurality of line of flight is in the same side of first line of flight；Control the unmanned plane edge
The flight path flight, and sprayed insecticide since the flight starting point.
Second aspect, the embodiment of the present invention additionally provide a kind of control device sprayed insecticide, led to applied to unmanned plane
Believe the ground control station of connection, described device includes flight parameter acquisition module, setup module, first line of flight generation mould
Block, the second line of flight generation module and execution module.Wherein, flight parameter acquisition module is used to obtain the flight pre-set
Parameter；Setup module is used for the flight starting point for according to plant protection operation region and the flight parameter, setting unmanned plane to spray insecticide
With starting line feed point；First line of flight generation module is used for according to the flight starting point and the starting line feed point, generation the
One line of flight；Second line of flight generation module is used to, according to first line of flight, generate a plurality of second line of flight, its
In, first line of flight and a plurality of second line of flight form the flight path of unmanned plane, and a plurality of second line of flight is equal
It is parallel with first line of flight and length is consistent, and a plurality of line of flight is in the same side of first line of flight；
Execution module is used to control the unmanned plane to fly along the flight path, and is sprayed insecticide since the flight starting point.
Compared with the prior art, a kind of control method and device sprayed insecticide provided in an embodiment of the present invention, first, obtain
The flight parameter pre-set, and according to plant protection operation region and flight parameter, the flight starting point for setting unmanned plane to spray insecticide
With starting line feed point；Then, according to flight starting point and starting line feed point, first line of flight is generated, is navigated further according to the first flight
Line, generates a plurality of second line of flight, and first line of flight and a plurality of second line of flight form the flight path of unmanned plane；Most
Afterwards, control unmanned plane flies along flight path, and is sprayed insecticide since flight starting point.Compared with prior art, the present invention is real
Example is applied without carrying out plot mapping to sprinkling region, improves operating efficiency.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the schematic diagram that ground control station provided in an embodiment of the present invention interacts with unmanned plane.
Fig. 2 shows the block diagram of ground control station provided in an embodiment of the present invention.
Fig. 3 shows the control method flow chart provided in an embodiment of the present invention sprayed insecticide.
Fig. 4 is the sub-step flow chart of the step S102 shown in Fig. 3.
Fig. 5 is the sub-step flow chart of the step S107 shown in Fig. 3.
Fig. 6 shows the block diagram of the control device provided in an embodiment of the present invention sprayed insecticide.
Icon：100- ground control stations；The control device that 110- sprays insecticide；111- flight parameter acquisition modules；112-
Setup module；113- first line of flight generation modules；114- second line of flight generation modules；115- execution modules；116-
Position coordinates logging modle；The continuous spray control modules of 117-；120- memories；130- processors；140- communication units；200- nobody
Machine；300- networks.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 is refer to, Fig. 1 shows that ground control station 100 provided in an embodiment of the present invention interacts with unmanned plane 200
Schematic diagram.Ground control station 100 can be communicated by network 300 with unmanned plane 200, with realize ground control station 100 with
Data between unmanned plane 200 communicate with interacting.Ground control station 100 may be, but not limited to, desktop computer, notebook computer,
Tablet personal computer etc..Unmanned plane 200 may be, but not limited to, fixed-wing unmanned plane, depopulated helicopter and multi-rotor unmanned aerial vehicle, the umbrella wing
Unmanned plane, flapping wing unmanned plane and unmanned spaceship/spacecraft etc..
Fig. 2 is refer to, ground control station 100 includes control device 110, memory 120, the processor 130 sprayed insecticide
And communication unit 140.
Memory 120, processor 130 and 140 each element of communication unit are directly or indirectly electrically connected between each other, with
Realize the transmission or interaction of data.For example, these elements between each other can be real by one or more communication bus or signal wire
Now it is electrically connected with.The control device 110 sprayed insecticide can be deposited including at least one in the form of software or firmware (firmware)
It is stored in first memory 120 or is solidificated in the operating system (operating system, OS) of the ground control station 100
Program module.The processor 130 is used to perform various instructions, and the various instructions include performing to be stored in memory 120
A plurality of instruction, such as the program module that includes of the control device 110 sprayed insecticide or computer program perform it is a plurality of
Instruction.
Wherein, the memory 120 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, memory 120 is used to store a plurality of instruction, and the instruction is suitable to be loaded simultaneously by processor 130
Perform.Communication unit 140 is used to realize the communication between ground control station 100 and unmanned plane 200, with transceiving data.
Processor 130 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor 130 can be with
It is general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP), speech processor and video processor etc.；Can also be digital signal processor, application specific integrated circuit,
Field programmable gate array either other PLDs, discrete gate or transistor logic, discrete hardware components.
It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be
Microprocessor or the processor 130 can also be any conventional processors etc..
First embodiment
Fig. 3 is refer to, Fig. 3 shows the control method flow chart provided in an embodiment of the present invention sprayed insecticide.Spray agriculture
The control method of medicine comprises the following steps：
Step S101, obtain the flight parameter pre-set.
In embodiments of the present invention, flight parameter includes flying height, flying speed, course line spacing and airline generation side
To.Flight parameter can be configured, example by user according to being actually needed by the keyboard of ground control station 100, mouse etc.
Such as, it is 2m to set flying height, flying speed 2m/s, course line spacing are 3m, course line production mode reform is to the right.
Step S102, according to plant protection operation region and flight parameter, flight starting point and rise that unmanned plane is sprayed insecticide are set
Begin line feed point.
In embodiments of the present invention, plant protection operation region may be, but not limited to, the more regular farmland of scope, forest etc.
Need the plot sprayed insecticide.After getting the flight parameter pre-set, according to plant protection operation region and flight parameter, if
Put flight starting point and the starting line feed point that unmanned plane 200 is sprayed insecticide.
As a kind of embodiment, the specific setting up procedure for the flight starting point sprayed insecticide can be：Sent out to unmanned plane 200
Send instruction that the flight starting point sprayed insecticide is set, unmanned plane 200 responds the instruction and sets the flight starting point sprayed insecticide, nobody
Machine 200 sets the backward ground control station 100 of the flight starting point sprayed insecticide success to be fed back, and ground control station 100 is according to this
Feedback is adding the first label corresponding to the flight starting point sprayed insecticide on map reference, for example, A points.
As a kind of embodiment, the specific setting up procedure of starting line feed point can be：Instruction is sent to unmanned plane 200 to set
Starting line feed point is put, unmanned plane 200 responds the instruction and sets starting line feed point, and unmanned plane 200 sets starting line feed to put successfully
Backward ground control station 100 is fed back, and ground control station 100 is according to corresponding to the feedback in starting line feed point on map reference
The second label is added, for example, B points.
In embodiments of the present invention, it is determined that after the first label and the second label, according to the first label and
Two labels, generate the region that unmanned plane 200 is sprayed insecticide and shown, the region can be rectangular area, that is to say, that
The straight line that first label and the second label are formed is as a line of rectangular area, for example, AB, user can be according to reality
Border needs to set cornerwise length of rectangular area, ground control station 100 generate the region sprayed insecticide of unmanned plane 200 it
Afterwards, the region is shown.
Fig. 4 is refer to, step S102 can include following sub-step：
Sub-step S1021, according to plant protection operation region, send the first instruction to unmanned plane and flight starting point is set.
In embodiments of the present invention, the first instruction can set the instruction of flight starting point sprayed insecticide, and user can be with
The order for triggering the instruction is set according to being actually needed, for example, input is digital " 1 ".
Sub-step S1022, when receiving the first feedback command of unmanned plane feedback, sat in map corresponding to flight starting point
Put on the first label of addition.
In embodiments of the present invention, the first feedback command can be the flight starting point sprayed insecticide that unmanned plane 200 feeds back
Position coordinates, the first label can be a coordinate points.
Sub-step S1023, the second instruction and flight parameter are sent to unmanned plane, and line feed point is originated to set.
In embodiments of the present invention, the second instruction can set the instruction of starting line feed point, and user can be according to reality
Need to set the order for triggering the instruction, for example, input is digital " 2 ".
Sub-step S1024, when receiving the second feedback command of unmanned plane feedback, in map corresponding to starting line feed point
The second label is added on coordinate.
In embodiments of the present invention, the second feedback command can be that the position for the starting line feed point that unmanned plane 200 feeds back is sat
Mark, the second label can be a coordinate points.
Sub-step S1025, according to the first label and the second label, generate the region that unmanned plane is sprayed insecticide and progress
Display.
In embodiments of the present invention, the region that unmanned plane 200 is sprayed insecticide can be rectangular area, that is to say, that by
A line of the straight line that one label and the second label are formed as rectangular area, user can be according to being actually needed setting square
Cornerwise length in shape region, after ground control station 100 generates the region that unmanned plane 200 is sprayed insecticide, the region is entered
Row display.
Step S103, according to flight starting point and starting line feed point, generate first line of flight.
In embodiments of the present invention, the starting point of first line of flight is flight starting point, the terminal of first line of flight,
It is starting line feed point that exactly first line of flight, which is transferred to the destination in the continuous next course line of first line of flight such as, again.
Step S104, according to first line of flight, a plurality of second line of flight is generated, wherein, first line of flight and more
The line of flight of bar second forms the flight path of unmanned plane, and a plurality of second line of flight is parallel with first line of flight and length
Unanimously, and a plurality of line of flight is in the same side of first line of flight.
In embodiments of the present invention, first line of flight is consistent with the flying height of a plurality of second line of flight, and the first flight
The flight path that course line and a plurality of second line of flight form unmanned plane 200 is corresponding with plant protection operation region, and distance first is flown
The terminal of farthest second line of flight of course line is target destination, and target destination can be that unmanned plane 200 is sprayed insecticide
Terminal.
Step S105, control unmanned plane flies along flight path, and is sprayed insecticide since flight starting point.
In embodiments of the present invention, ground control station 100 can be by remote control remote control unmanned plane 200 along flight road
Footpath is flown, and is sprayed insecticide since flight starting point, and stops spraying insecticide at target destination.
Step S106, when unmanned plane is sprayed insecticide, record the position coordinates of unmanned plane.
In embodiments of the present invention, unmanned plane 200 obtains flight position and sent extremely in real time during spraying insecticide
Ground control station 100, so that ground control station 100 is recorded in real time.
Step S107, when receiving the off-drug instruction of unmanned plane transmission, control unmanned plane carries out continuous spray after dosing.
In embodiments of the present invention, when receiving the off-drug instruction of the transmission of unmanned plane 200, the disconnected of unmanned plane 200 is obtained
Medicine coordinate points, and off-drug mark is being added corresponding to off-drug coordinate points on map reference, after the dosing of unmanned plane 200, according to
Off-drug is marked, and off-drug coordinate points are sent to unmanned plane 200 so that unmanned plane 200 at the off-drug coordinate points continue pesticide.
As a kind of embodiment, if unmanned plane 200 during spraying insecticide, if there is off-drug, is then sent
Off-drug is instructed to ground control station 100.After ground control station 100 receives off-drug instruction, obtain unmanned plane 200 and send off-drug
Flight position during instruction, the flight position is converted into map reference, and off-drug mark is added on the map reference.In nothing
After man-machine 200 dosing, it is first determined whether having off-drug mark, if so, it is corresponding then to send flight starting point coordinate, off-drug mark
Off-drug coordinate points and target destination to unmanned plane 200 so that unmanned plane 200 at the off-drug coordinate points continue pesticide.
Fig. 5 is refer to, step S107 can include following sub-step：
Sub-step S1071, when receiving the off-drug instruction of unmanned plane transmission, obtain the off-drug coordinate points of unmanned plane.
In embodiments of the present invention, off-drug coordinate points can be flight position when unmanned plane 200 sends off-drug instruction.
Sub-step S1072, off-drug mark is being added corresponding to off-drug coordinate points on map reference.
In embodiments of the present invention, the medicine coordinate points are converted into map reference, and off-drug is added on the map reference
Mark.
Sub-step S1073, after unmanned plane dosing, marked according to off-drug, off-drug coordinate points are sent to unmanned plane, with
Continue pesticide making unmanned plane at the off-drug coordinate points.
In embodiments of the present invention, after the dosing of unmanned plane 200, it is first determined whether having off-drug mark, if so, then
Off-drug coordinate points and target destination are to unmanned plane 200 corresponding to transmission flight starting point coordinate, off-drug mark, so that unmanned plane
200 at the off-drug coordinate points continue pesticide.
Second embodiment
Fig. 6 is refer to, Fig. 6 shows the square frame signal of the control device 110 provided in an embodiment of the present invention sprayed insecticide
Figure.The control device 110 sprayed insecticide includes flight parameter acquisition module 111, setup module 112, the generation of first line of flight
Module 113, the second line of flight generation module 114, execution module 115, position coordinates logging modle 116 and continuous spray control module
117。
Flight parameter acquisition module 111, for obtaining the flight parameter pre-set.
In embodiments of the present invention, flight parameter acquisition module 111 can be used for performing step S101.
Setup module 112, for according to plant protection operation region and flight parameter, the flight for setting unmanned plane to spray insecticide to rise
Point and starting line feed point.
In embodiments of the present invention, setup module 112 can be used for perform step S102 and sub-step S1021~
S1025。
First line of flight generation module 113, for according to flight starting point and starting line feed point, the flight boat of generation first
Line.
In embodiments of the present invention, the first line of flight generation module 113 can be used for performing step S103.
Second line of flight generation module 114, for according to first line of flight, generating a plurality of second line of flight, its
In, first line of flight and a plurality of second line of flight form the flight path of unmanned plane, and a plurality of second line of flight is with the
One line of flight is parallel and length is consistent, and a plurality of line of flight is in the same side of first line of flight.
In embodiments of the present invention, the second line of flight generation module 114 can be used for performing step S104.
Execution module 115, for controlling unmanned plane to be flown along flight path, and sprayed insecticide since flight starting point.
In embodiments of the present invention, execution module 115 can be used for performing step S105.
Position coordinates logging modle 116, for when unmanned plane is sprayed insecticide, recording the position coordinates of unmanned plane.
In embodiments of the present invention, position coordinates logging modle 116 can be used for performing step S106.
Continuous spray control module 117, for when receiving the off-drug instruction of unmanned plane transmission, control unmanned plane dosing it
After carry out continuous spray.
In embodiments of the present invention, continue spray control module 117 to can be used for performing step S107 and sub-step S1071
~S1073.
In summary, a kind of control method and device sprayed insecticide provided by the invention, are applied to and UAV Communication
The ground control station of connection, methods described include：Obtain the flight parameter pre-set；According to plant protection operation region and flight ginseng
Number, flight starting point and starting line feed point that unmanned plane is sprayed insecticide are set；According to flight starting point and starting line feed point, generation first
The line of flight；According to first line of flight, a plurality of second line of flight is generated, wherein, first line of flight and a plurality of second flies
Row course line forms the flight path of unmanned plane, and a plurality of second line of flight is parallel with first line of flight and length is consistent, and
The a plurality of line of flight is in the same side of first line of flight；Control unmanned plane flies along flight path, and is opened from flight starting point
Beginning sprays insecticide.Compared with prior art, the embodiment of the present invention improves operation effect without carrying out plot mapping to sprinkling region
Rate.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
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.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
Claims (10)
1. a kind of control method sprayed insecticide, it is characterised in that applied to the ground control station being connected with UAV Communication, institute
The method of stating includes：
Obtain the flight parameter pre-set；
According to plant protection operation region and the flight parameter, flight starting point and starting line feed point that unmanned plane is sprayed insecticide are set；
According to the flight starting point and the starting line feed point, first line of flight is generated；
According to first line of flight, a plurality of second line of flight is generated, wherein, first line of flight and a plurality of second flight
Course line forms the flight path of unmanned plane, and a plurality of second line of flight is parallel with first line of flight and length is consistent,
And a plurality of line of flight is in the same side of first line of flight；
Control the unmanned plane to be flown along the flight path, and sprayed insecticide since the flight starting point.
2. the method as described in claim 1, it is characterised in that described the step of obtaining the flight parameter pre-set, including：
Obtain flying height, flying speed, course line spacing and the airline generation direction pre-set.
3. the method as described in claim 1, it is characterised in that according to plant protection operation region and the flight parameter, nothing is set
The step of man-machine flight starting point sprayed insecticide and starting line feed point, including：
According to plant protection operation region, send the first instruction to the unmanned plane and the flight starting point is set；
When receiving the first feedback command of the unmanned plane feedback, added corresponding to the flight starting point on map reference
First label；
The second instruction and the flight parameter are sent to the unmanned plane, to set the starting line feed point；
When receiving the second feedback command of the unmanned plane feedback, adding corresponding to the starting line feed point on map reference
Add the second label；
According to first label and second label, generate the region that unmanned plane is sprayed insecticide and shown.
4. the method as described in claim 1, it is characterised in that the control unmanned plane flies along the flight path, and from
After the step of flight starting point starts to spray insecticide, in addition to：
When the unmanned plane is sprayed insecticide, the position coordinates of the unmanned plane is recorded；
When receiving the off-drug instruction that the unmanned plane is sent, the unmanned plane is controlled to carry out continuous spray after dosing.
5. method as claimed in claim 4, it is characterised in that described when the off-drug instruction for receiving the unmanned plane transmission
When, control the unmanned plane being carried out after dosing continuous the step of spraying, including：
When receiving the off-drug instruction that the unmanned plane is sent, the off-drug coordinate points of the unmanned plane are obtained；
Off-drug mark is being added corresponding to the off-drug coordinate points on map reference；
After the unmanned plane dosing, marked according to off-drug, the off-drug coordinate points are sent to the unmanned plane, so that institute
Continue pesticide unmanned plane is stated at the off-drug coordinate points.
6. a kind of control device sprayed insecticide, it is characterised in that applied to the ground control station being connected with UAV Communication, institute
Stating device includes：
Flight parameter acquisition module, for obtaining the flight parameter pre-set；
Setup module, for the flight starting point sprayed insecticide according to plant protection operation region and the flight parameter, setting unmanned plane
With starting line feed point；
First line of flight generation module, for according to the flight starting point and the starting line feed point, the flight boat of generation first
Line；
Second line of flight generation module, for according to first line of flight, generating a plurality of second line of flight, wherein, it is described
First line of flight and a plurality of second line of flight form the flight path of unmanned plane, and a plurality of second line of flight is with described the
One line of flight is parallel and length is consistent, and a plurality of line of flight is in the same side of first line of flight；
Execution module, for controlling the unmanned plane to be flown along the flight path, and agriculture is sprayed since the flight starting point
Medicine.
7. device as claimed in claim 6, it is characterised in that the flight parameter acquisition module is additionally operable to：
Obtain flying height, flying speed, course line spacing and the airline generation direction pre-set.
8. device as claimed in claim 6, it is characterised in that the setup module is additionally operable to：
According to plant protection operation region, send the first instruction to the unmanned plane and the flight starting point is set；
When receiving the first feedback command of the unmanned plane feedback, added corresponding to the flight starting point on map reference
First label；
The second instruction and the flight parameter are sent to the unmanned plane, to set the starting line feed point；
When receiving the second feedback command of the unmanned plane feedback, adding corresponding to the starting line feed point on map reference
Add the second label；
According to first label and second label, generate the region that unmanned plane is sprayed insecticide and shown.
9. device as claimed in claim 6, it is characterised in that the control device sprayed insecticide also includes：
Position coordinates logging modle, for when the unmanned plane is sprayed insecticide, recording the position coordinates of the unmanned plane；
Continuous spray control module, for when receiving the off-drug instruction that the unmanned plane is sent, controlling the unmanned plane in dosing
Continuous spray is carried out afterwards.
10. device as claimed in claim 9, it is characterised in that the continuous spray control module is additionally operable to：
When receiving the off-drug instruction that the unmanned plane is sent, the off-drug coordinate points of the unmanned plane are obtained；
Off-drug mark is being added corresponding to the off-drug coordinate points on map reference；
After the unmanned plane dosing, marked according to off-drug, the off-drug coordinate points are sent to the unmanned plane, so that institute
Continue pesticide unmanned plane is stated at the off-drug coordinate points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710939585.7A CN107632618A (en) | 2017-09-30 | 2017-09-30 | The control method and device sprayed insecticide |
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| CN108803657A (en) * | 2018-06-13 | 2018-11-13 | 仲恺农业工程学院 | Unmanned aerial vehicle plant protection monitoring system and method for automatic control |
| CN109144100A (en) * | 2018-09-03 | 2019-01-04 | 南京嘉谷初成通信科技有限公司 | Spray control method, device, earth station and storage medium |
| CN110244764A (en) * | 2019-06-26 | 2019-09-17 | 深圳慈航无人智能系统技术有限公司 | A kind of plant protection operation method, system and electronic equipment and storage medium |
| CN111750857A (en) * | 2019-10-24 | 2020-10-09 | 广州极飞科技有限公司 | Route generation method, route generation device, terminal and storage medium |
| CN112783205A (en) * | 2020-12-31 | 2021-05-11 | 广州极飞科技股份有限公司 | Medicine spraying method and device, processor and unmanned device |
| CN113439726A (en) * | 2021-06-21 | 2021-09-28 | 华南农业大学 | Plant protection unmanned aerial vehicle accurate target-aiming spraying method and device based on 5G network |
| CN113848973A (en) * | 2018-10-31 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Control method and device, surveying and mapping unmanned aerial vehicle and spraying unmanned aerial vehicle |
| CN116501092A (en) * | 2023-06-27 | 2023-07-28 | 北京市农林科学院智能装备技术研究中心 | Aviation pesticide application control method and system |
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| CN108803657A (en) * | 2018-06-13 | 2018-11-13 | 仲恺农业工程学院 | Unmanned aerial vehicle plant protection monitoring system and method for automatic control |
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| CN116501092A (en) * | 2023-06-27 | 2023-07-28 | 北京市农林科学院智能装备技术研究中心 | Aviation pesticide application control method and system |
| CN116501092B (en) * | 2023-06-27 | 2023-10-20 | 北京市农林科学院智能装备技术研究中心 | Aviation pesticide application control method and system |
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