CN108184794A - Plant protection operation method, terminal, plant protection unmanned plane and computer readable storage medium - Google Patents
Plant protection operation method, terminal, plant protection unmanned plane and computer readable storage medium Download PDFInfo
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- CN108184794A CN108184794A CN201711472805.6A CN201711472805A CN108184794A CN 108184794 A CN108184794 A CN 108184794A CN 201711472805 A CN201711472805 A CN 201711472805A CN 108184794 A CN108184794 A CN 108184794A
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- plant protection
- course line
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- unmanned plane
- initial point
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Abstract
The present invention relates to unmanned plane plant protection technology fields, and in particular to a kind of plant protection operation method, terminal, unmanned plane and computer readable storage medium, the plant protection operation method include the following steps：For the first time during plant protection operation, operation course line for the first time is planned according to operation plot and plant protection unmanned plane progress plant protection operation for the first time will be sent in operation course line for the first time；Operation course line includes operation initial point and operation cut off for the first time；When secondary plant protection operation, operation course line for the first time and the assignment initial point when time plant protection operation are obtained；Wherein, assignment initial point is located at this for the first time on operation course line；According to assignment initial point and operation cut off generation plant protection unmanned plane work as subjob course line；Plant protection operation will be carried out when subjob course line is sent to plant protection unmanned plane.Plant protection operation method provided by the present invention for same farmland massif, in the sprinkling task without graded completion farmland massif on the basis of planning course line again, improves plant protection operation efficiency and effect.
Description
Technical field
The present invention relates to unmanned plane plant protection technology fields, and in particular to a kind of plant protection operation method, terminal, plant protection unmanned plane
And computer readable storage medium.
Background technology
With the development of plant protection unmanned air vehicle technique, more and more users start to carry out plant protection operation using unmanned plane, especially
It is to carry out pesticide spraying using unmanned plane, and with being damaged to crops, small, pesticide utilization rate is high, it is excellent to reduce labor intensity etc.
Point.In prior art, plant protection unmanned plane typically flies when carrying out plant protection operation to one piece of farmland region according to what is planned in advance
Covering is sprayed in entire farmland region by row course line comprehensively, until completing the plant protection operation to monoblock farmland region.
However, the plant protection operation method needs to complete the sprinkling task in monoblock farmland region in operation for the first time, if in
Way stops operation, and needs to plan course line when performing plant protection operation next time again or according to having planned course line operation again, if
Still according to the line of flight operation planned, it can cause to repeat to spray, seriously affect the normal growth of crops；If according to not spraying
It spills region and plans course line again, then acquisition is needed not spray the ground block message in region, labor intensity is not only increased, reduces work
Industry efficiency, and it is difficult to ensure that the accuracy of locality block message, influence plant protection operation effect.
Invention content
In order to solve the above-mentioned technical problem the present invention, provides a kind of plant protection operation method, terminal, plant protection unmanned plane and calculating
Machine readable storage medium storing program for executing can complete plant protection operation and can ensure that plant protection operation effect by several times.
In order to reach above-mentioned technique effect, the present invention includes following technical scheme：A kind of plant protection operation method, including following
Step：
（1）For the first time during plant protection operation, operation course line for the first time is planned according to operation plot and plant protection will be sent in operation course line for the first time
Unmanned plane carries out plant protection operation for the first time；The course line of operation for the first time includes operation initial point and operation cut off；
（2）When secondary plant protection operation, operation course line for the first time and the assignment initial point when time plant protection operation are obtained；Wherein,
The assignment initial point is located at this for the first time on operation course line；
（3）According to the assignment initial point and operation cut off generation plant protection unmanned plane work as subjob course line；
（4）By described when subjob course line is sent to plant protection unmanned plane into the trade time plant protection operation.
Preferably, the step（1）In the planing method in operation course line for the first time include：
1）According to the boundary line in acquired operation boundary of land block information generation operation plot；
2）It determines operation initial edge and a plurality of navigation path parallel with operation initial edge is drawn according to operation boundary of land block information
Straightway；
3）The navigation path straightway intersects with the boundary line except operation initial edge, and intersection point is destination；
4）Along the multiple destinations formed, a plurality of parallel navigation path straightway head and the tail are sequentially connected with, and form covering
The operation course line for the first time in operation plot.
Preferably, the step 3）It further includes：All destinations are identified according to preset rules.
Preferably, the preset rules are：According to operation course line for the first time by operation initial point to the flight of operation cut off
Sequentially, all destinations are identified successively；It identifies content and includes destination label and waypoint location information.
Further, it is described when subjob course line includes takeoff point, the step（3）It is middle initial according to the assignment
Point and operation cut off generation plant protection unmanned plane are when subjob course line includes：
According to the takeoff point and assignment initial point generation takeoff pattern；
According to the assignment initial point and operation cut off generation operation course line；
Subjob course line is worked as using the takeoff pattern and the operation airline generation.
To solve the above problems, the present invention provides a kind of terminal, the terminal includes display, memory, processor
And the plant protection operation program that can be run on the memory and on the processor is stored in, the plant protection operation program is by institute
State the step realized when processor performs in the above method.
In addition, to solve the above problems, the present invention also provides a kind of computer readable storage medium, the computer can
It reads storage medium and is stored with plant protection operation program, the step in the above method is realized when the plant protection operation program is executed by processor
Suddenly.
Using above-mentioned technical proposal, including following advantageous effect：Plant protection operation method provided by the present invention, for same
Farmland massif, in the sprinkling times without graded completion farmland massif on the basis of planning course line again by locality block message
Business, avoids the occurrence of and resprays phenomenon, multiple UAVs alternately operating can also be used, improve plant protection operation efficiency and effect.
Description of the drawings
Fig. 1 is provided the step flow chart of plant protection operation method by first embodiment of the invention；
Fig. 2 is the schematic diagram in operation course line for the first time in first embodiment of the invention；
Fig. 3 is when the schematic diagram in subjob course line in first embodiment of the invention；
Fig. 4 is provided the step flow chart of plant protection operation method by second embodiment of the invention；
Fig. 5 is provided by second embodiment of the invention when the schematic diagram in subjob course line；
Fig. 6 is provided the step flow chart of plant protection operation method by fourth embodiment of the invention.
Specific embodiment
The present invention is described in further detail below by specific embodiment and with reference to attached drawing.
Embodiment：
In general, unmanned plane carries out plant protection when carrying out plant protection operation to one piece of farmland region, according to the course line planned
Operation, when occurring operation abnormal conditions halfway, for example, the battery capacity that dose is insufficient in medicine-chest, unmanned plane carries it is insufficient or
Flight control system abnormal state and when can not continue plant protection operation, by making a return voyage instruction to unmanned plane transmission, instruction unmanned plane stopping
Operation is simultaneously maked a return voyage.
Since unmanned plane stops operation the sprinkling task in farmland region is caused not complete in last operation process, need again
Secondary to carry out plant protection operation to it, still, according to the course line that the last time is planned, unmanned plane can only be originated from the original work industry in the course line
Point is sprayed, so that secondary sprinkling phenomenon occurs in the region of sprinkling of last plant protection operation, seriously affects crops
Upgrowth situation；
If course line is planned again according to region is not sprayed, it is also necessary to the geographical location information for not spraying region is resurveyed,
Labor intensity is largely increased, extends the time of plant protection operation, reduces plant protection operation efficiency.
In addition, in prior art, it is impossible to select spraying range as needed, can only make according to the course line planned from it
Industry starting point carries out plant protection operation, it is impossible to adapt to the practical farming demand of user.
To solve the above-mentioned problems, the present invention proposes implementation below.
Refering to Fig. 1, Fig. 1 shows the plant protection operation method that first embodiment of the invention is provided, the plant protection operation side
Method includes the following steps：
Step S101, for the first time plant protection operation when, according to operation plot planning for the first time operation course line and will for the first time operation course line send
Plant protection operation for the first time is carried out to plant protection unmanned plane；The course line of operation for the first time includes operation initial point and operation cut off；
Preferably, the planing method in operation course line includes for the first time in the step S101：
Step S111, according to the boundary line in acquired operation boundary of land block information generation operation plot；
The operation boundary of land block information is the latitude and longitude information on boundary, when obtaining operation boundary of land block information, optionally, is carried
RTK measuring instruments are got ready along the boundary in practical farmland region, acquire the latitude and longitude coordinates of multiple collection points on boundary；Operation
The boundary line in plot can generate in terminal, which can be user's control end, and plant protection work is equipped on user's control end
Industry APP, during concrete operations, user can load out high definition satellite map on user's control end, by collected boundary of land block
Latitude and longitude coordinates input, so as to generate the boundary line in operation plot.
Optionally, operation plot is quadrangle plot in the present embodiment, during practical operation, can be acquired on quadrangle plot
Acquired four latitude and longitude coordinates are input to user's control end, in plant protection operation APP by the latitude and longitude coordinates of four apexes
Plot create the boundary line in generation operation plot on interface, boundary line area defined is operation plot region.
Step S112, it determines operation initial edge and is drawn according to operation boundary of land block information a plurality of parallel with operation initial edge
Navigation path straightway；
Operation plot is polygon plot, can be quadrangularly block in the present embodiment, the boundary line in the operation plot is by four
Line segment is connected in sequence, and the wherein a line for selecting quadrangle plot is operation initial edge, draws a plurality of and operation initial edge
Parallel and equidistant course line path straightway, wherein, the distance between adjacent navigation path straightway be a spraying swath, i.e., without
Man-machine spray width.
Step S113, described navigation path straightway intersects with the boundary line except operation initial edge, and intersection point is destination；
By taking quadrangle job block as an example, referring to Fig.2, Fig. 2 shows the schematic diagram in quadrangle operation plot operation course line for the first time, it is false
If four vertex of quadrangle are respectively A, B, C and D, in the present embodiment, wherein, using AB sides as operation initial edge, draw it is a plurality of with
Its parallel and equal spacing navigation path straightway, every course line path straightway is respectively with AB in the AD of both sides and BC sides
Intersecting, each navigation path straightway forms two destinations with boundary line respectively, in the present embodiment, destination include four vertex with
And navigation path straightway and the intersection point of boundary line.
Preferably, all destinations are identified according to preset rules, the preset rules are：According to operation course line for the first time by making
Industry initial point to operation cut off flight sequence, all destinations are identified successively, mark content include destination label and
Waypoint location information.For example, operation initial point A is started to mark remaining boat successively labeled as No. 1 destination with the operation initial point
Point is No. 2 destinations, No. 3 destinations, No. 4 destinations etc.；Preferably, can on plant protection operation APP vertically displaying odd number boat successively
Point, i.e., No. 1, No. 3, the destinations such as No. 5, refering to Fig. 2.,
Step S114, along the multiple destinations formed, a plurality of parallel navigation path straightway head and the tail are sequentially connected with, structure
Into the operation course line for the first time in overwrite job plot.When unmanned plane is according to the plant protection operation airline operation, spraying swath can cover entirely
Operation plot.
One on operation initial edge in two vertex can be selected as operation initial point, such as the destination A in Fig. 2,
Start to be sequentially connected other destinations with the operation initial point, a plurality of parallel navigation path line segment head and the tail sequentially connect to be formed it is snakelike
Course line, so as to which entire operation plot be covered, a final destination in operation course line is operation cut off for the first time, such as destination D.
When carrying out plant protection operation for the first time to farmland massif, plant protection operation course line is cooked up according to step S101, selectes and makees
Any one in industry initial point or destination is as assignment initial point, and during plant protection operation, unmanned plane is by the assignment
Initial point starts along having planned course line plant protection operation.In general, for the first time plant protection operation when, selected operation initial point as planting for the first time
The assignment initial point of operation is protected, unmanned plane proceeds by plant protection operation by operation initial point.
Step S102, when secondary plant protection operation, operation course line for the first time is obtained and at the beginning of the assignment of time plant protection operation
Initial point；Wherein, the assignment initial point is located at this for the first time on operation course line；
Specifically, if plant protection operation does not fulfil assignment the sprinkling task in plot for the first time, that is, plant protection unmanned plane midway stops operation
And finish sprinkling task and make a return voyage, it needs to carry out plant protection operation again.When secondary plant protection operation can be to plant for the first time in the present embodiment
Protect second of plant protection operation after operation, or third time plant protection operation, number is unlimited, can plant protection operation several times
Complete the sprinkling task in entire operation plot.
When secondary plant protection operation, operation course line for the first time is obtained, user can select assignment initial according to actual conditions
Point, optionally, at the arbitrary point or stop position headed by the assignment initial point in subjob course line in each destination.Stop
At position be plant protection unmanned plane off-drug point, that is, position when plant protection unmanned plane stops operation, when in plant protection operation for the first time plant protection without
During man-machine aborting job, off-drug dot position information can be sent to the user terminal, while off-drug point can be shown on user's control end
Show between its front and rear two adjacent destination, user is facilitated to observe the specific location residing for off-drug point.
Wherein, the location information at off-drug point can pass through the self-contained GPS of unmanned plane（Global positioning system）Positioning
Device obtains, and the method for obtaining location information at unmanned plane off-drug point is not limited in the present embodiment.
Step S103, it is navigated according to the subjob of working as of the assignment initial point and operation cut off generation plant protection unmanned plane
Line；
If specified initial point is off-drug point, according to off-drug point and the generation of operation cut off when subjob course line.
Step S104, by described when subjob course line is sent to plant protection unmanned plane into the trade time plant protection operation.
When plant protection unmanned plane and unmanned plane during plant protection operation for the first time of secondary plant protection operation can be two different nobody
Machine, when the unmanned plane aborting job of plant protection operation for the first time, at recording and sending off-drug point location information to terminal, such as Fig. 2,
E points are off-drug point, and by only marking odd number destination in this present embodiment, user's control end obtains after the off-drug location information and should
Off-drug point is shown between destination 5 and 7, and each destination, which is vertically arranged in order, to be shown on plant protection operation APP interfaces.
User selects off-drug point as assignment initial point, and user's control end obtains off-drug point and the work in operation course line for the first time
Industry cut off generates new plant protection operation course line, i.e., when subjob course line, such as Fig. 3, and will be when subjob course line is sent to separately
One UAV targets that can be taken off at any time, the UAV targets by upper plant protection unmanned plane off-drug position along work as
Subjob course line carries out plant protection operation, and this method substantially increases plant protection operation efficiency, reduced as far as possible due to plant protection operation
Occur in the process it is abnormal cause plant protection operation stop and to harmful effect caused by plant protection operation.
Refering to Fig. 4, on the basis of first embodiment, Fig. 4 shows that the plant protection that second embodiment of the invention is provided is made
Industry method：
Step S201, for the first time plant protection operation when, according to operation plot planning operation course line for the first time；The course line of operation for the first time includes
Operation initial point and operation cut off；
Step S202, when secondary plant protection operation, operation course line for the first time and the assignment initial point when time plant protection operation are obtained；
Wherein, the assignment initial point is located at this for the first time on operation course line；
The specific embodiment of above-mentioned steps S201 and step S202 and the embodiment party of step S101 and step S102 in embodiment 1
Formula is identical, and details are not described herein again.
Step S203, it is navigated according to the subjob of working as of the assignment initial point and operation cut off generation plant protection unmanned plane
Line；
The subjob course line of working as includes takeoff point, which includes following sub-step：
Step S213, takeoff pattern is generated according to the takeoff point and assignment initial point；
Direct line of the takeoff pattern for takeoff point and assignment initial point, for example, refering to Fig. 5, takeoff point F,
For the practical takeoff setting of plant protection unmanned plane, assignment initial point is off-drug point E, then takeoff pattern is the line of FE.
Step S223, according to the assignment initial point and operation cut off generation operation course line；
Refering to Fig. 5, the assignment initial point selected is off-drug point E, based on operation course line for the first time, according to operation initial point
With operation cut off generation operation course line, the i.e. line of flight of E to D.
Step S233, subjob course line is worked as using the takeoff pattern and the operation airline generation.
When subjob course line is takeoff pattern FE+ operations course line ED.
Step S204, by described plant protection operation is carried out when subjob course line is sent to plant protection unmanned plane.
User's control end will work as subjob course line, that is, takeoff pattern FE and operation course line ED, be sent to target plant protection nobody
Machine, target plant protection unmanned plane take off since takeoff point F, fly along straight line FE to off-drug point E, wherein this section of mistake of takeoff pattern FE
Journey does not open nozzle without plant protection operation, i.e. unmanned plane, when UAV targets fly to off-drug point E, nozzle is opened, by E points
Start to carry out normal plant protection operation along operation course line ED.
A kind of terminal that third embodiment of the invention is provided, the terminal include display, memory, processor and deposit
The plant protection operation program that can be run on the memory and on the processor is stored up, the plant protection operation program is by the place
Reason device realizes the step in above-mentioned first embodiment and second embodiment method when performing.
In the present embodiment, terminal be user's control end, can include such as mobile phone, smart phone, laptop,
The fixed terminal of the mobile terminals such as PAD (tablet computer) and number TV, desktop computer etc..Wherein, display can be with
Display user's control handles information in end, such as can show the added operation plot side for setting out high definition satellite map and generation
Boundary line, for the first time plant protection operation course line, when secondary plant protection operation course line, each destination marked etc..Memory can be deposited for high-speed RAM
Reservoir.
In addition, to solve the above problems, the present invention also provides a kind of computer readable storage medium, the computer can
It reads storage medium and is stored with plant protection operation program, embodiment 1 is realized when the plant protection operation program is executed by processor and implement
Step in 2 method of example.It is apparent to those skilled in the art that the present embodiment can be by software and required
Common hardware is realized, naturally it is also possible to which by hardware realization, but the former is more preferably embodiment in many cases.Based on this
The understanding of sample, the part that the technical solution of the present embodiment substantially in other words contributes to the prior art can be with software product
Form embody, which can store in a computer-readable storage medium, floppy disk such as computer,
Read-only memory (Read-Only Memory, ROM), is dodged random access memory (Random Access Memory, RAM)
Deposit (FLASH), hard disk or CD etc., used including some instructions so that computer equipment (can be personal computer, clothes
It is engaged in device or the network equipment etc.) perform method described in above-mentioned each embodiment.
The specific embodiment of the present embodiment computer readable storage medium is the same as the embodiment base of above-described embodiment the method
This is identical, and details are not described herein again.
Refering to Fig. 6, Fig. 6 shows the plant protection operation method that fourth embodiment of the invention is provided, the plant protection operation side
Method includes the following steps：
Step S301, for the first time plant protection operation when, the plant protection unmanned plane course line of operation for the first time planned of reception and to operation plot into
Row plant protection operation；The course line of operation for the first time includes operation initial point and operation cut off；
To a farmland massif carry out plant protection operation when, user's control end by the course line of operation for the first time of planning be sent to plant protection nobody
Machine, the plant protection unmanned plane receive the operation course line for the first time, and proceed by plant by the operation initial point in the operation course line for the first time
Protect operation.
Step S302, when plant protection unmanned plane aborting job, the location information at recording and sending stop position；
There are abnormal conditions during plant protection operation, for example, dose is insufficient in medicine-chest, the battery capacity of unmanned plane carrying is insufficient
Or flight control system abnormal state and when can not continue plant protection operation, unmanned plane receives the instruction of making a return voyage that user's control end is sent,
And using the location information at self-contained GPS positioning device record stop position and it is sent to user's control end.User is controlled
End processed preserves the location information at the stop position.
Step S303, when secondary plant protection operation, plant protection unmanned plane is according to acquired when subjob course line is planted into the trade time
Protect operation；The subjob course line of working as is generated according to assignment initial point and operation cut off；Wherein, at the beginning of the assignment
Initial point is located on operation course line for the first time.
Since unmanned plane stops operation the sprinkling task in farmland region is caused not complete in last operation process, need again
It is secondary that plant protection operation is carried out to it, when subjob, when subjob course line by user's control end according to operation course line for the first time by specifying
Operation initial point is generated with operation cut off, and assignment starting point is voluntarily selected by user, can be plant protection operation for the first time
At stop position, or arbitrary destination, wherein, the destination is directed to the navigation road of operation plot generation for user's control end
The intersection point of diameter straightway and operation boundary of land block line, specific operation boundary of land block generation and flight course planning method are with reference to embodiment
1, details are not described herein again.
When subjob, plant protection unmanned plane can be the unmanned plane of plant protection operation for the first time, can also in addition select a mesh
Unmanned plane is marked, which works as subjob course line by assignment initial point according to what the user's control end received was sent
Start along when subjob course line carries out plant protection operation.
Fifth embodiment of the invention provides a kind of unmanned plane, and the unmanned plane includes memory, processor and storage
On the memory and the plant protection operation program that can run on the processor, memory can be high-speed RAM memory,
The step instruction in fourth embodiment method is realized when the plant protection operation program is performed by the processor.
A kind of computer readable storage medium, the computer-readable recording medium storage has plant protection operation program, described
The step in fourth embodiment the method is realized when plant protection operation program is executed by processor.
The specific embodiment of the present embodiment computer readable storage medium is the same as the embodiment base of fourth embodiment the method
This is identical, and details are not described herein again.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. plant protection operation method, which is characterized in that include the following steps：（1）For the first time during plant protection operation, operation course line for the first time is planned according to operation plot and plant protection will be sent in operation course line for the first time Unmanned plane carries out plant protection operation for the first time；The course line of operation for the first time includes operation initial point and operation cut off；（2）When secondary plant protection operation, operation course line for the first time and the assignment initial point when time plant protection operation are obtained；Wherein, The assignment initial point is located on operation course line for the first time；（3）According to the assignment initial point and operation cut off generation plant protection unmanned plane work as subjob course line；（4）By described when subjob course line is sent to plant protection unmanned plane into the trade time plant protection operation.
- 2. the according to the method described in claim 1, it is characterized in that, step（1）In operation course line for the first time planing method Including：1）According to the boundary line in acquired operation boundary of land block information generation operation plot；2）It determines operation initial edge and a plurality of navigation path parallel with operation initial edge is drawn according to operation boundary of land block information Straightway；3）The navigation path straightway intersects with the boundary line except operation initial edge, and intersection point is destination；4）Along the multiple destinations formed, a plurality of parallel navigation path straightway head and the tail are sequentially connected with, and form covering The operation course line for the first time in operation plot.
- 3. the according to the method described in claim 2, it is characterized in that, step 3）It further includes：It will be all according to preset rules Destination identifies.
- 4. according to the method described in claim 3, it is characterized in that, the preset rules are：According on operation course line for the first time by All destinations are identified by operation initial point successively to the flight sequence of operation cut off；It identifies content and includes destination label With waypoint location information.
- 5. the method according to claim 1 or 4, which is characterized in that described when subjob course line includes takeoff point, the step Suddenly（3）It is middle according to the assignment initial point and operation cut off generation plant protection unmanned plane when subjob course line includes：According to the takeoff point and assignment initial point generation takeoff pattern；According to the assignment initial point and operation cut off generation operation course line；Subjob course line is worked as using the takeoff pattern and the operation airline generation.
- 6. a kind of terminal, which is characterized in that the terminal includes display, memory, processor and is stored in the memory Plant protection operation program that is upper and can running on the processor, the plant protection operation program are realized when being performed by the processor Step in Claims 1 to 5 any one the method.
- 7. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has plant protection operation Program realizes the step in Claims 1 to 5 any one the method when the plant protection operation program is executed by processor.
- A kind of 8. plant protection operation method, which is characterized in that include the following steps：（1）For the first time during plant protection operation, plant protection unmanned plane receives the course line of operation for the first time planned and carries out plant protection to operation plot Operation；The course line of operation for the first time includes operation initial point and operation cut off；（2）When plant protection unmanned plane aborting job, the location information at recording and sending stop position；（2）When secondary plant protection operation, plant protection unmanned plane works as subjob course line into the trade time plant protection operation according to acquired；It is described When subjob course line is generated according to assignment initial point and operation cut off；Wherein, the assignment initial point is located at head On subjob course line.
- 9. a kind of plant protection unmanned plane, which is characterized in that the unmanned plane includes memory, processor and is stored in the storage It is real when the plant protection operation program is performed by the processor on device and the plant protection operation program that can run on the processor Step instruction in existing claim 8 the method.
- 10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has plant protection operation Program realizes the step in claim 8 the method when the plant protection operation program is executed by processor.
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| CN201711472805.6A CN108184794A (en) | 2017-12-29 | 2017-12-29 | Plant protection operation method, terminal, plant protection unmanned plane and computer readable storage medium |
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| CN201711472805.6A CN108184794A (en) | 2017-12-29 | 2017-12-29 | Plant protection operation method, terminal, plant protection unmanned plane and computer readable storage medium |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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