CN108733077A - A kind of agricultural unmanned machine operation Intelligentized regulating and controlling system - Google Patents
A kind of agricultural unmanned machine operation Intelligentized regulating and controlling system Download PDFInfo
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- CN108733077A CN108733077A CN201810548636.8A CN201810548636A CN108733077A CN 108733077 A CN108733077 A CN 108733077A CN 201810548636 A CN201810548636 A CN 201810548636A CN 108733077 A CN108733077 A CN 108733077A
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- unmanned plane
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- 230000001276 controlling effect Effects 0.000 title claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 17
- 239000007921 spray Substances 0.000 claims abstract description 38
- 241001124569 Lycaenidae Species 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 239000003814 drug Substances 0.000 abstract description 8
- 229940079593 drug Drugs 0.000 abstract description 8
- 230000008635 plant growth Effects 0.000 abstract description 4
- 239000000575 pesticide Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000002881 soil fertilizer Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of agricultural unmanned machine operation Intelligentized regulating and controlling systems, including：Path planning module, for planning flight path of the unmanned plane in region to be sprayed；Node sets module, image information for acquiring the crop in region to be sprayed when along flight path flight when unmanned plane, and based on the height distribution situation of crop in above-mentioned image information acquisition region to be sprayed, and according to the height distribution situation of crop in region to be sprayed in flight path setting height point of adjustment；Intelligent control module, for when the region that sprays sprays, the flying height of unmanned plane to be adjusted at height point of adjustment along flight path in unmanned plane.Agricultural unmanned machine operation Intelligentized regulating and controlling system proposed by the present invention, solve inhomogeneities of the unmanned plane when field is to crop dispenser, spray the problem for causing utilization ratio of drug low when the flying height and uncoordinated plant growth height that avoid unmanned plane, improves the efficiency and effect of unmanned plane spray comprehensively.
Description
Technical field
The present invention relates to unmanned plane dispenser control technique fields, more particularly to a kind of agricultural unmanned machine operation Intelligentized regulating and controlling
System.
Background technology
China is a large agricultural country, and pesticide production technology has been in international most advanced level, but technique in using agriculture chemical is serious
Backward present situation is unbecoming with the pesticide water mean pole of its high speed development.The unreasonable use of pesticide causes a series of negative shadow
It rings, has become the restraining factors of China's agro based economic development.Currently, the development of the agricultural equipments such as unmanned plane is very fast, pass through
Variable spray is studied in hardware aspect innovation, but current airborne dispenser system does not carry out field positioning and prescription map letter
Cease the function of executing so that in actual application process and be not up to really accurate medication, control effect unobvious are even
Not as good as traditional application method.Specifically：In field crops growth course, due to illumination, the difference of moisture, soil fertilizer amount, it can lead
Cause the growing height of the crop of different zones different or even the growing height of the crop of proximate region be also different, if at this point, nobody
Machine, come dispenser, can have an adverse effect to pesticide supplying effect using same flying height.
Invention content
Technical problems based on background technology, the present invention propose a kind of agricultural unmanned machine operation Intelligentized regulating and controlling system
System.
Agricultural unmanned machine operation Intelligentized regulating and controlling system proposed by the present invention, including：
Path planning module, for planning flight path of the unmanned plane in region to be sprayed；
Node sets module, for acquiring the crop in region to be sprayed when along flight path flight when unmanned plane
Image information, and based on the height distribution situation of crop in above-mentioned image information acquisition region to be sprayed, and according to area to be sprayed
The height distribution situation of crop setting height point of adjustment in flight path in domain；
Intelligent control module, for unmanned plane along flight path be wait spray region spray when, in height point of adjustment
Place adjusts the flying height of unmanned plane.
Preferably, the path planning module is specifically used for：
Obtain the boundary in region to be sprayed；
N items flight path parallel to the ground delimited based on the boundary；Wherein, n flight path is mutually parallel and phase
Spacing between adjacent two flight paths is equal.
Preferably, the node sets module is specifically used for：
When unmanned plane acquires the image letter of the crop below each flight path when along n flight path flight
Breath；
Based on the height distribution situation of the crop below above-mentioned image information statistics each flight path, and draw out n
Height change curve；
Using on each height change curve wave crest and trough as height point of adjustment.
Preferably, the intelligent control module is specifically used for：
Unmanned plane along n flight path be wait spray region spray when, the height tune in each flight path
The flying height that unmanned plane is adjusted at node, makes unmanned plane be located above height point of adjustment and between unmanned plane and height point of adjustment
Difference in height remain preset value h0。
Preferably, the node sets module is acquiring when the image information of the crop in the region that sprays, and use is multiple
Harvester is acquired the image information of crop, and installation site of multiple harvesters on unmanned plane is different.
Agricultural unmanned machine operation Intelligentized regulating and controlling system proposed by the present invention, solves unmanned plane in field to crop dispenser
When inhomogeneities, avoid unmanned plane flying height and plant growth height it is uncoordinated when spray cause utilization ratio of drug low
The problem of, the efficiency and effect of unmanned plane spray are improved comprehensively.Specifically：The range that the present invention treats spray region first carries out
It determines, the flight path of unmanned plane then delimited according to the range, unmanned plane is avoided drain spray occur or what is sprayed shows in spray more
As；After flight path is planned, on the one hand unmanned plane can verify that flight path planning along flight path test flight
Whether effectively, on the other hand during unmanned plane during flying acquire each flight path under crop growing height, and according to
The growing height of crop comes for the different dispenser height of the crop choice of different zones, i.e., the setting height in each flight path
Spend point of adjustment；Finally when unmanned plane is sprayed along flight path, the tune when unmanned plane reaches each height point of adjustment
The flying height for saving unmanned plane makes unmanned plane keep identical height, the i.e. spray of unmanned plane high with each height point of adjustment
Reach balance between the height of crop in degree and different zones, ensures nobody by dynamically adjusting the flying height of unmanned plane
The uniformity of machine spray, to improve the utilization rate of drug, ensure effect of spraying pesticide.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of agricultural unmanned machine operation Intelligentized regulating and controlling system.
Specific implementation mode
As shown in FIG. 1, FIG. 1 is the agricultural unmanned machine operation Intelligentized regulating and controlling systems of one kind proposed by the present invention.
Referring to Fig.1, agricultural unmanned machine operation Intelligentized regulating and controlling system proposed by the present invention, including：
Path planning module, for planning flight path of the unmanned plane in region to be sprayed；
In present embodiment, the path planning module is specifically used for：
The boundary in region to be sprayed is obtained first；By determining that the boundary in region to be sprayed can improve the accurate of spray
Property, avoid the occurrence of drain spray or the case where spraying more；
It is then based on the boundary and delimit n items flight path parallel to the ground；By segmenting out a plurality of flight path energy
Enough effect of spraying pesticide for further promoting unmanned plane；Wherein, n flight path is mutually parallel and between adjacent two flight path
Spacing is equal.
Node sets module, for acquiring the crop in region to be sprayed when along flight path flight when unmanned plane
Image information, and based on the height distribution situation of crop in above-mentioned image information acquisition region to be sprayed, and according to area to be sprayed
The height distribution situation of crop setting height point of adjustment in flight path in domain；
In present embodiment, the node sets module is specifically used for：
When unmanned plane acquires the image letter of the crop below each flight path when along n flight path flight
Breath；
Based on the height distribution situation of the crop below above-mentioned image information statistics each flight path, and draw out n
Height change curve；
Using on each height change curve wave crest and trough as height point of adjustment；
Since growing height of the crop in region to be sprayed in the environment of different illumination, moisture, soil fertility is different,
Therefore it cannot make unmanned plane that same flying height be kept to spray come the crop different to growing way, it is difficult to ensure spray effect
Fruit adjusts unmanned plane during flying height by being used as the highs and lows of the plant growth height below each parting path
The node of degree, can be effectively prevented from crop it is too high or too low and influence unmanned plane sprinkling drug uniformity, ensure drug
Utilization ratio.
Intelligent control module, for unmanned plane along flight path be wait spray region spray when, in height point of adjustment
Place adjusts the flying height of unmanned plane.
In present embodiment, the intelligent control module is specifically used for：
Unmanned plane along n flight path be wait spray region spray when, the height tune in each flight path
The flying height that unmanned plane is adjusted at node, makes unmanned plane be located above height point of adjustment and between unmanned plane and height point of adjustment
Difference in height remain preset value h0；Preset value h0It can be set and adjusted according to actual application environment, by making nobody
Dynamic equilibrium is kept between the flying height of machine and the actual height of crop, advantageously ensures that the uniformity and effect of herbal sprinkling
Fruit improves the efficiency of unmanned machine operation.
In a further embodiment, the node sets module is in the image information for acquiring the crop in region to be sprayed
When, the image information of crop is acquired using multiple harvesters, it can be in all directions by the way that multiple harvesters are arranged
The image information of crop below each flight path is acquired, ensures the validity of Image Acquisition, and multiple acquisitions
Installation site of the device on unmanned plane is different, further increases the comprehensive of image information collecting.
The agricultural unmanned machine operation Intelligentized regulating and controlling system that present embodiment proposes, solves unmanned plane in field to crop
Inhomogeneities when dispenser avoids spray when the flying height and uncoordinated plant growth height of unmanned plane from causing utilization ratio of drug
Low problem improves the efficiency and effect of unmanned plane spray comprehensively.Specifically：Present embodiment treats spray region first
Range is determined, then according to the range delimit unmanned plane flight path, avoid unmanned plane spray when occur drain spray or
The phenomenon that more sprays；After flight path is planned, on the one hand unmanned plane can verify that flight road along flight path test flight
Whether effective diameter plans that the growth that crop under each flight path is on the other hand acquired during unmanned plane during flying is high
Degree, and according to the growing height of crop come the different dispenser height of the crop choice for different zones, i.e., on each flight road
Height point of adjustment is set in diameter；Finally when unmanned plane is sprayed along flight path, when unmanned plane reaches each height
The flying height that unmanned plane is adjusted when point of adjustment makes unmanned plane and each height point of adjustment keep identical height, i.e., nobody
Reach balance between the height of crop in the spray height and different zones of machine, by the flying height for dynamically adjusting unmanned plane
Come ensure unmanned plane spray uniformity, to improve drug utilization rate, ensure effect of spraying pesticide.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of agricultural unmanned machine operation Intelligentized regulating and controlling system, which is characterized in that including：
Path planning module, for planning flight path of the unmanned plane in region to be sprayed；
Node sets module, the image for acquiring the crop in region to be sprayed when along flight path flight when unmanned plane
Information, and based on the height distribution situation of crop in above-mentioned image information acquisition region to be sprayed, and according in region to be sprayed
The height distribution situation of crop setting height point of adjustment in flight path；
Intelligent control module, for unmanned plane along flight path be wait spray region spray when, the tune at height point of adjustment
Save the flying height of unmanned plane.
2. agricultural unmanned machine operation Intelligentized regulating and controlling system according to claim 1, which is characterized in that the path planning
Module is specifically used for：
Obtain the boundary in region to be sprayed；
N items flight path parallel to the ground delimited based on the boundary；Wherein, n flight path is mutually parallel and adjacent two
Spacing between flight path is equal.
3. agricultural unmanned machine operation Intelligentized regulating and controlling system according to claim 2, which is characterized in that the node sets
Module is specifically used for：
When unmanned plane acquires the image information of the crop below each flight path when along n flight path flight；
Based on the height distribution situation of the crop below above-mentioned image information statistics each flight path, and it is high to draw out n items
Spend change curve；
Using on each height change curve wave crest and trough as height point of adjustment.
4. agricultural unmanned machine operation Intelligentized regulating and controlling system according to claim 3, which is characterized in that the intelligent control
Module is specifically used for：
Unmanned plane along n flight path be wait spray region spray when, the height point of adjustment in each flight path
The flying height of place's adjustment unmanned plane, makes unmanned plane be located at height point of adjustment top and the height between unmanned plane and height point of adjustment
Degree difference remains preset value h0。
5. agricultural unmanned machine operation Intelligentized regulating and controlling system according to claim 1, which is characterized in that the node sets
Module is acquiring when the image information of the crop in the region that sprays, and is carried out to the image information of crop using multiple harvesters
Acquisition, and installation site of multiple harvesters on unmanned plane is different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810548636.8A CN108733077A (en) | 2018-05-31 | 2018-05-31 | A kind of agricultural unmanned machine operation Intelligentized regulating and controlling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810548636.8A CN108733077A (en) | 2018-05-31 | 2018-05-31 | A kind of agricultural unmanned machine operation Intelligentized regulating and controlling system |
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| Publication Number | Publication Date |
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| CN108733077A true CN108733077A (en) | 2018-11-02 |
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| CN201810548636.8A Pending CN108733077A (en) | 2018-05-31 | 2018-05-31 | A kind of agricultural unmanned machine operation Intelligentized regulating and controlling system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367302A (en) * | 2020-03-03 | 2020-07-03 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
| CN111625016A (en) * | 2019-02-28 | 2020-09-04 | 深圳市翔农创新科技有限公司 | Plant protection unmanned aerial vehicle operation optimization method, device and system and readable storage medium |
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| CN107264806A (en) * | 2017-06-28 | 2017-10-20 | 苏州极目机器人科技有限公司 | A kind of plant protection spray method of unmanned plane |
| CN107679441A (en) * | 2017-02-14 | 2018-02-09 | 郑州大学 | Method based on multi-temporal remote sensing image shadow extraction City Building height |
| CN107992078A (en) * | 2017-12-15 | 2018-05-04 | 西安天问智能科技有限公司 | A kind of autonomous paths planning method of plant protection unmanned plane |
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2018
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Patent Citations (5)
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| CN205150250U (en) * | 2015-11-24 | 2016-04-13 | 合肥赛为智能有限公司 | Plant protection unmanned aerial vehicle spray lance and plant protection unmanned aerial vehicle |
| WO2017164544A1 (en) * | 2016-03-22 | 2017-09-28 | 세이프어스드론(주) | Drone for artificial pollination and artificial pollination system using same |
| CN107679441A (en) * | 2017-02-14 | 2018-02-09 | 郑州大学 | Method based on multi-temporal remote sensing image shadow extraction City Building height |
| CN107264806A (en) * | 2017-06-28 | 2017-10-20 | 苏州极目机器人科技有限公司 | A kind of plant protection spray method of unmanned plane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111625016A (en) * | 2019-02-28 | 2020-09-04 | 深圳市翔农创新科技有限公司 | Plant protection unmanned aerial vehicle operation optimization method, device and system and readable storage medium |
| CN111367302A (en) * | 2020-03-03 | 2020-07-03 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
| CN111367302B (en) * | 2020-03-03 | 2023-03-21 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
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Application publication date: 20181102 |
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