CN109144100A - Spray control method, device, earth station and storage medium - Google Patents
Spray control method, device, earth station and storage medium Download PDFInfo
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- CN109144100A CN109144100A CN201811020681.2A CN201811020681A CN109144100A CN 109144100 A CN109144100 A CN 109144100A CN 201811020681 A CN201811020681 A CN 201811020681A CN 109144100 A CN109144100 A CN 109144100A
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- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 239000007921 spray Substances 0.000 title claims description 24
- 239000003814 drug Substances 0.000 claims abstract description 65
- 229940079593 drug Drugs 0.000 claims abstract description 35
- 230000010412 perfusion Effects 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 241000196324 Embryophyta Species 0.000 claims description 178
- 239000007788 liquid Substances 0.000 claims description 21
- 230000015654 memory Effects 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 8
- 241000208340 Araliaceae Species 0.000 claims description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 14
- 239000002699 waste material Substances 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 28
- 241000209094 Oryza Species 0.000 description 14
- 235000007164 Oryza sativa Nutrition 0.000 description 14
- 235000009566 rice Nutrition 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002917 insecticide Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical group O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of sprinkling control methods, device, earth station and storage medium, this method comprises: determining the planning path of Target Number according to the running parameter of the location information for playing departure position of the Target Number of plant protection drone and plant protection drone, according to the positional relationship for terminating destination and target proximad segment of planning path, correct planning path, it obtains revised planning path and revised planning path is corresponding makes a return voyage a little, according to the medicine-chest residual drug of revised planning path and plant protection drone, add medicine instruction to the transmission of perfusion machine, by revised planning path and makes a return voyage and be a little sent to plant protection drone, reduce the consumption and waste of plant protection drone battery resource and system resource, improve spraying efficiency.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique more particularly to a kind of sprinkling control method, device, earth station and storages
Medium.
Background technique
With the development of the communication technology and electronic technology, unmanned plane field is quickly grown.Plant protection drone is as a kind of new
The pesticide dispersal equipment of type is widely applied in agriculture field.
Fig. 1 is the schematic diagram in path during plant protection drone sprinkling in the prior art.As shown in Figure 1, plant protection drone
In sprinkling, fly according to the course line of " several " font.Medical fluid in some sortie, in the medicine-chest of plant protection drone
When having sprayed, that is, when off-drug event occurs, plant protection drone can save off-drug position when off-drug event occurs.Later, plant protection
Unmanned plane makes a return voyage a little.Making a return voyage a little can be the place that takeoff point is either determined according to the actual environment around field.It plants
Unmanned plane is protected in the addition medical fluid and after taking off of making a return voyage, off-drug position is directly flown to, continues spraying operation.It needs to illustrate
Be: the relatively thin solid line in Fig. 1 is the path of the first sortie sprinkling, and relatively thick solid line is the road of the second sortie sprinkling
Diameter；Relatively thin dotted line is that the first sortie makes a return voyage path L3, and when making a return voyage, plant protection drone is unloaded and does not spray；Relatively
Thick dotted line is that the second sortie flies to the path L4 of off-drug position, in the flight course in the path, plant protection drone it is fully loaded and
It does not spray；The path parallel with the side length L2 of field is the path of plant protection drone when changing ridge, and plant protection drone is not sprayed when changing ridge
It spills.
But during the sprinkling of above-mentioned plant protection drone, if the side length L1 longer of field, for example, more than 1,000
Rice, on the one hand, plant protection drone needs in zero load after off-drug event occurs and do not spray in the state of flies longer path
It carries out adding medicine after L3, on the other hand, when plant protection drone restores spraying operation after off-drug, need in shape that is fully loaded and not spraying
Under state, sprinkling can be just started again at after the longer path L4 that flies.In above process, plant protection drone is under not sprinkling state
The path of flight is longer, cause the biggish consumption of plant protection drone battery resource and system resource and waste, spraying efficiency compared with
It is low.
Summary of the invention
The present invention provides a kind of sprinkling control method, device, earth station and storage medium, to solve current plant protection drone
Battery resource and system resources consumption and waste larger technical problem.
In a first aspect, the embodiment of the invention provides a kind of sprinkling control methods, comprising:
According to the work ginseng of the location information for playing departure position of the Target Number of plant protection drone and the plant protection drone
Number determines the planning path of the Target Number；Wherein, the planning path includes alternate far to segment and proximad segment, institute
State it is far parallel with proximad segment to segment, it is described far to play the opposite close Target Number of destination that terminates of departure position to segment
The departure position that rises of takeoff point, the proximad segment terminates destination far from the takeoff point relatively；
According to the positional relationship for terminating destination and target proximad segment of the planning path, the planning path is corrected,
It obtains revised planning path and the revised planning path is corresponding makes a return voyage a little；Wherein, the target proximad segment
To play the farthest proximad segment of departure position apart from the Target Number；
According to the medicine-chest residual drug of revised planning path and the plant protection drone, adds medicine to the transmission of perfusion machine and refer to
It enables；Wherein, described to add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added；
The revised planning path and described make a return voyage a little are sent to the plant protection drone.
Second aspect, the embodiment of the invention also provides a kind of sprinkling control devices, comprising:
First determining module, for according to the location information for playing departure position of the Target Number of plant protection drone and the plant
The running parameter for protecting unmanned plane determines the planning path of the Target Number；Wherein, the planning path include it is alternate far to
Segment and proximad segment, it is described far parallel with proximad segment to segment, it is described far to terminate destination relatively to the departure position that rises of segment
Close to the takeoff point of the Target Number, the departure position that rises of the proximad segment terminates destination far from the takeoff point relatively；
Correction module, for the positional relationship for terminating destination and target proximad segment according to the planning path, amendment
The planning path obtains revised planning path and the revised planning path is corresponding makes a return voyage a little；Wherein, described
Proximad segment is to play the farthest proximad segment of departure position apart from the Target Number to target；
First sending module, for the medicine-chest residual drug according to revised planning path and the plant protection drone,
Add medicine instruction to the transmission of perfusion machine；Wherein, it is described add medicine instruction include the perfusion machine waited for the medicine-chest of the plant protection drone
The liquid volume of addition；
Second sending module, for by the revised planning path and it is described make a return voyage a little be sent to the plant protection nobody
Machine.
The third aspect, the embodiment of the invention also provides a kind of earth station, the earth station includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the sprinkling control method provided such as first aspect.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the sprinkling control method provided such as first aspect when the program is executed by processor.
A kind of sprinkling control method, device, earth station and storage medium provided in an embodiment of the present invention, this method comprises:
Target frame is determined according to the running parameter of the location information for playing departure position of the Target Number of plant protection drone and plant protection drone
Secondary planning path is corrected planning path, is obtained according to the positional relationship for terminating destination and target proximad segment of planning path
Revised planning path and revised planning path it is corresponding make a return voyage a little, according to revised planning path and plant protection nobody
The medicine-chest residual drug of machine adds medicine instruction to the transmission of perfusion machine, by revised planning path and making a return voyage a little be sent to plant protection without
It is man-machine.On the one hand, realize the positional relationship for terminating destination and target proximad segment according to planning path, to planning path into
Row amendment so that plant protection drone according to revised planning path operation and make a return voyage put during, plant protection without
The man-machine path flown under not sprinkling state is shorter.On the other hand, it realizes plant protection drone and is adding medicine by perfusion machine
After amount, the dose in medicine-chest is that can meet the dose that plant protection drone is sprayed in Target Number just, realizes plant protection drone
After having executed the revised planning path of Target Number, during making a return voyage a little, in unloaded state of flight, avoid
The waste of the battery resource of plant protection drone.Therefore, the embodiment of the present invention reduces plant protection drone battery resource and system
The consumption and waste of resource, improve spraying efficiency.
Detailed description of the invention
Fig. 1 is the schematic diagram in path during plant protection drone sprinkling in the prior art；
Fig. 2 is the system architecture diagram of sprinkling control method provided by the invention；
Fig. 3 is the flow diagram of sprinkling control method embodiment one provided by the invention；
Fig. 4 is the schematic diagram of the planning path in sprinkling control method embodiment one provided by the invention；
Fig. 5 is the flow diagram of sprinkling control method embodiment two provided by the invention；
Fig. 6 A is that proximad the virtual of segment terminates destination to the target provided by the invention sprayed in control method embodiment two
Schematic diagram；
Fig. 6 B is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of the first positional relationship of segment；
Fig. 6 C is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of second of positional relationship of segment；
Fig. 6 D is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of the third positional relationship of segment；
Fig. 7 is the flow diagram of sprinkling control method embodiment three provided by the invention；
Fig. 8 is the structural schematic diagram of sprinkling control device embodiment one provided by the invention；
Fig. 9 is the structural schematic diagram of sprinkling control device embodiment two provided by the invention；
Figure 10 is the structural schematic diagram of sprinkling control device embodiment three provided by the invention；
Figure 11 is the structural schematic diagram of earth station provided by the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 2 is the system architecture diagram of sprinkling control method provided by the invention.Sprinkling control method provided by the invention is answered
For in sprinkling system as shown in Figure 2.Sprinkling in the present invention refers to that plant protection drone is sprayed insecticide to field.Such as Fig. 2
Shown, which includes: plant protection drone 21, earth station 22 and perfusion machine 23, plant protection drone 21 and perfusion machine 23
It is connect respectively with earth station 22.The connection can be wireless connection.Perfusion machine 23 in the present invention is to have the function of flow measurement
Automatic perfusion machine.In the present invention, earth station 22 can determine the rule of plant protection drone 21 before the spray of plant protection drone 21
Draw path, and planning path be modified, determine make a return voyage a little with revised planning path.After earth station 22 is further according to amendment
Planning path and plant protection drone 21 medicine-chest residual drug, to perfusion machine 23 transmission add medicine instruction.After the completion of adding medicine,
Earth station 22 is by revised planning path and makes a return voyage and is a little sent to plant protection drone 21, so that plant protection drone 21 is repaired according to this
Planning path after just carries out spraying operation, and after the completion of operation, flying back to make a return voyage a little adds medicine.Compared to current plant protection nobody
The working path of machine, sprinkling control method provided by the invention can determine a reasonable working path for plant protection drone 21
And make a return voyage a little, plant protection drone flight longer path under not sprinkling state is avoided, plant protection drone battery is provided with reducing
The consumption and waste of source and system resource improve spraying efficiency.
Fig. 3 is the flow diagram of sprinkling control method embodiment one provided by the invention.The present embodiment is suitable for plant protection
The scene that unmanned plane sprays insecticide to field.The present embodiment can be executed by sprinkling control device, which can
It is realized in a manner of by software and/or hardware, which can integrate in earth station equipment.
As shown in figure 3, sprinkling control method provided in this embodiment includes the following steps:
Step 101: according to the location information for playing departure position of the Target Number of plant protection drone and the work of plant protection drone
The planning path of Target Number is determined as parameter.
Wherein, planning path includes alternate far to segment and proximad segment, far parallel with proximad segment to segment, far to
The departure position that rises of segment terminates takeoff point of the destination close to Target Number relatively, and proximad the departure position that rises of segment terminates destination relatively
Far from takeoff point.
Specifically, " Target Number " in the present embodiment refers to any sortie of plant protection drone.Plant protection drone
Sortie refers to plant protection drone during spraying operation, from taking off, spray to the process of landing.
If Target Number is first sortie of the plant protection drone in region to be sprayed, that is, Target Number be plant protection nobody
Machine starts the sortie of spray in region to be sprayed for the first time, then determines rising for Target Number according to the shape in region to be sprayed and position
The location information of departure position；If Target Number is not first sortie of the plant protection drone in region to be sprayed, can basis
The end destination of a upper sortie for the Target Number determines the location information for playing departure position of Target Number.Illustratively, target
The location information for playing departure position of sortie can be the location information of the end destination of a upper sortie for Target Number, this is because
Plant protection drone is needed when Target Number sprays from the continuous spray in the position of the end of a upper sortie for Target Number.
The running parameter of plant protection drone refers to the nominal operational parameters of plant protection drone.Running parameter and plant protection nobody
The attribute of machine is related, nobody running parameter of the plant protection of different model may be not identical.Optionally, the work of plant protection drone
Parameter may include medicine-chest capacity, unit area dosage and spray spoke.Spray spoke refers to the medical fluid that plant protection drone sprays
Width.
A kind of possible implementation of step 101 are as follows: according to the medicine-chest capacity of plant protection drone, unit area dosage
And spray spoke, determine the corresponding length for heading of the Target Number of plant protection drone；It is navigated according to the starting of length for heading, Target Number
The ground of the location information, region to be sprayed put is block-shaped and flight course planning is regular, determines the planning path of Target Number.
More specifically, according to formulaDetermine the corresponding length for heading of Target Number.Wherein, K1 indicates boat
Line length, C1 indicate that medicine-chest capacity, W indicate unit area dosage, and P indicates spray spoke.The unit of medicine-chest capacity can be liter, single
The unit that plane accumulates dosage can be liter/square metre, and the unit for spraying spoke can be rice, and the corresponding length for heading of Target Number is
Rice.
It should be noted that can also be according to formulaDetermine the corresponding length for heading of Target Number.?
In the formula, the unit of C1 is milliliter, and the unit of unit area dosage is milliliter/mu, and the unit for spraying spoke is rice, calculated
The unit of K1 is rice.
The corresponding length for heading of Target Number refer to plant protection drone in Target Number operation process, based on plant protection without
Man-machine running parameter, the fly able maximum length under sprinkling state.For the plant protection drone with identical running parameter
For, the corresponding length for heading of the Target Number determined is identical.
After determining the length for heading of Target Number, the location information, to be sprayed for playing departure position of combining target sortie
The ground in region is block-shaped and flight course planning is regular, determines the planning path of Target Number.Optionally, flight course planning rule is used for
Indicate the interval in planning path between adjacent segment, the distance for playing the corresponding boundary of land block of departure position distance of segment and segment
The distance etc. for terminating the corresponding boundary of land block of destination distance.
Fig. 4 is the schematic diagram of the planning path in sprinkling control method embodiment one provided by the invention.As shown in figure 4,
What " ※ " was indicated is the departure position that rises of planning path, and what " ★ " was indicated is the end destination of planning path, and what "●" indicated is mesh
The takeoff point of frame time, what " ◆ " indicated is making a return voyage a little for Target Number.It should be noted that planning path rise departure position with
The departure position that rises of Target Number is same point, and the takeoff point of Target Number can be making a return voyage a little for a upper sortie for Target Number,
The end destination of planning path refers to that the place of off-drug event occurs for estimated plant protection drone.
As shown in figure 4, planning path includes alternate far to segment and proximad segment, far to segment and proximad between segment
In parallel.Far to segment and proximad, the quantity of segment is at least one.Each segment has playing departure position and terminating to navigate for itself
Point.Far refer to that it plays the opposite segment for terminating the close takeoff point of destination of departure position to segment；Proximad segment refers to its starting
Destination is opposite to terminate segment of the destination far from takeoff point.In other words, far refer to that plant protection drone is taken off to separate to segment
The segment formed when point flight, the segment formed when proximad segment refers to plant protection drone to close to takeoff point flight.Fig. 4
In, be far { B1, B3 ... ..., B (n-2), Bn } to the set of segment, proximad the set of segment be B2, B4 ... ..., B (n-3),
B(n-1)}。
It should be noted that the dotted line in Fig. 4 indicated is the path for changing ridge, ignores plant protection drone in the present embodiment and exist
The path flown when changing ridge.The length of all segments value after being added in the planning path of Target Number should be equal to Target Number
Corresponding length for heading.
Step 101 is the Target Number determined the step of execution before the Target Number of plant protection drone takes off
Planning path is the corresponding planning path of Target Number of theoretically plant protection drone.
Step 102: according to the positional relationship for terminating destination and target proximad segment of planning path, planning path is corrected,
It obtains revised planning path and revised planning path is corresponding makes a return voyage a little.
Wherein, proximad segment is the proximad segment of the departure position of distance objective sortie farthest to target.
Specifically, after the planning path of Target Number for getting plant protection drone in a step 101, in a step 102,
According to the positional relationship for terminating destination and target proximad segment of planning path, the planning path of Target Number is modified.
Proximad segment refers in all proximad segments target in the present embodiment, and distance objective sortie plays departure position
Farthest proximad segment.Please continue to refer to Fig. 4, departure position makees a vertical line L, vertical line L to proximad segment from Target Number
Length be to indicate the rising at a distance between departure position of proximad segment and Target Number.Segment B (n-1) in Fig. 4 be target proximad
Segment.
The positional relationship of the end destination of planning path and target proximad segment can have following two situation: planning path
End destination be located at target proximad on segment, and, the end destination of planning path is not located at target proximad on segment.According to
Both of these case is modified the planning path of Target Number, obtains revised planning path and corresponding makes a return voyage a little.
The specific process how to be modified to the planning path of Target Number and determine that the process maked a return voyage a little will in example 2
It is described in detail.
Step 103: according to the medicine-chest residual drug of revised planning path and plant protection drone, adding to the transmission of perfusion machine
Medicine instruction.
Wherein, add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added.
Specifically, in step 103, sprinkling control device can first obtain the medicine-chest residual drug of plant protection drone, can
To be plant protection drone to sprinkling control device active reporting medicine-chest residual drug, be also possible to sprinkling control device to plant protection without
Man-machine transmission residual drug acquisition request is to obtain medicine-chest residual drug.
A kind of possible implementation of step 103 are as follows: according to the length of segments all in revised planning path, really
The corresponding revised length for heading of the sortie that sets the goal；According to formula C3=K2*W*P* (1+lam)-C2, Target Number pair is determined
The liquid volume to be added answered, wherein C3 indicates the corresponding liquid volume to be added of Target Number, and K2 indicates revised course line
Length, lam indicate that the corresponding error coefficient of Target Number, C2 are medicine-chest residual drug, and C3 is less than or equal to C1；According to be added
The liquid volume generation entered adds medicine instruction, and is sent to perfusion machine.It should be noted that taking C3 when calculated C3 is greater than C1
Equal to C1.When Target Number is first sortie, lam 0.1.In the formula, the unit of K2 is rice, and the unit of W is milli
Rise/square metre, the unit of P is rice, and the unit of C2 is milliliter, and the unit of C3 is milliliter.Certainly, the unit of W, which can also be, rises/puts down
Square rice, the unit of C2 are to rise, then the unit of C3 is also liter.
It should be noted that can also be according to formulaDetermine target frame
Secondary corresponding liquid volume to be added.In the formula, the unit of K2 is rice, and the unit of W is milliliter/mu, and the unit of P is rice,
The unit of C2 is milliliter, and the unit of C3 is also milliliter.
In above-mentioned implementation, the length value after being added of segments all in revised planning path is determined as
The corresponding revised length for heading of Target Number.Revised length for heading is less than or equal to boat involved in step 101
Line length.
After perfusion machine receives perfusion instruction, liquid volume to be added is added into the medicine-chest of plant protection drone.Plant protection without
It is man-machine after perfusion machine adds dose, dose in medicine-chest is that can meet what plant protection drone was sprayed in Target Number just
Dose realizes plant protection drone after having executed the revised planning path of Target Number, during making a return voyage a little,
In unloaded state of flight, the waste to the battery resource of plant protection drone is reduced.
Step 104: by revised planning path and making a return voyage and be a little sent to plant protection drone.
Specifically, plant protection drone is after receiving revised planning path and making a return voyage a little, i.e., according to revised rule
It draws path and carries out spraying operation, and after the completion of sprinkling, make a return voyage a little continuous medicine.
Step 102- step 104 is also the step of execution before the Target Number of plant protection drone takes off.
Sprinkling control method provided in this embodiment, including the position for playing departure position according to the Target Number of plant protection drone
Confidence breath and the running parameter of plant protection drone determine the planning path of Target Number, according to the end destination and mesh of planning path
The positional relationship of proximad segment is marked, planning path is corrected, revised planning path is obtained and revised planning path is corresponding
Make a return voyage a little, according to the medicine-chest residual drug of revised planning path and plant protection drone, add medicine instruction to the transmission of perfusion machine,
By revised planning path and makes a return voyage and be a little sent to plant protection drone.On the one hand, it realizes and is navigated according to the end of planning path
The positional relationship of point and target proximad segment, is modified planning path, so that plant protection drone is according to revised rule
During drawing path operation and making a return voyage a little, the path that plant protection drone is flown under not sprinkling state is shorter.It is another
Aspect, realizes plant protection drone after perfusion machine adds dose, dose in medicine-chest be can meet just plant protection nobody
The dose that machine is sprayed in Target Number realizes plant protection drone after having executed the revised planning path of Target Number,
During return is maked a return voyage a little, in unloaded state of flight, the waste of the battery resource of plant protection drone is avoided.Therefore, originally
The sprinkling control method that embodiment provides, reduces the consumption and waste of plant protection drone battery resource and system resource, improves
Spraying efficiency.
Fig. 5 is the flow diagram of sprinkling control method embodiment two provided by the invention.The present embodiment is in embodiment one
On the basis of given each optinal plan, to how being closed according to the position for terminating destination and target proximad segment of planning path
The implementation of planning path is corrected by system, makees one and is described in detail.As shown in figure 5, sprinkling control method packet provided in this embodiment
Include following steps:
Step 501: according to the location information for playing departure position of the Target Number of plant protection drone and the work of plant protection drone
The planning path of Target Number is determined as parameter.
Wherein, planning path includes alternate far to segment and proximad segment, far parallel with proximad segment to segment, far to
The departure position that rises of segment terminates takeoff point of the destination close to Target Number relatively, and proximad the departure position that rises of segment terminates destination relatively
Far from takeoff point.
Step 501 is similar with the realization process and technical principle of step 101, and details are not described herein again.
Step 502: when the end destination for determining planning path is located at target proximad on segment, also, the knot of planning path
Shu Hangdian and target proximad when virtually terminating destination and being overlapped of segment, determine revised planning path for planning path.
Wherein: when the length and target of target proximad segment are proximad between the length of the subregion to be sprayed where segment
Difference be less than or equal to the first preset threshold when, target proximad segment virtually terminate destination be target proximad segment end boat
Point；When the difference proximad between the length of the subregion to be sprayed where segment of length and target of target proximad segment is greater than the
When one preset threshold, make the extended line of target proximad segment using the end destination of target proximad segment as starting point, target is proximad navigated
Section virtually terminates the first boundary that destination is subregion to be sprayed where with target proximad segment on extended line less than second
Preset threshold a bit, the first boundary be target proximad the subregion to be sprayed where segment and target proximad segment it is vertical two
Close to the boundary of takeoff point in a boundary.
Step 503: when the end destination for determining planning path is located at target proximad on segment, also, the knot of planning path
Shu Hangdian and target proximad when virtually terminating destination and not being overlapped of segment determine that revised planning path is in planning path,
Do not include target proximad segment and first object far to segment other all segments set.
Wherein, first object is far that proximad segment and planning path mid-range objectives sortie play departure position to target to segment
It is remote to segment between secondary remote proximad segment.
Step 504: when the end destination for determining planning path be not at target proximad on segment when, determine revised
Planning path be planning path in, do not include the second target far to segment other all segments set.
Wherein, the second target is far remote to segment after target proximad segment to segment.
In step 502- step 504, the positional relationship for terminating destination and target proximad segment based on planning path is retouched
Stated planning path terminate destination or not in two kinds of situations of target proximad segment.Exist in the end destination of planning path
Target is proximad in the case where segment, and has been divided into the end destination of planning path and target proximad segment virtually terminates destination and is
Two kinds of situations of no coincidence.
First describing how to define target below, proximad segment virtually terminates destination.Fig. 6 A is sprinkling provided by the invention control
The schematic diagram for virtually terminating destination of target in embodiment of the method two processed proximad segment.
As shown in a figure in Fig. 6 A, when length Yu the target proximad sub-district to be sprayed where segment of target proximad segment
When difference between the length in domain is less than or equal to the first preset threshold, the destination that virtually terminates of target proximad segment is that target is close
To the end destination of segment.To be sprayed subregion of the target proximad where segment refer to only comprising target proximad segment without wrap
Region to be sprayed containing other segments.Region M in a figure is to be sprayed subregion of the target proximad where segment.Target is close
To the length of the subregion to be sprayed where segment refer in the subregion to be sprayed with target proximad segment parallel side
Length.Difference of the length and target of target proximad segment proximad between the length of the subregion to be sprayed where segment be less than or
Equal to the first preset threshold, the length of target proximad length Yu the target proximad subregion to be sprayed where segment of segment is referred to
Degree is very close, and in other words, proximad segment is a complete segment to target, and proximad the end destination of segment is to need to target
Change the position on ridge.At this point, proximad segment virtually terminates the end destination that destination is target proximad segment to target, that is, empty
The quasi- destination that terminates is overlapped with actual end destination.When region to be sprayed is a regular rectangle, target proximad segment
It is that a complete segment means the target proximad remote length phase to segment adjacent thereto in the length with planning path of segment
Together.
As shown in the b figure in Fig. 6 A, when length Yu the target proximad sub-district to be sprayed where segment of target proximad segment
When difference between the length in domain is greater than the first preset threshold, target is made proximad as starting point using the end destination of target proximad segment
The destination that virtually terminates of the extended line of segment, target proximad segment is son to be sprayed where with target proximad segment on extended line
First boundary in region less than the second preset threshold a bit.First boundary is the target proximad subregion to be sprayed where segment
With in target proximad vertical two boundaries in segment close to the boundary of takeoff point.The length with target of target proximad segment are proximad navigated
Difference between the length of subregion to be sprayed where section is greater than the first preset threshold, refers to the length of target proximad segment
The length of subregion to be sprayed where with target proximad segment differs larger.In other words, target proximad segment be one not
Complete segment.First boundary of to be sprayed subregion of the end destination of target proximad segment where it is farther out.It please join
Scheme according to b, at this point, making the extended line N of target proximad segment using the end destination Q of target proximad segment as starting point.Target is proximad navigated
Section virtually to terminate the first boundary S that destination V is subregion O to be sprayed where with target proximad segment on extended line N small
In a bit of the second preset threshold.In this case, proximad segment virtually terminates destination and target proximad segment to target
Terminate destination not to be overlapped.When region to be sprayed is a regular rectangle, proximad segment is not a complete boat to target
The length of Duan Yiwei target proximad segment is less than the remote length to segment adjacent thereto in planning path.
Fig. 6 B is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of the first positional relationship of segment.As shown in Figure 6B, the planning path shown is { B1, B2, B3 ... ..., B
(n-2), B (n-1) } set.In Fig. 6 B, the end destination T of planning path is located at target proximad on segment B (n-1), also,
Proximad segment virtually terminates destination U and is overlapped for the end destination T of planning path and target, i.e., proximad segment B (n-1) is one to target
The complete segment of item.In this case, determine that revised planning path is the planning path determined in step 501, that is,
Revised planning path is the set of { B1, B2, B3, B4 ... ..., B (n-3), B (n-2), B (n-1) }.
Fig. 6 C is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of second of positional relationship of segment.As shown in Figure 6 C, the planning path shown is { B1, B2, B3 ... ..., B
(n-2), B (n-1) } set.In Fig. 6 C, the end destination T of planning path is located at target proximad on segment B (n-1), also,
Proximad segment virtually terminates destination U and is not overlapped for the end destination T of planning path and target, i.e., proximad segment B (n-1) is target
One incomplete segment.In this case, determine revised planning path be planning path in, do not include target proximad
Segment B (n-1) and first object are far to the set of other all segments of segment B (n-2), that is, revised planning path
It is the set of { B1, B2, B3, B4 ... ..., B (n-3) }.
Fig. 6 D is that the end destination of the planning path in sprinkling control method embodiment two provided by the invention is close with target
To the schematic diagram of the third positional relationship of segment.As shown in Figure 6 D, the planning path shown is { B1, B2, B3 ... ..., B
(n-2), B (n-1), Bn } set.In Fig. 6 C, the end destination T of planning path is not at target proximad segment B (n-1)
On, but it is located at the second target far on the Bn of segment.In this case, determine that revised planning path is planning path
In, do not include the second target far to segment other all segments set, that is, revised planning path be B1, B2, B3,
B4 ... ..., B (n-3), B (n-2), B (n-1) } set.
Step 505: being required according to landing Spatial Rules, the planning path after distance correction is terminated into the nearest position of destination
It sets and is determined as making a return voyage a little.
It specifically, will be after distance correction according to the requirement of landing Spatial Rules after determining revised planning path
The nearest position of end destination of planning path is determined as making a return voyage a little.Plant protection drone can a little carry out continuous medicine, work making a return voyage
Personnel a little can also carry out service work to plant protection drone making a return voyage.
Please continue to refer to Fig. 6 B-6D, the corresponding position maked a return voyage a little of revised planning path is marked in figure
Show.
Step 506: according to the medicine-chest residual drug of revised planning path and plant protection drone, adding to the transmission of perfusion machine
Medicine instruction.
Step 501 is similar with the realization process and technical principle of step 103, and details are not described herein again.
Step 507: by revised planning path and making a return voyage and be a little sent to plant protection drone.
Step 507 is similar with the realization process and technical principle of step 104, and details are not described herein again.
Sprinkling control method provided in this embodiment defines specific how according to the end destination and target of planning path
The proximad positional relationship of segment corrects planning path, obtains revised planning path and revised planning path is corresponding
It makes a return voyage a little, on the one hand, realize plant protection drone according to revised planning path operation and the process maked a return voyage a little
In, the path that plant protection drone is flown under not sprinkling state is shorter, reduces the battery resource and system money of plant protection drone
The waste in source, on the other hand, the process of the amendment planning path is easy to operate, and efficiency is higher.
Fig. 7 is the flow diagram of sprinkling control method embodiment three provided by the invention.The present embodiment is in embodiment one
On the basis of each optinal plan given by embodiment two, to by revised planning path and making a return voyage a little be sent to plant protection without
Implementation after man-machine is made one and is described in detail.As shown in fig. 7, sprinkling control method provided in this embodiment includes as follows
Step:
Step 701: according to the location information for playing departure position of the Target Number of plant protection drone and the work of plant protection drone
The planning path of Target Number is determined as parameter.
Wherein, planning path includes alternate far to segment and proximad segment, far parallel with proximad segment to segment, far to
The departure position that rises of segment terminates takeoff point of the destination close to Target Number relatively, and proximad the departure position that rises of segment terminates destination relatively
Far from takeoff point.
Step 702: according to the positional relationship for terminating destination and target proximad segment of planning path, planning path is corrected,
It obtains revised planning path and revised planning path is corresponding makes a return voyage a little.
Wherein, proximad segment is the proximad segment of the departure position of distance objective sortie farthest to target.
Step 703: according to the medicine-chest residual drug of revised planning path and plant protection drone, adding to the transmission of perfusion machine
Medicine instruction.
Wherein, add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added.
Step 704: by revised planning path and making a return voyage and be a little sent to plant protection drone.
Step 701- step 704 is similar with the realization process of step 101- step 104 and technical principle, no longer superfluous herein
It states.
Step 705: according to plant protection drone Target Number the corresponding error coefficient of handling situations and Target Number,
Determine the corresponding error coefficient of next sortie of Target Number.
Specifically, since plant protection drone is during spraying operation, there can be error, so, plant protection drone is in mesh
In the operation of frame time, it may appear that following two situation: the first situation, plant protection drone is not by revised planning road
When diameter has executed, medical fluid has been run out of；Second situation, plant protection drone is after having executed revised planning path, also
Dose is remaining.
For the first situation, the process of step 705 specifically:
If it is determined that plant protection drone is not when having executed revised planning path, medical fluid has been run out of, it is determined that
There are no the length for headings of execution in Target Number for plant protection drone；According to formula
Determine the corresponding error coefficient of next sortie of Target Number.Wherein, lam' indicates the corresponding mistake of next sortie of Target Number
Poor coefficient, K2 indicate that the corresponding revised length for heading of Target Number, K3 indicate that plant protection drone does not have also in Target Number
There is the length for heading of execution, lam is the corresponding error coefficient of Target Number.
Length for heading of the plant protection drone in Target Number there are no execution can be sprinkling control device according to plant protection
What the segment length and revised planning path that unmanned plane has executed determined.
For second situation, the process of step 705 specifically:
If it is determined that plant protection drone, after having executed revised planning path, it is remaining that there are also doses, and C4 > K2*W*
P*lam, then according to formulaDetermine the corresponding error coefficient of next sortie of Target Number.
Wherein, lam' indicates that the corresponding error coefficient of next sortie of Target Number, K2 indicate the corresponding revised boat of Target Number
Line length, C4 indicate that plant protection drone has executed the residual drug after Target Number, and lam is the corresponding error system of Target Number
Number.In the formula, the unit of K2 is rice, the unit of W be milliliter/square metre, the unit of P is rice, and the unit of C4 is milliliter.When
So, the unit of W can also be liter/square metre, and the unit of C4 is to rise.
It should be noted that then being needed when the unit of W is milliliter/muWhen, root
According to formulaDetermine the corresponding error coefficient of next sortie of Target Number.In the realization side
In formula, the unit of K2 is rice, and the unit of P is rice, and the unit of C4 is milliliter.
It is corresponding in the next sortie for determining Target Number after the corresponding error coefficient of next sortie for determining Target Number
Liquid volume to be added when, may be implemented more accurately to calculate liquid volume to be added.
Sprinkling control method provided in this embodiment, by according to plant protection drone in the handling situations of Target Number and
The corresponding error coefficient of Target Number determines the corresponding error coefficient of next sortie of Target Number, realizes according to target frame
The secondary corresponding error coefficient of next sortie more accurately calculates the corresponding medical fluid to be added of next sortie of Target Number
Amount, further reduced the waste of the battery resource and system resource of plant protection drone.
Fig. 8 is the structural schematic diagram of sprinkling control device embodiment one provided by the invention.As shown in figure 8, the present embodiment
The sprinkling control device of offer includes: the first determining module 81, correction module 82, the first sending module 83 and the second transmission mould
Block 84.
First determining module 81, for according to the location information for playing departure position of the Target Number of plant protection drone and plant protection
The running parameter of unmanned plane determines the planning path of Target Number.
Wherein, planning path includes alternate far to segment and proximad segment, far parallel with proximad segment to segment.Far to
The departure position that rises of segment terminates takeoff point of the destination close to Target Number relatively, and proximad the departure position that rises of segment terminates destination relatively
Far from takeoff point.
Optionally, running parameter includes medicine-chest capacity, unit area dosage and spray spoke.First determining module 81 is specific
For: according to the medicine-chest capacity of plant protection drone, unit area dosage and spray spoke, determine the Target Number of plant protection drone
Corresponding length for heading；Location information, the ground in region to be sprayed for playing departure position according to length for heading, Target Number is block-shaped
And flight course planning rule, determine the planning path of Target Number.
More specifically, according to the medicine-chest capacity of plant protection drone, unit area dosage and spray spoke, determine plant protection without
The aspect of the corresponding length for heading of man-machine Target Number, the first determining module 81 are specifically used for: according to formula
Determine length for heading.Wherein, K1 indicates that length for heading, C1 indicate that medicine-chest capacity, W indicate unit area dosage, and P indicates spray
Spoke.
Correction module 82, for the positional relationship for terminating destination and target proximad segment according to planning path, amendment rule
Path is drawn, revised planning path is obtained and revised planning path is corresponding makes a return voyage a little.
Wherein, proximad segment is the proximad segment of the departure position of distance objective sortie farthest to target.
First sending module 83, for the medicine-chest residual drug according to revised planning path and plant protection drone, to
The transmission of perfusion machine adds medicine instruction.
Wherein, add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added.
Optionally, the first sending module 83 is specifically used for: according to the length of segments all in revised planning path, really
The corresponding revised length for heading of the sortie that sets the goal；According to formula C3=K2*W*P* (1+lam)-C2, Target Number pair is determined
The liquid volume to be added answered, wherein C3 indicates the corresponding liquid volume to be added of Target Number, and K2 indicates revised course line
Length, lam indicate that the corresponding error coefficient of Target Number, C2 are medicine-chest residual drug, when C3 is greater than C1, determine that C3 is equal to
C1；Add medicine instruction according to liquid volume generation to be added, and is sent to perfusion machine.
Second sending module 84, for by revised planning path and making a return voyage and being a little sent to plant protection drone.
Sprinkling control provided by any embodiment of the invention can be performed in sprinkling control device provided by the embodiment of the present invention
Method processed has the corresponding functional module of execution method and beneficial effect.
Fig. 9 is the structural schematic diagram of sprinkling control device embodiment two provided by the invention.As shown in figure 9, the present embodiment
In, correction module 82 specifically includes: first determine submodule 821, second determine submodule 822, third determine submodule 823 with
And the 4th determine submodule 824.
First determines submodule 821, for being located at target proximad segment when the end destination for determining planning path, and
And the end destination of planning path and target proximad when virtually terminating destination and being overlapped of segment, determine revised planning path
For planning path.
Wherein: when the length and target of target proximad segment are proximad between the length of the subregion to be sprayed where segment
Difference be less than or equal to the first preset threshold when, target proximad segment virtually terminate destination be target proximad segment end boat
Point；When the difference proximad between the length of the subregion to be sprayed where segment of length and target of target proximad segment is greater than the
When one preset threshold, make the extended line of target proximad segment using the end destination of target proximad segment as starting point, target is proximad navigated
Section virtually terminates the first boundary that destination is subregion to be sprayed where with target proximad segment on extended line less than second
A bit of preset threshold.First boundary be target proximad the subregion to be sprayed where segment and target proximad segment it is vertical two
Close to the boundary of takeoff point in a boundary.
Second determines submodule 822, for being located at target proximad segment when the end destination for determining planning path, and
And the end destination of planning path and target proximad when virtually terminating destination and not being overlapped of segment, determine revised planning road
Diameter be in planning path do not include target proximad segment and first object far to segment other all segments set.
Wherein, first object is far that proximad segment and planning path mid-range objectives sortie play departure position to target to segment
It is remote to segment between secondary remote proximad segment.
Third determines submodule 823, for being not at target proximad segment when the end destination for determining planning path
When, determine revised planning path be planning path in, do not include the second target far to segment other all segments collection
It closes.
Wherein, the second target is far remote to segment after target proximad segment to segment.
4th determines submodule 824, for being required according to landing Spatial Rules, by the knot of the planning path after distance correction
Shu Hangdian nearest position is determined as making a return voyage a little.
Sprinkling control method provided by the present invention, which can be performed, in sprinkling control device provided by the embodiment of the present invention implements
The step of example two, has the corresponding functional module of execution method and beneficial effect.
Figure 10 is the structural schematic diagram of sprinkling control device embodiment three provided by the invention.As shown in Figure 10, this implementation
The sprinkling control device that example provides further includes the second determining module 85.
Second determining module 85, for corresponding in the handling situations and Target Number of Target Number according to plant protection drone
Error coefficient, determine the corresponding error coefficient of next sortie of Target Number.
In a kind of implementation, the second determining module 85 is specifically used for: if it is determined that plant protection drone will not be after it will correct
Planning path when having executed, medical fluid has run out of, it is determined that there are no the course lines of execution in Target Number for plant protection drone
Length；According to formulaDetermine the corresponding error coefficient of next sortie of Target Number.
Wherein, lam' indicates that the corresponding error coefficient of next sortie of Target Number, K2 indicate that Target Number is corresponding and repair
Length for heading after just, K3 indicates plant protection drone, and there are no the length for headings of execution in Target Number.
In another implementation, the second determining module 85 is specifically used for: if it is determined that plant protection drone is executing amendment
After planning path afterwards, it is remaining that there are also doses, and C4 > K2*W*P*lam, then according to formulaDetermine the corresponding error coefficient of next sortie of Target Number.
Wherein, lam' indicates that the corresponding error coefficient of next sortie of Target Number, K2 indicate that Target Number is corresponding and repair
Length for heading after just, C4 indicate that plant protection drone has executed the residual drug after Target Number.
Sprinkling control method provided by the present invention, which can be performed, in sprinkling control device provided by the embodiment of the present invention implements
The step of example three, has the corresponding functional module of execution method and beneficial effect.
Figure 11 is the structural schematic diagram of earth station provided by the invention.As shown in figure 11, which includes processor 70
With memory 71.The quantity of processor 70 can be one or more in the earth station, in Figure 11 by taking a processor 70 as an example；
The processor 70 of the server can be connected with memory 71 by bus or other modes, to be connected as by bus in Figure 11
Example.
Memory 71 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as in the embodiment of the present invention the corresponding program instruction of sprinkling control method and module (for example, sprinkling control
The first determining module 81, correction module 82, the first sending module 83 and the second sending module 84 in device).Processor 70
By running the software program, instruction and the module that are stored in memory 71, thereby executing the various function application of server
And data processing, that is, realize above-mentioned sprinkling control method.
Memory 71 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to earth station.
It can also include nonvolatile memory in addition, memory 71 may include high-speed random access memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 71 can be into
One step includes the memory remotely located relative to processor 70, these remote memories can pass through network connection to ground
It stands.The embodiment of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
The present invention also provides a kind of storage medium comprising computer executable instructions, the computer executable instructions exist
For executing a kind of sprinkling control method when being executed by computer processor, this method comprises:
According to the work ginseng of the location information for playing departure position of the Target Number of plant protection drone and the plant protection drone
Number determines the planning path of the Target Number；Wherein, the planning path includes alternate far to segment and proximad segment, institute
State it is far parallel with proximad segment to segment, it is described far to play the opposite close Target Number of destination that terminates of departure position to segment
The departure position that rises of takeoff point, the proximad segment terminates destination far from the takeoff point relatively；
According to the positional relationship for terminating destination and target proximad segment of the planning path, the planning path is corrected,
It obtains revised planning path and the revised planning path is corresponding makes a return voyage a little；Wherein, the target proximad segment
To play the farthest proximad segment of departure position apart from the Target Number；
According to the medicine-chest residual drug of revised planning path and the plant protection drone, adds medicine to the transmission of perfusion machine and refer to
It enables；Wherein, described to add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added；
The revised planning path and described make a return voyage a little are sent to the plant protection drone.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
Sprinkling control provided by any embodiment of the invention can also be performed in the method operation that executable instruction is not limited to the described above
Relevant operation in method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, included each unit and module are only pressed in the embodiment of above-mentioned sprinkling control device
It is divided, but is not limited to the above division according to function logic, as long as corresponding functions can be realized；In addition,
The specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of sprinkling control method characterized by comprising
Running parameter according to the location information for playing departure position of the Target Number of plant protection drone and the plant protection drone is true
The planning path of the fixed Target Number；Wherein, the planning path includes alternate far to segment and proximad segment, it is described far
It is parallel with proximad segment to segment, it is described far to terminate taking off for the close Target Number of destination relatively to the departure position that rises of segment
The departure position that rises of point, the proximad segment terminates destination far from the takeoff point relatively；
According to the positional relationship for terminating destination and target proximad segment of the planning path, the planning path is corrected, is obtained
The revised planning path and revised planning path is corresponding makes a return voyage a little；Wherein, the target proximad segment be away from
The farthest proximad segment of departure position is played from the Target Number；
According to the medicine-chest residual drug of revised planning path and the plant protection drone, add medicine instruction to the transmission of perfusion machine；
Wherein, described to add medicine-chest of the medicine instruction including perfusion machine to plant protection drone liquid volume to be added；
The revised planning path and described make a return voyage a little are sent to the plant protection drone.
2. the method according to claim 1, wherein the running parameter includes medicine-chest capacity, unit area use
Dose and spray spoke；
The location information for playing departure position of the Target Number according to plant protection drone and the work ginseng of the plant protection drone
Number determines the planning path of the Target Number, comprising:
According to the medicine-chest capacity of the plant protection drone, unit area dosage and spray spoke, the plant protection drone is determined
The corresponding length for heading of Target Number；
According to the length for heading, the Target Number rise the location information of departure position, region to be sprayed ground it is block-shaped with
And flight course planning rule, determine the planning path of the Target Number.
3. according to the method described in claim 2, it is characterized in that, medicine-chest capacity, the list according to the plant protection drone
Plane product dosage and spray spoke, determine the corresponding length for heading of the Target Number of the plant protection drone, comprising:
According to formulaDetermine the length for heading；Wherein, K1 indicates that the length for heading, C1 indicate the medicine
Tankage, W indicate the unit area dosage, and P indicates the spray spoke.
4. method according to claim 1-3, which is characterized in that described to be navigated according to the end of the planning path
The positional relationship of point and target proximad segment, corrects the planning path, after obtaining revised planning path and the amendment
Planning path corresponding make a return voyage a little, comprising:
When the end destination for determining the planning path is located at the target proximad on segment, also, the knot of the planning path
Shu Hangdian and the target proximad when virtually terminating destination and being overlapped of segment, determine the revised planning path for the rule
Draw path；Wherein: when the length of the target proximad length of segment and the target proximad subregion to be sprayed where segment
When difference between degree is less than or equal to the first preset threshold, the destination that virtually terminates of the target proximad segment is the target
The proximad end destination of segment；Sub-district to be sprayed where proximad the length of segment is with the target proximad segment when the target
When difference between the length in domain is greater than first preset threshold, the end destination using the target proximad segment is starting point work
The extended line of the target proximad segment, the target proximad segment virtually terminate destination be on the extended line with the mesh
Mark proximad the subregion to be sprayed where segment the first boundary less than the second preset threshold a bit, first boundary is institute
Stating target, proximad the subregion to be sprayed where segment and the target proximad rise in vertical two boundaries in segment close to described
The boundary of flying spot；
When the end destination for determining the planning path is located at the target proximad on segment, also, the knot of the planning path
Shu Hangdian and the target proximad when virtually terminating destination and not being overlapped of segment, determine that the revised planning path is described
In planning path, do not include the target proximad segment and first object far to segment other all segments set；Its
In, the first object is far that proximad Target Number described in distance rises the target in segment and the planning path to segment
It is remote to segment between the remote proximad segment of departure position time；
When the end destination for determining the planning path be not at the target proximad on segment when, determine described revised
Planning path be the planning path in, do not include the second target far to segment other all segments set；Wherein, described
Second target is far remote to segment after the target proximad segment to segment；
It is required according to landing Spatial Rules, the nearest position of end destination apart from the revised planning path is determined as
It is described to make a return voyage a little.
5. according to the method described in claim 3, it is characterized in that, it is described according to revised planning path and the plant protection without
Man-machine medicine-chest residual drug adds medicine instruction to the transmission of perfusion machine, comprising:
According to the length of all segments in the revised planning path, the corresponding revised boat of the Target Number is determined
Line length；
According to formula C3=K2*W*P* (1+lam)-C2, the corresponding liquid volume to be added of the Target Number is determined；Wherein,
C3 indicates the corresponding liquid volume to be added of the Target Number, and K2 indicates the revised length for heading, described in lam expression
The corresponding error coefficient of Target Number, C2 are the medicine-chest residual drug, when C3 is greater than C1, determine that C3 is equal to C1；
Add medicine instruction according to the liquid volume generation to be added, and is sent to the perfusion machine.
6. according to the method described in claim 5, it is characterized in that, by the revised planning path and described being returned described
Destination is sent to after the plant protection drone, the method also includes:
According to the plant protection drone the Target Number handling situations and the corresponding error coefficient of the Target Number,
Determine the corresponding error coefficient of next sortie of the Target Number.
7. according to the method described in claim 6, it is characterized in that, it is described according to the plant protection drone in the Target Number
Handling situations and the corresponding error coefficient of the Target Number, determine the corresponding error of next sortie of the Target Number
Coefficient, comprising:
If it is determined that the plant protection drone it is no the revised planning path has been executed when, medical fluid has run out of, then
Determining the plant protection drone, there are no the length for headings of execution in the Target Number；
According to formulaDetermine the corresponding error system of next sortie of the Target Number
Number；Wherein, lam' indicates that the corresponding error coefficient of next sortie of the Target Number, K3 indicate the plant protection drone in institute
State the length for heading in Target Number there are no execution.
8. according to the method described in claim 6, it is characterized in that, it is described according to the plant protection drone in the Target Number
Handling situations and the corresponding error coefficient of the Target Number, determine the corresponding error of next sortie of the Target Number
Coefficient, comprising:
If it is determined that the plant protection drone, after having executed the revised planning path, it is remaining that there are also doses, and C4 >
K2*W*P*lam, then according to formulaDetermine that next sortie of the Target Number is corresponding
Error coefficient；Wherein, lam' indicates the corresponding error coefficient of next sortie of the Target Number, C4 indicate the plant protection nobody
Machine has executed the residual drug after the Target Number.
9. a kind of sprinkling control device characterized by comprising
First determining module, for according to the location information for playing departure position of the Target Number of plant protection drone and the plant protection without
Man-machine running parameter determines the planning path of the Target Number；Wherein, the planning path includes alternate far to segment
Proximad segment, described far parallel with proximad segment to segment, the departure position far to segment is close with respect to destination is terminated
The departure position that rises of the takeoff point of the Target Number, the proximad segment terminates destination far from the takeoff point relatively；
Correction module, for the positional relationship for terminating destination and target proximad segment according to the planning path, described in amendment
Planning path obtains revised planning path and the revised planning path is corresponding makes a return voyage a little；Wherein, the target
Proximad segment is to play the farthest proximad segment of departure position apart from the Target Number；
First sending module, for the medicine-chest residual drug according to revised planning path and the plant protection drone, to filling
The transmission of medicine machine adds medicine instruction；Wherein, the medicine that adds instructs the medicine-chest including perfusion machine to the plant protection drone to be added
Liquid volume；
Second sending module, for the revised planning path and described make a return voyage a little to be sent to the plant protection drone.
10. a kind of earth station, which is characterized in that the earth station includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as sprinkling control method described in any one of claims 1-8.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as sprinkling control method described in any one of claims 1-8 is realized when execution.
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Effective date of registration: 20220130 Address after: Room 211, Tsinghua Lihe building, No. 1, Xingzhi Road, Jiangbei new area, Nanjing, Jiangsu 210000 Patentee after: JIAGUTECH Co.,Ltd. Patentee after: Nanjing nanjizhi agricultural machinery science and Technology Research Institute Co., Ltd Address before: 210061 Room 501, block a, animation building, No.11 Xinghuo Road, Jiangbei new district, Nanjing City, Jiangsu Province Patentee before: JIAGUTECH Co.,Ltd. |