CN110162099B - A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane - Google Patents
A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane Download PDFInfo
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- CN110162099B CN110162099B CN201910647727.1A CN201910647727A CN110162099B CN 110162099 B CN110162099 B CN 110162099B CN 201910647727 A CN201910647727 A CN 201910647727A CN 110162099 B CN110162099 B CN 110162099B
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- 239000007921 spray Substances 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008447 perception Effects 0.000 claims abstract description 30
- 230000015654 memory Effects 0.000 claims description 20
- 238000012790 confirmation Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 235000013399 edible fruits Nutrition 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound 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
- 239000013307 optical fiber Substances 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses plant protection spray method, unmanned plane and the storage mediums of a kind of unmanned plane.The described method includes: the flight information includes referring to course line Step 1: obtaining the flight information that earth station sends；Step 2: being flown according to described with reference to course line, in flight course, it is scanned using predeterminable area range of the perception mould group to flight front, obtains scanning result；Step 3: determining the target plant for needing to spray according to the scanning result, flies to above the target plant and sprayed；Step 4: returning to the course line that refers to after completing the sprinkling of the target plant and continuing to fly, recirculate and execute step 2 and step 3, until it is described with reference to course line to have flown.The technical solution of the embodiment of the present invention, the target plant for needing to spray by perception mould group scanning, without surveying and drawing the position of every plant in advance.
Description
Technical field
The present embodiments relate to the plant protection spray method of plant protection drone technology more particularly to a kind of unmanned plane, nobody
Machine and storage medium.
Background technique
Plant protection drone is as a kind of novel pesticide dispersal equipment, and development is swift and violent in recent years.
Plant protection drone, using blanket type spray pattern, achieves preferable effect when crop field is sprayed.But blanket type sprays
Mode is spilt in orchard in application, but encountering many problems, i.e., can not carry out emphasis sprinkling by according to the position of fruit tree, and
And in fruit tree interval region, still sprayed, wastes a large amount of medical fluid.
Its reason is that unmanned plane can not perceive the accurate location of every fruit tree and the size and shape of top fruit sprayer.
At present on the market, there is a kind of scheme that the position by each fruit tree is surveyed and drawn in advance, then by fruit tree position
Set the scheme that unmanned aerial vehicle control system carries out operation that is supplied to.But since mapping process takes time and effort, the effect of acquirement is simultaneously paid no attention to
Think.
Summary of the invention
The embodiment of the present invention provides plant protection spray method, unmanned plane and the storage medium of a kind of unmanned plane, is not necessarily to realizing
The expenditure of manpower and material resources is reduced in the position for surveying and drawing every plant in advance.
In a first aspect, the embodiment of the invention provides a kind of plant protection spray methods of unmanned plane, comprising:
Step 1: obtaining the flight information that earth station sends, the flight information includes referring to course line；
Step 2: being flown according to described with reference to course line, in flight course, using perception mould group to flight front
Predeterminable area range is scanned, and obtains scanning result；
Step 3: determining the target plant for needing to spray according to the scanning result, the top of the target plant is flown to
It is sprayed；
Step 4: returning to the course line that refers to after completing the sprinkling of the target plant and continuing to fly, recirculate
Step 2 and step 3 are executed, until it is described with reference to course line to have flown.
Optionally, in step 1, the flight information further include: plant type, plant average distance, single are planted
Strain fountain height, flying speed, flying height, sprinkling drop.
Optionally, in step 2, the predeterminable area range is in perception mould group flight front preset angular range half
Diameter is no more than the fan-shaped range of average plant spacing distance.
Optionally, in step 2, the scanning result is the number of plant, every plant distance within the scope of predeterminable area
The distance of unmanned plane.
It is optionally, described that the target plant for needing to spray is determined according to the scanning result in step 3, comprising:
The target plant for selecting plant nearest apart from unmanned plane within the scope of predeterminable area to spray as needs.
Optionally, described that plant nearest apart from unmanned plane within the scope of predeterminable area is selected to plant as the target for needing to spray
Before strain, comprising:
Confirm the plant sprayed within the scope of the predeterminable area；
After ignoring the plant sprayed, select plant nearest apart from unmanned plane within the scope of predeterminable area as needing to spray
Target plant.
Optionally, the plant sprayed within the scope of the confirmation predeterminable area, comprising:
It is using the corresponding flight range in reference course line that unmanned plane has been flown over as region, the flight range has been sprayed
Region on the left of the reference course line flown between pre-determined distance and right side pre-determined distance, wherein the left side pre-determined distance and institute
State the half that right side pre-determined distance is plant average distance；
When whole plant within the scope of the predeterminable area is all in described sprayed in region, confirm that the plant is
Plant through spraying.
Optionally, in step 3, described fly to above the target plant is sprayed, comprising:
Step A, obtain unmanned plane current flight horizontal direction and the target plant central point and unmanned plane line it
Between yaw angle, difference in height, unmanned plane current location and institute between unmanned plane present level and the target plant highest point
The distance for stating the position of target plant central point, as adjustment index；
Step B, according to the adjustment index, the posture of unmanned plane is adjusted, flies to the top of the target plant, wherein institute
The distance for stating highest point of the unmanned plane apart from the target plant is the sprinkling drop；
Step C, step A and step B are repeated, until the position of unmanned plane current location and the target plant central point
The distance set be less than it is default close to apart from when, the target plant is sprayed according to the single plant fountain height.
Second aspect the embodiment of the invention also provides a kind of unmanned plane, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, the processor are realized when executing described program as in above-described embodiment
The plant protection spray method of any unmanned plane.
The third aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the plant protection spray method of the unmanned plane as described in any in above-described embodiment when described program is executed by processor.
The target plant that the embodiment of the present invention needs to spray by perception mould group scanning, without surveying and drawing every plant in advance
The expenditure of manpower and material resources is reduced in position.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of unmanned plane plant sprinkling system provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of the plant protection spray method of one of the embodiment of the present invention one unmanned plane；
Fig. 3 is the schematic diagram in the reference course line in the embodiment of the present invention one；
Fig. 4 is the schematic diagram of the scanning range in the embodiment of the present invention one；
Fig. 5 is the schematic diagram for having sprayed region in the embodiment of the present invention one；
Fig. 6 is the schematic diagram that plant has been sprayed in confirmation in the embodiment of the present invention one；
Fig. 7 is the schematic diagram referring back to course line in the embodiment of the present invention one；
Fig. 8 is the structural schematic diagram of one of the embodiment of the present invention two unmanned plane.
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.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although each step is described as the processing of sequence by flow chart, many of these
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
The processing can be terminated when completion, it is also possible to have the additional step being not included in attached drawing.The processing can be with
Corresponding to method, function, regulation, subroutine, subprogram etc..
In addition, term " first ", " second " etc. can be used to describe herein various directions, movement, step or element etc.,
But these directions, movement, step or element should not be limited by these terms.These terms are only used to by first direction, movement, step
Rapid or element and another direction, movement, step or element are distinguished.For example, the case where not departing from scope of the present application
Under, First Speed difference can be known as to second speed difference, and similarly, it is poor second speed difference can be known as First Speed
Value.First Speed difference and second speed difference both speed difference, but it is not same speed difference.Term " the
One ", " second " etc. cannot be understood as indicating or implying relative importance or implicitly indicate the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.In
In description of the invention, the meaning of " plurality " is at least two, such as two, three etc., unless otherwise specifically defined.
Fig. 1 is a kind of structural schematic diagram of unmanned plane plant sprinkling system provided in an embodiment of the present invention.As shown in Figure 1,
The present embodiment unmanned plane plant sprinkling system includes unmanned plane 110 and earth station 120.Wherein, unmanned plane 110 includes satellite navigation
Device 111 flies control 112, perception mould group 113.Wherein, Satellite Navigation Set 111, winged control 112 and perception mould group 113, are respectively mounted
On unmanned plane 110.Wherein, perception mould group 113 is mounted on the heading of unmanned plane 110, and front and lower section are without screening
Gear.It perceives mould group 113 and has uniaxial holder, uniaxial cradle head control perception mould group 113 carries out pitching motion.
Perception mould group 113 can be the dual camera mould group with AI function, be also possible to the laser radar mould with AI function
Group is also possible to the millimetre-wave radar mould group with AI function.
Unmanned plane plant sprinkling system provided in an embodiment of the present invention is for executing unmanned plane provided in an embodiment of the present invention
Plant protection spray method is below described in detail unmanned plane plant protection spray method provided in an embodiment of the present invention.
Embodiment one
Fig. 2 is a kind of flow diagram of the plant protection spray method for unmanned plane that the embodiment of the present invention one provides, the present invention
The method of embodiment is applicable to the case where unmanned plane sprinkling plant.The method of the embodiment of the present invention can be held by unmanned plane
Row.Referring to Fig. 2, the plant protection spray method of the unmanned plane of the embodiment of the present invention specifically comprises the following steps:
Step 210 obtains the flight information that earth station sends, which includes referring to course line.
Wherein, be that base area is block-shaped with reference to course line, generate " several " font course line, track spacing be plant equispaced away from
From L.
Wherein, the flight information can also include: plant type, plant average distance, single plant fountain height,
Flying speed, flying height, sprinkling drop.
Specifically, earth station delimit the region for needing operation on map, and set the parameter of this subjob, the parameter
Include: (1) plant type, compares if tree；(2) plant average distance, the average distance are adjacent two plant
Central point distance average value；(3) single plant fountain height；(4) flying speed；(5) flying height；(6) drop is sprayed,
When sprinkling, difference in height of the unmanned plane apart from plant highest point.
Earth station sprays average distance and the scheduled airline generation of region and plant according to the target of delimitation
Rule generates and refers to course line.
Earth station will refer to course line, plant type, plant average distance, single plant fountain height, flying speed, fly
Row height, sprinkling drop, are sent to winged control.
It takes off as shown in figure 3, flying control control unmanned plane, and according to reference course line, flight has been arrived departure position 310, then opened
Begin to fly along reference course line with " several " font, track spacing is plant average distance L, flight to end destination
320 terminate.It is that target sprays region 330 along the region that reference course line is flown over.The reference course line of Fig. 3 only as an example,
Do not limit the present invention.
Step 220 is flown according to this with reference to course line, in flight course, using perception mould group to flight front
Predeterminable area range is scanned, and obtains scanning result.
Wherein, the predeterminable area range is in perception mould group flight front preset angular range, and radius is no more than average
The fan-shaped range of plant spacing distance.
The scanning result is the distance of the number, every plant of plant within the scope of predeterminable area apart from unmanned plane.It can be with
Understand, distance of the every plant apart from unmanned plane can be distance of the central point apart from unmanned plane of every plant, can also be with
It is the nearest boundary of every plant with a distance from unmanned plane.The embodiment of the present invention is preferably the nearest boundary of every plant from nobody
The distance of machine.
Illustratively, in flight course, fly steering perception mould group and send scan instruction SCAN, commander's perception mould group is to nobody
Machine flight front is scanned, and identifies the plant in front.
Instruct format/parameter of SCAN are as follows:
SCAN { model:=tree, angle:=30, distance:=L }
Described instruction means that scanning and identifies within the scope of 60 degree of front that distance is no more than the plant of L.Wherein, L is
Plant average distance.As shown in figure 4, unmanned plane 410 along reference airline operation, scans and identifies the 60 degree of ranges in front
Interior, distance is no more than the predeterminable area range 420 of L.It should be understood that specific angular range is only as an example, and unlimited
The fixed present invention.
After perception mould group receives SCAN instruction, uniaxial holder is adjusted, and confirms that perception mould group is directed toward flight front.Then
The plant within the scope of the predeterminable area of (e.g., 100 milli second/time) identification scanning is repeated, and sends scanning result to winged control:
SCAN_RESULT {n, {1, distance_center1, distance_border1}, {2, distance_
center2, distance_border2}, ... , {n, distance_centern, distance_bordern} }
Wherein, n indicates to find n plant, { idx, distance_ followed by within the scope of Current Scan
centeridx, distance_borderidx, indicate the central point of each plant with a distance from aircraft and nearest side
Boundary is with a distance from unmanned plane.
As long as some within the scope of the predeterminable area of scanning, is considered as the predeterminable area model that the plant belongs to scanning
It encloses.
Step 230 determines the target plant for needing to spray according to the scanning result, and the top for flying to the target plant carries out
Sprinkling.
Specifically, determining the target plant for needing to spray according to the scanning result, comprising: within the scope of selection predeterminable area
The target plant that the plant nearest apart from unmanned plane is sprayed as needs.
Preferably, select plant nearest apart from unmanned plane within the scope of predeterminable area as need the target plant sprayed it
Before, comprising:
Step A, confirm the plant sprayed within the scope of the predeterminable area；
Specifically, confirming the plant sprayed within the scope of the predeterminable area, comprising:
Step A-a, using the corresponding flight range in reference course line that unmanned plane has been flown over as having sprayed region, the flight
Region is the region on the left of the reference course line flown between pre-determined distance and right side pre-determined distance, wherein the left side is default
Distance and the right side pre-determined distance are the half of plant average distance.
Specifically, as shown in figure 5, unmanned plane 510 flies along reference course line 520, when unmanned plane 510 flies to point A
When, using the region between the reference course line 520 left side pre-determined distance L/2 and right side pre-determined distance L/2 flown over as having sprayed
Region 530, other regions, which are used as, does not spray region 540.Wherein, L is plant average distance.
Step A-b, when whole plant within the scope of the predeterminable area is all in described sprayed in region, described in confirmation
Plant is the plant sprayed.
Specifically, as shown in fig. 6, having sprayed region 630 is the reference course line left side pre-determined distance L/2 that unmanned plane has been flown over
Region between the pre-determined distance L/2 of right side.Unmanned plane 610 is along reference airline operation, the two sides flown on reference course line
Region within the scope of pre-determined distance, which is constituted, has sprayed region 630.Having sprayed the region other than region 630 is not spray region.Nothing
Man-machine 610 fly along reference course line, scan the plant in front preset regional scope 620, find predeterminable area range
There are plant 1, plant 2, plant 3 in 620, judges whether plant 1, plant 2, plant 3 are the plant sprayed, specifically,
When whole plant in predeterminable area range 620 is all when having sprayed in region 630, confirm that the plant is the plant sprayed
Strain.1 a part of plant, which is located at, has sprayed region 630, and a part, which is located at, does not spray region, is considered as the plant that do not sprayed；Plant 2
It is entirely located in and does not spray region, be considered as the plant that do not spray；Plant 3, which is entirely located in, has sprayed in region 630, confirms that the plant is
The plant sprayed.
Specifically, flying steering perception mould group hair when finding that a certain (or more) plant in scanning result has been sprayed
It send and ignores instruction (IGNORE), after perception mould group receives and ignores instruction, these plant can be designated as being not required to identify, subsequent SCAN_
There would not be the information of these plant in RESULT again.
Format/parameter of IGNORE instruction is as follows:
No. 1 plant, No. 3 plant ..., x plant are ignored in IGNORE { 1,3 ..., x }, expression.Pay attention to herein 1,
3, x be the serial number in the SCAN_RESULT of front.
Step B, after ignoring the plant sprayed, select plant nearest apart from unmanned plane within the scope of predeterminable area as need
The target plant to be sprayed.
Specifically, flying control receives SCAN_RESULT, and after confirming that the plant in all SCAN_RESULT is not sprayed, choose
Select boundary nearest in SCAN_RESULT with a distance from unmanned plane minimum (nearest) plant, using the plant as spraying target,
And the plant is sent into target instruction target word (TARGET) as parameter and gives perception mould group:
TARGET{idx}
Idx indicates the i-th dx plant found within the scope of Current Scan, and TARGET { idx } expression is with the i-th dx plant
Target is sprayed, flies to above the plant and is sprayed.
It is sprayed specifically, flying to above the target plant, comprising:
Step A, obtain unmanned plane current flight horizontal direction and the target plant central point and unmanned plane line it
Between yaw angle, difference in height, unmanned plane current location and institute between unmanned plane present level and the target plant highest point
The distance for stating the position of target plant central point, as adjustment index.
Specifically, being computed repeatedly after perception mould group receives instruction TARGET:
1) yaw angle (angle) between the horizontal direction of unmanned plane current flight, with plant central point.
2) difference in height (difference) between unmanned plane present level, with the plant highest point.
3) at a distance from unmanned plane current location, with the position of plant central point (distance).
Yaw angle, difference in height, distance are as adjustment index.
Wherein, it for unmanned plane current location, can be obtained by Satellite Navigation Set；For the position of plant central point
It sets, can be obtained by perception mould group.
For more acurrate estimation values above, perceives mould group and need to control uniaxial holder, adjust the direction of perception mould group, so as to
Preferably alignment target plant.
Step B, according to the adjustment index, the posture of unmanned plane is adjusted, flies to the top of the target plant, wherein institute
State the sprinkling drop that the distance of highest point of the unmanned plane apart from the target plant is sent to unmanned plane for earth station.
In the present embodiment, it can also repeat to send posture of the adjustment index to adjust unmanned plane with the preset period.Specifically
, according to adjustment index, (e.g., 50 milliseconds primary) is repeated to winged control transmission adjustment instruction, the posture of unmanned plane is adjusted, flies to mesh
Mark the top of plant.
Step C, step A and step B are repeated, until the position of unmanned plane current location and the target plant central point
The distance set be less than it is default close to apart from when, then it is assumed that unmanned plane has been flown to above the target plant, according to earth station
The single plant fountain height for being sent to unmanned plane sprays the target plant.
Specifically, flying console keyboard boiled water switch pump, and controls aircraft and rotated in place, while calculating fountain height.Work as sprinkling
After amount reaches the numerical value of setting, terminate to spray the plant.
Step 240, after completing the sprinkling of the target plant, return to this and continue to fly with reference to course line, re-circulation is held
Row step 220 and step 230, until having flown this with reference to course line.
Illustratively, as shown in fig. 7, due in step 230, unmanned plane 710 needs to spray according to scanning result determination
Target plant 720, when flying to the top of the target plant 720 and being sprayed, it is possible to have left with reference to course line 730.It is tying
After the sprinkling of the beam target plant 720, flies control control unmanned plane 710 and heading is adjusted to perpendicular to reference course line 730
Direction continues to fly, and referring back to course line 730, then branches to step 220.
The technical solution of the embodiment of the present invention, the target plant for needing to spray by perception mould group scanning, without surveying in advance
The expenditure of manpower and material resources is reduced in the position for drawing every plant.
Embodiment two
Fig. 8 is a kind of structural schematic diagram of unmanned plane provided by Embodiment 2 of the present invention, as shown in figure 8, the unmanned plane
Including processor 810, memory 820, input unit 830 and output device 840；The quantity of processor 810 can be in unmanned plane
Be it is one or more, in Fig. 8 by taking a processor 810 as an example；Processor 810, memory 820, input unit in unmanned plane
830 can be connected with output device 840 by bus or other modes, in Fig. 8 for being connected by bus.
Memory 820 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, such as the corresponding program instruction/module of the plant protection spray method of the unmanned plane in the embodiment of the present invention.Processor
810 software program, instruction and the modules being stored in memory 820 by operation, thereby executing the various functions of unmanned plane
Using and data processing, that is, realize the plant protection spray method of above-mentioned unmanned plane.
Namely:
Step 1: obtaining the flight information that earth station sends, the flight information includes referring to course line；
Step 2: being flown according to described with reference to course line, in flight course, using perception mould group to flight front
Predeterminable area range is scanned, and obtains scanning result；
Step 3: determining the target plant for needing to spray according to the scanning result, the top of the target plant is flown to
It is sprayed；
Step 4: returning to the course line that refers to after completing the sprinkling of the target plant and continuing to fly, recirculate
Step 2 and step 3 are executed, until it is described with reference to course line to have flown.
Memory 820 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 terminal.This
Outside, memory 820 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 820 can be into one
Step includes the memory remotely located relative to processor 810, these remote memories can pass through network connection to unmanned plane.
The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 830 can be used for receiving the number or character information of input, and generate the user setting with unmanned plane
And the related key signals input of function control.Output device 840 may include that display screen etc. shows equipment.
The technical solution of the embodiment of the present invention, the target plant for needing to spray by perception mould group scanning, without surveying in advance
The expenditure of manpower and material resources is reduced in the position for drawing every plant.
Embodiment three
The embodiment of the present invention three also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction by computer processor when being executed for executing a kind of plant protection spray method of unmanned plane, which comprises
Step 1: obtaining the flight information that earth station sends, the flight information includes referring to course line；
Step 2: being flown according to described with reference to course line, in flight course, using perception mould group to flight front
Predeterminable area range is scanned, and obtains scanning result；
Step 3: determining the target plant for needing to spray according to the scanning result, the top of the target plant is flown to
It is sprayed；
Step 4: returning to the course line that refers to after completing the sprinkling of the target plant and continuing to fly, recirculate
Step 2 and step 3 are executed, until it is described with reference to course line to have flown.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed unmanned plane provided by any embodiment of the invention
Relevant operation in plant protection spray method.
The computer readable storage medium of the embodiment of the present invention, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
It sets or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium wraps
It includes: there is the electrical connection of one or more conducting wires, portable computer diskette, hard disk, random-access memory (ram), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable
Storage medium can be it is any include or storage program tangible medium, described program can be commanded execution system, device or
The use or in connection of person's device.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, the computer-readable medium can send, propagate or transmit use
In by the use of instruction execution system, device or device or program in connection.
The program code for including on storage medium can transmit with any suitable medium, including --- but it is not limited to nothing
Line, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on remote computer or terminal completely on the remote computer on the user computer.It is relating to
And in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
The technical solution of the embodiment of the present invention, the target plant for needing to spray by perception mould group scanning, without surveying in advance
The expenditure of manpower and material resources is reduced in the position for drawing every plant.
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 (6)
1. a kind of plant protection spray method of unmanned plane characterized by comprising
Step 1: obtaining the flight information that earth station sends, the flight information includes referring to course line；
Step 2: being flown according to described with reference to course line, in flight course, flight front is preset using perception mould group
Regional scope is scanned, and obtains scanning result, wherein the perception mould group is dual camera mould group；
Step 3: determining the target plant for needing to spray according to the scanning result, the top for flying to the target plant is carried out
Sprinkling；
Step 4: returning to the course line that refers to after completing the sprinkling of the target plant and continuing to fly, recirculate and execute
Step 2 and step 3, until it is described with reference to course line to have flown；
Wherein, in step 2, the scanning result is the number of plant, every plant within the scope of predeterminable area apart from unmanned plane
Distance；
It is described that the target plant for needing to spray is determined according to the scanning result in step 3, comprising:
The target plant for selecting plant nearest apart from unmanned plane within the scope of predeterminable area to spray as needs；
Before the target plant for selecting plant nearest apart from unmanned plane within the scope of predeterminable area to spray as needs, packet
It includes:
Confirm the plant sprayed within the scope of the predeterminable area；
After ignoring the plant sprayed, select plant nearest apart from unmanned plane within the scope of predeterminable area as the mesh for needing to spray
Mark plant；
The plant sprayed within the scope of the confirmation predeterminable area, comprising:
It is to have flown over using the corresponding flight range in reference course line that unmanned plane has been flown over as region, the flight range has been sprayed
Reference course line on the left of region between pre-determined distance and right side pre-determined distance, wherein the left side pre-determined distance and the right side
Side pre-determined distance is the half of plant average distance；
When whole plant within the scope of the predeterminable area is all in described sprayed in region, confirm that the plant is to have sprayed
The plant spilt.
2. the plant protection spray method of unmanned plane according to claim 1, which is characterized in that in step 1, the flight
Information further include: plant type, plant average distance, single plant fountain height, flying speed, flying height, sprinkling are fallen
Difference.
3. the plant protection spray method of unmanned plane according to claim 1, which is characterized in that described default in step 2
Regional scope is in perception mould group flight front preset angular range, and radius is no more than the fan-shaped model of average plant spacing distance
It encloses.
4. the plant protection spray method of unmanned plane according to claim 2, which is characterized in that described to fly in step 3
It is sprayed above the target plant, comprising:
Step A, between the horizontal direction and the target plant central point and unmanned plane line for obtaining unmanned plane current flight
Difference in height, unmanned plane current location and the mesh between yaw angle, unmanned plane present level and the target plant highest point
The distance for marking the position of plant central point, as adjustment index；
Step B, according to the adjustment index, the posture of unmanned plane is adjusted, flies to the top of the target plant, wherein the nothing
The distance of the man-machine highest point apart from the target plant is the sprinkling drop；
Step C, step A and step B are repeated, until the position of the unmanned plane current location and the target plant central point
The distance set be less than it is default close to apart from when, the target plant is sprayed according to the single plant fountain height.
5. a kind of unmanned plane including memory, processor and stores the computer that can be run on a memory and on a processor
Program, which is characterized in that the processor is realized when executing described program such as the unmanned plane as described in any in claim 1-4
Plant protection spray method.
6. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The plant protection spray method of the unmanned plane as described in any in claim 1-4 is realized when row.
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| CN201910647727.1A CN110162099B (en) | 2019-07-18 | 2019-07-18 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
| PCT/CN2020/094127 WO2021008264A1 (en) | 2019-07-18 | 2020-06-03 | Plant protection spraying method for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium |
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| CN201910647727.1A CN110162099B (en) | 2019-07-18 | 2019-07-18 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
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| CN110162099B (en) * | 2019-07-18 | 2019-10-29 | 南京嘉谷初成通信科技有限公司 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
| CN110989684B (en) * | 2019-12-31 | 2021-06-15 | 广州极飞科技股份有限公司 | Spraying operation control method, device, ground station and storage medium |
| CN111744690B (en) * | 2020-05-29 | 2022-06-21 | 广州极飞科技股份有限公司 | Spraying operation control method, device, carrier and storage medium |
| CN112163966A (en) * | 2020-09-18 | 2021-01-01 | 广州极飞科技有限公司 | Fertilizing operation method and device, electronic equipment and storage medium |
| CN116783118A (en) * | 2021-01-28 | 2023-09-19 | 深圳市大疆创新科技有限公司 | Spraying control method, equipment, plant protection unmanned aerial vehicle and storage medium |
| CN112977828A (en) * | 2021-04-06 | 2021-06-18 | 中国农业科学院都市农业研究所 | Spraying method and device based on unmanned aerial vehicle, electronic equipment and medium |
| CN113917946B (en) * | 2021-11-18 | 2024-05-10 | 上海顺诠科技有限公司 | Unmanned aerial vehicle automatic spraying operation system and method based on dynamic adjustment early warning range |
| CN114355972B (en) * | 2021-12-27 | 2023-10-27 | 天翼物联科技有限公司 | Unmanned aerial vehicle piloting method, system, device and medium under communication limited condition |
| CN115316172B (en) * | 2022-10-12 | 2022-12-16 | 广东省农业科学院植物保护研究所 | Nano pesticide application method and system based on plant protection unmanned aerial vehicle |
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| US7706926B2 (en) * | 2007-10-30 | 2010-04-27 | Agco Corporation | Adaptive feedback sources for application controllers |
| CN106814745A (en) * | 2017-03-22 | 2017-06-09 | 常熟理工学院 | UAV Intelligent medicine supplies spray method and system |
| CN106919178A (en) * | 2017-04-14 | 2017-07-04 | 南京信息工程大学 | A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method |
| CN108090893B (en) * | 2017-11-23 | 2021-10-15 | 华南农业大学 | Thermal infrared identification-based method and device for optimizing pesticide spraying of plant protection unmanned aerial vehicle |
| CN108846325A (en) * | 2018-05-28 | 2018-11-20 | 广州极飞科技有限公司 | Planing method, device, storage medium and the processor of target area operation |
| CN109241837B (en) * | 2018-07-27 | 2021-08-27 | 仲恺农业工程学院 | Accurate spraying control method for plant protection unmanned aerial vehicle |
| CN109271862A (en) * | 2018-08-15 | 2019-01-25 | 广州极飞科技有限公司 | Sprinkling control method and terminal, mobile device based on mobile device |
| CN109358642A (en) * | 2018-10-22 | 2019-02-19 | 江南大学 | A kind of fruit tree plant protection and picking method based on multi-rotor unmanned aerial vehicle |
| CN110162099B (en) * | 2019-07-18 | 2019-10-29 | 南京嘉谷初成通信科技有限公司 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
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