CN110275544A - A kind of plant protection drone flight course planning method - Google Patents
A kind of plant protection drone flight course planning method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005507 spraying Methods 0.000 claims description 23
- 238000005265 energy consumption Methods 0.000 abstract description 4
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- 238000000638 solvent extraction Methods 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 65
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 229940079593 drug Drugs 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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- G—PHYSICS
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- 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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Abstract
The present invention relates to a kind of plant protection drone flight course planning methods.This method is divided using regions module and carries out plant protection drone flight course planning；According to the battery durable ability of plant protection drone and medicine-chest amount of capacity, the threshold parameter that operating area module divides is determined；Flight course planning mechanism inside the principle divided in conjunction with operating area feature, given region module and classification, module classification and corresponding module.Based on the above mechanism, the I class region division and the corresponding mathematical model of II class region division of horizontal and vertical operating area are established.System inputs length, width and the plant protection drone overall characteristic parameter of operating area, by regions module partitioning algorithm, exports the boundary value of the shortest regions module division result of flying distance and each module.The module for getting division obtains the flight course planning of plant protection drone according to inside modules flight course planning mechanism.The present invention is effectively shortened flight total distance when plant protection drone operation by modularization region division flight course planning method, improves the comprehensive service performance of unmanned plane, reduces the loss of plant protection drone ineffective energy consumption.
Description
Technical field
The present invention relates to wisdom agriculture field more particularly to a kind of plant protection drone flight course planning methods.
Background technique
Plant protection drone integrates rotor wing unmanned aerial vehicle, flusher, sensor module, control system etc., is a kind of high
Imitate the novel agricultural mechanical equipment of environmental protection.In operation, small, and water-saving section is influenced by topography and Grain Growth Situation situation
Medicine, it is highly-safe, it was widely used in Large Area of Crops plant protection operation in recent years.As artificial intelligence technology is constantly sent out
Exhibition, plant protection drone have had autonomous flight function, can be detached from the operation mode of traditional-handwork remote control, operating efficiency and quality
It greatly improves.Flight course planning is the important branch in plant protection drone autonomous flight research, and reasonable flight course planning can be mentioned effectively
High plant protection drone operating efficiency, and energy-saving consumes.
Currently, domestic many scholars have made intensive studies plant protection drone flight course planning, Xu Bo proposes that one kind is based on
The irregular area operation flight course planning algorithm in unmanned plane course cooks up preferably operation boat for irregular operating area
Line, so that energy consumption and medicine consumption are optimal in operation process.In addition, proposing a kind of multi rack time return route planning algorithm, pass through spray
The optimizing of waypoint location is measured and returned to realize least energy consumption.Wang Yu combination Grid Method and gravitation search algorithm, propose two respectively
The paths planning method of peacekeeping dimensional topography, when reaching the non-plant protection operation of unmanned plane by the optimizing to make a return voyage quantity and position
Between it is most short.
Battery durable ability and medicine-chest lifting capacity are two big performance indicators of plant protection drone, affect it in large area
Operating efficiency in region.Prolonged cruising ability and biggish medicine-chest lifting capacity can shorten the plant protection drone departure times on reverse
And administration timing of drug.But during practical unmanned plane plant protection, since battery and medicine-chest are unable to reach best match between the two,
Often occurring: there is residue, is presented as the effective consumption of battery in (1) dead battery capability, medicine-chest dose；(2) medicine-chest dose consumes
To the greatest extent, battery capacity exists remaining, is presented as the incomplete utilization of battery.
Existing method realizes unmanned function in global course line traversal from waypoint location optimizing progress flight course planning is returned at present
Consumption is minimum, but does not fully consider unmanned plane itself comprehensive performance optimal problem in actual job.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, provides a kind of plant protection drone flight course planning method, can be with
Carry out regions module division and flight course planning according to battery life, medicine-chest capacity, when reaching unmanned machine operation itself
Comprehensive performance is optimal, and global plant protection drone flying distance is most short.
In order to achieve the above objectives, insight of the invention is that firstly, passing through the battery life and medicine-chest of plant protection drone
The threshold parameter of amount of capacity determining module；Secondly, inside according to the principle of regions module division, module classification and corresponding module
Flight course planning mechanism establishes the I class region division and the corresponding mathematical model of II class region division of horizontal and vertical operating area
And regions module division methods；In turn, in plant protection drone operation process, input operating area length L, width W and
Plant protection drone overall characteristic parameter, after being calculated by regions module division methods, the output shortest module of flying distance is drawn
Point as a result, and providing the boundary values of modules；Finally, the module after dividing is got, by inside modules flight course planning mechanism,
Obtain the course line of plant protection drone.
Conceived according to foregoing invention, the present invention adopts the following technical solutions, comprising:
A kind of plant protection drone flight course planning method, it is characterised in that specific steps are as follows:
Step 1 controls the map function in software, located agricultural planting area by plant protection drone；
Step 2 chooses function by operating area, intercepts the rectangle operation boundary of p × q；
Step 3, the spraying swath parameter for inputting plant protection drone, are finely adjusted the side length of operating area；
Step 4, battery life, the medicine-chest capacity parameter for inputting plant protection drone in software calculate operation module and divide
Threshold value SYZ；
Step 5 judges operating area type by software: if L > W in region, by lateral operating area type into
Row I, II class region division；If L < W, I, II class region division is carried out by longitudinal operating area type；
Step 6 passes through regions module division methods, finds out that module divides as a result, simultaneously, providing the course line rule in each module
It draws.
According to the battery life of plant protection drone and medicine-chest amount of capacity, the threshold value ginseng that operation module divides is determined
Number takes the maximum operation area under plant protection drone cruising ability and the maximum operation face under plant protection drone medicine-chest full load condition
Both products smaller value.
Choose p × q(long × wide) rectangular area as plant protection drone operating area, region bond length is 2nd, n
For positive integer, d is plant protection drone spraying swath, and long side length is not required, it is ensured that plant protection drone flies into and fly out the position of module
It sets on same boundary.Plant protection drone operating area is divided into transverse direction (L > W) and longitudinal (L < W) two kinds of situations, such as Fig. 3 institute
Show.
According to the difference of operating area landform, lateral operating area (such as Fig. 3-a, 3-b) or longitudinal operating area are chosen (such as
Fig. 3-a, 3-b), the length and width of entire operating area can be shown in software interface.
The spraying swath parameter for inputting plant protection drone, is finely adjusted the side length of operating area.Operating area after fine tuning,
Bond length is 2n times of plant protection drone spraying swath, and n is positive integer, and long side length is constant.
The rectangle minesweeping area domain of p × q is divided into s module, the area of each module divides threshold range in module
It is interior.It is mutually indepedent between module, no intersection, and boundary is corresponding with rectangle minesweeping area domain boundary parallel, such as Fig. 1.
Module division is followed by first dividing since the region farthest apart from unmanned plane takeoff point as far as close sequence.Fig. 1
Middle module is started to divide from P point to the direction of O point.
According to region features of terrain, the module type of division includes: 1) transverse module (l > w), such as Fig. 2-a, short side w=
2nd(n is positive integer), long side l=Si/ w(i=1,2 ..., s), d is the spraying swath of plant protection drone.In lateral division module,
Reciprocal method planning is ploughed using ox in course line, and follows " going out in tripping in " principle, and unmanned plane flies into point start and fly out a little in module
End is as shown in Fig. 2-b.2) longitudinal module (w > l), if Fig. 2-c, short side l=2nd(n are positive integer), long side w=Si/l.Vertical
Into division module, flight course planning is same as lateral division, and follows " left side enters the right side and goes out " principle, unmanned plane fly into point start and
Point end fly out as shown in Fig. 2-d.Module alignment is denoted as { A, B, C, D }={ (xi-1,yj),(xi,yj-1),(xi,yj),(xi-1,
yj)}。
The mode that module divides is divided into two classes: I class region division (Fig. 3-a, 3-c) and II class region division (Fig. 3-b, 3-
D).In I class region division, each module SiLong side it is equal with the long side of operating area, module bond length is by module threshold
Value SYZRatio with operating area long side length L takes and is less than or equal to and (n is positive integer, and d is close to the 2nd value of ratio to determine
The spraying swath of plant protection drone) length as module short side.In II class region division, first according to module threshold SYZWith operating area
The ratio of long side L carrys out the bond length of general estimation module, then by the bond length appropriate adjustment estimated is to be more than or equal to and connect
The 2nd value of nearly ratio (n is positive integer, and d is the spraying swath of plant protection drone).After bond length determines, continue by module threshold SYZ
With the length of the ratio determining module long side of bond length.We need first to determine the bond length of the last one module, short side
Length is more than or equal to operating area long side and by module threshold SYZThe difference of the module long side determined with the ratio of bond length, and
Close to 2nd(n be positive integer, d be plant protection drone spraying swath) value.The long side length of the module of front s-1 is finally calculated again.
Plant protection drone operating area is divided into transverse direction (L > W) and longitudinal (W > L) two kinds of situations, as shown in Figure 3.This two
In kind operating environment, bond area module division principle carries out module division to it.The mode that module divides is divided into two classes: I class
Region division (Fig. 3-a, 3-c) and II class region division (Fig. 3-b, 3-d).Entire operating area S is divided by I class region division
S mutually independent modules, each module SiLong side it is equal with the long side of operating area.Due to by plant protection drone from
Body transaction capabilities constraint, module bond length is by module threshold SYZIt determines, takes with the ratio of operating area long side length L
It is less than or equal to and the length close to the 2nd value of ratio (n is positive integer, and d is the spraying swath of plant protection drone) as module short side.Ⅱ
Class region division is unlike I class region division, and II class region division is in order to avoid by the spy of operating area length L, width W
The division defect that different property generates, therefore in partition process, first according to module threshold SYZCome with the ratio of operating area long side L big
The bond length of general estimation module, then by the bond length appropriate adjustment estimated be to be more than or equal to and close to the 2nd value (n of ratio
For positive integer, d is the spraying swath of plant protection drone).In order to meet module farthest close to threshold value, after bond length determines,
Continue by module threshold SYZWith the length of the ratio determining module long side of bond length.At this point, in order to guarantee the short of s-th of module
Side length meets the requirement of 2nd, it would be desirable to first determine that the bond length of the last one module, bond length are more than or equal to operation area
Domain long side with by module threshold SYZThe difference of the module long side determined with the ratio of bond length, and close to 2nd(n be positive integer,
D is the spraying swath of plant protection drone) value, then calculate the long side length of the module of front s-1.Plant protection drone is in each module
Course line it is as shown in Figure 2.
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and significant technology into
Step: 1) unmanned plane itself synthesis service performance is improved, and is taken full advantage of its service load and is carried out task execution, reduces
Operations number in practical plant protection operation；2) the flight course planning method that the invention proposes is portable strong, not by operating environment shadow
It rings；3) compared with traditional flight course planning method, this method can effectively reduce flying distance.
Detailed description of the invention
Fig. 1 is that regions module of the invention divides schematic diagram；
Fig. 2 is module classification and course line path schematic diagram of the invention；
Fig. 3 is that provincial characteristics and module of the invention divide schematic diagram；
Fig. 4 is plant protection drone flight course planning method flow diagram of the invention.
Flight schematic diagram when Fig. 5 is plant protection drone operation of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples, sees Fig. 4.Plant protection drone flight course planning of the invention
The specific steps of method are as follows:
Step 1 controls the map function in software, located agricultural planting area by plant protection drone.
Step 2 chooses function by operating area on software, and the rectangle operation boundary of p × q, operation are intercepted in map
It is 2nd(n is positive integer that region, which meets bond length, and d is plant protection drone spraying swath), long side length is not required.It can be according to work
The difference of industry region landform chooses lateral operating area (such as Fig. 3-a, 3-b) or longitudinal operating area (such as Fig. 3-a, 3-b).It is whole
The length and width of a operating area can be shown in software interface.
Step 3, the spraying swath parameter for inputting plant protection drone, are finely adjusted the side length of operating area.Work after fine tuning
Industry region, the length of short side are 2n times of plant protection drone spraying swath, and n is positive integer, and long side length is constant.
Step 4, battery life, the medicine-chest capacity parameter for inputting plant protection drone in software, calculate operation module
The threshold value S of divisionYZ.Threshold value SYZMaximum operation area and plant protection drone medicine-chest under plant protection drone cruising ability is taken to be fully loaded with
The smaller value in maximum operation area the two under state.Each module in operating area is in threshold range.Module it
Between mutually indepedent, no intersection, and boundary is corresponding with rectangle minesweeping area domain boundary parallel, such as Fig. 1.
Step 5 judges operating area type by software: if L > W in region, by lateral operating area class
Type carries out I, II class region division, such as Fig. 3-a, 3-b；If L < W, I, II class region is carried out by longitudinal operating area type
It divides, such as Fig. 3-c, 3-d.
Step 6, module division are followed by first drawing since the region farthest apart from unmanned plane takeoff point as far as close sequence
Point.Module is started to divide from P point to the direction of O point in Fig. 1.By regions module division methods, the result of module division is found out.
Meanwhile providing the flight course planning in each module.
In the present embodiment, the step 6 specifically:
Step 61 is such as related to I class region division, each module SiLong side it is equal with the long side of operating area, due to by
Plant protection drone itself transaction capabilities constraint, short side is by module threshold SYZIt is determined with the ratio of long side, takes and be less than or equal to
And the length close to the 2nd value of ratio (n is positive integer, and d is the spraying swath of plant protection drone) as module short side.
Step 62 is such as related to II class region division, first according to module threshold SYZCome with the ratio of operating area long side general
The bond length of estimation module, then by the bond length appropriate adjustment estimated be to be more than or equal to and (n is close to the 2nd value of ratio
Positive integer, d are the spraying swath of plant protection drone).After bond length determines, continue by module threshold SYZIt is true with the ratio of bond length
The length of cover half block long side.Then determine that the bond length of the last one module, bond length take long more than or equal to operating area
The difference on side and other module long sides, and close to 2nd(n be positive integer, d be plant protection drone spraying swath) value, module long side
It is by module threshold SYZIt is determined with the ratio of module inner short-side length, finally calculates the long side length of the module of front s-1 again.
Step 63, find out I, II class division module after, calculate separately the flight cost value of two kinds of plant protection drones.Generation
It is worth the result that lesser region division is divided as final module.
The modular character that step 64, basis obtain recalls the plant protection drone course line rule for meeting each module in region automatically
Check off fruit.
Below with reference to example, it is illustrated:
In one piece of 210m × 200m(L × W) rectangular area carry out plant protection drone flight course planning, plant protection drone performance parameter
It is as follows: pesticide container capacity 15 L, battery capacity 16000mAh, 4 m/s of operating speed, operation 10.5min in cruise duration,
Mu fountain height is 1.1L, spraying swath d=5m.
By calculating available medicine-chest in the case where filling pesticide, plant protection drone spray area is 13.6 mu, electricity
Pond 18.9 mu of sustainable operation in the case where fully charged, therefore the threshold value S that module dividesYZIt is selected as 13.6 mu (about 9057 squares
Rice).
Since the side length in the rectangle minesweeping area domain is 2n times of spraying swath, therefore do not need to adjust.
According to the condition of L > W in rectangular area, need to carry out I, II class region division by lateral operating area type；
I class region division:
Module long side length selects operating area long side length, is 210m；Bond length is 9057/210=43.12m, according to plant protection
The limitation of unmanned plane spraying swath parameter, bond length take 2nd=10n, we take n=4, i.e. bond length is 40m.Therefore, operating area
5 modules are divided into, area is respectively 210 × 40=8400 square metres.
II class region division:
Module bond length is 9057/210=43.12m, expands bond length to 50m, long side length is 9057/50=
181.14m.The bond length of the last one module is then are as follows: 210-181.14=28.86m, the requirement for being 2nd according to bond length,
Then bond length is 30cm.Again by the long side length of front module be adjusted to 210-30=180m.Therefore, preceding 4 module areas are
180 × 50=9000 square metres.Last 1 module area is 30 × 200=6000 square metres.
Finally, calculating separately the unmanned plane during flying distance under above two dividing condition, select flying distance is shorter to draw
Merotype, and back-and-forth method is ploughed into according to ox in the course line of each module and is provided, such as Fig. 5.
In conclusion when plant protection drone flight course planning method of the invention is effectively shortened plant protection drone operation
Flight total distance improves the comprehensive service performance of unmanned plane, reduces the loss of plant protection drone ineffective energy consumption.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (5)
1. a kind of plant protection drone flight course planning method, it is characterised in that specific steps are as follows:
Step 1 controls the map function in software, located agricultural planting area by plant protection drone；
Step 2 chooses function by operating area, intercepts the rectangle operation boundary of p × q；
Step 3, the spraying swath parameter for inputting plant protection drone, are finely adjusted the side length of operating area；
Step 4, battery life, the medicine-chest capacity parameter for inputting plant protection drone in software calculate operation module and divide
Threshold value SYZ；
Step 5 judges operating area type by software: if L > W in region, by lateral operating area type into
Row I, II class region division；If L < W, I, II class region division is carried out by longitudinal operating area type；
Step 6 passes through regions module division methods, finds out that module divides as a result, simultaneously, providing the course line rule in each module
It draws.
2. a kind of plant protection drone flight course planning method according to claim 1, it is characterised in that: in step 2 plant protection without
It is 2nd that man-machine operation region, which meets bond length, and n is positive integer, and d is plant protection drone spraying swath, and long side length is not required, and is made
There are horizontal and vertical two kinds of forms in industry region.
3. a kind of plant protection drone flight course planning method according to claim 1, it is characterised in that: finely tune it in step 3
Operating area afterwards, the length of short side are 2n times of plant protection drone spraying swath, and n is positive integer, and the length of long side is constant.
4. a kind of plant protection drone flight course planning method according to claim 1, it is characterised in that: operation mould in step 4
The threshold value of block is determined by the battery life of plant protection drone, medicine-chest amount of capacity, is taken under plant protection drone cruising ability
Maximum operation area and plant protection drone medicine-chest full load condition under both maximum operation areas in smaller value.
5. a kind of plant protection drone flight course planning method according to claim 1, it is characterised in that: by p × q in step 5
Rectangle minesweeping area domain be divided into s module, module division is followed by as far as close sequence, first from apart from unmanned plane takeoff point most
Remote region starts to divide, and each module is mutually indepedent between module in threshold range, no intersection, and boundary with
Rectangle minesweeping area domain boundary is corresponding parallel.
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| CN111930143A (en) * | 2020-08-19 | 2020-11-13 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight path generation method and device, unmanned aerial vehicle and storage medium |
| CN113826054A (en) * | 2020-09-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Air route planning method and equipment |
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| CN112783208A (en) * | 2020-12-31 | 2021-05-11 | 广州极飞科技股份有限公司 | Unmanned equipment return control method and device and unmanned equipment |
| CN113325873A (en) * | 2021-06-11 | 2021-08-31 | 武汉华武合胜网络科技有限公司 | Unmanned aerial vehicle plant protection operation data acquisition and analysis method, system and computer storage medium |
| CN114442657A (en) * | 2021-12-22 | 2022-05-06 | 广州极飞科技股份有限公司 | Unmanned equipment operation method, device, equipment and storage medium |
| CN114442657B (en) * | 2021-12-22 | 2023-12-05 | 广州极飞科技股份有限公司 | Unmanned equipment operation method, unmanned equipment operation device, unmanned equipment operation equipment and storage medium |
| CN115393586A (en) * | 2022-08-18 | 2022-11-25 | 北京爱科农科技有限公司 | Farmland breeding region dividing method and device, computer equipment and medium |
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