CN112056291B - Accurate variable operation method and device for plant protection unmanned aerial vehicle - Google Patents
Accurate variable operation method and device for plant protection unmanned aerial vehicle Download PDFInfo
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- CN112056291B CN112056291B CN202010752313.8A CN202010752313A CN112056291B CN 112056291 B CN112056291 B CN 112056291B CN 202010752313 A CN202010752313 A CN 202010752313A CN 112056291 B CN112056291 B CN 112056291B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000008859 change Effects 0.000 claims abstract description 54
- 239000000575 pesticide Substances 0.000 claims abstract description 42
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 239000000447 pesticide residue Substances 0.000 abstract description 6
- 235000013399 edible fruits Nutrition 0.000 description 18
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; 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
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- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a plant protection unmanned aerial vehicle accurate variable operation method and device, wherein the method comprises the following steps: detecting whether the current position reaches a tree age change coordinate point or not in the process of driving the unmanned aerial vehicle according to the operation track; and if the tree age change coordinate point is reached, obtaining tree age information of the crop corresponding to the tree age change coordinate point, and changing the pesticide application amount of the unmanned aerial vehicle according to the tree age information. The tree age information of crops corresponding to the tree age change coordinate points is obtained when the unmanned aerial vehicle reaches the tree age change coordinate points, and the pesticide application width of the unmanned aerial vehicle is changed according to the tree age information, so that the problems of insufficient pesticide application amount or excessive pesticide application amount caused by tree age difference can be solved, the insufficient pesticide application amount is avoided, the plant protection effect is reduced, the quality of agricultural products is influenced by excessive pesticide application amount, and the pesticide residue and the environment pollution are increased.
Description
Technical Field
The invention relates to the technical field of agricultural information, in particular to a plant protection unmanned aerial vehicle accurate variable operation method and device.
Background
The application of pesticide by using the plant protection unmanned aerial vehicle is one of key factors influencing the quality of crops, and not only influences the yield of the crops, but also influences the quality of agricultural products. Too much application rate can influence the agricultural product quality in the unmanned aerial vehicle plant protection operation in-process, increases the pesticide residue, pollutes the environment, and too little application rate can reduce the plant protection effect, influences crop output. Therefore, accurate and variable unmanned aerial vehicle pesticide application plant protection operation is particularly important.
Generally speaking plant protection unmanned aerial vehicle operation can divide into manual formula and automatic formula, during manual formula unmanned aerial vehicle plant protection operation, leans on to fly manual operation unmanned aerial vehicle, and the homogeneity that the pesticide sprayed is relatively poor, often appears leaking spout with the condition of spouting more.
Full-automatic formula plant protection unmanned aerial vehicle can plan the operation route according to the operation boundary earlier usually when the plant protection operation, and plant protection unmanned aerial vehicle carries out the plant protection operation according to the operation route that has planned completely, sprays the pesticide in step when the plant protection operation begins and stops spraying the pesticide when the plant protection operation finishes. Although the operation method is greatly improved compared with manual operation, the condition of missed spray and multiple spray is avoided, variable operation can not be carried out according to the difference among crops, and the problem that the application amount of part of crops is too much or too little is still caused.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a method and an apparatus for plant protection unmanned aerial vehicle precise variable operation.
In a first aspect, an embodiment of the present invention provides a plant protection unmanned aerial vehicle precise variable operation method, including: detecting whether the current position reaches a tree age change coordinate point or not in the running process of the unmanned aerial vehicle according to the operation track; and if the tree age change coordinate point is reached, obtaining tree age information of the crop corresponding to the tree age change coordinate point, and changing the pesticide application amount of the unmanned aerial vehicle according to the tree age information.
Further, the method also includes: acquiring a crop canopy image, and acquiring crown density information according to the crop canopy image; and adjusting the flight speed of the unmanned aerial vehicle according to the crown density information.
Further, before unmanned aerial vehicle traveles according to the operation orbit, still include: acquiring boundary lines of the operation area, wherein one of the boundary lines is used as a reference line; a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges; and determining coordinate points of the first crop and the last crop on each operation side, wherein a connecting line between the two coordinate points is used as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain the operation track of the plant protection unmanned aerial vehicle.
Further, before detecting whether the current position reaches the age change coordinate point, the method further includes: finding out two adjacent crops with the changed ages in each row of crops, and determining the position coordinate of one crop; and acquiring a point closest to the position coordinate on the operation air route, and calibrating the point on the unmanned aerial vehicle air route as a tree age change coordinate point.
Further, according to the crown density information, adjusting the corresponding flight speed, including: obtaining N +1 density intervals according to the N preset crown density grades, wherein each density interval corresponds to different preset flight speeds; and determining the flight speed of the unmanned aerial vehicle according to the density interval of the crown density, and adjusting the speed.
In a second aspect, an embodiment of the present invention provides a plant protection unmanned aerial vehicle precision variable operation device, including: the positioning module is used for detecting whether the current position reaches a tree age change coordinate point or not in the process that the unmanned aerial vehicle drives according to the operation track; and the pesticide application control module is used for acquiring the tree age information of crops corresponding to the tree age change coordinate points if the tree age change coordinate points are reached, and changing the pesticide application width of the unmanned aerial vehicle according to the tree age information.
Further, the apparatus further comprises: the image processing module is used for acquiring a crop canopy image and acquiring crown density information according to the crop canopy image; and the speed control module is used for adjusting the flight speed of the unmanned aerial vehicle according to the crown density information.
Further, the apparatus further comprises a path planning module configured to: acquiring boundary lines of the operation area, and taking one of the boundary lines as a reference line; a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges; and determining coordinate points of the first crop and the last crop on each operation side, wherein a connecting line between the two coordinate points is used as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain the operation track of the plant protection unmanned aerial vehicle.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program that is stored in the memory and is executable on the processor, where the processor executes the computer program to implement the steps of the method for accurate variable operation of the plant protection unmanned aerial vehicle according to the first aspect of the present invention.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for plant protection unmanned aerial vehicle precision variable operation according to the first aspect of the present invention.
According to the plant protection unmanned aerial vehicle accurate variable operation method and device provided by the embodiment of the invention, when the unmanned aerial vehicle reaches the tree age change coordinate point, the tree age information of the crop corresponding to the tree age change coordinate point is obtained, and the pesticide application width of the unmanned aerial vehicle is changed according to the tree age information, so that the problems of insufficient pesticide application amount or excessive pesticide application amount caused by tree age difference can be avoided, further, the problems of insufficient pesticide application amount and plant protection effect are avoided, the quality of agricultural products is influenced by excessive pesticide application amount, and the pesticide residue and the environment pollution are increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a plant protection unmanned aerial vehicle precise variable operation method according to an embodiment of the present invention;
fig. 2 is a flowchart of a plant protection unmanned aerial vehicle precise variable operation method according to another embodiment of the present invention;
fig. 3 is a flowchart of a plant protection unmanned aerial vehicle precise variable operation method according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a job track planning provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of tree age change coordinate point calibration according to an embodiment of the present invention;
fig. 6 is a structural diagram of an accurate variable operation device of the plant protection unmanned aerial vehicle provided by the embodiment of the invention;
fig. 7 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The existing unmanned aerial vehicle operation method cannot achieve targeted variable operation aiming at the condition that the volume of a canopy layer of a fruit tree and the density degree of branches and leaves are different due to different ages of the fruit tree in the whole operation area.
Fig. 1 is a flowchart of a method for accurate variable operation of a plant protection unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the embodiment of the present invention provides a method for accurate variable operation of a plant protection unmanned aerial vehicle, including:
101. and detecting whether the current position reaches the tree age change coordinate point or not in the running process of the unmanned aerial vehicle according to the operation track.
Unmanned aerial vehicle navigates according to predetermined operation orbit, acquires unmanned aerial vehicle's position coordinate through orientation module in real time to give the control module that gives medicine, current position is unmanned aerial vehicle's real-time position. The tree age change coordinate point is a position point marked in advance and the tree age of the tree changes, and a corresponding tree age change coordinate point is set every time the tree age of the tree changes on the operation trajectory line. The positioning module acquires the position coordinates of the plant protection unmanned aerial vehicle in real time, and the pesticide application control module calculates whether the unmanned aerial vehicle reaches the tree age change coordinate point. If the tree age change coordinate point is not reached, continuing to fly according to the current application amount.
102. And if the tree age change coordinate point is reached, obtaining tree age information of the crop corresponding to the tree age change coordinate point, and changing the pesticide application amount of the unmanned aerial vehicle according to the tree age information.
If the unmanned aerial vehicle flies to the tree age change coordinate point, the pesticide application control module extracts tree age information of crops (if trees) in front of the point, and controls pesticide application amount according to the tree age, for example, by controlling pesticide application width, so that the coverage of pesticide liquid is controlled. And if the change coordinate point of the tree age is not reached, the unmanned aerial vehicle continues to sail according to the original pesticide application amount until the flight operation track of the unmanned aerial vehicle is ended, and the unmanned aerial vehicle stops operating. Fig. 2 is a flowchart of a plant protection unmanned aerial vehicle precision variable operation method according to another embodiment of the present invention, and a specific flow can refer to fig. 2.
According to the precise variable operation method of the plant protection unmanned aerial vehicle, when the unmanned aerial vehicle reaches the tree age change coordinate point, the tree age information of crops corresponding to the tree age change coordinate point is obtained, and the pesticide application width of the unmanned aerial vehicle is changed according to the tree age information, so that the problems of insufficient pesticide application amount or excessive pesticide application amount caused by tree age difference can be avoided, further, the problems of insufficient pesticide application amount, plant protection effect reduction, influence on the quality of agricultural products due to excessive pesticide application amount are avoided, and the pesticide residue and environmental pollution are increased.
Based on the content of the foregoing embodiment, as an optional embodiment, the method further includes obtaining a crop canopy image, and obtaining crown density information according to the crop canopy image; and adjusting the flight speed of the unmanned aerial vehicle according to the crown density information.
Fig. 3 is a flowchart of a precise variable operation method of a plant protection unmanned aerial vehicle according to another embodiment of the present invention, and as shown in fig. 3, the image acquisition module is configured to acquire crown density information of crops, the flight speed control module is configured to receive the crown density information of the image acquisition processing module in real time, and when the crown density changes, the flight speed of the unmanned aerial vehicle is controlled to control pesticide spraying amount, so as to implement accurate variable operation according to the crown density.
According to the method provided by the embodiment of the invention, the corresponding flight speed is adjusted according to the crown density information, so that the problems of insufficient application amount or excessive application amount caused by the difference of crown density can be avoided. The application amount is controlled by combining the tree age, so that the accurate variable operation of crops can be realized, the insufficient application amount is further avoided, the plant protection effect is reduced, the quality of agricultural products is influenced by excessive application amount, and the problems of pesticide residue and environmental pollution are increased.
Based on the content of the foregoing embodiment, as an optional embodiment, before the unmanned aerial vehicle travels according to the operation trajectory, the method further includes: acquiring boundary lines of the operation area, wherein one of the boundary lines is used as a reference line; a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges; and determining coordinate points of the first crop and the last crop on each operation side, wherein a connecting line between the two coordinate points is used as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain the operation track of the plant protection unmanned aerial vehicle.
Taking crops as an example, fig. 4 is a schematic diagram of a work trajectory planning provided by an embodiment of the present invention, and as shown in fig. 4, firstly, boundaries of a work area are identified, and are marked as a boundary AB, a boundary BC, a boundary CD, and a boundary DA. Taking the boundary AB as a reference line for planning the operation path, the row of fruit trees closest to the reference line AB is AB, and the row of fruit trees farthest from the reference line is np, in this embodiment, the row of fruit trees AB is taken as a starting edge of the plant protection operation, and the row of fruit trees pn is taken as an ending edge of the plant protection operation.
Assuming that the point a and the point b are respectively the first fruit tree and the last fruit tree of the row of fruit trees, the point a and the point b can be used as two end points of the row of fruit trees, and a connecting line connecting the point a and the point b is used as a flight line for unmanned aerial vehicle operation.
And finding out all air routes in the operation block according to the rule, and connecting the air routes together end to obtain the operation track of the unmanned aerial vehicle. The point a is used as the operation starting point of the track, and the point p is used as the operation stopping point of the track.
Based on the content of the foregoing embodiment, as an optional embodiment, before detecting whether the current location reaches the age change coordinate point, the method further includes: finding out two adjacent crops with the changed ages in each row of crops, and determining the position coordinate of one crop; and acquiring a point closest to the position coordinate on the operation air route, and calibrating the point on the unmanned aerial vehicle air route as a tree age change coordinate point.
Or taking crops as fruit trees as an example, fig. 5 is a schematic diagram of calibrating tree age change coordinate points provided by the embodiment of the present invention, as shown in fig. 5, two adjacent fruit trees with changed tree ages are searched for in each row of fruit trees, the position coordinate of one of the fruit trees is measured, and a point closest to the position coordinate of the fruit tree is searched for on the working route of the fruit tree in the row and is calibrated on the unmanned aerial vehicle route. Specifically, as shown in the figure, a ' and b ' are two adjacent fruit trees with the age of the fruit tree of the row ab changed, a point 1 closest to the a ' is searched on the ab course, and the point is marked on the ab course. Coordinate point 1 is the point where the application amount changes. All the points of which the application amount needs to be changed are found on the flight path according to the method, and a plurality of age change coordinate points are obtained.
According to the method provided by the embodiment of the invention, the point closest to the position coordinate is acquired on the operation route and is calibrated on the unmanned aerial vehicle route as the tree age change coordinate point, so that the accurate judgment of the tree age change in the operation process is favorably realized, and the problems of insufficient pesticide application amount or excessive pesticide application amount caused by the tree age difference are avoided.
Based on the content of the foregoing embodiment, as an optional embodiment, adjusting the corresponding flight speed according to the crown density information includes: obtaining N +1 density intervals according to the N preset crown density levels, wherein each density interval corresponds to different preset flight speeds; and determining the flight speed of the unmanned aerial vehicle according to the affiliated interval of the crown density, and adjusting the speed.
The unmanned aerial vehicle starts to sail from an operation starting point a along an operation track, the image acquisition and processing unit acquires a crop crown image in real time and sends an image processing result to the flight speed control module, and the flight speed control module controls the flight speed of the plant protection unmanned aerial vehicle according to the crown density grade. When crown density is big, reduce unmanned aerial vehicle's airspeed to increase the pesticide volume of spraying, crown density is hour, improves unmanned aerial vehicle airspeed, in order to reduce the pesticide volume of spraying.
The preset crown density levels are four levels m1, m2, m3, m4, and m1< m2< m3< m 4. The corresponding drone flight speeds are divided into v1, v2, v3, v4, v5 and v1< v2< v3< v4< v5. The corresponding rule of the unmanned aerial vehicle speed and the crown density is as follows: when crown density m is less than m1, the flying speed of the unmanned aerial vehicle is v5, when crown density m is greater than m1 and less than m2, the flying speed of the unmanned aerial vehicle is v4, and when crown density m is greater than m2 and less than m3, the flying speed of the unmanned aerial vehicle is v3. When the crown density m is greater than m3 and less than m4, the flying speed of the unmanned aerial vehicle is v2, and when the crown density m is greater than m4, the flying speed of the unmanned aerial vehicle is v1.
According to the method provided by the embodiment of the invention, the corresponding flight speed is determined according to the belonging interval of the crown density, and the speed is adjusted, so that the quantification of the crown density is realized, and the corresponding adjustment of the flight speed is facilitated.
Fig. 6 is a structural diagram of a precise variable operation device of a plant protection unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 6, the precise variable operation device of the plant protection unmanned aerial vehicle includes: a positioning module 601 and a dosing control module 602. The positioning module 601 is used for detecting whether the current position reaches a tree age change coordinate point or not in the process that the unmanned aerial vehicle drives according to the operation track; the pesticide application control module 602 acquires the age information of the crop corresponding to the age change coordinate point if the age change coordinate point is reached, and changes the pesticide application width of the unmanned aerial vehicle according to the age information.
Based on the content of the foregoing embodiment, as an alternative embodiment, the apparatus further includes: the image processing module is used for acquiring a crop canopy image and acquiring crown density information according to the crop canopy image; and the speed control module is used for adjusting the corresponding flight speed according to the crown density information.
Based on the content of the foregoing embodiment, as an optional embodiment, the apparatus further includes a path planning module, configured to: acquiring boundary lines of the operation area, and taking one of the boundary lines as a reference line; a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges; and determining coordinate points of the first crop and the last crop on each operation side, wherein a connecting line between the two coordinate points is used as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain the operation track of the plant protection unmanned aerial vehicle.
The device embodiment provided in the embodiment of the present invention is for implementing the above method embodiments, and for specific flows and details, reference is made to the above method embodiment, which is not described herein again.
According to the plant protection unmanned aerial vehicle accurate variable operation device provided by the embodiment of the invention, the tree age information of crops corresponding to the tree age change coordinate point is obtained by the unmanned aerial vehicle when the unmanned aerial vehicle reaches the tree age change coordinate point, and the application breadth of the unmanned aerial vehicle is changed according to the tree age information, so that the problems of insufficient application amount or excessive application amount caused by tree age difference can be avoided, further, the application amount is not enough, the plant protection effect is reduced, the quality of agricultural products is influenced by excessive application amount, and the pesticide residue and the environment pollution are increased.
Fig. 7 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 7, the electronic device may include: a processor (processor) 701, a communication Interface (Communications Interface) 702, a memory (memory) 703 and a bus 704, wherein the processor 701, the communication Interface 702 and the memory 703 are communicated with each other via the bus 704. The communication interface 702 may be used for information transfer of an electronic device. The processor 701 may invoke logic instructions in the memory 703 to perform a method comprising: detecting whether the current position reaches a tree age change coordinate point or not in the process of driving the unmanned aerial vehicle according to the operation track; and if the tree age change coordinate point is reached, obtaining tree age information of the crop corresponding to the tree age change coordinate point, and changing the pesticide application amount of the unmanned aerial vehicle according to the tree age information.
In addition, the logic instructions in the memory 703 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-described method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, for example, the method includes: detecting whether the current position reaches a tree age change coordinate point or not in the process of driving the unmanned aerial vehicle according to the operation track; and if the tree age change coordinate point is reached, obtaining tree age information of crops corresponding to the tree age change coordinate point, and changing the application dosage of the unmanned aerial vehicle according to the tree age information.
The above-described embodiments of the apparatus are merely illustrative, and units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. An accurate variable operation method for a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
detecting whether the current position reaches a tree age change coordinate point or not in the process of driving the unmanned aerial vehicle according to the operation track;
if the tree age change coordinate point is reached, obtaining tree age information of crops corresponding to the tree age change coordinate point, and changing the pesticide application amount of the unmanned aerial vehicle according to the tree age information;
further comprising:
acquiring a crop canopy image, and acquiring crown density information according to the crop canopy image;
adjusting the flight speed of the unmanned aerial vehicle according to the crown density information;
before unmanned aerial vehicle traveles according to the operation orbit, still include:
acquiring boundary lines of the operation area, and taking one of the boundary lines as a reference line;
a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges;
determining coordinate points of a first crop and a last crop on each operation side, taking a connecting line between the two coordinate points as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain an operation track of the plant protection unmanned aerial vehicle;
before detecting whether the current position reaches the tree age change coordinate point, the method further comprises:
finding out two adjacent crops with the changed ages in each row of crops, and determining the position coordinate of one crop;
acquiring a point closest to the position coordinate on the operation route, and calibrating the point on the unmanned aerial vehicle route as a tree age change coordinate point;
according to crown density information, adjust unmanned aerial vehicle's airspeed, include:
obtaining N +1 density intervals according to the N preset crown density grades, wherein each density interval corresponds to different preset flight speeds;
and determining the flight speed of the unmanned aerial vehicle according to the density interval of the crown density, and adjusting the speed.
2. The utility model provides an accurate variable operation device of plant protection unmanned aerial vehicle, its characterized in that includes:
the positioning module is used for detecting whether the current position reaches a tree age change coordinate point or not in the process that the unmanned aerial vehicle travels according to the operation track;
the pesticide application control module is used for acquiring the tree age information of crops corresponding to the tree age change coordinate points if the tree age change coordinate points are reached, and changing the pesticide application width of the unmanned aerial vehicle according to the tree age information;
the image processing module is used for acquiring a crop canopy image and acquiring crown density information according to the crop canopy image;
the speed control module is used for adjusting the flight speed of the unmanned aerial vehicle according to the crown density information;
the speed control module is specifically configured to:
obtaining N +1 density intervals according to the N preset crown density grades, wherein each density interval corresponds to different preset flight speeds; determining the flight speed of the unmanned aerial vehicle according to the density interval of the crown density, and adjusting the speed;
a path planning module to:
acquiring boundary lines of the operation area, and taking one of the boundary lines as a reference line;
a plurality of crop rows from the row closest to the reference line to the row farthest from the reference line are respectively used as operation edges;
determining coordinate points of a first crop and a last crop on each operation side, taking a connecting line between the two coordinate points as a flight path of the operation side, and connecting the flight paths of all the operation sides end to obtain an operation track of the plant protection unmanned aerial vehicle;
the device is also used for detecting whether the current position reaches the tree age change coordinate point or not:
finding out two adjacent crops with the changed ages in each row of crops, and determining the position coordinate of one crop;
and acquiring a point closest to the position coordinate on the operation air route, and calibrating the point on the unmanned aerial vehicle air route as a tree age change coordinate point.
3. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the plant protection drone precise variable operation method of claim 1.
4. A non-transitory computer readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the plant protection drone precise variable operation method of claim 1.
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| CN202010752313.8A CN112056291B (en) | 2020-07-30 | 2020-07-30 | Accurate variable operation method and device for plant protection unmanned aerial vehicle |
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| CN112056291B true CN112056291B (en) | 2022-10-04 |
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