CN112612299B - Miniature unmanned aerial vehicle cluster variable plant protection method - Google Patents
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- 238000004458 analytical method Methods 0.000 claims abstract description 16
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Abstract
The application discloses miniature unmanned aerial vehicle cluster variable plant protection method, the plant protection method includes the following steps: mapping a farm foundation, mapping the peripheral shape and the boundary of the farm through mapping equipment on the farm, combining the dimensional information of the peripheral shape and the boundary of the farm with the terrain model established in the step 1, establishing a terrain and a topography model of the farm through a computer to determine the position of a beehive of a hangar, installing and debugging an unmanned aerial vehicle hangar, setting unmanned aerial vehicle cluster parameters, carrying out operation by a miniature unmanned aerial vehicle cluster, and collecting the ecological state of crops in the farm and spraying liquid through the unmanned aerial vehicle cluster; and the data uploading computer terminal analyzes or displays the agricultural condition data for the first time and the second time, analyzes the uploaded information and displays the analysis result. According to the invention, the 'bee group plant protection' mode based on micro unmanned aerial vehicle cluster operation is provided by reducing the volume of unmanned aerial vehicles and increasing the number of unmanned aerial vehicles, so that a technical approach is provided for overcoming the technical difficulties.
Description
Technical Field
The application relates to a plant protection method, in particular to a miniature unmanned aerial vehicle cluster variable plant protection method.
Background
Unmanned aerial vehicle plant protection has been vigorously developed since the advent of the unmanned aerial vehicle plant protection. The existing unmanned aerial vehicle plant protection technology mainly can be divided into two types, namely uniform plant protection and variable plant protection; the former is a current mainstream unmanned aerial vehicle plant protection mode; the variable plant protection comprehensively utilizes the agricultural remote sensing technology and VRT (variable rate delivery technology) to perform plant protection operation on crops; based on the cooperation of two technical links of monitoring and spraying, the method can be further divided into a different machine observation and threshing separation mode and a same machine observation and threshing integrated mode; however, the existing mode has the difficulties of insufficient spatial resolution, larger wind field, incapability of approaching and viewing and the like in the aspect of monitoring, and is limited to further improvement of the variable plant protection technology in the aspect of spatial precision. Therefore, a miniature unmanned aerial vehicle cluster variable plant protection method is provided for the problems.
Disclosure of Invention
A miniature unmanned aerial vehicle cluster variable plant protection method comprises the following steps:
step 1, basic mapping of a farm, measuring the topography of the farm by mapping equipment on the farm needing plant protection, and establishing a topography model of the farm by a computer;
step 2, determining boundary information of a land parcel of a farm, mapping the peripheral shape and the boundary of the farm on the farm through mapping equipment, and combining the dimensional information of the peripheral shape and the boundary of the farm with the terrain model established in the step 1 to establish the terrain and the topography model of the farm through a computer;
step 3, determining the position of a hangar 'beehive', and selecting the position of the hangar 'beehive' through the terrain and topography model established in the step 2;
step 4, installing and debugging the unmanned aerial vehicle library, installing the unmanned aerial vehicle library at the preselected position selected in the step 3, and then debugging the unmanned aerial vehicle library;
step 5, setting parameters of a small unmanned aerial vehicle cluster, putting the unmanned aerial vehicle cluster into the unmanned aerial vehicle library which is installed and debugged in the step 4, and then setting the parameters of the unmanned aerial vehicle cluster;
step 6, the micro unmanned aerial vehicle cluster performs operation, and the ecological state of crops in the farm and the spraying liquid are collected through the unmanned aerial vehicle cluster;
step 7, uploading data to a computer terminal, wherein in the step 6, the unmanned aerial vehicle uploads the probed information and the completion degree of spraying liquid to the computer terminal in real time through an information transmission module in the process of operation;
and 8, analyzing the information uploaded in the step 7 and displaying an analysis result.
Further, when the farm basic data is measured in the step 1, an aerial photogrammetry method is adopted, including control measurement and fragment measurement, wherein the fragment measurement is realized through a flat panel instrument mapping method, a small flat panel instrument and theodolite combined mapping method and/or a theodolite mapping method.
Further, in the step 2, the cloud computing mode is adopted in the process of combining the peripheral shape and boundary size information of the farm with the topography model established in the step 1 and establishing the topography and topography model of the farm through a computer.
Further, in the process of selecting the hangar in step 3, the selected position is to be located in an area with a relatively flat farm topography, the selected position is located in an intermediate position of the height of the region where the farm is located between the highest and lowest places of the farm topography, a possible path of the unmanned aerial vehicle cluster in the farm is calculated in advance through the computer terminal, and the hangar is selected to be installed at a proper position.
Further, unmanned aerial vehicle hangar in step 4 is honeycomb structure, unmanned aerial vehicle hangar inside is provided with a plurality of "beehives" that are used for placing unmanned aerial vehicle "," beehive "for unmanned aerial vehicle automatic charging, every unmanned aerial vehicle has its own fixed position, when unmanned aerial vehicle small trouble appears," beehive "overhauls unmanned aerial vehicle earlier, conventional trouble," beehive "can solve, to the problem that can not solve," beehive "sends unmanned aerial vehicle fault information to artificial control system, send distress signal, according to fault information after the manual work received information, make corresponding solution send to" beehive ", accomplish scheme implementation by" beehive ".
Further, the step of implementing the operation by the micro unmanned aerial vehicle cluster in the step 6 is as follows:
s1, a 'beehive' receives a data acquisition task of a field removing block A, and according to the requirements of land area, task time and acquisition quantity, the 'beehives' of an unmanned aerial vehicle library assign corresponding number of unmanned aerial vehicles to go out for acquisition, and a plurality of unmanned aerial vehicles receive tasks distributed by the 'beehives', and fly to own task execution positions after planning a route;
s2, performing a close-range data acquisition task, wherein the unmanned aerial vehicle is miniature, has a small wind field, can stop on the surface of a plant leaf, performs close-range information acquisition on the plant disease and insect pest condition and the nutrition condition, can utilize a self-contained data drawing straw to draw the plant leaf component, performs chemical analysis on the component, and can analyze and judge the growth vigor, the plant disease and insect pest condition and the nutrition condition of the plant according to the drawn stock solution component;
s3, according to a cooperative mode of monitoring and spraying, the micro unmanned aerial vehicle cluster can be further divided into a 'inspection and beating separation bee cluster' and an 'inspection and beating integration bee cluster', wherein the former automatically returns to the position of a 'beehive' after the unmanned aerial vehicle completes a collection task, and a spraying system or a part is replaced, or the 'micro unmanned aerial vehicle cluster' for executing a spraying task goes out; the latter, if the energy source is sufficient, does not have to return to the "beehive", and the spraying operation can be performed in real time.
Further, after the data acquisition in the step 7 is completed, the data is transmitted to the computer terminal through a Wifi or 4G or 5G wired or wireless transmission channel.
Further, in the step 8, the agricultural condition data is analyzed by adopting a mode of edge calculation, cloud calculation or cloud edge cooperation, so that analysis and diagnosis of farmland crops are realized, and standardized agricultural condition data are obtained.
Further, the agricultural condition data standardized in the step 8 can be used for secondary analysis for expert or automated agricultural operation decision-making; the agricultural condition data can also be used for macroscopic display, so that overall analysis of the overall operation condition of the farm is facilitated.
The beneficial effects of this application are: the invention provides a miniature unmanned aerial vehicle cluster variable plant protection method, which provides a 'bee group plant protection' mode based on miniature unmanned aerial vehicle cluster operation by reducing the volume of unmanned aerial vehicles and increasing the number of unmanned aerial vehicles, and provides a technical approach for overcoming the technical difficulties.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
Referring to fig. 1, a plant protection method for a micro unmanned aerial vehicle cluster variable includes the following steps:
step 1, basic mapping of a farm, measuring the topography of the farm by mapping equipment on the farm needing plant protection, and establishing a topography model of the farm by a computer;
step 2, determining boundary information of a land parcel of a farm, mapping the peripheral shape and the boundary of the farm on the farm through mapping equipment, and combining the dimensional information of the peripheral shape and the boundary of the farm with the terrain model established in the step 1 to establish the terrain and the topography model of the farm through a computer;
step 3, determining the position of a hangar 'beehive', and selecting the position of the hangar 'beehive' through the terrain and topography model established in the step 2;
step 4, installing and debugging the unmanned aerial vehicle library, installing the unmanned aerial vehicle library at the preselected position selected in the step 3, and then debugging the unmanned aerial vehicle library;
step 5, setting parameters of a small unmanned aerial vehicle cluster, putting the unmanned aerial vehicle cluster into the unmanned aerial vehicle library which is installed and debugged in the step 4, and then setting the parameters of the unmanned aerial vehicle cluster;
step 6, the micro unmanned aerial vehicle cluster performs operation, and the ecological state of crops in the farm and the spraying liquid are collected through the unmanned aerial vehicle cluster;
step 7, uploading data to a computer terminal, wherein in the step 6, the unmanned aerial vehicle uploads the probed information and the completion degree of spraying liquid to the computer terminal in real time through an information transmission module in the process of operation;
and 8, analyzing the information uploaded in the step 7 and displaying an analysis result.
Further, when the farm basic data is measured in the step 1, an aerial photogrammetry method is adopted, including control measurement and fragment measurement, wherein the fragment measurement is realized through a flat panel instrument mapping method, a small flat panel instrument and theodolite combined mapping method and/or a theodolite mapping method.
Further, in the step 2, the cloud computing mode is adopted in the process of combining the peripheral shape and boundary size information of the farm with the topography model established in the step 1 and establishing the topography and topography model of the farm through a computer.
Further, in the process of selecting the hangar in step 3, the selected position is to be located in an area with a relatively flat farm topography, the selected position is located in an intermediate position of the height of the region where the farm is located between the highest and lowest places of the farm topography, a possible path of the unmanned aerial vehicle cluster in the farm is calculated in advance through the computer terminal, and the hangar is selected to be installed at a proper position.
Further, unmanned aerial vehicle hangar in step 4 is honeycomb structure, unmanned aerial vehicle hangar inside is provided with a plurality of "beehives" that are used for placing unmanned aerial vehicle "," beehive "for unmanned aerial vehicle automatic charging, every unmanned aerial vehicle has its own fixed position, when unmanned aerial vehicle small trouble appears," beehive "overhauls unmanned aerial vehicle earlier, conventional trouble," beehive "can solve, to the problem that can not solve," beehive "sends unmanned aerial vehicle fault information to artificial control system, send distress signal, according to fault information after the manual work received information, make corresponding solution send to" beehive ", accomplish scheme implementation by" beehive ".
Further, the step of implementing the operation by the micro unmanned aerial vehicle cluster in the step 6 is as follows:
s1, a 'beehive' receives a data acquisition task of a field removing block A, and according to the requirements of land area, task time and acquisition quantity, the 'beehives' of an unmanned aerial vehicle library assign corresponding number of unmanned aerial vehicles to go out for acquisition, and a plurality of unmanned aerial vehicles receive tasks distributed by the 'beehives', and fly to own task execution positions after planning a route;
s2, performing a close-range data acquisition task, wherein the unmanned aerial vehicle is miniature, has a small wind field, can stop on the surface of a plant leaf, performs close-range information acquisition on the plant disease and insect pest condition and the nutrition condition, can utilize a self-contained data drawing straw to draw the plant leaf component, performs chemical analysis on the component, and can analyze and judge the growth vigor, the plant disease and insect pest condition and the nutrition condition of the plant according to the drawn stock solution component;
s3, according to a cooperative mode of monitoring and spraying, the micro unmanned aerial vehicle cluster can be further divided into a 'inspection and beating separation bee cluster' and an 'inspection and beating integration bee cluster', wherein the former automatically returns to the position of a 'beehive' after the unmanned aerial vehicle completes a collection task, and a spraying system or a part is replaced, or the 'micro unmanned aerial vehicle cluster' for executing a spraying task goes out; the latter, if the energy source is sufficient, does not have to return to the "beehive", and the spraying operation can be performed in real time.
Further, after the data acquisition in the step 7 is completed, the data is transmitted to the computer terminal through a Wifi or 4G or 5G wired or wireless transmission channel.
Further, in the step 8, the agricultural condition data is analyzed by adopting a mode of edge calculation, cloud calculation or cloud edge cooperation, so that analysis and diagnosis of farmland crops are realized, and standardized agricultural condition data are obtained.
Further, the agricultural condition data standardized in the step 8 can be used for secondary analysis for expert or automated agricultural operation decision-making; the agricultural condition data can also be used for macroscopic display, so that overall analysis of the overall operation condition of the farm is facilitated.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (6)
1. A miniature unmanned aerial vehicle cluster variable plant protection method is characterized in that: the plant protection method comprises the following steps:
step 1, basic mapping of a farm, measuring the topography of the farm by mapping equipment on the farm needing plant protection, and establishing a topography model of the farm by a computer;
step 2, determining boundary information of a land parcel of a farm, mapping the peripheral shape and the boundary of the farm on the farm through mapping equipment, and combining the dimensional information of the peripheral shape and the boundary of the farm with the terrain model established in the step 1 to establish the terrain and the topography model of the farm through a computer;
step 3, determining the position of a hangar 'beehive', and selecting the position of the hangar 'beehive' through the terrain and topography model established in the step 2; in the process of selecting the hangar, the selected position is located in a region with relatively flat farm topography, the height of the region where the farm is located is in the middle position between the highest and lowest places of the farm topography, the possible path of the unmanned aerial vehicle cluster in the farm is calculated in advance through a computer terminal, and the hangar is installed at a proper position;
step 4, installing and debugging the unmanned aerial vehicle library, installing the unmanned aerial vehicle library at the preselected position selected in the step 3, and then debugging the unmanned aerial vehicle library; the unmanned aerial vehicle hangar is of a honeycomb structure, a plurality of 'beehives' for placing unmanned aerial vehicles are arranged in the unmanned aerial vehicle hangar, each unmanned aerial vehicle is automatically charged, each unmanned aerial vehicle is provided with a fixed position, when small faults occur to the unmanned aerial vehicle, the 'beehives' overhaul the unmanned aerial vehicle, the conventional faults are solved by the 'beehives', fault information of the unmanned aerial vehicle is sent to an artificial control system by the 'beehives', distress signals are sent, corresponding solutions are made according to the fault information after the information is received manually, and the scheme implementation is completed by the 'beehives';
step 5, setting parameters of a small unmanned aerial vehicle cluster, putting the unmanned aerial vehicle cluster into the unmanned aerial vehicle library which is installed and debugged in the step 4, and then setting the parameters of the unmanned aerial vehicle cluster;
step 6, the micro unmanned aerial vehicle cluster performs operation, and the ecological state of crops in the farm and the spraying liquid are collected through the unmanned aerial vehicle cluster;
s1, a 'beehive' receives a data acquisition task of a field removing block A, and according to the requirements of land area, task time and acquisition quantity, the 'beehives' of an unmanned aerial vehicle library assign corresponding number of unmanned aerial vehicles to go out for acquisition, and a plurality of unmanned aerial vehicles receive tasks distributed by the 'beehives', and fly to own task execution positions after planning a route;
s2, performing a close-range data acquisition task, wherein the unmanned aerial vehicle is miniature, has a small wind field, can be stopped on the surfaces of plant leaves, performs close-range information acquisition on the plant disease and insect pest conditions and nutrition conditions, utilizes a self-contained data drawing straw to draw components of the plant leaves, performs chemical analysis on the components, and analyzes and judges the growth vigor, the plant disease and insect pest conditions and the nutrition conditions of the plants according to the drawn raw liquid components;
s3, according to a cooperative mode of monitoring and spraying, the micro unmanned aerial vehicle cluster is further divided into a 'inspection and beating separation bee colony' and an 'inspection and beating integration bee colony', wherein the former automatically returns to the position of a 'beehive' after the unmanned aerial vehicle finishes a collection task, and a spraying system or a part is replaced, or the 'micro unmanned aerial vehicle cluster' for executing a spraying task goes out; the latter can perform the spraying operation in real time without returning to the beehive if the energy is sufficient;
step 7, uploading data to a computer terminal, wherein in the step 6, the unmanned aerial vehicle uploads the probed information and the completion degree of spraying liquid to the computer terminal in real time through an information transmission module in the process of operation;
and 8, analyzing the information uploaded in the step 7 and displaying an analysis result.
2. The plant protection method for the miniature unmanned aerial vehicle cluster variable according to claim 1, wherein the plant protection method is characterized by comprising the following steps of: when the basic data of the farm are measured in the step 1, an aerial photogrammetry method is adopted, wherein the aerial photogrammetry method comprises control measurement and fragment measurement, and the fragment measurement is realized through a flat panel instrument mapping method, a small flat panel instrument and theodolite combined mapping method and/or a theodolite mapping method.
3. The plant protection method for the miniature unmanned aerial vehicle cluster variable according to claim 1, wherein the plant protection method is characterized by comprising the following steps of: in the step 2, the cloud computing mode is adopted in the process of combining the peripheral shape and boundary size information of the farm with the topography model established in the step 1 and establishing the topography and topography model of the farm through a computer.
4. The plant protection method for the miniature unmanned aerial vehicle cluster variable according to claim 1, wherein the plant protection method is characterized by comprising the following steps of: and (3) after the data acquisition in the step (7) is completed, the data are transmitted to the computer terminal through a Wifi or 4G or 5G wired or wireless transmission channel.
5. The plant protection method for the miniature unmanned aerial vehicle cluster variable according to claim 1, wherein the plant protection method is characterized by comprising the following steps of: in the step 8, the agricultural condition data analysis is performed in a mode of edge calculation, cloud calculation or cloud edge cooperation, so that analysis and diagnosis of farmland crops are realized, and standardized agricultural condition data are obtained.
6. The plant protection method for the miniature unmanned aerial vehicle cluster variable according to claim 1, wherein the plant protection method is characterized by comprising the following steps of: the standardized agricultural condition data in the step 8 are used for secondary analysis and are used for expert or automated agricultural operation decision-making; the agricultural condition data is also used for macroscopic display, so that overall analysis of the overall operation condition of the farm is facilitated.
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| CN106292698B (en) * | 2016-08-01 | 2020-12-04 | 北京艾森博航空科技股份有限公司 | Accurate operation method and system for plant protection unmanned aerial vehicle |
| CN107368094A (en) * | 2017-08-25 | 2017-11-21 | 上海拓攻机器人有限公司 | A kind of unmanned plane plant protection operation flight course planning method and device |
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| WO2019173981A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, system, and storage medium |
| CN110276910A (en) * | 2018-03-15 | 2019-09-24 | 宗鹏 | For unmanned plane logistics and the honeycomb technology parked |
| CN108684282B (en) * | 2018-04-11 | 2023-07-07 | 北京麦飞科技有限公司 | Agricultural inspection and threshing integrated machine system and spraying control method |
| CN109508041A (en) * | 2019-01-21 | 2019-03-22 | 梁晓龙 | Plant protection drone group system and plant protection method |
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| CN109977924A (en) * | 2019-04-15 | 2019-07-05 | 北京麦飞科技有限公司 | For real time image processing and system on the unmanned plane machine of crops |
| CN111895976A (en) * | 2019-05-05 | 2020-11-06 | 深圳市翔农创新科技有限公司 | Unmanned aerial vehicle aerial survey method, plant protection method, device and system and readable storage medium |
| CN110531391A (en) * | 2019-09-04 | 2019-12-03 | 北京麦飞科技有限公司 | Field navigation methods and systems based on dynamic carrier phase difference technology |
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