CN112947258B - Intelligent garden management method - Google Patents

Intelligent garden management method Download PDF

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Publication number
CN112947258B
CN112947258B CN202110359499.5A CN202110359499A CN112947258B CN 112947258 B CN112947258 B CN 112947258B CN 202110359499 A CN202110359499 A CN 202110359499A CN 112947258 B CN112947258 B CN 112947258B
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unmanned aerial
aerial vehicle
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monitoring
unit
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CN112947258A (en
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伏厚清
朱叶花
严娜
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Jiangsu Bailu Garden Group Co ltd
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Jiangsu Bailu Garden Group Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
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    • G05B2219/24024—Safety, surveillance

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Abstract

The invention discloses a smart garden management method, and relates to the technical field of smart gardens, and S1 is characterized in that a central control module is used for establishing a garden map model and storing all pictures of entrances and exits of gardens; s2, collecting various information data in the garden by using a data collection module, and sending the information data to a central control module and a return planning module; s3, planning a return route of the monitoring unmanned aerial vehicle by using a return planning module according to the information data sent by the information acquisition module in S2; s4, planning a return path of the tourists getting lost in the garden by using a return planning module; and S5, controlling the management execution module to execute corresponding operation by using the central control module according to the information data acquired by the information acquisition module in S2, and avoiding the obstacle on the way of returning to the flight path while ensuring that the monitoring unmanned aerial vehicle returns according to the shortest route by using the return flight planning module, thereby avoiding the damage caused by collision between the monitoring unmanned aerial vehicle and the obstacle in the process of returning to the flight path.

Description

Intelligent garden management method
Technical Field
The invention relates to the technical field of intelligent gardens, in particular to a management method of an intelligent garden.
Background
The intelligent garden utilizes a new generation information technology, establishes an intelligent garden big database, and connects people with nature to achieve the effects of mutual inductance, mutual knowledge and interaction between people and nature, so that people can more closely and naturally love and take good care of the nature, and the nature can feed back a comfortable and healthy environment to people, thereby realizing intelligent win-win;
the intelligent gardens of prior art have following problem when using:
1. when visiting and sightseeing the smart garden, the existing low-quality tourists can damage the environment or equipment of the smart garden, and the operation cost of the smart garden is increased;
2. when the unmanned aerial vehicle is used for high-altitude monitoring of the intelligent garden, in order to ensure smooth return of the unmanned aerial vehicle, the residual electric quantity of the unmanned aerial vehicle cannot be fully utilized to expand the monitoring range as much as possible;
3. when a tourist gets lost in the intelligent garden, the tourist cannot return accurately without remembering specific import and export names, and much time and energy are needed;
therefore, an intelligent garden management method is urgently needed to solve the problems.
Disclosure of Invention
The invention aims to provide an intelligent garden management method to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a management method of an intelligent garden comprises the following steps:
s1, establishing a garden map model by using the central control module, and storing all the pictures of the inlet and the outlet of the garden;
s2, collecting various information data in the garden by using a data collection module, and sending the information data to a central control module and a return planning module;
s3, planning a return route of the monitoring unmanned aerial vehicle by using a return planning module according to the information data sent by the information acquisition module in S2;
s4, planning a return path of the tourists getting lost in the garden by using a return planning module;
and S5, controlling the management execution module to execute corresponding operation by the central control module according to the information data acquired by the information acquisition module in S2.
According to the technical scheme, in step S1, the central control module includes a chip control unit, a storage database, a map importing unit and a coordinate giving unit;
the chip control unit is internally written with a program for intelligently judging the information data acquired by the data acquisition module, so as to execute corresponding operation according to the collected information data, the storage database is used for storing the garden import and export photos, when tourists get lost, and when the name of the specific import and export is not remembered, the corresponding import and export photos can be selected from the storage database as the export according to the memory of the tourists when entering the garden to plan the return path, the map importing unit is used for importing the planar map of the garden into the central control module, the coordinate giving unit is used for establishing a planar rectangular coordinate system on the planar map of the garden, and each point on the garden map is given a coordinate value, so that each point in the garden can be positioned, and the digital management of the garden is realized;
the output electric connection chip control unit's of data acquisition module input, the output electric connection management execution module's of chip control unit input, the output electric connection map import unit's of unit input is given to the coordinate, the input of the import unit of map import unit's output electric connection chip control unit, chip control unit and storage database electric connection.
According to the technical scheme, in the step S2, the data acquisition module comprises a moisture sensor, a monitoring unmanned aerial vehicle, a brightness sensor and a weather sensing device;
moisture sensor is arranged in detecting the water content in the gardens soil to when the water content is not enough, timely irrigate, control unmanned aerial vehicle flies in gardens overhead for to the all-round high altitude monitoring in gardens, make when the inside emergency that appears in gardens, can in time inform the management part to rescue, brightness sensor is used for detecting ambient brightness, so that when illumination is not enough, timely illumination that throws light on, meteorological sensing equipment is used for monitoring meteorological environment, for example: wind speed, rainfall, etc.;
the equal electric connection of moisture sensor, luminance sensor, meteorological sensing equipment and control unmanned aerial vehicle's output chip control unit's input.
According to the technical scheme, the monitoring unmanned aerial vehicle comprises a distance sensor, a digital barometer and a monitoring camera;
digital barometer is used for monitoring the flying height of control unmanned aerial vehicle to in the flight plane at control unmanned aerial vehicle place is confirmed in the determination, in order to confirm the height of barrier, for example: the system comprises a distance sensor, a monitoring camera and a control module, wherein the distance sensor is used for detecting the distance between the monitoring unmanned aerial vehicle and the obstacles on two sides of the flying height of the monitoring unmanned aerial vehicle so as to determine the specific position of the obstacle according to the position of the monitoring unmanned aerial vehicle, and the monitoring camera is used for monitoring the condition inside a garden so as to send workers to rescue in time when an accident occurs;
the output end of the monitoring camera is electrically connected with the input end of the chip control unit.
According to the technical scheme, the return planning module comprises a route determining unit, an obstacle avoiding unit, an electric quantity determining unit and a return executing unit;
the route determining unit is used for determining an initial route for monitoring the return of the unmanned aerial vehicle, the initial route for monitoring the return of the unmanned aerial vehicle is a connecting line between the current position of the unmanned aerial vehicle and the control center, because a straight line between two points is shortest, the electricity consumption of the unmanned aerial vehicle during the return of the unmanned aerial vehicle can be reduced as much as possible, the obstacle avoiding unit is used for avoiding obstacles on the initial route for monitoring the unmanned aerial vehicle, because the problem that the obstacles are not considered by the initial route determined by the route determining unit, the obstacle avoiding unit is required to avoid the obstacles in the return process of the unmanned aerial vehicle, the position of the obstacles is confirmed and positioned by the detection data of the distance sensor of the unmanned aerial vehicle during the monitoring process, the electricity determining unit is used for monitoring the electricity of the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle can be ensured to return to the control center according to the position change and the electricity change of the unmanned aerial vehicle Meanwhile, the maximum flight range of the monitored unmanned aerial vehicle is ensured, the return flight execution unit is used for executing a return flight command, when the current electric quantity of the monitored unmanned aerial vehicle is only enough to return to the control center from the current position, the return flight execution unit executes the return flight command, and in order to ensure that the monitored unmanned aerial vehicle can utilize the electric quantity of the monitored unmanned aerial vehicle to monitor to the maximum extent, the monitored unmanned aerial vehicle can smoothly return to the control center;
the output end of the monitoring unmanned aerial vehicle is electrically connected with the input end of the obstacle avoiding unit, the output ends of the chip control unit, the obstacle avoiding unit and the electric quantity determining unit are electrically connected with the input end of the route determining unit, and the output end of the route determining unit is electrically connected with the input end of the return flight executing unit.
According to the technical scheme, the unmanned aerial vehicle is monitored in the installationThe system comprises a GPS locator for monitoring the position of the monitoring unmanned aerial vehicle in real time, wherein the real-time position of the monitoring unmanned aerial vehicle is located by the current coordinate (X)i，Yi) And forming a set P { (X) of coordinate positions of the monitoring unmanned aerial vehicle1,Y1),(X2,Y2),(X3,Y3),…,(Xn,Yn) Determining the positioning coordinate of the obstacle as (x) by the distance sensor according to the coordinate position of the monitoring unmanned aerial vehicle and the detected distancej，yj) The set of coordinate positions constituting the obstacle Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) A coordinate value of the position of the control center is (0, 0);
solving a return flight function of the monitoring unmanned aerial vehicle according to the following formula:
Yi＝k*Xi；
wherein k represents the coefficient of the return function;
to obtain:
Figure BDA0003004943270000031
the return flight function of the monitoring unmanned aerial vehicle is obtained as follows:
Figure BDA0003004943270000041
wherein M represents the ordinate of the return function, and N represents the abscissa of the return function;
the set Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) X abscissa of all obstacles in the circlejBringing in the return function of the monitoring unmanned aerial vehicle to obtain a corresponding longitudinal coordinate value Mj：
Figure BDA0003004943270000042
Wherein M isjDenotes the abscissa as xjThe longitudinal coordinate of the barrier on the return function of the monitoring unmanned aerial vehicle;
for M according to the following formulajAnd yjThe difference Δ j between is calculated:
Δj＝|Mj-yj|；
when delta j is less than or equal to a, the position (x) of the obstacle is shownj，yj) The normal return flight of the monitoring unmanned aerial vehicle is influenced, and the monitoring unmanned aerial vehicle needs to avoid during the return flight;
when Δ j > a, it indicates the position (x) of the obstaclej，yj) The normal return of the monitoring unmanned aerial vehicle is not influenced, and the monitoring unmanned aerial vehicle only needs to return according to an initial route;
where a represents the set difference threshold.
The barrier that control unmanned aerial vehicle dodged is unanimous with control unmanned aerial vehicle flying height, because control unmanned aerial vehicle when the height of difference is monitored, all can detect the barrier on every side, consequently, in the high layer of difference, all can have the barrier distribution diagram of co-altitude.
Through the technical scheme, on the one hand, can the at utmost shorten the journey that control unmanned aerial vehicle returned the course of navigating in-process, the energy saving, simultaneously, can also avoid the barrier of coplanar automatically at the in-process of returning the navigation, avoid control unmanned aerial vehicle to collide with the barrier at the in-process of returning the navigation and lead to the damage, simultaneously, in order to further ensure the security of control unmanned aerial vehicle in-process of returning the navigation, also avoid being close to the barrier of control unmanned aerial vehicle route of returning the navigation.
According to the technical scheme, when delta j is less than or equal to a and the obstacle needs to be avoided when the unmanned aerial vehicle is monitored to return, the coordinate value (x) of the position of the obstacle is usedj，yj) Establishing a circle with radius r as a circle center to obtain an expression function of the circle:
(x-xj)2+(y-yj)2＝r2；
and calculating and analyzing an intersection point between the expression function of the circle and the return function of the monitoring unmanned aerial vehicle, wherein the intersection point is a steering point of the return function of the monitoring unmanned aerial vehicle for avoiding the obstacle or returning the obstacle.
Through the analysis and the calculation of the above-mentioned nodical, on the one hand, can realize monitoring unmanned aerial vehicle and dodge to the barrier, avoid monitoring unmanned aerial vehicle damage, on the other hand, can be furthest shorten the air route that monitoring unmanned aerial vehicle returned a journey, the energy saving.
According to the above technical scheme, in step S3, the electric quantity determining unit monitors the electric quantity of the monitoring unmanned aerial vehicle in real time, and the real-time electric quantity of the monitoring unmanned aerial vehicle monitored by the electric quantity determining unit is Ti% of the power consumption of the monitoring unmanned aerial vehicle per kilometer, wherein i represents the ith time point;
the distance L between the monitoring unmanned aerial vehicle and the control center is continuously calculated according to the following formulai：
Figure BDA0003004943270000051
Calculating the distance l of the avoidance route of the monitoring unmanned aerial vehicle according to the following formulai：
li＝π*r*g；
Wherein g represents the number of obstacles appearing on the return route of the monitoring unmanned aerial vehicle; where pi x r is used to roughly represent the distance it takes to avoid an obstacle, since it will either bypass an obstacle, increasing half a circumference with r as the radius, but at the same time, subtracting the length across the obstacle;
calculating the total length of the route for monitoring the return of the unmanned aerial vehicle according to the following formula:
Lgeneral assembly＝Li+li-2*r*g；
Calculating the electric quantity T required to be consumed for monitoring the return journey of the unmanned aerial vehicle according to the following formulaReturn to：
TReturn to＝LGeneral assembly*t；
When T isReturn to＝TiIn time, the monitoring unmanned aerial vehicle needs to return to the journey immediately;
when T isReturn to＜TiAnd the monitoring unmanned aerial vehicle can continuously execute the monitoring task.
Through the formula, the distance that the unmanned aerial vehicle of control returned to the air and the electric quantity that need consume of returning to the air can be accurately calculated, compare with the current monitoring electric quantity, can effectual guarantee control unmanned aerial vehicle have sufficient electric quantity to return to the management and control center, avoided control unmanned aerial vehicle crash.
According to the technical scheme, in step S4, the return planning module includes a positioning two-dimensional code, a scene input unit, a photo screening unit, an exit confirmation unit, and a path planning unit;
the positioning two-dimensional code is arranged beside a road in a garden and used for providing code scanning and positioning for tourists in a maze, the scene input unit is used for inputting scenes seen by the tourists when the tourists enter the garden, so as to facilitate the screening of the entrances of the tourists entering the gardens and reduce the workload of screening, the photo screening unit is used for screening the tourists according to the scene characteristic keywords input by the scene input unit, the photos of the import and export are screened in the storage database, the photos screening unit supplies the screened photos to the tourists for selection, the exit confirmation unit is used for confirming the entrance of the tourist into the garden from the screened photos of the entrance and the exit of the garden, taking the import and export photos as a terminal point, taking the position of the positioning two-dimensional code as a starting point by the path planning unit, and taking the garden entrance and exit corresponding to the entrance and exit photos determined by the exit confirmation unit as a terminal point to guide the lost tourists.
Because when the garden is too big, the tourists may get lost and cannot find the entrance or exit when entering the garden, but also do not remember the name of the entrance or exit, but because the tourists enter the garden from the entrance or exit, some feature keywords of the entrance or exit should be remembered, such as: the stone lion can be screened for all entrances and exits with the stone lion according to the characteristics, the images are displayed for tourists in the form of the images, the memories of the lost tourists are hooked up more easily in the image display mode, the entrances and the exits of the garden are determined to enter, the convenience is improved, and the lost tourists can be navigated more accurately.
According to the technical scheme, in step S5, the management execution module includes an intelligent irrigation system, an intelligent lighting system, a voice reminding unit and a data display unit;
the intelligent irrigation system is used for irrigating flowers, plants and trees in a garden through a control instruction issued by a chip control unit, the chip control unit determines an irrigation time point according to the soil content monitored by a moisture sensor, the intelligent illumination system is used for illuminating street lamps in the garden through the control instruction issued by the chip control unit, the chip control unit determines the time point for illuminating the street lamps according to the ambient brightness monitored by a brightness sensor, the voice reminding unit is used for informing visitors of paying attention to the garden environment in a voice reminding mode when the monitoring unmanned aerial vehicle discovers that the visitors damage the garden environment, and the data display unit is used for displaying the current position of the monitoring unmanned aerial vehicle, videos shot by a monitoring camera, the soil water content and ambient brightness data;
the output end of the chip control unit is electrically connected with the input ends of the intelligent irrigation system, the intelligent illumination system, the voice reminding unit and the data display unit.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is provided with the monitoring unmanned aerial vehicle and the return planning module, so that the monitoring unmanned aerial vehicle can monitor the high altitude of the inside of the garden and mark the position of the obstacle at which the monitoring unmanned aerial vehicle is positioned, and the return planning module can be used for avoiding the obstacle on the way of returning to the flight while ensuring that the monitoring unmanned aerial vehicle returns according to the shortest route, thereby avoiding the damage caused by collision between the monitoring unmanned aerial vehicle and the obstacle in the return flight process.
2. The route planning module is arranged, so that a return route can be planned for tourists who do not remember which entrance to the garden from which entrance to the garden, the current position of the lost tourist is positioned by scanning and positioning the two-dimensional code, the entrance and exit photos are screened by inputting the characteristic keywords of the entrance to the garden, the return route is planned by determining the entrance and exit photos and the route planning unit, and convenience is provided for the tourists who are lost and do not remember the name of the entrance to the garden.
Drawings
FIG. 1 is a schematic diagram illustrating a module connection structure of a smart garden management method according to the present invention;
FIG. 2 is a schematic diagram of a unit connection structure of an intelligent garden management method according to the present invention;
FIG. 3 is a schematic structural diagram of a guest client of the intelligent garden management method according to the present invention;
FIG. 4 is a schematic diagram of a module structure of an intelligent garden management method according to the present invention;
fig. 5 is a schematic view of a structure for monitoring the confirmation of the return route of the unmanned aerial vehicle in the intelligent garden management method.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the present invention provides the following technical solutions, a method for managing intelligent gardens, comprising the following steps:
s1, establishing a garden map model by using the central control module 1, and storing all pictures of the inlet and the outlet of the garden;
s2, the data acquisition module 2 is used for acquiring various information data in the garden and sending the information data to the central control module 1 and the return planning module 3;
s3, planning a return route of the monitoring unmanned aerial vehicle by using a return planning module 3 according to the information data sent by the information acquisition module 2 in S2;
s4, planning a return path of tourists getting lost in the garden by using the return planning module 4;
and S5, controlling the management execution module 5 to execute corresponding operation by using the central control module 1 according to the information data acquired by the information acquisition module 2 in S2.
In step S1, the central control module 1 includes a chip control unit, a storage database, a map import unit, and a coordinate assignment unit;
the chip control unit is internally written with a program for intelligently judging the information data acquired by the data acquisition module, so as to execute corresponding operation according to the collected information data, the storage database is used for storing the garden import and export photos, when tourists get lost, and when the name of the specific import and export is not remembered, the corresponding import and export photos can be selected from the storage database as the export according to the memory of the tourists when entering the garden to plan the return path, the map importing unit is used for importing the planar map of the garden into the central control module, the coordinate giving unit is used for establishing a planar rectangular coordinate system on the planar map of the garden, and each point on the garden map is given a coordinate value, so that each point in the garden can be positioned, and the digital management of the garden is realized;
the output electric connection chip control unit's of data acquisition module input, the output electric connection management execution module's of chip control unit input, the output electric connection map import unit's of unit input is given to the coordinate, the input of the import unit of map import unit's output electric connection chip control unit, chip control unit and storage database electric connection.
In step S2, the data acquisition module 2 includes a moisture sensor, a monitoring drone, a brightness sensor, and a weather sensing device;
moisture sensor is arranged in detecting the water content in the gardens soil to when the water content is not enough, timely irrigate, control unmanned aerial vehicle flies in gardens overhead for to the all-round high altitude monitoring in gardens, make when the inside emergency that appears in gardens, can in time inform the management part to rescue, brightness sensor is used for detecting ambient brightness, so that when illumination is not enough, timely illumination that throws light on, meteorological sensing equipment is used for monitoring meteorological environment, for example: wind speed, rainfall, etc.;
the equal electric connection of moisture sensor, luminance sensor, meteorological sensing equipment and control unmanned aerial vehicle's output chip control unit's input.
The monitoring unmanned aerial vehicle comprises a distance sensor, a digital barometer and a monitoring camera;
digital barometer is used for monitoring the flying height of control unmanned aerial vehicle to in the flight plane at control unmanned aerial vehicle place is confirmed in the determination, in order to confirm the height of barrier, for example: the system comprises a distance sensor, a monitoring camera and a control module, wherein the distance sensor is used for detecting the distance between the monitoring unmanned aerial vehicle and the obstacles on two sides of the flying height of the monitoring unmanned aerial vehicle so as to determine the specific position of the obstacle according to the position of the monitoring unmanned aerial vehicle, and the monitoring camera is used for monitoring the condition inside a garden so as to send workers to rescue in time when an accident occurs;
the output end of the monitoring camera is electrically connected with the input end of the chip control unit.
The return planning module 3 comprises a route determining unit, an obstacle avoiding unit, an electric quantity determining unit and a return executing unit;
the route determining unit is used for determining an initial route for monitoring the return of the unmanned aerial vehicle, the initial route for monitoring the return of the unmanned aerial vehicle is a connecting line between the current position of the unmanned aerial vehicle and the control center, because a straight line between two points is shortest, the electricity consumption of the unmanned aerial vehicle during the return of the unmanned aerial vehicle can be reduced as much as possible, the obstacle avoiding unit is used for avoiding obstacles on the initial route for monitoring the unmanned aerial vehicle, because the problem that the obstacles are not considered by the initial route determined by the route determining unit, the obstacle avoiding unit is required to avoid the obstacles in the return process of the unmanned aerial vehicle, the position of the obstacles is confirmed and positioned by the detection data of the distance sensor of the unmanned aerial vehicle during the monitoring process, the electricity determining unit is used for monitoring the electricity of the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle can be ensured to return to the control center according to the position change and the electricity change of the unmanned aerial vehicle Meanwhile, the maximum flight range of the monitored unmanned aerial vehicle is ensured, the return flight execution unit is used for executing a return flight command, when the current electric quantity of the monitored unmanned aerial vehicle is only enough to return to the control center from the current position, the return flight execution unit executes the return flight command, and in order to ensure that the monitored unmanned aerial vehicle can utilize the electric quantity of the monitored unmanned aerial vehicle to monitor to the maximum extent, the monitored unmanned aerial vehicle can smoothly return to the control center;
the output end of the monitoring unmanned aerial vehicle is electrically connected with the input end of the obstacle avoiding unit, the output ends of the chip control unit, the obstacle avoiding unit and the electric quantity determining unit are electrically connected with the input end of the route determining unit, and the output end of the route determining unit is electrically connected with the input end of the return flight executing unit.
The unmanned aerial vehicle is internally provided with a GPS (global positioning system) positioner for monitoring the position of the unmanned aerial vehicle in real time, and the real-time position of the unmanned aerial vehicle is positioned by the current coordinate (X)i，Yi) And forming a set P { (X) of coordinate positions of the monitoring unmanned aerial vehicle1,Y1),(X2,Y2),(X3,Y3),…,(Xn,Yn) Determining the positioning coordinate of the obstacle as (x) by the distance sensor according to the coordinate position of the monitoring unmanned aerial vehicle and the detected distancej，yj) The set of coordinate positions constituting the obstacle Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) A coordinate value of the position of the control center is (0, 0);
solving a return flight function of the monitoring unmanned aerial vehicle according to the following formula:
Yi＝k*Xi；
wherein k represents the coefficient of the return function;
to obtain:
Figure BDA0003004943270000091
the return flight function of the monitoring unmanned aerial vehicle is obtained as follows:
Figure BDA0003004943270000092
wherein M represents the ordinate of the return function, and N represents the abscissa of the return function;
the set Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) X abscissa of all obstacles in the circlejBringing in the return function of the monitoring unmanned aerial vehicle to obtain a corresponding longitudinal coordinate value Mj：
Figure BDA0003004943270000093
Wherein M isjDenotes the abscissa as xjThe longitudinal coordinate of the barrier on the return function of the monitoring unmanned aerial vehicle;
for M according to the following formulajAnd yjThe difference Δ j between is calculated:
Δj＝|Mj-yj|；
when delta j is less than or equal to a, the position (x) of the obstacle is shownj，yj) The normal return flight of the monitoring unmanned aerial vehicle is influenced, and the monitoring unmanned aerial vehicle needs to avoid during the return flight;
when Δ j > a, it indicates the position (x) of the obstaclej，yj) The normal return of the monitoring unmanned aerial vehicle is not influenced, and the monitoring unmanned aerial vehicle only needs to return according to an initial route;
where a represents the set difference threshold.
The barrier that control unmanned aerial vehicle dodged is unanimous with control unmanned aerial vehicle flying height, because control unmanned aerial vehicle when the height of difference is monitored, all can detect the barrier on every side, consequently, in the high layer of difference, all can have the barrier distribution diagram of co-altitude.
Through the technical scheme, on the one hand, can the at utmost shorten the journey that control unmanned aerial vehicle returned the course of navigating in-process, the energy saving, simultaneously, can also avoid the barrier of coplanar automatically at the in-process of returning the navigation, avoid control unmanned aerial vehicle to collide with the barrier at the in-process of returning the navigation and lead to the damage, simultaneously, in order to further ensure the security of control unmanned aerial vehicle in-process of returning the navigation, also avoid being close to the barrier of control unmanned aerial vehicle route of returning the navigation.
When delta j is less than or equal to a and the obstacle needs to be avoided when the unmanned aerial vehicle is monitored to return, the coordinate value (x) of the position of the obstacle is usedj，yj) Establishing a circle with radius r as a circle center to obtain an expression function of the circle:
(x-xj)2+(y-yj)2＝r2；
and calculating and analyzing an intersection point between the expression function of the circle and the return function of the monitoring unmanned aerial vehicle, wherein the intersection point is a steering point of the return function of the monitoring unmanned aerial vehicle for avoiding the obstacle or returning the obstacle.
Through the analysis and the calculation of the above-mentioned nodical, on the one hand, can realize monitoring unmanned aerial vehicle and dodge to the barrier, avoid monitoring unmanned aerial vehicle damage, on the other hand, can be furthest shorten the air route that monitoring unmanned aerial vehicle returned a journey, the energy saving.
In step S3, the electric quantity determination unit monitors the electric quantity of the monitoring drone in real time, and the real-time electric quantity of the monitoring drone monitored by the electric quantity determination unit is Ti% of the power consumption of the monitoring unmanned aerial vehicle per kilometer, wherein i represents the ith time point;
the distance L between the monitoring unmanned aerial vehicle and the control center is continuously calculated according to the following formulai：
Figure BDA0003004943270000101
Calculating the distance l of the avoidance route of the monitoring unmanned aerial vehicle according to the following formulai：
li＝π*r*g；
Wherein g represents the number of obstacles appearing on the return route of the monitoring unmanned aerial vehicle; where pi x r is used to roughly represent the distance it takes to avoid an obstacle, since it will either bypass an obstacle, increasing half a circumference with r as the radius, but at the same time, subtracting the length across the obstacle;
calculating the total length of the route for monitoring the return of the unmanned aerial vehicle according to the following formula:
Lgeneral assembly＝Li+li-2*r*g；
Calculating the electric quantity T required to be consumed for monitoring the return journey of the unmanned aerial vehicle according to the following formulaReturn to：
TReturn to＝LGeneral assembly*t；
When T isReturn to＝TiIn time, the monitoring unmanned aerial vehicle needs to return to the journey immediately;
when T isReturn to＜TiAnd the monitoring unmanned aerial vehicle can continuously execute the monitoring task.
Through the formula, the distance that the unmanned aerial vehicle of control returned to the air and the electric quantity that need consume of returning to the air can be accurately calculated, compare with the current monitoring electric quantity, can effectual guarantee control unmanned aerial vehicle have sufficient electric quantity to return to the management and control center, avoided control unmanned aerial vehicle crash.
In step S4, the return planning module includes a positioning two-dimensional code, a scene input unit, a photo screening unit, an exit confirmation unit, and a path planning unit;
the positioning two-dimensional code is arranged beside a road in a garden and used for providing code scanning and positioning for tourists in a maze, the scene input unit is used for inputting scenes seen by the tourists when the tourists enter the garden, so as to facilitate the screening of the entrances of the tourists entering the gardens and reduce the workload of screening, the photo screening unit is used for screening the tourists according to the scene characteristic keywords input by the scene input unit, the photos of the import and export are screened in the storage database, the photos screening unit supplies the screened photos to the tourists for selection, the exit confirmation unit is used for confirming the entrance of the tourist into the garden from the screened photos of the entrance and the exit of the garden, taking the import and export photos as a terminal point, taking the position of the positioning two-dimensional code as a starting point by the path planning unit, and taking the garden entrance and exit corresponding to the entrance and exit photos determined by the exit confirmation unit as a terminal point to guide the lost tourists.
Because when the garden is too big, the tourists may get lost and cannot find the entrance or exit when entering the garden, but also do not remember the name of the entrance or exit, but because the tourists enter the garden from the entrance or exit, some feature keywords of the entrance or exit should be remembered, such as: the stone lion can be screened for all entrances and exits with the stone lion according to the characteristics, the images are displayed for tourists in the form of the images, the memories of the lost tourists are hooked up more easily in the image display mode, the entrances and the exits of the garden are determined to enter, the convenience is improved, and the lost tourists can be navigated more accurately.
In step S5, the management execution module includes an intelligent irrigation system, an intelligent lighting system, a voice reminding unit and a data display unit;
the intelligent irrigation system is used for irrigating flowers, plants and trees in a garden through a control instruction issued by a chip control unit, the chip control unit determines an irrigation time point according to the soil content monitored by a moisture sensor, the intelligent illumination system is used for illuminating street lamps in the garden through the control instruction issued by the chip control unit, the chip control unit determines the time point for illuminating the street lamps according to the ambient brightness monitored by a brightness sensor, the voice reminding unit is used for informing visitors of paying attention to the garden environment in a voice reminding mode when the monitoring unmanned aerial vehicle discovers that the visitors damage the garden environment, and the data display unit is used for displaying the current position of the monitoring unmanned aerial vehicle, videos shot by a monitoring camera, the soil water content and ambient brightness data;
the output end of the chip control unit is electrically connected with the input ends of the intelligent irrigation system, the intelligent illumination system, the voice reminding unit and the data display unit.
Example (b):
inside the unmanned aerial vehicle of controlA GPS positioner is installed for monitoring the position of the monitoring unmanned aerial vehicle in real time, and the real-time position of the monitoring unmanned aerial vehicle is positioned by the current coordinate (X)i，Yi) (300, 260), the set P { (X) that constitutes the coordinate position of the monitoring drone1,Y1),(X2,Y2),(X3,Y3),…,(Xn,Yn) Determining the positioning coordinate of the obstacle as (x) by the distance sensor according to the coordinate position of the monitoring unmanned aerial vehicle and the detected distancej，yj) The set of coordinate positions constituting the obstacle Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) A coordinate value of the position of the control center is (0, 0);
solving a return flight function of the monitoring unmanned aerial vehicle according to the following formula:
Yi＝k*Xi；
wherein k represents the coefficient of the return function;
to obtain:
Figure BDA0003004943270000121
the return flight function of the monitoring unmanned aerial vehicle is obtained as follows:
Figure BDA0003004943270000122
wherein M represents the ordinate of the return function, and N represents the abscissa of the return function;
the abscissa x of all obstacles in the set Q { (250,220), (140,130), (80,70) }jBringing in the return function of the monitoring unmanned aerial vehicle to obtain a corresponding longitudinal coordinate value Mj：
Figure BDA0003004943270000131
M1＝216.67；
M2＝121.33；
M3＝69.33；
Wherein M isjDenotes the abscissa as xjThe longitudinal coordinate of the barrier on the return function of the monitoring unmanned aerial vehicle;
for M according to the following formulajAnd yjThe difference Δ j between is calculated:
Δj＝|Mj-yj|；
Δ1＝3.33；
Δ2＝8.67；
Δ3＝0.67；
Δ j ≦ a ≦ 10, indicating the position (x) where the obstacle is locatedj，yj) The normal return flight of the monitoring unmanned aerial vehicle is influenced, and the monitoring unmanned aerial vehicle needs to avoid during the return flight;
where a is 10, the set difference threshold is indicated.
When delta j is less than or equal to a and the obstacle needs to be avoided when the unmanned aerial vehicle is monitored to return, the coordinate value (x) of the position of the obstacle is usedj，yj) As the center of the circle, a circle with the radius r being 20 is established, and the expression function of the circle is obtained:
(x-250)2+(y-220)2＝202；
(x-140)2+(y-130)2＝202；
(x-80)2+(y-70)2＝202；
and calculating and analyzing an intersection point between the expression function of the circle and the return function of the monitoring unmanned aerial vehicle, wherein the intersection point is a steering point of the return function of the monitoring unmanned aerial vehicle for avoiding the obstacle or returning the obstacle.
The electric quantity determining unit monitors the electric quantity of the monitoring unmanned aerial vehicle in real time, and the real-time electric quantity of the monitoring unmanned aerial vehicle monitored by the electric quantity determining unit is TiPercent is 3 percent, wherein i represents the ith time point, and the electric quantity consumed by the monitoring unmanned aerial vehicle per kilometer is 5 percent;
the distance L between the monitoring unmanned aerial vehicle and the control center is continuously calculated according to the following formulai：
Figure BDA0003004943270000132
Calculating the distance l of the avoidance route of the monitoring unmanned aerial vehicle according to the following formulai：
li＝π*r*g＝3.14*20*3＝188.4；
Wherein g represents the number of obstacles appearing on the return route of the monitoring unmanned aerial vehicle; where pi x r is used to roughly represent the distance it takes to avoid an obstacle, since it will either bypass an obstacle, increasing half a circumference with r as the radius, but at the same time, subtracting the length across the obstacle;
calculating the total length of the route for monitoring the return of the unmanned aerial vehicle according to the following formula:
Lgeneral assembly＝Li+li-2*r*g＝396.99+188.4-2*3.14*3＝566.55；
Calculating the electric quantity T required to be consumed for monitoring the return journey of the unmanned aerial vehicle according to the following formulaReturn to：
TReturn to＝LGeneral assembly*t＝0.56655*5％＝2.8％；
When T isReturn to＜TiAnd the monitoring unmanned aerial vehicle can continuously execute the monitoring task.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (5)

1. A smart garden management method is characterized in that: the management method comprises the following steps:
s1, establishing a garden map model by using the central control module (1), and storing all pictures of the inlet and the outlet of the garden;
s2, collecting various information data in the garden by using the data collection module (2), and sending the information data to the central control module (1) and the return planning module (3);
s3, planning a return route of the monitoring unmanned aerial vehicle by using a return planning module (3) according to the information data sent by the information acquisition module (2) in S2;
s4, planning a return path of tourists getting lost in the garden by using a return planning module (4);
s5, controlling the management execution module (5) to execute corresponding operation by the central control module (1) according to the information data acquired by the information acquisition module (2) in S2;
in step S1, the central control module (1) includes a chip control unit, a storage database, a map import unit, and a coordinate assignment unit;
the chip control unit is internally written with a program for intelligently judging information data acquired by the data acquisition module, the storage database is used for storing garden import and export photos, the map import unit is used for importing a garden plane map into the central control module, and the coordinate giving unit is used for establishing a plane rectangular coordinate system on the garden plane map and giving a coordinate value to each point on the garden map;
the output end of the data acquisition module is electrically connected with the input end of the chip control unit, the output end of the chip control unit is electrically connected with the input end of the management execution module, the output end of the coordinate endowing unit is electrically connected with the input end of the map importing unit, the output end of the map importing unit is electrically connected with the input end of the chip control unit, and the chip control unit is electrically connected with the storage database;
in step S2, the data acquisition module (2) includes a moisture sensor, a monitoring drone, a brightness sensor and a weather sensing device;
the system comprises a moisture sensor, a monitoring unmanned aerial vehicle, a brightness sensor and meteorological sensing equipment, wherein the moisture sensor is used for detecting the water content in garden soil, the monitoring unmanned aerial vehicle flies above the garden and is used for monitoring the garden in all directions at high altitude, the brightness sensor is used for detecting the ambient brightness, and the meteorological sensing equipment is used for monitoring the meteorological environment;
the output ends of the moisture sensor, the brightness sensor, the meteorological sensing equipment and the monitoring unmanned aerial vehicle are electrically connected with the input end of the chip control unit;
the monitoring unmanned aerial vehicle comprises a distance sensor, a digital barometer and a monitoring camera;
the digital barometer is used for monitoring the flying height of the monitoring unmanned aerial vehicle, the distance sensor is used for detecting the distance between the obstacles on two sides of the flying height of the monitoring unmanned aerial vehicle and the monitoring unmanned aerial vehicle, and the monitoring camera is used for monitoring the condition in the garden;
the output end of the monitoring camera is electrically connected with the input end of the chip control unit;
the return flight planning module (3) comprises a route determining unit, an obstacle avoiding unit, an electric quantity determining unit and a return flight executing unit;
the route determining unit is used for determining an initial route for monitoring the return of the unmanned aerial vehicle, the initial route for monitoring the return of the unmanned aerial vehicle is a connecting line between the current position of the unmanned aerial vehicle and the control center, the obstacle avoiding unit is used for avoiding obstacles on the initial route for monitoring the unmanned aerial vehicle, the electric quantity determining unit is used for monitoring the electric quantity of the unmanned aerial vehicle in real time, the return execution unit is used for executing a return command, and when the current electric quantity of the unmanned aerial vehicle is only enough to return to the control center from the current position, the return execution unit executes the return command;
the output end of the monitoring unmanned aerial vehicle is electrically connected with the input end of the obstacle avoiding unit, the output ends of the chip control unit, the obstacle avoiding unit and the electric quantity determining unit are electrically connected with the input end of the route determining unit, and the output end of the route determining unit is electrically connected with the input end of the return flight executing unit;
monitoring unmanned aerial vehicle internally mounted has GPS locator for to monitoring unmanned aerial vehicleThe position is monitored in real time, and the real-time position of the monitoring unmanned aerial vehicle is positioned by the current coordinate (X)i，Yi) And forming a set P { (X) of coordinate positions of the monitoring unmanned aerial vehicle1,Y1),(X2,Y2),(X3,Y3),…,(Xn,Yn) Determining the positioning coordinate of the obstacle as (x) by the distance sensor according to the coordinate position of the monitoring unmanned aerial vehicle and the detected distancej，yj) The set of coordinate positions constituting the obstacle Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) A coordinate value of the position of the control center is (0, 0);
solving a return flight function of the monitoring unmanned aerial vehicle according to the following formula:
Yi＝k*Xi；
wherein k represents the coefficient of the return function;
to obtain:
Figure FDA0003478863840000031
the return flight function of the monitoring unmanned aerial vehicle is obtained as follows:
Figure FDA0003478863840000041
wherein M represents the ordinate of the return function, and N represents the abscissa of the return function;
the set Q { (x)1,y1),(x2,y2),(x3,y3),…,(xm,ym) X abscissa of all obstacles in the circlejBringing in the return function of the monitoring unmanned aerial vehicle to obtain a corresponding longitudinal coordinate value Mj：
Figure FDA0003478863840000042
Wherein M isjDenotes the abscissa as xjThe longitudinal coordinate of the barrier on the return function of the monitoring unmanned aerial vehicle;
for M according to the following formulajAnd yjThe difference Δ j between is calculated:
Δj＝|Mj-yj|；
when delta j is less than or equal to a, the position (x) of the obstacle is shownj，yj) The normal return flight of the monitoring unmanned aerial vehicle is influenced, and the monitoring unmanned aerial vehicle needs to avoid during the return flight;
when Δ j > a, it indicates the position (x) of the obstaclej，yj) The normal return of the monitoring unmanned aerial vehicle is not influenced, and the monitoring unmanned aerial vehicle only needs to return according to an initial route;
where a represents the set difference threshold.
2. The intelligent garden management method according to claim 1, wherein: when delta j is less than or equal to a and the obstacle needs to be avoided when the unmanned aerial vehicle is monitored to return, the coordinate value (x) of the position of the obstacle is usedj，yj) Establishing a circle with radius r as a circle center to obtain an expression function of the circle:
(x-xj)2+(y-yj)2＝r2；
and calculating and analyzing an intersection point between the expression function of the circle and the return function of the monitoring unmanned aerial vehicle, wherein the intersection point is a steering point of the return function of the monitoring unmanned aerial vehicle for avoiding the obstacle or returning the obstacle.
3. The intelligent garden management method according to claim 2, wherein: in step S3, the electric quantity determination unit monitors the electric quantity of the monitoring drone in real time, and the real-time electric quantity of the monitoring drone monitored by the electric quantity determination unit is Ti% of the power consumption of the monitoring unmanned aerial vehicle per kilometer, wherein i represents the ith time point;
the distance L between the monitoring unmanned aerial vehicle and the control center is continuously calculated according to the following formulai：
Figure FDA0003478863840000051
Calculating the distance l of the avoidance route of the monitoring unmanned aerial vehicle according to the following formulai：
li＝π*r*g；
Wherein g represents the number of obstacles appearing on the return route of the monitoring unmanned aerial vehicle; where pi x r is used to roughly represent the distance it takes to avoid an obstacle, since it will either bypass an obstacle, increasing half a circumference with r as the radius, but at the same time, subtracting the length across the obstacle;
calculating the total length of the route for monitoring the return of the unmanned aerial vehicle according to the following formula:
Lgeneral assembly＝Li+li-2*r*g；
Calculating the electric quantity T required to be consumed for monitoring the return journey of the unmanned aerial vehicle according to the following formulaReturn to：
TReturn to＝LGeneral assembly*t；
When T isReturn to＝TiIn time, the monitoring unmanned aerial vehicle needs to return to the journey immediately;
when T isReturn to＜TiAnd the monitoring unmanned aerial vehicle can continuously execute the monitoring task.
4. The intelligent garden management method according to claim 3, wherein: in step S4, the return planning module includes a positioning two-dimensional code, a scene input unit, a photo screening unit, an exit confirmation unit, and a path planning unit;
the positioning two-dimensional code is installed beside a road in a garden and used for scanning and positioning tourists in a maze way, the scene input unit is used for inputting scenes seen when the tourists enter the garden, the photo screening unit is used for screening import and export photos in a storage database according to scene feature keywords input by the scene input unit, the photo screening unit is used for supplying the screened photos to the tourists for selection, the export confirmation unit is used for confirming the import and export of the tourists entering the garden from the screened garden import and export photos, the import and export photos are used as end points, the path planning unit takes the position of the positioning two-dimensional code as a starting point, and the garden import and export corresponding to the import and export photos determined by the export confirmation unit as end points to guide the lost tourists.
5. The intelligent garden management method according to claim 4, wherein: in step S5, the management execution module includes an intelligent irrigation system, an intelligent lighting system, a voice reminding unit and a data display unit;
the intelligent irrigation system is used for irrigating flowers, plants and trees in a garden through a control instruction issued by a chip control unit, the chip control unit determines an irrigation time point according to the soil content monitored by a moisture sensor, the intelligent illumination system is used for illuminating street lamps in the garden through the control instruction issued by the chip control unit, the chip control unit determines the time point for illuminating the street lamps according to the ambient brightness monitored by a brightness sensor, the voice reminding unit is used for informing visitors of paying attention to the garden environment in a voice reminding mode when the monitoring unmanned aerial vehicle discovers that the visitors damage the garden environment, and the data display unit is used for displaying the current position of the monitoring unmanned aerial vehicle, videos shot by a monitoring camera, the soil water content and ambient brightness data;
the output end of the chip control unit is electrically connected with the input ends of the intelligent irrigation system, the intelligent illumination system, the voice reminding unit and the data display unit.
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