CN113359723B - Operation method, system and path planning method based on star distribution - Google Patents
Operation method, system and path planning method based on star distribution Download PDFInfo
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- CN113359723B CN113359723B CN202110608600.6A CN202110608600A CN113359723B CN 113359723 B CN113359723 B CN 113359723B CN 202110608600 A CN202110608600 A CN 202110608600A CN 113359723 B CN113359723 B CN 113359723B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000009826 distribution Methods 0.000 title claims abstract description 35
- 238000012216 screening Methods 0.000 claims description 6
- 230000002349 favourable effect Effects 0.000 abstract description 5
- 238000009423 ventilation Methods 0.000 abstract description 5
- 235000015816 nutrient absorption Nutrition 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 239000003337 fertilizer Substances 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The invention relates to an operation method, an operation system and a path planning method based on star distribution, wherein the operation method based on the star distribution comprises the following steps: setting an operation unit pattern; and performing regular hexagon operation in a preset interval according to the operation unit pattern. Through the planting mode of star type distribution, make the interval between the plant identical completely, guarantee under the prerequisite of crop growth, ventilation and moisture and nutrient's absorption, can provide the best growth space for crops, be favorable to improving the output of crops.
Description
Technical Field
The invention relates to the field of agricultural planting, in particular to an operation method and system based on star distribution and a path planning method.
Background
Traditional farming mainly goes on through the mode of manpower work, and not only speed is slow like this, and intensity of labour is big, and the plant distributes unevenly in the farmland moreover. Along with the improvement of planting density and agricultural requirements, the planting machine based on the self-guiding system is applied to agricultural production, the labor productivity is improved, the labor force is liberated, the labor intensity is reduced, the operation precision and the crop yield are improved, and the planting machine has huge development potential undoubtedly at the present that the agricultural labor force is lacked and the requirements on the operation precision and the efficiency of agricultural machinery are higher and higher.
Planting machinery that prior art gathered all adopts the well style of calligraphy to distribute, and this distribution mode leads to being greater than the distance between the adjacent plant between the plant of relative angle to lead to the waste of partial soil resource, thereby make the plant density of planting reduce.
The above problems are urgently to be solved.
Disclosure of Invention
The invention aims to provide an operation method, an operation system and a path planning method based on star distribution.
In order to solve the technical problem, the invention provides a star distribution-based operation method, which comprises the following steps:
setting an operation unit pattern;
and performing regular hexagon operation in a preset interval according to the operation unit pattern.
Further, the regular hexagon is that a crop is used as the center of the regular hexagon, and six crops are arranged on six vertexes of the regular hexagon, wherein the crops comprise one of plants, seeds, pesticides and fertilizers.
Furthermore, the operation unit pattern is a rhombus, a rhombus is arranged along the transverse direction or a pattern obtained by arranging one edge of the rhombus.
Furthermore, the side length of the rhombus is adjustable.
Further, the step of performing regular hexagon operation within a preset interval according to the operation unit pattern includes:
acquiring the inter-plant distance L of the operation unit pattern;
adjusting the distance of the transplanting mechanism according to the distance between the plants;
setting an operation frequency n;
acquiring a walking speed v, wherein 2L · cos30 ° = v/n;
and performing regular hexagon operation according to the walking speed.
The invention includes an operating system based on star distribution, the operating system includes:
the operation module is suitable for setting an operation unit pattern;
and the advancing inserting module is suitable for performing regular hexagon operation in a preset interval according to the operation unit pattern.
The invention relates to a path planning method of an operating system based on star distribution, which comprises the following steps:
arranging a sensor for the operation area according to a preset scheme;
determining an operation boundary through m sensors, wherein m is more than or equal to 4;
analyzing the operation boundary, determining the shape of the operation area, and screening a preset path matched with the shape of the operation area from a database; the database is pre-stored with operation area shapes corresponding to various preset schemes and preset paths planned by the operation area shapes according to the operation method based on star distribution;
and planning according to the screened preset path.
The invention relates to a path planning system of an operation system based on star distribution, which comprises:
the sensor setting module is suitable for setting a sensor for the operation area according to a preset scheme;
the boundary determining module is suitable for determining an operation boundary through m sensors, wherein m is more than or equal to 4;
the preset path acquisition module is suitable for analyzing the operation boundary, determining the shape of the operation area and screening out a preset path matched with the shape of the operation area from the database; the database is pre-stored with operation area shapes corresponding to various preset schemes and preset paths planned by the operation area shapes according to the operation method based on star distribution;
and the path planning module is suitable for planning according to the screened preset path.
The present invention encompasses a computer-readable storage medium having one or more instructions stored therein, which when executed by a processor implement the star-based distribution method of operation described above.
The invention includes an electronic device comprising a memory and a processor; at least one program instruction is stored in the memory; the processor is used for realizing the operation method based on the star distribution by loading and executing the at least one program instruction.
The invention has the beneficial effects that the invention provides an operation method, a system and a path planning method based on star distribution, wherein the operation method based on the star distribution comprises the following steps: setting an operation unit pattern; and performing regular hexagon operation in a preset interval according to the operation unit pattern. Through the planting mode of star type distribution, make the interval between the plant identical completely, guarantee under the prerequisite of crop growth, ventilation and moisture and nutrient's absorption, can provide the best growth space for crops, be favorable to improving the output of crops.
Drawings
The invention is further illustrated by the following examples in conjunction with the drawings.
FIG. 1 is a flowchart of a star-based operation method provided by the present invention.
Fig. 2 is a schematic diagram of the hexagonal operation provided by the present invention.
FIG. 3 is a functional block diagram of a star-based operating system provided by the present invention.
FIG. 4 is a flowchart of a path planning method for an operating system based on star-shaped distribution according to the present invention.
FIG. 5 is a schematic block diagram of a path planning system for a star-based operating system according to the present invention.
Fig. 6 is a partial functional block diagram of an electronic device provided by the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a star-based operation method. Through the planting mode of star type distribution, make the interval between the plant identical completely, guarantee under the prerequisite of crop growth, ventilation and moisture and nutrient's absorption, can provide the best growth space for crops, be favorable to improving the output of crops. The method comprises the following steps:
s110: setting an operation unit pattern.
Specifically, the operation unit pattern is a rhombus, a rhombus is arranged along the transverse direction, or a pattern formed by one edge of the rhombus. The side length of the rhombus is adjustable, for example, the side length is adjusted by adjusting the distance between a plurality of planting mechanisms on the operating mechanism.
S120: and performing regular hexagon operation in a preset interval according to the operation unit pattern.
Wherein, regular hexagon indicates to use a crops as regular hexagon's center, sets up six crops on regular hexagon's six summits, as shown in fig. 2, wherein, crops include one kind in plant, seed, pesticide and the fertilizer, when in actual use, when carrying out the secondary operation in the field of planting the plant and predetermineeing interval, can adopt unmanned aerial vehicle to carry out follow-up operation to avoid touching the plant.
Specifically, step S120 includes the steps of:
s121: and acquiring the inter-plant distance L of the operation unit pattern.
Specifically, the inter-plant distance L is obtained from planting experience or historical planting data.
S122: and adjusting the distance of the transplanting mechanism according to the distance between the plants.
Specifically, the arrangement mode of the plurality of interpolation parts in the interpolation mechanism is a rhombus, the rhombus is arrayed along the transverse direction or one side of the rhombus, and the distance between the plurality of interpolation parts is adjustable.
S123: setting an operation frequency n.
S124: a walking speed v is obtained, wherein 2L · cos30 ° = v/n.
Specifically, the relationship between the operating frequency n and the traveling speed v is determined by the formula 2L · cos30 ° = v/n, where n ≧ 1.
S125: and performing regular hexagon operation according to the walking speed.
Example 2
Referring to fig. 3, the present embodiment provides an operating system based on star-shaped distribution, including: the device comprises an operation module and a progress interpolation module.
The operation module is suitable for setting an operation unit pattern; specifically, the operation unit pattern is a rhombus, a rhombus is arranged along the transverse direction, or a pattern formed by one edge of the rhombus. The side length of the rhombus is adjustable, for example, the side length is adjusted by adjusting the distance between a plurality of planting mechanisms on the operating mechanism.
And the advancing inserting module is suitable for performing regular hexagon operation in a preset interval according to the operation unit pattern.
Wherein, regular hexagon indicates to use a crops as regular hexagon's center, sets up six crops on regular hexagon's six summits, as shown in fig. 2, wherein, crops include one kind in plant, seed, pesticide and the fertilizer, when in actual use, when carrying out the secondary operation in the field of planting the plant and predetermineeing interval, can adopt unmanned aerial vehicle to carry out follow-up operation to avoid touching the plant.
The advancing insertion module is used for executing the following steps:
s121: and acquiring the inter-plant distance L of the operation unit pattern.
Specifically, the inter-plant distance L is obtained from planting experience or historical planting data.
S122: and adjusting the distance of the inserting mechanism according to the distance between the plants.
Specifically, the arrangement mode of the plurality of interpolation parts in the interpolation mechanism is a rhombus, the rhombus is arrayed along the transverse direction or one side of the rhombus, and the distance between the plurality of interpolation parts is adjustable.
S123: setting an operation frequency n.
S124: and acquiring the walking speed v, wherein L · cos30 ° = v/(n-1).
Specifically, the relationship between the operating frequency n and the traveling speed v is determined by the formula L · cos30 ° = v/(n-1).
S125: and performing regular hexagon operation according to the walking speed.
Example 3
Referring to fig. 4, the present embodiment provides a path planning method for an operating system based on star distribution, where the path planning method includes:
s210: and arranging a sensor for the operation area according to a preset scheme.
The preset scheme is in a triangle shape, a rectangle shape, a trapezoid shape and other basic shapes, the area to be planted is divided into a plurality of basic shapes, and planting is carried out on each basic shape.
S220: and determining the operation boundary through m sensors, wherein m is more than or equal to 4.
Specifically, the work boundary is determined by acquiring information fed back by m sensors for spatial localization. For example, a signal is transmitted to m sensors through one signal point, the m sensors receive the signal and then feed back the signal, and spatial positioning is performed through feedback time and a path through which information is fed back.
S230: analyzing the operation boundary, determining the shape of the operation area, and screening a preset path matched with the shape of the operation area from a database; the database stores in advance the shapes of the work areas corresponding to various preset schemes, and the preset paths planned by the shapes of the work areas according to the star-distribution-based work method as provided in embodiment 1.
S240: and planning according to the screened preset path.
Example 4
Referring to fig. 5, the present embodiment provides a path planning system based on a star-distributed operating system, the system includes: the device comprises a sensor setting module, a boundary determining module, a preset path acquiring module and a path planning module.
And the sensor setting module is suitable for setting a sensor for the operation area according to a preset scheme. The preset scheme is in a triangle shape, a rectangle shape, a trapezoid shape and other basic shapes, the area to be planted is divided into a plurality of basic shapes, and planting is carried out on each basic shape.
And the boundary determining module is suitable for determining the operation boundary through m sensors, wherein m is more than or equal to 4. Specifically, the work boundary is determined by acquiring information fed back by m sensors for spatial localization. For example, a signal is transmitted to m sensors through one signal point, the m sensors receive the signal and then feed back the signal, and spatial positioning is performed through feedback time and a path through which information is fed back.
The preset path acquisition module is suitable for analyzing the operation boundary, determining the shape of the operation area and screening out a preset path matched with the shape of the operation area from the database; wherein, the database is stored with the working area shapes corresponding to various preset schemes in advance, and the preset paths planned by the working area shapes according to the star distribution-based working method of any one of claims 1-5;
and the path planning module is suitable for planning according to the screened preset path.
Example 5
The present embodiment provides a computer-readable storage medium, in which one or more instructions are stored, and when executed by a processor, the one or more instructions implement the star-based distribution operation method provided in embodiment 1.
The star distribution-based operation method comprises the following steps: setting an operation unit pattern; and performing regular hexagon operation in a preset interval according to the operation unit pattern. Through the planting mode that the star shape distributes, make the interval between the plant identical completely, under the prerequisite of guaranteeing crop growth, ventilation and the absorption of moisture and nutrient, can provide the best growth space for crops, be favorable to improving the output of crops.
Example 6
Referring to fig. 6, the present embodiment further provides an electronic device, including: a memory 502 and a processor 501; the memory 502 has at least one program instruction stored therein; the processor 501 loads and executes the at least one program instruction to implement the operation method based on the star profile as provided in embodiment 1.
The memory 502 and the processor 501 are coupled in a bus that may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 501 and the memory 502 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, etc., which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 501 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 501.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
In summary, the present invention provides an operation method, a system and a path planning method based on star distribution, wherein the operation method based on star distribution includes: setting an operation unit pattern; and performing regular hexagon operation in a preset interval according to the operation unit pattern. Through the planting mode of star type distribution, make the interval between the plant identical completely, guarantee under the prerequisite of crop growth, ventilation and moisture and nutrient's absorption, can provide the best growth space for crops, be favorable to improving the output of crops.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (2)
1. A path planning method of an operation system based on star distribution is characterized by comprising the following steps:
arranging a sensor in the operation area according to a preset scheme, wherein the preset scheme is a triangle, rectangle or trapezoid basic shape, dividing the area to be planted into a plurality of basic shapes, and planting each basic shape;
determining an operation boundary through m sensors, wherein m is more than or equal to 4;
analyzing the operation boundary, determining the shape of the operation area, and screening a preset path matched with the shape of the operation area from a database; the database is pre-stored with operation area shapes corresponding to various preset schemes and preset paths planned by the operation area shapes according to an operation method based on star distribution; the star distribution-based operation method comprises the steps of setting an operation unit pattern; performing regular hexagon operation in a preset interval according to the operation unit pattern;
and planning according to the screened preset path.
2. A path planning system for a star-distributed operating system, the system comprising:
the sensor setting module is suitable for setting a sensor for the operation area according to a preset scheme; the preset scheme is a triangle, rectangle or trapezoid basic shape, the area to be planted is divided into a plurality of basic shapes, and each basic shape is planted;
the boundary determining module is suitable for determining an operation boundary through m sensors, wherein m is more than or equal to 4;
the preset path acquisition module is suitable for analyzing the operation boundary, determining the shape of the operation area and screening out a preset path matched with the shape of the operation area from the database; the database is pre-stored with operation area shapes corresponding to various preset schemes and preset paths planned by the operation area shapes according to an operation method based on star distribution; the star distribution-based operation method comprises the steps of setting an operation unit pattern; performing regular hexagon operation in a preset interval according to the operation unit pattern;
and the path planning module is suitable for planning according to the screened preset path.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1145161A (en) * | 1995-09-15 | 1997-03-19 | 罗世锐 | Alternate lines planting method |
| EP0821296A2 (en) * | 1996-07-23 | 1998-01-28 | CLAAS KGaA | Route planning system for agricultural working vehicles |
| CN109661979A (en) * | 2017-10-13 | 2019-04-23 | 中国农业机械化科学研究院 | It is a kind of based on the information-based implantation methods for being precisely controlled crop location |
| CN211293747U (en) * | 2019-09-16 | 2020-08-18 | 沈阳航空航天大学 | Autonomous operation control system of PZ60DT of well-closing rice transplanter |
| CN112650215A (en) * | 2020-12-01 | 2021-04-13 | 广州极飞科技有限公司 | Plant protection operation method and plant protection operation device for unmanned vehicle, and unmanned vehicle control system |
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2021
- 2021-06-01 CN CN202110608600.6A patent/CN113359723B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1145161A (en) * | 1995-09-15 | 1997-03-19 | 罗世锐 | Alternate lines planting method |
| EP0821296A2 (en) * | 1996-07-23 | 1998-01-28 | CLAAS KGaA | Route planning system for agricultural working vehicles |
| CN109661979A (en) * | 2017-10-13 | 2019-04-23 | 中国农业机械化科学研究院 | It is a kind of based on the information-based implantation methods for being precisely controlled crop location |
| CN211293747U (en) * | 2019-09-16 | 2020-08-18 | 沈阳航空航天大学 | Autonomous operation control system of PZ60DT of well-closing rice transplanter |
| CN112650215A (en) * | 2020-12-01 | 2021-04-13 | 广州极飞科技有限公司 | Plant protection operation method and plant protection operation device for unmanned vehicle, and unmanned vehicle control system |
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