CN117356546B - Control method, system and storage medium of spraying vehicle for airport lawn - Google Patents
Control method, system and storage medium of spraying vehicle for airport lawn Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to a control method, a system and a storage medium of a spraying vehicle for an airport lawn, wherein the method comprises the following steps: the method comprises the steps of L1, setting a beacon on a lawn boundary, enabling an unmanned spraying vehicle to run on a lawn of an airport, acquiring wind direction data information in real time based on a vehicle-mounted mechanical wind direction sensor, acquiring lawn humidity data information in real time based on a vehicle-mounted humidity sensor, acquiring map data information of the lawn in real time based on a vehicle-mounted high-precision map, and acquiring position width data information of the vehicle and distance data information between the beacons; l2. based on the lawn map data information, the vehicle bit width data information, and the distance data information between beacons. The invention not only ensures that the spraying vehicle can automatically spray without manual participation, reduces labor cost, but also combines various environmental factors to carry out path planning and spray head adjustment, reduces vehicle loss and improves spraying efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned spraying vehicles, in particular to a control method, a control system and a storage medium of a spraying vehicle for an airport lawn.
Background
The airport lawn can absorb dust and beautify the airport environment, but the lawn nourishes insects, so that flying birds are led to have certain safety effect on the flight safety of the airplane, therefore, an airport bird prevention department is required to regularly spray the lawn to inhibit the growth of grass, prevent the grass seeds from forming, reduce the attraction to birds, control the growth speed of the grass and reduce the input of pruning.
At present, the spraying mode of the lawn mainly uses a manual tractor to drag a medicine tank with a spray boom to spray medicine, the whole process is open, and medicine mist is easy to blow off along with wind. It is known that in the growing season of the lawn, the airport lawn area is large, so that the spraying work of one round is always finished, the new spraying work of one round is started, and the bird prevention department needs to input more manpower and workload. If a mechanical input capable of automatically spraying medicines can be periodically provided, the airport medicine spraying machine brings good benefits to the airport.
Disclosure of Invention
In view of the above problems, the invention provides a control method, a control system and a storage medium for a spraying vehicle for an airport lawn, which not only ensure that the spraying vehicle can automatically spray without manual participation, reduce labor cost, but also combine various environmental factors to carry out path planning and spray head adjustment, reduce vehicle loss and improve spraying efficiency.
In order to achieve the above object and other related objects, the present invention provides the following technical solutions:
a method of controlling a spray vehicle for an airport lawn, the method comprising:
the method comprises the steps of L1, setting a beacon on a lawn boundary, enabling an unmanned spraying vehicle to run on a lawn of an airport, acquiring wind direction data information in real time based on a vehicle-mounted mechanical wind direction sensor, acquiring lawn humidity data information in real time based on a vehicle-mounted humidity sensor, acquiring map data information of the lawn in real time based on a vehicle-mounted high-precision map, and acquiring position width data information of the vehicle and distance data information between the beacons;
l2, optimizing the track of the vehicle by adopting an improved whale optimization algorithm based on the map data information of the lawn, the position width data information of the vehicle and the distance data information between the beacons to obtain optimized track data information of the vehicle;
and L3, based on the optimized track data information of the vehicle, the vehicle performs operation, and according to the lawn humidity data information and the wind direction data information, a threshold algorithm is adopted to control and regulate a spray head of the vehicle, and comprehensive control data information of the vehicle is output.
Further, in step L2, the optimizing the trajectory of the vehicle using the improved whale optimization algorithm includes:
l21. acquiring map data information of the lawn, bit width data information of the vehicle, and distance data information between the beacons, and constructing a dynamic change array (u i ,v i ,w i ) Wherein u is i Is the lawn map data information at the i-th moment, v i Is the vehicle position width data information at the ith moment, w i Obtaining dynamic change array data information of the vehicle for the distance data information between the beacons at the ith moment;
l22, initializing whale population based on the dynamic change array data information of the vehicle to obtain initialized whale population data information;
l23. based on the initialized whale population data information, an objective function F is established,
，
wherein (x, y, z) is a dynamic change array of the vehicle to be optimized, (u) i ,v i ,w i ) Is dynamic change array data information of the vehicle, n is population quantity, alpha i ，β i And gamma i Calculating the fitness of whales at each position for the weight coefficient to obtain the fitness data information of whale population;
and L24, updating the position of the whale population based on the adaptation data information of the whale population, repeating the steps L22-L23, and iterating by combining with an improved Harris eagle optimization algorithm to obtain the optimized track data information of the vehicle.
Further, in step L24, the iterating in conjunction with the modified harris eagle optimization algorithm includes:
l241. updating the position of the whale population according to the information to obtain optimized solution data information of the whale population;
l242 based on the optimized solution data information of the whale population, creating an inverse solution function G,
，
wherein eta j Optimizing solution data information of the whale population, wherein omega is a weight factor, J is the whale population, and reverse solution data information of the whale population is obtained;
l243. based on inverse solution data information of the whale population, establishing an evaluation function Q,
，
wherein O is a set of inverse solution data information of the whale population, g is an element in the set of inverse solution data information of the whale population, sigma is an evaluation constant factor, q is an evaluation variable, and the inverse solution of the whale population is evaluated to obtain inverse solution evaluation data information of the whale population;
l244 screening the optimized solution of the whale population based on the inverse solution evaluation data information of the whale population to obtain the screened optimized solution data information of the whale population.
Further, the filtering of the optimized solution of the whale population is to perform inverse optimization filtering according to the corresponding relation between the inverse solution of the whale population and the optimized solution of the whale population, so as to obtain a converged optimized solution of the whale population.
Further, in step L23, the weight coefficient α i ，β i And gamma i The constraint relation of (2) is:
。
further, in step L3, the controlling and adjusting the spray head of the vehicle by using the threshold algorithm includes:
l31. based on the lawn humidity data information and the wind direction data information, a head adjusting function T is established,
，
wherein a is lawn humidity data information, ρ 1 Is the expected value data information of the lawn humidity, theta 1 Chi is the variance data information of lawn humidity 1 Is the determining factor of the lawn humidity, ρ 2 Data information of expected value of wind direction, theta 2 Chi is the variance data information of wind direction 2 B is wind direction data information;
l32, based on the nozzle adjustment function T, setting a preset threshold value m 1 And m 2 ，m 1 Less than m 2 If T is greater than m 2 The height of the spray head is reduced, if T is larger than m 1 And is smaller than m 2 Maintaining the state of the spray head, if T is smaller than m 1 The spray head is turned off.
Further, if T is greater than m 2 Lowering the head height is to establish a head height lowering function U,
，
wherein s is the upper limit value of the height of the spray head, s o Is the lower limit value of the height of the spray head, T is the regulating function of the spray head, m 2 And (5) obtaining numerical data information for reducing the height of the spray head for a preset threshold value.
Further, the comprehensive control data information of the vehicle comprises optimized track data information of the vehicle, adjustment and control data information of a vehicle nozzle and active obstacle avoidance data information, wherein the active obstacle avoidance data information is voice reminding after recognition according to the vehicle-mounted laser radar scanning surrounding personnel and obstacles, and even after stopping, the surrounding environment meets the operation condition.
To achieve the above and other related objects, the present invention also provides a control system of a spray vehicle for an airport lawn, comprising a computer device programmed or configured to perform the steps of the control method of a spray vehicle for an airport lawn as defined in any one of the above.
To achieve the above and other related objects, the present invention also provides a computer-readable storage medium having stored thereon a computer program programmed or configured to perform the method of controlling a spray vehicle for an airport lawn as defined in any one of the above.
The invention has the following positive effects:
1. according to the invention, the track of the vehicle is optimized by adopting the improved whale optimization algorithm to obtain the optimized track data information of the vehicle, so that the running track of the vehicle can be globally optimized, the energy loss of the vehicle is reduced in the spraying process, and the cruising ability and the spraying efficiency of the vehicle are improved.
2. According to the invention, the spray head of the vehicle is controlled and regulated by adopting a threshold algorithm, so that the spray head can be effectively sprayed according to wind direction and lawn humidity information, the spraying effect can be ensured, the problem of secondary spraying is prevented, meanwhile, the whole process does not need to be participated manually, the labor cost is reduced, and the economic benefit is improved.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of the overall arrangement of the present invention;
FIG. 3 is a schematic flow chart of the improved whale optimization algorithm of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1: as shown in fig. 1 or 2, a method for controlling a spray vehicle for an airport lawn, the method comprising:
the method comprises the steps of L1, setting a beacon on a lawn boundary, enabling an unmanned spraying vehicle to run on a lawn of an airport, acquiring wind direction data information in real time based on a vehicle-mounted mechanical wind direction sensor, acquiring lawn humidity data information in real time based on a vehicle-mounted humidity sensor, acquiring map data information of the lawn in real time based on a vehicle-mounted high-precision map, and acquiring position width data information of the vehicle and distance data information between the beacons;
l2, optimizing the track of the vehicle by adopting an improved whale optimization algorithm based on the map data information of the lawn, the position width data information of the vehicle and the distance data information between the beacons to obtain optimized track data information of the vehicle;
and L3, based on the optimized track data information of the vehicle, the vehicle performs operation, and according to the lawn humidity data information and the wind direction data information, a threshold algorithm is adopted to control and regulate a spray head of the vehicle, and comprehensive control data information of the vehicle is output.
In this embodiment, as shown in fig. 3, in step L2, the optimizing the track of the vehicle using the improved whale optimization algorithm includes:
l21. acquiring map data information of the lawn, bit width data information of the vehicle, and distance data information between the beacons, and constructing a dynamic change array (u i ,v i ,w i ) Wherein u is i Is the lawn map data information at the i-th moment, v i Is the vehicle position width data information at the ith moment, w i Obtaining dynamic change array data information of the vehicle for the distance data information between the beacons at the ith moment;
l22, initializing whale population based on the dynamic change array data information of the vehicle to obtain initialized whale population data information;
l23. based on the initialized whale population data information, an objective function F is established,
，
wherein (x, y, z) is a dynamic change array of the vehicle to be optimized, (u) i ,v i ,w i ) Is dynamic change array data information of the vehicle, n is population quantity, alpha i ，β i And gamma i Calculating the fitness of whales at each position for the weight coefficient to obtain the fitness data information of whale population;
and L24, updating the position of the whale population based on the adaptation data information of the whale population, repeating the steps L22-L23, and iterating by combining with an improved Harris eagle optimization algorithm to obtain the optimized track data information of the vehicle.
In this embodiment, in step L24, the iterating in conjunction with the modified harris eagle optimization algorithm includes:
l241. updating the position of the whale population according to the information to obtain optimized solution data information of the whale population;
l242 based on the optimized solution data information of the whale population, creating an inverse solution function G,
，
wherein eta j Optimizing solution data information of the whale population, wherein omega is a weight factor, J is the whale population, and reverse solution data information of the whale population is obtained;
l243. based on inverse solution data information of the whale population, establishing an evaluation function Q,
，
wherein O is a set of inverse solution data information of the whale population, g is an element in the set of inverse solution data information of the whale population, sigma is an evaluation constant factor, q is an evaluation variable, and the inverse solution of the whale population is evaluated to obtain inverse solution evaluation data information of the whale population;
l244 screening the optimized solution of the whale population based on the inverse solution evaluation data information of the whale population to obtain the screened optimized solution data information of the whale population.
In this embodiment, the filtering the optimized solution of the whale population is performing inverse optimization filtering according to a correspondence between an inverse solution of the whale population and the optimized solution of the whale population, so as to obtain a converged optimized solution of the whale population.
In the present embodiment, in step L23, the weight coefficient a i ，β i And gamma i The constraint relation of (2) is:
。
example 2: the present invention is further illustrated and described below based on a control method of a spray vehicle for a lawn airport of example 1.
As shown in fig. 1 or 2, a method for controlling a spray vehicle for an airport lawn, the method comprising:
the method comprises the steps of L1, setting a beacon on a lawn boundary, enabling an unmanned spraying vehicle to run on a lawn of an airport, acquiring wind direction data information in real time based on a vehicle-mounted mechanical wind direction sensor, acquiring lawn humidity data information in real time based on a vehicle-mounted humidity sensor, acquiring map data information of the lawn in real time based on a vehicle-mounted high-precision map, and acquiring position width data information of the vehicle and distance data information between the beacons;
l2, optimizing the track of the vehicle by adopting an improved whale optimization algorithm based on the map data information of the lawn, the position width data information of the vehicle and the distance data information between the beacons to obtain optimized track data information of the vehicle;
and L3, based on the optimized track data information of the vehicle, the vehicle performs operation, and according to the lawn humidity data information and the wind direction data information, a threshold algorithm is adopted to control and regulate a spray head of the vehicle, and comprehensive control data information of the vehicle is output.
In this embodiment, in step L3, the controlling and adjusting the spray head of the vehicle by using the threshold algorithm includes:
l31. based on the lawn humidity data information and the wind direction data information, a head adjusting function T is established,
，
wherein a is lawn humidity data information, ρ 1 Is the expected value data information of the lawn humidity, theta 1 Chi is the variance data information of lawn humidity 1 Is the determining factor of the lawn humidity, ρ 2 Data information of expected value of wind direction, theta 2 Chi is the variance data information of wind direction 2 B is wind direction data information;
l32, based on the nozzle adjustment function T, setting a preset threshold value m 1 And m 2 ，m 1 Less than m 2 If T is greater than m 2 The height of the spray head is reduced, if T is larger than m 1 And is smaller than m 2 Maintaining the state of the spray head, if T is smaller than m 1 The spray head is turned off.
In this embodiment, if T is greater than m 2 Lowering the head height is to establish a head height lowering function U,
，
wherein s is the upper limit value of the height of the spray head, s o Is the lower limit value of the height of the spray head, T is the regulating function of the spray head, m 2 And (5) obtaining numerical data information for reducing the height of the spray head for a preset threshold value.
In this embodiment, the comprehensive control data information of the vehicle includes optimized track data information of the vehicle, adjustment and control data information of a vehicle nozzle, and active obstacle avoidance data information, where the active obstacle avoidance data information is a voice prompt after recognition according to surrounding personnel and obstacles scanned by the vehicle-mounted laser radar, and even after stopping, the surrounding environment meets the operation condition.
The present invention provides a control system for a spray vehicle for an airport lawn, comprising computer means programmed or configured to perform the steps of any of the method for controlling a spray vehicle for an airport lawn.
The present invention provides a computer readable storage medium having stored thereon a computer program programmed or configured to perform the method of controlling a spray vehicle for an airport lawn as defined in any one of the preceding claims.
Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
In summary, the invention not only ensures that the spraying vehicle can automatically spray without manual participation, reduces labor cost, but also combines various environmental factors to carry out path planning and spray head adjustment, reduces vehicle loss and improves spraying efficiency.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (7)
1. A method of controlling a spray vehicle for an airport lawn, the method comprising:
the method comprises the steps of L1, setting a beacon on a lawn boundary, enabling an unmanned spraying vehicle to run on a lawn of an airport, acquiring wind direction data information in real time based on a vehicle-mounted mechanical wind direction sensor, acquiring lawn humidity data information in real time based on a vehicle-mounted humidity sensor, acquiring map data information of the lawn in real time based on a vehicle-mounted high-precision map, and acquiring position width data information of the vehicle and distance data information between the beacons;
l2, optimizing the track of the vehicle by adopting an improved whale optimization algorithm based on the map data information of the lawn, the position width data information of the vehicle and the distance data information between the beacons to obtain optimized track data information of the vehicle;
step L, based on the optimized track data information of the vehicle, the vehicle performs operation, and according to the lawn humidity data information and the wind direction data information, a threshold algorithm is adopted to control and regulate a spray head of the vehicle, and comprehensive control data information of the vehicle is output;
in step L2, the optimizing the trajectory of the vehicle using the modified whale optimization algorithm includes:
l21. acquiring map data information of the lawn, bit width data information of the vehicle, and distance data information between the beacons, and constructing a dynamic change array (u i ,v i ,w i ) Wherein u is i Is the lawn map data information at the i-th moment, v i Is the vehicle position width data information at the ith moment, w i Obtaining dynamic change array data information of the vehicle for the distance data information between the beacons at the ith moment;
l22, initializing whale population based on the dynamic change array data information of the vehicle to obtain initialized whale population data information;
l23. based on the initialized whale population data information, an objective function F is established,
，
wherein (x, y, z) is a dynamic change array of the vehicle to be optimized, (u) i ,v i ,w i ) Is dynamic change array data information of the vehicle, n is population quantity, alpha i ，β i And gamma i Calculating the fitness of whales at each position for the weight coefficient to obtain the fitness data information of whale population;
l24, updating the position of the whale population based on the adaptation data information of the whale population, repeating the steps L22-L23, and iterating by combining with an improved Harris eagle optimization algorithm to obtain the optimized track data information of the vehicle;
in step L3, the controlling and adjusting the spray head of the vehicle by using the threshold algorithm includes:
l31. based on the lawn humidity data information and the wind direction data information, a head adjusting function T is established,
，
wherein a is lawn humidity data information, ρ 1 Is the expected value data information of the lawn humidity, theta 1 Chi is the variance data information of lawn humidity 1 Is the determining factor of the lawn humidity, ρ 2 Data information of expected value of wind direction, theta 2 Chi is the variance data information of wind direction 2 B is wind direction data information;
l32, based on the nozzle adjustment function T, setting a preset threshold value m 1 And m 2 ，m 1 Less than m 2 If T is greater than m 2 The height of the spray head is reduced, if T is larger than m 1 And is smaller than m 2 Maintaining the state of the spray head, if T is smaller than m 1 The spray head is closed;
in step L24, the iterating in conjunction with the modified harris eagle optimization algorithm includes:
l241. updating the position of the whale population according to the information to obtain optimized solution data information of the whale population;
l242 based on the optimized solution data information of the whale population, creating an inverse solution function G,
，
wherein eta j Optimizing solution data information of the whale population, wherein omega is a weight factor, J is the whale population, and reverse solution data information of the whale population is obtained;
l243. based on inverse solution data information of the whale population, establishing an evaluation function Q,
，
wherein O is a set of inverse solution data information of the whale population, g is an element in the set of inverse solution data information of the whale population, sigma is an evaluation constant factor, q is an evaluation variable, and the inverse solution of the whale population is evaluated to obtain inverse solution evaluation data information of the whale population;
l244 screening the optimized solution of the whale population based on the inverse solution evaluation data information of the whale population to obtain the screened optimized solution data information of the whale population.
2. The control method of a spray vehicle for an airport lawn according to claim 1, wherein: and the filtering of the optimized solution of the whale population is carried out according to the corresponding relation between the inverse solution of the whale population and the optimized solution of the whale population, so as to obtain the converged optimized solution of the whale population.
3. The method of controlling a spray vehicle for an airport lawn as claimed in claim 1, wherein in step L23, the weight coefficient α is i ，β i And gamma i The constraint relation of (2) is:
。
4. the control method of a spray vehicle for an airport lawn according to claim 1, wherein: if T is greater than m 2 Then the height of the nozzle is reduced, a nozzle height reduction function U is established,
，
wherein s is the upper limit value of the height of the spray head, s o Is the lower limit value of the height of the spray head, T is the regulating function of the spray head, m 2 And (5) obtaining numerical data information for reducing the height of the spray head for a preset threshold value.
5. The control method of a spray vehicle for an airport lawn according to claim 1, wherein: the comprehensive control data information of the vehicle comprises optimized track data information of the vehicle, adjustment and control data information of a vehicle spray head and active obstacle avoidance data information, wherein the active obstacle avoidance data information is a voice prompt after recognition and even after stopping according to surrounding personnel and obstacles scanned by the vehicle-mounted laser radar, and the surrounding environment meets the operation condition.
6. A control system for a spray vehicle for an airport lawn, comprising computer equipment, characterized in that the computer equipment is programmed or configured to perform the steps of the control method for a spray vehicle for an airport lawn as claimed in any one of claims 1-5.
7. A computer readable storage medium having stored thereon a computer program programmed or configured to perform the method of controlling a spray vehicle for an airport lawn as claimed in any one of claims 1 to 5.
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