WO2021008264A1 - 一种无人机的植保喷洒方法、无人机及存储介质 - Google Patents

一种无人机的植保喷洒方法、无人机及存储介质 Download PDF

Info

Publication number
WO2021008264A1
WO2021008264A1 PCT/CN2020/094127 CN2020094127W WO2021008264A1 WO 2021008264 A1 WO2021008264 A1 WO 2021008264A1 CN 2020094127 W CN2020094127 W CN 2020094127W WO 2021008264 A1 WO2021008264 A1 WO 2021008264A1
Authority
WO
WIPO (PCT)
Prior art keywords
plant
drone
sprayed
distance
aerial vehicle
Prior art date
Application number
PCT/CN2020/094127
Other languages
English (en)
French (fr)
Inventor
谢海燕
张毅
于航
Original Assignee
南京嘉谷初成通信科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京嘉谷初成通信科技有限公司 filed Critical 南京嘉谷初成通信科技有限公司
Publication of WO2021008264A1 publication Critical patent/WO2021008264A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiment of the present invention relates to plant protection drone technology, in particular to a plant protection spraying method of the drone, the drone and the storage medium.
  • carpet spraying is used, which has achieved good results.
  • the carpet spraying method is applied in orchards, it has encountered many problems, that is, it is impossible to spray the key points one by one according to the position of the fruit trees, and the area between the fruit trees is still sprayed, which wastes a lot of liquid medicine.
  • the embodiment of the present invention provides an unmanned aerial vehicle plant protection spraying method, an unmanned aerial vehicle and a storage medium, so as to realize that there is no need to map the position of each plant in advance and reduce the expenditure of manpower and material resources.
  • an embodiment of the present invention provides a plant protection spraying method for drones, including:
  • Step 1 Obtain flight information sent by a ground station, where the flight information includes a reference route;
  • Step 2 Perform the flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result;
  • Step 3 Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray;
  • Step 4 After spraying the target plants, return to the reference route to continue flying, and repeat steps 2 and 3 until the reference route is completed.
  • the flight information further includes: plant type, average distance between plants, single plant spraying amount, flying speed, flying height, and spraying drop.
  • the predetermined area range is a fan-shaped range within a predetermined angle range in front of the flight of the sensing module, and the radius does not exceed the average plant spacing distance.
  • the scanning result is the number of plants within a preset area and the distance between each plant and the drone.
  • step three the determining the target plant to be sprayed according to the scanning result includes:
  • the plant closest to the drone within a preset area as the target plant to be sprayed it includes:
  • the plant closest to the drone within the preset area is selected as the target plant to be sprayed.
  • the confirming the plants that have been sprayed within the preset area includes:
  • the flight area corresponding to the reference route that the drone has flown as the sprayed area Take the flight area corresponding to the reference route that the drone has flown as the sprayed area, and the flight area is the area between the preset distance on the left and the preset distance on the right of the reference route that the drone has flown.
  • the preset distance on the left and the preset distance on the right are half of the average distance between plants;
  • step three the flying above the target plant and spraying includes:
  • Step A Obtain the yaw angle between the current horizontal direction of the drone and the line between the center point of the target plant and the drone, the height difference between the current height of the drone and the highest point of the target plant, The distance between the current position of the drone and the position of the center point of the target plant is used as an adjustment index;
  • Step B Adjust the attitude of the drone according to the adjustment index and fly above the target plant, wherein the distance between the drone and the highest point of the target plant is the spraying drop;
  • Step C Repeat steps A and B until the distance between the current position of the drone and the position of the center point of the target plant is less than the preset close distance, spray the target plant according to the single plant spray amount .
  • an embodiment of the present invention also provides a drone, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the program as described above.
  • the embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the plant protection of the drone as described in any of the above embodiments is implemented. Spraying method.
  • the embodiment of the present invention scans the target plants to be sprayed through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.
  • Figure 1 is a schematic structural diagram of an unmanned aerial vehicle plant spraying system provided by an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a plant protection spraying method for drones in Embodiment 1 of the present invention
  • Fig. 3 is a schematic diagram of a reference route in the first embodiment of the present invention.
  • Embodiment 4 is a schematic diagram of the scanning range in Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of the sprayed area in the first embodiment of the present invention.
  • Figure 6 is a schematic diagram of confirming that plants have been sprayed in the first embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a return reference route in Embodiment 1 of the present invention.
  • Fig. 8 is a schematic structural diagram of an unmanned aerial vehicle in the second embodiment of the present invention.
  • first”, second, etc. may be used herein to describe various directions, actions, steps or elements, etc., but these directions, actions, steps or elements are not limited by these terms. These terms are only used to distinguish a first direction, action, step or element from another direction, action, step or element.
  • first speed difference may be referred to as the second speed difference
  • second speed difference may be referred to as the first speed difference. Both the first speed difference and the second speed difference are speed differences, but they are not the same speed difference.
  • the terms “first”, “second”, etc. cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • "a plurality of” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle plant spraying system provided by an embodiment of the present invention.
  • the UAV plant spraying system of this embodiment includes an UAV 110 and a ground station 120.
  • the UAV 110 includes a satellite navigation device 111, a flight control 112, and a sensing module 113.
  • the satellite navigation device 111, the flight control 112 and the sensing module 113 are all installed on the drone 110.
  • the sensing module 113 is installed in the direction of the nose of the drone 110, and there is no obstruction to the front and below.
  • the sensing module 113 has a single-axis pan/tilt, and the single-axis pan/tilt controls the sensing module 113 to perform a pitching action.
  • the sensing module 113 may be a dual camera module with AI function, a lidar module with AI function, or a millimeter wave radar module with AI function.
  • the drone plant spraying system provided by the embodiment of the present invention is used to implement the drone plant protection spraying method provided in the embodiment of the present invention.
  • the following describes the drone plant protection spraying method provided by the embodiment of the present invention in detail.
  • Fig. 2 is a schematic flow chart of a plant protection spraying method for drones according to Embodiment 1 of the present invention.
  • the method in this embodiment of the present invention can be applied to a situation where drones spray plants.
  • the method of the embodiment of the present invention may be executed by a drone.
  • the plant protection spraying method for drones according to an embodiment of the present invention specifically includes the following steps:
  • Step 210 Obtain flight information sent by a ground station, where the flight information includes a reference route.
  • the reference route is to generate a "ji"-shaped route according to the shape of the plot, and the route interval is the average distance between plants L.
  • the flight information may also include: plant type, average plant separation distance, single plant spraying amount, flying speed, flying height, spraying drop.
  • the ground station delineates the area to be operated on the map, and sets the parameters of this operation.
  • the parameters include: (1) plant type, such as tree; (2) average plant spacing distance, said average spacing The distance is the average of the distance between the center points of two adjacent plants; (3) the amount of single plant spraying; (4) flying speed; (5) flying height; (6) spraying drop, the distance of the drone during spraying The height difference of the highest point of the plant.
  • the ground station generates a reference route according to the designated target spraying area and the average distance between plants, as well as the predetermined route generation rules.
  • the ground station will send the reference route, plant type, average distance between plants, single plant spraying volume, flight speed, flying height, and spraying drop to the flight controller.
  • the flight control controls the UAV to take off, and according to the reference route, it flies to the starting waypoint 310, and then starts to fly along the reference route in the shape of "Several".
  • the route interval is the average distance between plants, L ,
  • the area flying along the reference route is the target spraying area 330.
  • the reference route in FIG. 3 is only an example and does not limit the present invention.
  • Step 220 Perform a flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result.
  • the predetermined area range is a fan-shaped range within a predetermined angle range in front of the flight of the sensing module and a radius not exceeding the average plant separation distance.
  • the scanning result is the number of plants in the preset area and the distance between each plant and the drone. It is understandable that the distance between each plant and the drone can be the distance between the center of each plant and the drone, or the distance between the nearest border of each plant and the drone. The preferred embodiment of the present invention is the distance between the nearest border of each plant and the drone.
  • the flight controller sends a scan command SCAN to the sensing module, and the sensing module is instructed to scan the front of the drone in flight and identify the plants in front.
  • the meaning of the instruction is to scan and identify the plants within 60 degrees ahead and the distance not exceeding L.
  • L is the average distance between plants.
  • the UAV 410 flies along the reference route, scans and recognizes the preset area range 420 within 60 degrees ahead and the distance does not exceed L. It can be understood that the specific angle range is only an example and does not limit the present invention.
  • the sensing module After receiving the SCAN command, the sensing module adjusts the single-axis gimbal and confirms that the sensing module points directly in front of the flight. Then repeat (for example, 100 milliseconds/time) to identify plants within the preset area of the scan, and send the scan results to the flight controller:
  • n means that n plants are found in the current scanning range, followed by ⁇ idx,distance_center idx ,distance_border idx ⁇ , which means the distance between the center point of each plant and the aircraft, and the distance between the nearest border and the drone distance.
  • the plant is considered to belong to the preset area range of the scan.
  • Step 230 Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray.
  • determining the target plant to be sprayed according to the scanning result includes: selecting the plant that is closest to the drone within a preset area as the target plant to be sprayed.
  • the plant closest to the drone within the preset area as the target plant to be sprayed it includes:
  • Step A Confirm the plants that have been sprayed within the preset area
  • confirming the plants that have been sprayed within the preset area includes:
  • Step Aa Use the flight area corresponding to the reference route that the drone has flown as the sprayed area, where the flight area is the area between the preset distance on the left and the preset distance on the right of the reference route that has been flown, where , The preset distance on the left and the preset distance on the right are half of the average distance between plants.
  • the UAV 510 flies along the reference route 520.
  • the preset distance L/2 on the left side of the reference route 520 and the right The area between the preset distance L/2 on the side is regarded as the sprayed area 530, and the other areas are regarded as the unsprayed area 540.
  • L is the average distance between plants.
  • Step A-b When the entire plant within the preset area is in the sprayed area, confirm that the plant is a plant that has been sprayed.
  • the sprayed area 630 is the area between the preset distance L/2 on the left and the preset distance L/2 on the right of the reference route that the drone has flown.
  • the UAV 610 flies along the reference route, and the area within the preset distance range on both sides of the reference route constitutes the sprayed area 630.
  • the area other than the sprayed area 630 is an unsprayed area.
  • the drone 610 flies along the reference route, scans the plants in the preset area 620 ahead, and finds that there are plant 1, plant 2, plant 3 in the preset area 620, and judge whether plant 1, plant 2, plant 3 are The plant that has been sprayed, specifically, when the entire plant within the preset area 620 is in the sprayed area 630, it is confirmed that the plant is a plant that has been sprayed.
  • Part of plant 1 is located in the sprayed area 630 and part of it is located in the unsprayed area, which is regarded as an unsprayed plant; plant 2 is all located in the unsprayed area and is regarded as an unsprayed plant; plant 3 is all located in the sprayed area 630, confirm the Plants are plants that have been sprayed.
  • the flight controller sends an ignore command (IGNORE) to the sensing module, and the sensing module will mark these plants as No need to identify, there will be no more information about these plants in the subsequent SCAN_RESULT.
  • IGNORE ignore command
  • the format/parameters of the IGNORE command are as follows:
  • IGNORE ⁇ 1,3,...,x ⁇ means to ignore plant No. 1, plant No. 3,..., plant No. x. Note that 1, 3, and x are the serial numbers in the previous SCAN_RESULT.
  • Step B After ignoring the sprayed plants, the plant closest to the drone within the preset area is selected as the target plant to be sprayed.
  • the flight controller receives the SCAN_RESULT and confirms that all the plants in the SCAN_RESULT have not been sprayed, it selects the plant with the closest border in the SCAN_RESULT that is the smallest (closest) distance from the drone, and uses the plant as the spray target.
  • the plant sends a target command (TARGET) as a parameter to the perception module:
  • idx represents the idx plant found in the current scan range
  • TARGET ⁇ idx ⁇ represents the idx plant as the spray target, flying above the plant for spraying.
  • flying above the target plant for spraying includes:
  • Step A Obtain the yaw angle between the current horizontal direction of the drone and the line between the center point of the target plant and the drone, the height difference between the current height of the drone and the highest point of the target plant, The distance between the current position of the drone and the position of the center point of the target plant is used as an adjustment index.
  • the perception module repeats the calculation:
  • the current position of the drone can be obtained through a satellite navigation device; the position of the plant center point can be obtained through a perception module.
  • the sensing module needs to control the single-axis pan/tilt and adjust the orientation of the sensing module to better align the target plant.
  • Step B Adjust the attitude of the drone according to the adjustment index, and fly above the target plant, wherein the distance between the drone and the highest point of the target plant is sent by the ground station to the drone Spraying the drop.
  • the adjustment indicator may also be repeatedly sent in a preset period to adjust the attitude of the drone. Specifically, according to the adjustment index, repeat (for example, once every 50 milliseconds) to send an adjustment instruction to the flight controller to adjust the attitude of the UAV to fly above the target plant.
  • Step C Repeat steps A and B until the distance between the current position of the drone and the position of the center point of the target plant is less than the preset close distance, then it is considered that the drone has flown above the target plant.
  • the single plant spraying amount sent by the ground station to the drone sprays the target plant.
  • the flight controller turns on the water pump switch and controls the aircraft to rotate on the spot while calculating the spray volume.
  • the spraying amount reaches the set value, the spraying of the plants is ended.
  • Step 240 After spraying the target plant, return to the reference route to continue flying, and repeat steps 220 and 230 until the reference route is completed.
  • the drone 710 determines the target plant 720 to be sprayed according to the scan result, and when it flies above the target plant 720 to spray, it may leave the reference route 730 .
  • the flight control drone 710 adjusts the nose direction to be perpendicular to the reference route 730, continues to fly, returns to the reference route 730, and then jumps to step 220.
  • the target plant to be sprayed is scanned through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.
  • FIG. 8 is a schematic structural diagram of a drone provided by Embodiment 2 of the present invention.
  • the drone includes a processor 810, a memory 820, an input device 830, and an output device 840;
  • the number of processors 810 may be one or more.
  • One processor 810 is taken as an example in FIG. 8; the processor 810, the memory 820, the input device 830 and the output device 840 in the drone may be connected by a bus or other means. In Figure 8, the bus connection is taken as an example.
  • the memory 820 can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the plant protection spraying method for drones in the embodiment of the present invention.
  • the processor 810 executes various functional applications and data processing of the drone by running the software programs, instructions, and modules stored in the memory 820, that is, realizing the aforementioned plant protection spraying method of the drone.
  • Step 1 Obtain flight information sent by a ground station, where the flight information includes a reference route;
  • Step 2 Perform the flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result;
  • Step 3 Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray;
  • Step 4 After spraying the target plants, return to the reference route to continue flying, and repeat steps 2 and 3 until the reference route is completed.
  • the memory 820 may mainly include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, etc.
  • the memory 820 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 820 may further include a memory remotely provided with respect to the processor 810, and these remote memories may be connected to the drone through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 830 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the drone.
  • the output device 840 may include a display device such as a display screen.
  • the target plant to be sprayed is scanned through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.
  • the third embodiment of the present invention also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute a drone plant protection spraying method, the method comprising:
  • Step 1 Obtain flight information sent by a ground station, where the flight information includes a reference route;
  • Step 2 Perform the flight according to the reference route. During the flight, use the sensing module to scan the preset area in front of the flight to obtain the scan result;
  • Step 3 Determine the target plant to be sprayed according to the scanning result, and fly to the top of the target plant to spray;
  • Step 4 After spraying the target plants, return to the reference route to continue flying, and repeat steps 2 and 3 until the reference route is completed.
  • a storage medium containing computer-executable instructions provided by the embodiments of the present invention and the computer-executable instructions are not limited to the method operations described above, and can also perform the plant protection of drones provided by any embodiment of the present invention. Related operations in the spraying method.
  • the computer-readable storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above.
  • computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or flash memory Erasable programmable read-only memory
  • CD-ROM compact disk read-only memory
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit for use by or in combination with the instruction execution system, apparatus, or device. program.
  • the program code contained on the storage medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
  • the computer program code used to perform the operations of the present invention can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or terminal.
  • the remote computer can be connected to the user’s computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider for example, using an Internet service provider to pass Internet connection.
  • the target plant to be sprayed is scanned through the sensing module, and there is no need to map the position of each plant in advance, which reduces the expenditure of manpower and material resources.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人机的植保喷洒方法、无人机及存储介质。方法包括：步骤一、获取地面站发送的飞行信息，飞行信息包括参考航线（210）；步骤二、根据参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果（220）；步骤三、根据扫描结果确定需要喷洒的目标植株，飞向目标植株的上方进行喷洒（230）；步骤四、当完成目标植株的喷洒之后，返回参考航线继续飞行，重新循环执行步骤二和步骤三，直至飞行完参考航线（240）。通过感知模组扫描需要喷洒的目标植株，无需提前测绘每棵植株的位置。

Description

一种无人机的植保喷洒方法、无人机及存储介质 技术领域
本发明实施例涉及植保无人机技术，尤其涉及一种无人机的植保喷洒方法、无人机及存储介质。
背景技术
植保无人机作为一种新型的农药喷洒设备，近年来发展迅猛。
植保无人机在大田喷洒时，使用地毯式喷洒方式，取得了较好的效果。但地毯式喷洒方式在果园应用时，却遇到了不少问题，即无法按照果树的位置，逐棵进行重点喷洒，并且，在果树间隔区域，依旧进行了喷洒，浪费了大量的药液。
其原因，在于无人机无法感知每棵果树的确切位置，以及果树树冠的大小和形状。
目前市面上，出现了一种将每个果树的位置进行预先测绘的方案，然后将果树位置提供给无人机控制***进行作业的方案。但由于测绘过程耗时耗力，取得的效果并不理想。
发明内容
本发明实施例提供一种无人机的植保喷洒方法、无人机及存储介质，以实现无需提前测绘每棵植株的位置，减少人力物力的支出。
第一方面，本发明实施例提供了一种无人机的植保喷洒方法，包括：
步骤一、获取地面站发送的飞行信息，所述飞行信息包括参考航线；
步骤二、根据所述参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果；
步骤三、根据所述扫描结果确定需要喷洒的目标植株，飞向所述目标植株的上方进行喷洒；
步骤四、当完成所述目标植株的喷洒之后，返回所述参考航线继续飞行，重新循环执行步骤二和步骤三，直至飞行完所述参考航线。
可选的，于步骤一中，所述飞行信息还包括：植株类型、植株平均间隔距离、单次植株喷洒量、飞行速度、飞行高度、喷洒落差。
可选的，于步骤二中，所述预设区域范围为感知模组飞行前方预设角度范围内，半径不超过平均植株间隔距离的扇形范围。
可选的，于步骤二中，所述扫描结果为预设区域范围内植株的棵数、每棵植株距离无人机的距离。
可选的，于步骤三中，所述根据所述扫描结果确定需要喷洒的目标植株，包括：
选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
可选的，所述选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株之前，包括：
确认所述预设区域范围内已经喷洒过的植株；
忽略已喷洒的植株后，选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
可选的，所述确认所述预设区域范围内已经喷洒过的植株，包括：
将无人机已飞过的参考航线对应的飞行区域作为已喷洒区域，所述飞行区域为已飞过的参考航线左侧预设距离和右侧预设距离之间的区域，其中，所述左侧预设距离和所述右侧预设距离为植株平均间隔距离的一半；
当所述预设区域范围内的整棵植株都在所述已喷洒区域内时，确认所述植株为已经喷洒过的植株。
可选的，于步骤三中，所述飞向所述目标植株的上方进行喷洒，包括：
步骤A、获取无人机当前飞行的水平方向与所述目标植株中心点与无人机连线之间的偏航角、无人机当前高度与所述目标植株最高点之间的高度差、无人机当前位置与所述目标植株中心点的位置的距离，作为调整指标；
步骤B、根据所述调整指标，调整无人机的姿态，飞向所述目标植株的上方，其中所述无人机距离所述目标植株的最高点的距离为所述喷洒落差；
步骤C、重复执行步骤A和步骤B，直到无人机当前位置与所述目标植株中心点的位置的距离小于预设接近距离时，根据所述单次植株喷洒量对所述目标植株进行喷洒。
第二方面，本发明实施例还提供了一种无人机，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述实施例中任一所述的无人机的植保喷洒方法。
第三方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如上述实施例中任一所述的无人机的植保喷洒方法。
本发明实施例通过感知模组扫描需要喷洒的目标植株，无需提前测绘每棵植株的位置，减少人力物力的支出。
附图说明
图1是本发明实施例提供的一种无人机植株喷洒***的结构示意图；
图2是本发明实施例一中的一种无人机的植保喷洒方法的流程示意图；
图3是本发明实施例一中的参考航线的示意图；
图4是本发明实施例一中的扫描范围的示意图；
图5是本发明实施例一中的已喷洒区域的示意图；
图6是本发明实施例一中的确认已喷洒植株的示意图；
图7是本发明实施例一中的返回参考航线的示意图；
图8是本发明实施例二中的一种无人机的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
此外，术语“第一”、“第二”等可在本文中用于描述各种方向、动作、步 骤或元件等，但这些方向、动作、步骤或元件不受这些术语限制。这些术语仅用于将第一个方向、动作、步骤或元件与另一个方向、动作、步骤或元件区分。举例来说，在不脱离本申请的范围的情况下，可以将第一速度差值称为第二速度差值，且类似地，可将第二速度差值称为第一速度差值。第一速度差值和第二速度差值两者都是速度差值，但其不是同一速度差值。术语“第一”、“第二”等不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
图1是本发明实施例提供的一种无人机植株喷洒***的结构示意图。如图1所示，本实施例无人机植株喷洒***包括无人机110和地面站120。其中，无人机110包括卫星导航装置111、飞控112、感知模组113。其中，卫星导航装置111、飞控112和感知模组113，均安装在无人机110上。其中，感知模组113安装在无人机110的机头方向，且前方以及下方均无遮挡。感知模组113带有单轴云台，单轴云台控制感知模组113进行俯仰动作。
感知模组113可以是带AI功能的双摄像头模组，也可以是带AI功能的激光雷达模组，也可以是带AI功能的毫米波雷达模组。
本发明实施例提供的无人机植株喷洒***用于执行本发明实施例提供的无人机植保喷洒方法，以下对本发明实施例提供的无人机植保喷洒方法进行详细的说明。
实施例一
图2为本发明实施例一提供的一种无人机的植保喷洒方法的流程示意图，本发明实施例的方法可适用于无人机喷洒植株的情况。本发明实施例的方法可以由无人机来执行。参照图2，本发明实施例的无人机的植保喷洒方法，具体包括如下步骤：
步骤210、获取地面站发送的飞行信息，该飞行信息包括参考航线。
其中，参考航线是根据地块形状，生成“几”字形航线，航线间隔为植株平均间隔距离L。
其中，所述飞行信息还可以包括：植株类型、植株平均间隔距离、单次植株喷洒量、飞行速度、飞行高度、喷洒落差。
具体的，地面站在地图上划定需要作业的区域，并设定本次作业的参数，所述参数包括：(1)植株类型，比如果树；(2)植株平均间隔距离，所述平均间隔距离为相邻两颗植株的中心点的距离的平均值；(3)单次植株喷洒量；(4)飞行速度；(5)飞行高度；(6)喷洒落差，喷洒时，无人机距离植株最高点的高度差。
地面站根据划定的目标喷洒区域以及植株的平均间隔距离，以及预定的航线生成规则，生成参考航线。
地面站将参考航线、植株类型、植株平均间隔距离、单次植株喷洒量、飞行速度、飞行高度、喷洒落差，发送给飞控。
如图3所示，飞控控制无人机起飞，并根据参考航线，飞行到起始航点310，然后开始沿着参考航线，以“几”字形进行飞行，航线间隔为植株平均间隔距离L，飞行到结束航点320结束。沿着参考航线飞过的区域为目标喷洒区域330。 图3的参考航线仅作为举例而已，并不限定本发明。
步骤220、根据该参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果。
其中，所述预设区域范围为感知模组飞行前方预设角度范围内，半径不超过平均植株间隔距离的扇形范围。
所述扫描结果为预设区域范围内植株的棵数、每棵植株距离无人机的距离。可以理解的，每棵植株距离无人机的距离可以是每棵植株的中心点距离无人机的距离，也可以是每棵植株最近的边界离无人机的距离。本发明实施例优选为每棵植株最近的边界离无人机的距离。
示例性的，飞行过程中，飞控向感知模组发送扫描指令SCAN，指挥感知模组对无人机飞行前方进行扫描，并识别前方的植株。
指令SCAN的格式/参数为：
SCAN{model:＝tree，angle:＝30，distance:＝L}
所述指令的意思是：扫描并识别前方60度范围内，距离不超过L的植株。其中，L为植株平均间隔距离。如图4所示，无人机410沿着参考航线飞行，扫描并识别前方60度范围内，距离不超过L的预设区域范围420。可以理解的，具体角度范围仅作为举例而已，并不限定本发明。
感知模组收到SCAN指令后，调整单轴云台，并确认感知模组指向飞行正前方。然后重复(如，100毫秒/次)识别扫描的预设区域范围内的植株，并向飞控发送扫描结果：
SCAN_RESULT{n,{1,distance_center 1,distance_border 1},{2,distance_center 2,distance_border 2},...,{n,distance_center n, distance_border n}}
其中，n表示当前扫描范围内发现n棵植株，紧随其后的{idx,distance_center idx,distance_border idx}，表示每一棵植株的中心点离飞机的距离，以及最近的边界离无人机的距离。
只要有一部分在扫描的预设区域范围内，就认为所述植株属于扫描的预设区域范围。
步骤230、根据该扫描结果确定需要喷洒的目标植株，飞向该目标植株的上方进行喷洒。
具体的，根据所述扫描结果确定需要喷洒的目标植株，包括：选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
优选的，选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株之前，包括：
步骤A、确认所述预设区域范围内已经喷洒过的植株；
具体的，确认所述预设区域范围内已经喷洒过的植株，包括：
步骤A-a、将无人机已飞过的参考航线对应的飞行区域作为已喷洒区域，所述飞行区域为已飞过的参考航线左侧预设距离和右侧预设距离之间的区域，其中，所述左侧预设距离和所述右侧预设距离为植株平均间隔距离的一半。
具体的，如图5所示，无人机510沿着参考航线520进行飞行，当无人机510飞到点A时，将已飞过的参考航线520左侧预设距离L/2和右侧预设距离L/2之间的区域作为已喷洒区域530，其他区域作为未喷洒区域540。其中，L为植株平均间隔距离。
步骤A-b、当所述预设区域范围内的整棵植株都在所述已喷洒区域内时， 确认所述植株为已经喷洒过的植株。
具体的，如图6所示，已喷洒区域630为无人机已飞过的参考航线左侧预设距离L/2和右侧预设距离L/2之间的区域。无人机610沿着参考航线飞行，在参考航线上飞过的两侧预设距离范围内的区域构成已喷洒区域630。已喷洒区域630以外的区域为未喷洒区域。无人机610沿着参考航线进行飞行，扫描前方预设区域范围620内的植株，发现预设区域范围620内有植株1、植株2、植株3，判断植株1、植株2、植株3是否为已经喷洒过的植株，具体的，当预设区域范围620内的整棵植株都在已喷洒区域630内时，确认该植株为已经喷洒过的植株。植株1一部分位于已喷洒区域630，一部分位于未喷洒区域，视为未喷洒过的植株；植株2全部位于未喷洒区域，视为未喷洒的植株；植株3全部位于已喷洒区域630内，确认该植株为已经喷洒过的植株。
具体的，当发现扫描结果中的某一棵(或多棵)植株已喷洒时，飞控向感知模组发送忽略指令(IGNORE)，感知模组收到忽略指令后，会将这些植株标为不需识别，后续SCAN_RESULT中就不会再有这些植株的信息。
IGNORE指令的格式/参数如下：
IGNORE{1,3,...,x}，表示忽略1号植株、3号植株，...，x号植株。注意此处1,3,x均为前面SCAN_RESULT中的序号。
步骤B、忽略已喷洒的植株后，选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
具体的，飞控收到SCAN_RESULT，并确认所有SCAN_RESULT中的植株均未喷洒后，挑选SCAN_RESULT中最近的边界离无人机的距离最小(最近)的植株，将该植株作为喷洒目标，并将该植株作为参数发送目标指令(TARGET)给感知 模组：
TARGET{idx}
idx表示当前扫描范围内发现的第idx号植株，TARGET{idx}表示以第idx号植株为喷洒目标，飞向该植株的上方进行喷洒。
具体的，飞向所述目标植株的上方进行喷洒，包括：
步骤A、获取无人机当前飞行的水平方向与所述目标植株中心点与无人机连线之间的偏航角、无人机当前高度与所述目标植株最高点之间的高度差、无人机当前位置与所述目标植株中心点的位置的距离，作为调整指标。
具体的，感知模组收到指令TARGET后，重复计算：
1)无人机当前飞行的水平方向，与植株中心点之间的偏航角(angle)。
2)无人机当前高度，与所述植株最高点之间的高度差(difference)。
3)无人机当前位置，与植株中心点的位置的距离(distance)。
偏航角、高度差、距离作为调整指标。
其中，对于无人机当前位置，可以通过卫星导航装置来获取；对于植株中心点的位置，可以通过感知模组来获取。
为了更准确估算以上值，感知模组需要控制单轴云台，调整感知模组的朝向，以便更好地对准目标植株。
步骤B、根据所述调整指标，调整无人机的姿态，飞向所述目标植株的上方，其中所述无人机距离所述目标植株的最高点的距离为地面站发送给无人机的喷洒落差。
本实施例中，还可以以预设的周期重复发送调整指标以调整无人机的姿态。具体的，根据调整指标，重复(如，50毫秒一次)向飞控发送调整指令，调整 无人机的姿态，飞向目标植株的上方。
步骤C、重复执行步骤A和步骤B，直到无人机当前位置与所述目标植株中心点的位置的距离小于预设接近距离时，则认为无人机已经飞到了所述目标植株上方，按照地面站发送给无人机的单次植株喷洒量对所述目标植株进行喷洒。
具体的，飞控打开水泵开关，并控制飞机进行原地旋转，同时计算喷洒量。当喷洒量达到设定的数值后，结束对所述植株喷洒。
步骤240、当完成该目标植株的喷洒之后，返回该参考航线继续飞行，重新循环执行步骤220和步骤230，直至飞行完该参考航线。
示例性的，如图7所示，由于在步骤230时，无人机710根据扫描结果确定需要喷洒的目标植株720，飞向该目标植株720的上方进行喷洒时，有可能离开了参考航线730。在结束该目标植株720的喷洒后，飞控控制无人机710将机头方向调整为垂直于参考航线730的方向，继续飞行，返回参考航线730，然后跳转到步骤220。
本发明实施例的技术方案，通过感知模组扫描需要喷洒的目标植株，无需提前测绘每棵植株的位置，减少人力物力的支出。
实施例二
图8为本发明实施例二提供的一种无人机的结构示意图，如图8所示，所述无人机包括处理器810、存储器820、输入装置830和输出装置840；无人机中处理器810的数量可以是一个或多个，图8中以一个处理器810为例；无人机中的处理器810、存储器820、输入装置830和输出装置840可以通过总线或其他方式连接，图8中以通过总线连接为例。
存储器820作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的无人机的植保喷洒方法对应的程序指令/模块。处理器810通过运行存储在存储器820中的软件程序、指令以及模块，从而执行无人机的各种功能应用以及数据处理，即实现上述的无人机的植保喷洒方法。
也即：
步骤一、获取地面站发送的飞行信息，所述飞行信息包括参考航线；
步骤二、根据所述参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果；
步骤三、根据所述扫描结果确定需要喷洒的目标植株，飞向所述目标植株的上方进行喷洒；
步骤四、当完成所述目标植株的喷洒之后，返回所述参考航线继续飞行，重新循环执行步骤二和步骤三，直至飞行完所述参考航线。
存储器820可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器820可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器820可进一步包括相对于处理器810远程设置的存储器，这些远程存储器可以通过网络连接至无人机。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置830可用于接收输入的数字或字符信息，以及产生与无人机的用户设置以及功能控制有关的键信号输入。输出装置840可包括显示屏等显示设 备。
本发明实施例的技术方案，通过感知模组扫描需要喷洒的目标植株，无需提前测绘每棵植株的位置，减少人力物力的支出。
实施例三
本发明实施例三还提供一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种无人机的植保喷洒方法，所述方法包括：
步骤一、获取地面站发送的飞行信息，所述飞行信息包括参考航线；
步骤二、根据所述参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果；
步骤三、根据所述扫描结果确定需要喷洒的目标植株，飞向所述目标植株的上方进行喷洒；
步骤四、当完成所述目标植株的喷洒之后，返回所述参考航线继续飞行，重新循环执行步骤二和步骤三，直至飞行完所述参考航线。
当然,本发明实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作,还可以执行本发明任意实施例所提供的无人机的植保喷洒方法中的相关操作。
本发明实施例的计算机可读存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可 读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，所述程序可以被指令执行***、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，所述计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。
存储介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或终端上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商 来通过因特网连接)。
本发明实施例的技术方案，通过感知模组扫描需要喷洒的目标植株，无需提前测绘每棵植株的位置，减少人力物力的支出。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种无人机的植保喷洒方法，其特征在于，包括：
    步骤一、获取地面站发送的飞行信息，所述飞行信息包括参考航线；
    步骤二、根据所述参考航线进行飞行，在飞行过程中，利用感知模组对飞行前方的预设区域范围进行扫描，得到扫描结果；
    步骤三、根据所述扫描结果确定需要喷洒的目标植株，飞向所述目标植株的上方进行喷洒；
    步骤四、当完成所述目标植株的喷洒之后，返回所述参考航线继续飞行，重新循环执行步骤二和步骤三，直至飞行完所述参考航线。
  2. 根据权利要求1所述的无人机的植保喷洒方法，其特征在于，于步骤一中，所述飞行信息还包括：植株类型、植株平均间隔距离、单次植株喷洒量、飞行速度、飞行高度、喷洒落差。
  3. 根据权利要求1所述的无人机的植保喷洒方法，其特征在于，于步骤二中，所述预设区域范围为感知模组飞行前方预设角度范围内，半径不超过平均植株间隔距离的扇形范围。
  4. 根据权利要求1所述的无人机的植保喷洒方法，其特征在于，于步骤二中，所述扫描结果为预设区域范围内植株的棵数、每棵植株距离无人机的距离。
  5. 根据权利要求4所述的无人机的植保喷洒方法，其特征在于，于步骤三中，所述根据所述扫描结果确定需要喷洒的目标植株，包括：
    选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
  6. 根据权利要求5所述的无人机的植保喷洒方法，其特征在于，所述选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株之前，包括：
    确认所述预设区域范围内已经喷洒过的植株；
    忽略已喷洒的植株后，选择预设区域范围内距离无人机最近的植株作为需要喷洒的目标植株。
  7. 根据权利要求6所述的无人机的植保喷洒方法，其特征在于，所述确认所述预设区域范围内已经喷洒过的植株，包括：
    将无人机已飞过的参考航线对应的飞行区域作为已喷洒区域，所述飞行区域为已飞过的参考航线左侧预设距离和右侧预设距离之间的区域，其中，所述左侧预设距离和所述右侧预设距离为植株平均间隔距离的一半；
    当所述预设区域范围内的整棵植株都在所述已喷洒区域内时，确认所述植株为已经喷洒过的植株。
  8. 根据权利要求2所述的无人机的植保喷洒方法，其特征在于，于步骤三中，所述飞向所述目标植株的上方进行喷洒，包括：
    步骤A、获取无人机当前飞行的水平方向与所述目标植株中心点与无人机连线之间的偏航角、无人机当前高度与所述目标植株最高点之间的高度差、无人机当前位置与所述目标植株中心点的位置的距离，作为调整指标；
    步骤B、根据所述调整指标，调整无人机的姿态，飞向所述目标植株的上方，其中所述无人机距离所述目标植株的最高点的距离为所述喷洒落差；
    步骤C、重复执行步骤A和步骤B，直到所述无人机当前位置与所述目标植株中心点的位置的距离小于预设接近距离时，根据所述单次植株喷洒量对所述目标植株进行喷洒。
  9. 一种无人机，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1-8中任一所述的无人机的植保喷洒方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-8中任一所述的无人机的植保喷洒方法。
PCT/CN2020/094127 2019-07-18 2020-06-03 一种无人机的植保喷洒方法、无人机及存储介质 WO2021008264A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910647727.1A CN110162099B (zh) 2019-07-18 2019-07-18 一种无人机的植保喷洒方法、无人机及存储介质
CN201910647727.1 2019-07-18

Publications (1)

Publication Number Publication Date
WO2021008264A1 true WO2021008264A1 (zh) 2021-01-21

Family

ID=67637983

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/094127 WO2021008264A1 (zh) 2019-07-18 2020-06-03 一种无人机的植保喷洒方法、无人机及存储介质

Country Status (2)

Country Link
CN (1) CN110162099B (zh)
WO (1) WO2021008264A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113917946A (zh) * 2021-11-18 2022-01-11 上海顺诠科技有限公司 基于动态调整预警范围的无人机自动喷洒作业***及其方法
CN114355972A (zh) * 2021-12-27 2022-04-15 天翼物联科技有限公司 通信受限条件下的无人机护航方法、***、装置及介质
CN115316172A (zh) * 2022-10-12 2022-11-11 广东省农业科学院植物保护研究所 一种基于植保无人机的纳米农药施药方法及***
WO2024104330A1 (zh) * 2022-11-16 2024-05-23 亿航智能设备（广州）有限公司 一种无人机航向控制方法、无人机及存储介质

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110162099B (zh) * 2019-07-18 2019-10-29 南京嘉谷初成通信科技有限公司 一种无人机的植保喷洒方法、无人机及存储介质
CN110989684B (zh) * 2019-12-31 2021-06-15 广州极飞科技股份有限公司 喷洒作业控制方法、装置、地面站和存储介质
CN111744690B (zh) * 2020-05-29 2022-06-21 广州极飞科技股份有限公司 喷洒作业控制方法、装置、载具及存储介质
CN112163966A (zh) * 2020-09-18 2021-01-01 广州极飞科技有限公司 一种施肥作业方法、装置、电子设备及存储介质
WO2022160179A1 (zh) * 2021-01-28 2022-08-04 深圳市大疆创新科技有限公司 一种喷洒控制方法、设备、植保无人机及存储介质
CN112977828A (zh) * 2021-04-06 2021-06-18 中国农业科学院都市农业研究所 基于无人机的喷雾方法、装置、电子设备和介质

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090112372A1 (en) * 2007-10-30 2009-04-30 Agco Corporation Adaptive feedback sources for application controllers
CN106814745A (zh) * 2017-03-22 2017-06-09 常熟理工学院 无人机智能药物供给喷洒方法和***
CN108090893A (zh) * 2017-11-23 2018-05-29 华南农业大学 基于热红外识别的植保无人机药剂喷洒优化方法和装置
CN108846325A (zh) * 2018-05-28 2018-11-20 广州极飞科技有限公司 目标区域作业的规划方法、装置、存储介质及处理器
CN109241837A (zh) * 2018-07-27 2019-01-18 仲恺农业工程学院 一种植保无人机精准喷施控制方法
CN109271862A (zh) * 2018-08-15 2019-01-25 广州极飞科技有限公司 基于移动装置的喷洒控制方法及终端、移动装置
CN109358642A (zh) * 2018-10-22 2019-02-19 江南大学 一种基于多旋翼无人机的果树植保及采摘方法
CN110162099A (zh) * 2019-07-18 2019-08-23 南京嘉谷初成通信科技有限公司 一种无人机的植保喷洒方法、无人机及存储介质

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106919178A (zh) * 2017-04-14 2017-07-04 南京信息工程大学 一种植保无人机自主飞行路径优化装置及其优化方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090112372A1 (en) * 2007-10-30 2009-04-30 Agco Corporation Adaptive feedback sources for application controllers
CN106814745A (zh) * 2017-03-22 2017-06-09 常熟理工学院 无人机智能药物供给喷洒方法和***
CN108090893A (zh) * 2017-11-23 2018-05-29 华南农业大学 基于热红外识别的植保无人机药剂喷洒优化方法和装置
CN108846325A (zh) * 2018-05-28 2018-11-20 广州极飞科技有限公司 目标区域作业的规划方法、装置、存储介质及处理器
CN109241837A (zh) * 2018-07-27 2019-01-18 仲恺农业工程学院 一种植保无人机精准喷施控制方法
CN109271862A (zh) * 2018-08-15 2019-01-25 广州极飞科技有限公司 基于移动装置的喷洒控制方法及终端、移动装置
CN109358642A (zh) * 2018-10-22 2019-02-19 江南大学 一种基于多旋翼无人机的果树植保及采摘方法
CN110162099A (zh) * 2019-07-18 2019-08-23 南京嘉谷初成通信科技有限公司 一种无人机的植保喷洒方法、无人机及存储介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SUN XUECHAO: "Research on Terrain Following Technology of Plant Protection UAV Based on Millimeter Wave Radar", CHINESE MASTER’S THESES FULL-TEXT DATABASE, 1 March 2018 (2018-03-01), pages 1 - 82, XP055773430, ISSN: 1674-0246 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113917946A (zh) * 2021-11-18 2022-01-11 上海顺诠科技有限公司 基于动态调整预警范围的无人机自动喷洒作业***及其方法
CN113917946B (zh) * 2021-11-18 2024-05-10 上海顺诠科技有限公司 基于动态调整预警范围的无人机自动喷洒作业***及其方法
CN114355972A (zh) * 2021-12-27 2022-04-15 天翼物联科技有限公司 通信受限条件下的无人机护航方法、***、装置及介质
CN114355972B (zh) * 2021-12-27 2023-10-27 天翼物联科技有限公司 通信受限条件下的无人机护航方法、***、装置及介质
CN115316172A (zh) * 2022-10-12 2022-11-11 广东省农业科学院植物保护研究所 一种基于植保无人机的纳米农药施药方法及***
WO2024104330A1 (zh) * 2022-11-16 2024-05-23 亿航智能设备（广州）有限公司 一种无人机航向控制方法、无人机及存储介质

Also Published As

Publication number Publication date
CN110162099B (zh) 2019-10-29
CN110162099A (zh) 2019-08-23

Similar Documents

Publication Publication Date Title
WO2021008264A1 (zh) 一种无人机的植保喷洒方法、无人机及存储介质
RU2768997C1 (ru) Способ, устройство и оборудование для распознавания препятствий или земли и управления полетом, и носитель данных
CN106873630B (zh) 一种飞行控制方法及装置，执行设备
CN109253729B (zh) 一种无人机航线规划方法、装置及电子设备
CN106843282B (zh) 基于m100开发平台的区域完全搜索与避障***及方法
JP2022523836A (ja) 農薬散布の制御方法、デバイス及び記憶媒体
WO2019127019A9 (zh) 无人飞行器路径规划方法、装置和飞行管理方法、装置
US20200141755A1 (en) Navigation processing method, apparatus, and control device
WO2017136604A1 (en) Unmanned vehicle, system and method for determining a planned path for unmanned vehicles
WO2021051278A1 (zh) 地表特征识别方法、设备、无人机及计算机可读存储介质
WO2022095060A1 (zh) 路径规划方法、路径规划装置、路径规划***和介质
WO2021081960A1 (zh) 一种航线规划方法、设备、***及存储介质
WO2022095067A1 (zh) 路径规划方法、路径规划装置、路径规划***和介质
CN109945868B (zh) 一种无人机目标照射航线自动规划方法
BR112020019031A2 (pt) Gerenciamento de uma frota de veículos aéreos de pulverização
WO2021087750A1 (zh) 无人飞行器的航线规划方法和装置
JP7029565B2 (ja) 操縦装置、情報処理方法、及びプログラム
US20230386349A1 (en) Mutually exclusive three dimensional flying spaces
KR20200123378A (ko) 검출 및 회피에서 지형을 처리하기 위한 시스템 및 방법
CN110850894A (zh) 一种无人机自动返航的方法、装置、无人机及存储介质
WO2019167210A1 (ja) 制御装置、移動体及びプログラム
WO2018157309A1 (zh) 航线修正的方法、设备和无人机
WO2022226720A1 (zh) 路径规划方法、路径规划装置和介质
CN111744690B (zh) 喷洒作业控制方法、装置、载具及存储介质
WO2022087905A1 (zh) 作业控制方法、装置、无人机及计算机可读存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20841133

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20841133

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 24/06/2022)

122 Ep: pct application non-entry in european phase

Ref document number: 20841133

Country of ref document: EP

Kind code of ref document: A1