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Plant protection UAV (unmanned aerial vehicle) cluster cooperative control method

A plant protection drone and collaborative control technology, applied in the field of plant protection drone cluster collaborative control, can solve the problem that plant protection drone clusters cannot realize automatic collaborative control of agricultural pests and diseases monitoring and pesticide application operations.

Active Publication Date: 2018-12-11
ANHUI AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to solve the defect in the prior art that the plant protection drone cluster cannot realize automatic cooperative control to monitor and apply pesticides for agricultural diseases and insect pests, and provide a plant protection drone cluster collaborative control method to solve the above problems

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  • Plant protection UAV (unmanned aerial vehicle) cluster cooperative control method
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  • Plant protection UAV (unmanned aerial vehicle) cluster cooperative control method

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Embodiment Construction

[0087] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the preferred embodiments and accompanying drawings are used for a detailed description, as follows:

[0088] In order to quickly construct a map of disease and insect pest density in large-scale agricultural planting areas, the present invention proposes a "control model based on the evolution of plant population distribution" in the interconnection and collaborative control of UAV clusters for plant protection to determine the UAV cluster for plant protection. Global change, build a group structure in which the parent UAV carries multiple offspring individual UAVs, and design the mission planning and motion planning functions of the parent UAV and child UAV respectively. The parent drone macroscopically guides the sub-drone to carry out the spatial layout and allocates the free movement space of the sub-drone. The sub-drone explores t...

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Abstract

The invention relates to a plant protection UAV (unmanned aerial vehicle) cluster cooperative control method. Compared with the prior art, the method irons out a defect that a plant protection UAV cluster method cannot achieve the automatic cooperative control for the agricultural pest monitoring and pesticide application. The method comprises the following steps: initialization of the UAV cluster; task overall arrangement of individual UAVs; the space overall arrangement of the individual UAVs; the motion planning of a father UAV and a son UAV; the control motion of the search of the UAV cluster in a free motion space; the detection, recognition and pesticide application through the father UAV. The method achieves the cooperative control of the plant protection UAV cluster, enables the UAV cluster to perform the automatic pesticide application after the pest recognition through a conventional mature pest image recognition method.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle cluster control, in particular to a cooperative control method for plant protection unmanned aerial vehicle clusters. Background technique [0002] In recent years, with the development of robotics technology, the research objects of swarm robots have not only included ground mobile robots, but drones, unmanned ships, robotic fish, and artificial satellites have all become the research objects of swarm robots. The frontier content of research One is swarm robot collaboration and intelligent control, including formation control, cooperative handling, round-up confrontation, self-organizing strategy, intelligent decision-making, and human-machine collaboration. At the same time, individual robots are becoming increasingly intelligent and miniaturized, and gradually develop into large-scale clusters. [0003] Drones are gradually accepted by people for plant protection aerial defense...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 张晓明汪鑫禹张友华
Owner ANHUI AGRICULTURAL UNIVERSITY
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