A method for analyzing geographical coordinates of a target area when a precision target spraying of an agricultural protection unmanned aerial vehicle is performed

Abstract

The present application relates to a kind of precision target spraying of plant protection unmanned aerial vehicle when target area geographic coordinates analytical method, comprising the following steps: demarcate operation area, use RTK to collect the geographic coordinates of operation area boundary point;Calculate the azimuth of operation area, the geographic coordinates of operation area center point;Operation area is rotated counterclockwise according to the angle of the azimuth of operation area, and according to the pre-set plant protection unmanned aerial vehicle spray width and grid length, operation area is divided into several operation plots;According to the geographic coordinates of known point, the geographic coordinates of the center point of operation plot is calculated using geometric analysis method;The geographic coordinates of the center point of operation plot calculated is rotated clockwise, and the angle of rotation is the angle of azimuth;Finally, the geographic coordinates of the center point of each operation plot is obtained.The analytical method of the present application can effectively solve the problems of complicated steps, large measurement workload, low efficiency and difficult to enter the target area when measuring point by point.

Description

Technical Field

[0001] This invention relates to the field of drone operations, specifically to a method for analyzing the geographic coordinates of a target area when a plant protection drone is precisely spraying a target. Background Technology

[0002] Currently, the main operational method for agricultural drones is still blanket spraying, while precision spraying is still in the research stage. In research on precision spraying, obtaining the geographical coordinates of each operational area still relies on manual measurement, including the following steps:

[0003] (1) Determine the geographic coordinates of several boundary points in the work area using a handheld RTK (Real-time kinematic) device;

[0004] (2) Determine the width of the operation area (target area) based on the spray width of the plant protection drone, and set the length of the area;

[0005] (3) Divide the entire operation area into several operation zones according to the spraying route of the plant protection drone;

[0006] (4) Use RTK to accurately measure and record the geographic coordinates of the center of each work area;

[0007] (5) When the plant protection drone is carrying out spraying operations, it controls the opening and closing of the plant protection drone spraying system based on the occurrence of diseases and weeds in each operation area and the real-time geographical coordinate information of each operation area, so as to achieve precise target spraying.

[0008] However, the method of manually measuring the geographic coordinates of the work area cannot be applied to actual operations. Especially when the work area is large, the number of work areas is large, or the work area is a difficult-to-access area such as paddy fields, this method will have problems such as numerous measurement steps, large workload, low efficiency, and difficulty in obtaining the geographic coordinates of the marker points. Summary of the Invention

[0009] The present invention aims to overcome the shortcomings of the prior art and provide a method for analyzing the geographic coordinates of the target area when a plant protection drone is spraying a target with precision. The method uses the geographic coordinates of the boundary points of the work area, combined with the pre-set spray width and grid length of the plant protection drone, to indirectly obtain the geographic coordinates of the center point of the work area (target area) through geometric analysis. This can effectively solve the problems of cumbersome steps, large workload, low efficiency, and difficulty in entering the target area when measuring point by point.

[0010] The technical solution of this invention to solve the problems of the prior art is:

[0011] A method for analyzing the geographic coordinates of the target area during precise target spraying by an agricultural drone includes the following steps:

[0012] (1) Delineate the work area and use RTK to collect the geographic coordinates of the boundary points of the work area;

[0013] (2) Calculate the azimuth of the work area and the geographical coordinates of its center point;

[0014] (3) Rotate the work area counterclockwise according to the azimuth angle of the work area;

[0015] (4) Divide the work area into several work zones according to the pre-set spray width and grid length of the plant protection drone;

[0016] (5) Calculate the geographical coordinates of the center point of the work area using geometric analysis based on the known geographical coordinates of the points;

[0017] (6) Rotate the calculated geographic coordinates of the center point of the work area clockwise by the azimuth angle.

[0018] (7) Obtain the final geographic coordinates of the center point of each work area;

[0019] The work area can be a regular area or an irregular area;

[0020] When the regular area is a rectangular work area, the steps for calculating the geographic coordinates of the center point of each work sub-area within the rectangular work area are as follows:

[0021] A1. Use RTK to measure the geographic coordinates of the boundary points A, B, C, and D of the rectangular work area respectively;

[0022] A2. Calculate the azimuth angle ∠D'AD based on the geographic coordinates of boundary point A and boundary point D;

[0023] ;

[0024] A3. Calculate the geographic coordinates of the center point P of the rectangular work area based on the geographic coordinates of points A, B, C, and D:

[0025] ;

[0026] In the formula:

[0027] P w The latitude of point P;

[0028] P j Longitude of point P;

[0029] D' wThe latitude of point D';

[0030] D' j The longitude of point D';

[0031] A' w The latitude of point A';

[0032] C' j Longitude of point C';

[0033] A4. With center point P as the center, rotate the rectangular work area counterclockwise according to the coordinate rotation formula, and the rotation angle is the azimuth angle.

[0034] ;

[0035] In the formula:

[0036] tx, ty: Geographic coordinates of the center point P;

[0037] θ: azimuth angle;

[0038] A5. Divide the rotated rectangular work area into several work zones according to the vertical axis being the spray width of the agricultural drone and the horizontal axis being the grid length.

[0039] A6. Using the geographic coordinates of point A after coordinate rotation as a known point, calculate the geographic coordinates of the center point of each work area according to the length and width of the work area set in step A5.

[0040] ;

[0041] In the formula:

[0042] lat2: The latitude of the geographic coordinates of the target point, i.e., the latitude of the geographic coordinates of the center point of the work area;

[0043] long2: The longitude of the geographic coordinates of the target point, that is, the longitude of the geographic coordinates of the center point of the work area;

[0044] lat1: The latitude of the known geographical coordinates;

[0045] long1: The longitude of the known geographical coordinates of the point;

[0046] : The lateral distance from the known point to the target point;

[0047] The longitudinal distance from the known point to the target point;

[0048] ARC: Earth's radius;

[0049] A7. The calculated geographic coordinates of the center point of the work area are rotated clockwise according to the method in step A4 to return to the initial shape.

[0050] A8. After coordinate rotation, the geographic coordinates of the center points of each operational area used for precise target spraying are obtained. The calculation method is as follows:

[0051] ;

[0052] In the formula:

[0053] , The geographic coordinates of the center point of the operation area where precise target spraying will be carried out.

[0054] , The coordinate values ​​calculated in step A6;

[0055] tx, ty: Geographic coordinates of the center point P;

[0056] θ: azimuth angle;

[0057] When the work area is an irregular work area, the steps for calculating the geographic coordinates of the center point of each work sub-area in the irregular work area are as follows:

[0058] B1. Use RTK to measure the geographic coordinates of boundary points A, B, C, and D of the irregular work area respectively;

[0059] B2. Using the following formula, calculate the distance d between adjacent boundary points starting from boundary point A and proceeding clockwise:

[0060]

[0061] in,

[0062] R: Earth's radius;

[0063] lat1: Latitude of point 1

[0064] lng1: Longitude of point 1;

[0065] lat2: The latitude of point 2;

[0066] lng2: Longitude of point 2;

[0067] B3. Find the longest line segment and the coordinates of the two boundary points corresponding to the line segment. If there are equal distances, compare the longitude coordinates of the two boundary points that form the line segment and select the line segment corresponding to the boundary point with the smallest longitude coordinate.

[0068] B4. Calculate the azimuth of the work area using the following formula for the line segment found in step B3:

[0069] ;

[0070] B5. Calculate the geographic coordinates of the center point P of this irregular work area:

[0071] ;

[0072] In the formula:

[0073] P w The latitude of point P;

[0074] P j Longitude of point P;

[0075] D' w The latitude of point D';

[0076] D' j The longitude of point D';

[0077] A' w The latitude of point A';

[0078] C' j Longitude of point C';

[0079] B6. With center point P as the center, rotate the irregular work area counterclockwise according to the coordinate rotation formula, and the rotation angle is the azimuth angle.

[0080] ;

[0081] In the formula:

[0082] tx, ty: Geographic coordinates of the center point P;

[0083] θ: azimuth angle;

[0084] B7. Divide the rotated irregular operating area into several operating cells, with the vertical axis representing the spray width of the agricultural drone and the horizontal axis representing the grid length; calculate the geographic coordinates of the center point of each operating cell:

[0085] ;

[0086] In the formula:

[0087] lat2: The latitude of the geographic coordinates of the target point, i.e., the latitude of the geographic coordinates of the center point of the work area;

[0088] long2: The longitude of the geographic coordinates of the target point, that is, the longitude of the geographic coordinates of the center point of the work area;

[0089] lat1: The latitude of the known geographical coordinates;

[0090] long1: The longitude of the known geographical coordinates of the point;

[0091] : The lateral distance from the known point to the target point;

[0092] The longitudinal distance from the known point to the target point;

[0093] R: Earth's radius;

[0094] B8. Based on the pre-set longitudinal distance, lateral distance, and azimuth angle, rotate and divide the work area. Use the following formula to calculate the latitude coordinates of the center point of each work area.

[0095] ;

[0096] In the formula:

[0097] , The geographic coordinates of the center point of the operation area where precise target spraying will be carried out.

[0098] , The coordinate values ​​calculated in step B7;

[0099] tx, ty: Coordinates of the center point P;

[0100] θ: azimuth angle;

[0101] B9. Use the following formula to calculate the longitude coordinates of the intersection points of each parallel of latitude and the boundary point in step B8:

[0102] ;

[0103] In the formula:

[0104] x6 and x7 are the longitude coordinates of the boundary points;

[0105] y6 and y7 are the latitude coordinates of the boundary points;

[0106] y5 is the latitude coordinate obtained in step B8;

[0107] x5 represents the longitude coordinates to be determined;

[0108] B10. Based on the coordinates of the intersection point with the boundary obtained in step B9, determine whether the coordinates of the center point of the work area calculated in step B7 are within the work area, that is, whether the longitude of the center point of the work area is outside the longitude of the intersection point with the boundary. If it is within the work area, then keep it.

[0109] B11. After coordinate rotation, the geographic coordinates of the center point of each work area used for precise target spraying are obtained.

[0110] Compared with the prior art, the present invention has the following advantages:

[0111] The present invention provides a method for analyzing the geographic coordinates of the target area during precise target spraying by an agricultural drone. This method utilizes the geographic coordinates of the boundary points of the work area, combined with the pre-set spray width and grid length of the agricultural drone, to indirectly obtain the geographic coordinates of the center point of the work area (target area) through geometric analysis. This effectively solves the shortcomings of point-by-point measurement, such as cumbersome steps, large workload, low efficiency, and difficulty in entering the target area. Attached Figure Description

[0112] Figure 1 This is a flowchart illustrating the method for analyzing the geographic coordinates of the target area during precise target spraying by an agricultural drone according to the present invention.

[0113] Figure 2 This is a schematic diagram of the rectangular work area in Example 2.

[0114] Figure 3 This is a schematic diagram of the minimum bounding rectangle of the rectangular work area.

[0115] Figure 4 This is a diagram of the divided rectangular work area.

[0116] Figure 5 This is the final work area and work sub-area map.

[0117] Figure 6 This is a schematic diagram of the irregular work area in Example 3.

[0118] Figure 7 A schematic diagram of an irregular work area that is rotated and divided into work zones. Detailed Implementation

[0119] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0120] Example 1

[0121] See Figure 1 The present invention provides a method for analyzing the geographic coordinates of the target area during precise spraying by an agricultural drone, comprising the following steps:

[0122] (1) Delineate the work area and use RTK to collect the geographic coordinates of the boundary points of the work area;

[0123] (2) Calculate the azimuth of the work area and the geographical coordinates of its center point;

[0124] (3) Rotate the work area counterclockwise according to the azimuth angle of the work area;

[0125] (4) Divide the work area into several work zones according to the pre-set spray width and grid length of the plant protection drone;

[0126] (5) Calculate the geographical coordinates of the center point of the work area using geometric analysis based on the known geographical coordinates of the points;

[0127] (6) Rotate the geographical coordinates of the center point of the work area calculated in the previous step clockwise by the azimuth angle.

[0128] (7) Obtain the geographic coordinates of the center point of each work area.

[0129] The work area can be a regular area or an irregular area.

[0130] Example 2

[0131] In this embodiment, the work area is a regular shape (taking a rectangular area as an example), and the specific steps are as follows:

[0132] A1, such as Figure 2 As shown, rectangle ABCD represents the work area. RTK is used to measure the geographic coordinates of the boundary points A, B, C, and D of the work area.

[0133] A2, such as Figure 3 As shown, the azimuth angle (∠D'AD) is calculated based on the geographical coordinates of points A and D (Formula (1)). The geographical coordinates of the center point (point P) of the work area are calculated based on the geographical coordinates of points A, B, C, and D (Formula (2)).

[0134] (1)

[0135] (2)

[0136] In the formula:

[0137] P w The latitude of point P;

[0138] P j Longitude of point P;

[0139] D' wThe latitude of point D';

[0140] D' j The longitude of point D';

[0141] A' w The latitude of point A';

[0142] C' j Longitude of point C';

[0143] A3. Centered on point P, rotate the work area counterclockwise according to the coordinate rotation formula. The rotation angle is the azimuth angle calculated in step A2 (formula (3)):

[0144] (3)

[0145] A4. Divide the rotated work area into several work zones, with the vertical axis representing the spray width of the agricultural drone and the horizontal axis representing the grid length (see...). Figure 4 (The closed area formed by the dashed lines in the figure); Figure 4 H1, H2, H3, H4, H5, S1, S2, S3, A4, S5 are the dividing points of the work area;

[0146] A5. Using the geographic coordinates of point A after coordinate rotation as a known point, calculate the geographic coordinates of the center point of each work area according to the length and width of the work area set in step A4 (formula (4)):

[0147] (4)

[0148] In the formula

[0149] lat2: The latitude of the geographic coordinates of the target point (i.e., the latitude of the geographic coordinates of the center point of the work area);

[0150] long2: The longitude of the geographic coordinates of the target point (i.e., the longitude of the geographic coordinates of the center point of the work area);

[0151] lat1: The latitude of the known geographic coordinates (i.e., the latitude of the geographic coordinates of point A);

[0152] long1: The longitude of the known geographical coordinates of the point (i.e., the longitude of the geographical coordinates of point A);

[0153] : The lateral distance from a known point to the target point (e.g., the distance from point A to point S1);

[0154] : The longitudinal distance from a known point to the target point (e.g., the distance from point A to point H1);

[0155] A6. Rotate the geographic coordinates of the center point of the work area obtained in step A5 clockwise according to the method in step A3 to return it to the initial shape.

[0156] A7. After coordinate rotation, the geographic coordinates of the center points of each work area used for precise target spraying are obtained. The calculation method is as follows (using...). Figure 5 Taking a shaded cell as an example, point Q is the center point of that cell.

[0157] (5)

[0158] In the formula

[0159] , The geographic coordinates of the center point of the operation area where precise target spraying will be carried out.

[0160] , The coordinate values ​​calculated in step A5;

[0161] tx, ty: The coordinates of the center point P in step A2;

[0162] θ: Azimuth angle, where θ represents the angle of clockwise rotation and -θ represents the angle of counterclockwise rotation.

[0163] Example 3

[0164] like Figure 6 As shown, the work area ABCD in this embodiment is an irregular work area;

[0165] B1. Use RTK to measure the geographic coordinates of boundary points A, B, C, and D of the work area.

[0166] B2. Using formula (6), starting from boundary point A, calculate the distance between adjacent boundary points clockwise (in order to...). Figure 6 For example, calculate the distances between boundary points A and B, B and C, C and D, and D and A respectively.

[0167] (6)

[0168] In the formula:

[0169] d: Distance between two points;

[0170] R: Earth's radius;

[0171] lat1: The latitude of point 1;

[0172] lng1: Longitude of point 1;

[0173] lat2: The latitude of point 2;

[0174] lng2: Longitude of point 2.

[0175] B3: Based on the calculation results of step B2, find the line segment with the longest distance and the coordinates of the two boundary points corresponding to the line segment. If there are equal distances, compare the longitude coordinates of the two boundary points that form the line segment and select the line segment corresponding to the boundary point with the smallest longitude coordinate.

[0176] B4: Calculate the azimuth of the work area using formula (1) in Example 2 for the line segment found in step B3;

[0177] B5: Calculate the geographic coordinates of the center point of the work area using formula (2) in Example 2;

[0178] B6: Perform coordinate rotation using formula (3) from Example 2;

[0179] B7: Use formula (4) in Example 2 to calculate the geographic coordinates of the center point of each work area;

[0180] B8: Based on the pre-set longitudinal distance (i.e., the spray width of the agricultural drone), lateral distance (i.e., the grid length), and the azimuth angle calculated in step B4, rotate and divide the work area (e.g., ...). Figure 7 As shown), the dashed part is the divided work area, n1 and n2 are the center points of the work area. The latitude coordinates of the center point of each row of work areas are obtained by using formula (4) in Example 2 (for example, the work area where n1 and n2 are located is recorded as a row of work areas, and the obtained latitude coordinates are the latitude coordinates of n1 and n2).

[0181] B9: Use formula (7) to calculate the longitude coordinates of the intersection points of each parallel of latitude and the boundary point calculated in step B8:

[0182] (7)

[0183] In the formula:

[0184] x6 and x7 are the longitude coordinates of the boundary points;

[0185] y6 and y7 are the latitude coordinates of the boundary points;

[0186] y5 is the latitude coordinate obtained in step B8;

[0187] x5 represents the longitude coordinates to be determined;

[0188] B10: Based on the coordinates of the intersection point with the boundary obtained in step B9, determine whether the coordinates of the center point of the work area calculated in step B7 are within the work area (i.e., whether the longitude of the center of the work area is outside the longitude of the intersection point with the boundary). If it is within the work area, keep it.

[0189] B11. Using formula (5) in Example 2, rotate the coordinates left in step B10 to obtain the geographic coordinates of the center point of the final work area.

[0190] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for analyzing the geographic coordinates of a target area during precise target spraying by an agricultural drone, characterized in that, Includes the following steps: (1) Delineate the work area and use RTK to collect the geographic coordinates of the boundary points of the work area; (2) Calculate the azimuth of the work area and the geographical coordinates of its center point; (3) Rotate the work area counterclockwise according to the azimuth angle of the work area; (4) Divide the work area into several work zones according to the pre-set spray width and grid length of the plant protection drone; (5) Calculate the geographical coordinates of the center point of the work area using geometric analysis based on the known geographical coordinates of the points; (6) Rotate the calculated geographic coordinates of the center point of the work area clockwise by the azimuth angle. (7) Obtain the final geographic coordinates of the center point of each work area; The work area can be a regular area or an irregular area; When the regular area is a rectangular work area, the steps for calculating the geographic coordinates of the center point of each work sub-area within the rectangular work area are as follows: A1. Use RTK to measure the geographic coordinates of the boundary points A, B, C, and D of the rectangular work area respectively; A2. Calculate the azimuth angle ∠D'AD based on the geographical coordinates of boundary point A and boundary point D; ； A3. Calculate the geographic coordinates of the center point P of the rectangular work area based on the geographic coordinates of points A, B, C, and D: ； In the formula: P w : Latitude of point P; P j : Longitude of P point; D’ w : Latitude of D' point; D' j : longitude of D' point; A' w : latitude of point A' C’ j : longitude of point C' A4. With center point P as the center, rotate the rectangular work area counterclockwise according to the coordinate rotation formula, and the rotation angle is the azimuth angle. ； In the formula: tx, ty: Geographic coordinates of the center point P; θ: azimuth angle; A5. Divide the rotated rectangular work area into several work zones according to the vertical axis being the spray width of the agricultural drone and the horizontal axis being the grid length. A6. Using the geographic coordinates of point A after coordinate rotation as a known point, calculate the geographic coordinates of the center point of each work area according to the length and width of the work area set in step A5. ； In the formula: lat2: The latitude of the geographic coordinates of the target point, i.e., the latitude of the geographic coordinates of the center point of the work area; long2: The longitude of the geographic coordinates of the target point, that is, the longitude of the geographic coordinates of the center point of the work area; lat1: The latitude of the known geographical coordinates; long1: The longitude of the known geographical coordinates of the point; : The lateral distance from the known point to the target point; The longitudinal distance from the known point to the target point; ARC: Earth's radius; A7. The calculated geographic coordinates of the center point of the work area are rotated clockwise according to the method in step A4 to return to the initial shape. A8. After coordinate rotation, the geographic coordinates of the center points of each operational area used for precise target spraying are obtained. The calculation method is as follows: ； In the formula: , The geographic coordinates of the center point of the operation area where precise target spraying will be carried out. , The coordinate values ​​calculated in step A6; tx, ty: Geographic coordinates of the center point P; θ: azimuth angle; When the work area is an irregular work area, the steps for calculating the geographic coordinates of the center point of each work sub-area in the irregular work area are as follows: B1. Use RTK to measure the geographic coordinates of boundary points A, B, C, and D of the irregular work area respectively; B2. Using the following formula, calculate the distance d between adjacent boundary points starting from boundary point A and proceeding clockwise: ； in, R: Earth's radius; lat1: Latitude of point 1 lng1: Longitude of point 1; lat2: The latitude of point 2; lng2: Longitude of point 2; B3. Find the longest line segment and the coordinates of the two boundary points corresponding to the line segment. If there are equal distances, compare the longitude coordinates of the two boundary points that form the line segment and select the line segment corresponding to the boundary point with the smallest longitude coordinate. B4. Calculate the azimuth of the work area using the following formula for the line segment found in step B3: ； B5. Calculate the geographic coordinates of the center point P of this irregular work area: ； In the formula: P w The latitude of point P; P j Longitude of point P; D' w The latitude of point D'; D' j The longitude of point D'; A' w The latitude of point A'; C' j Longitude of point C'; B6. With center point P as the center, rotate the irregular work area counterclockwise according to the coordinate rotation formula, and the rotation angle is the azimuth angle. ； In the formula: tx, ty: Geographic coordinates of the center point P; θ: azimuth angle; B7. Divide the rotated irregular operating area into several operating cells, with the vertical axis representing the spray width of the agricultural drone and the horizontal axis representing the grid length; calculate the geographic coordinates of the center point of each operating cell: ； In the formula: lat2: The latitude of the geographic coordinates of the target point, i.e., the latitude of the geographic coordinates of the center point of the work area; long2: The longitude of the geographic coordinates of the target point, that is, the longitude of the geographic coordinates of the center point of the work area; lat1: The latitude of the known geographical coordinates; long1: The longitude of the known geographical coordinates of the point; : The lateral distance from the known point to the target point; The longitudinal distance from the known point to the target point; R: Earth's radius; B8. Based on the pre-set longitudinal distance, lateral distance and azimuth angle, rotate and divide the work area. Use the following formula to calculate the latitude coordinates of the center point of each work area. ； In the formula: , The geographic coordinates of the center point of the operation area where precise target spraying will be carried out. , The coordinate values ​​calculated in step B7; tx, ty: Coordinates of the center point P; θ: azimuth angle; B9. Use the following formula to calculate the longitude coordinates of the intersection points of each parallel of latitude and the boundary point in step B8: ; In the formula: x6 and x7 are the longitude coordinates of the boundary points; y6 and y7 are the latitude coordinates of the boundary points; y5 is the latitude coordinate obtained in step B8; x5 represents the longitude coordinates to be determined; B10. Based on the coordinates of the intersection point with the boundary obtained in step B9, determine whether the coordinates of the center point of the work area calculated in step B7 are within the work area, that is, whether the longitude of the center point of the work area is outside the longitude of the intersection point with the boundary. If it is within the work area, then keep it. B11. After coordinate rotation, the geographic coordinates of the center point of each work area used for precise target spraying are obtained.

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