CN109240336A

CN109240336A - A kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation

Info

Publication number: CN109240336A
Application number: CN201811291141.8A
Authority: CN
Inventors: 陈涛
Original assignee: Nanning Institute
Current assignee: Nanning Institute
Priority date: 2018-10-31
Filing date: 2018-10-31
Publication date: 2019-01-18

Abstract

本发明提供了一种规模化养殖的无人机控制方法，包括如下步骤：①接收指令：等待直至接收到总控台的启动指令，然后接收总控台发送的待喂料养殖池列表，待喂料养殖池列表中包括待喂料养殖池的喂料量数据和位置信息；②路径规划：以由近及远的方式对待喂料养殖池列表进行重排序，并在重排序的待喂料养殖池列表末尾加上当前位置；③选路径点：从重排序的待喂料养殖池列表中选择第一项作为当前目标点；④移动到位：移动至当前目标点；⑤投料采集；⑥确认回位。本发明通过多养殖池喂料、采集温度湿度数据一路的方式，应用于无人机上，可利用无人机有效实现大幅降低规模化养殖中的成本。The invention provides a drone control method for large-scale farming, which includes the following steps: 1. Receiving an instruction: waiting until a start instruction from a master console is received, and then receiving a list of cultivating ponds to be fed sent by the master console, waiting for The list of feeding breeding ponds includes the feeding amount data and location information of the breeding ponds to be fed; ②Path planning: Reorder the list of breeding ponds to be fed in a near-to-far manner, and reorder the to-be-feeding ponds. Add the current position at the end of the breeding pond list; ③ Select path point: select the first item from the rearranged list of breeding ponds to be fed as the current target point; ④ Move to position: move to the current target point; ⑤ Feed collection; ⑥ Confirm return bit. The invention is applied to unmanned aerial vehicles by means of feeding materials in multiple breeding ponds and collecting temperature and humidity data in one way, and the unmanned aerial vehicle can be used to effectively reduce the cost in large-scale breeding.

Description

A kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation

Technical field

The present invention relates to a kind of unmanned aerial vehicle (UAV) control methods of large-scale cultivation.

Background technique

In the prior art for large-scale cultivation, the mode similar to Industry Control is mostly used greatly, is connected by industrial cable The controller of multiple aquaculture ponds is connect, the controller of aquaculture pond controls feeding, while the controller of aquaculture pond also acquires temperature Degree, humidity data, and computer heating control is carried out according to temperature, humidity data.On the one hand this mode cultivates the cost of pool controller It is higher, and large-scale cultivation is extremely sensitive to the cost of cultivation pool controller, it is on the other hand due to using industrial cable, then inevitable It needs ensuring to communicate smooth aspect investment great amount of cost, for example, by using multiway cable redundancy communication, higher using cost but believe Number better cable of shield effectiveness etc., thus overall cost also improves.

Summary of the invention

In order to solve the above technical problems, the present invention provides a kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation, the scale Change cultivation unmanned aerial vehicle (UAV) control method more aquaculture pond feedings, temperature collection humidity data all the way by way of, be applied to nobody On machine, the cost being greatly reduced in large-scale cultivation is effectively realized using unmanned plane.

The present invention is achieved by the following technical programs.

A kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation provided by the invention, includes the following steps:

1. receiving instruction: wait until receive the enabled instruction of master control platform, then receive that master control platform sends to feeding Pool list is cultivated, to include the feeding capacity data and location information to feeding aquaculture pond in feeding cultivation pool list；

2. path planning: treating in a manner of from the near to the distant feeding cultivation pool list and reorder, and reordering Current location is added to feeding cultivation pool list end；

3. selecting path point: from reordering to select first item as current target point in feeding cultivation pool list；

4. movement is in place: being moved to current target point；

5. feed intake acquisition: carrying out feeding control according to the feeding capacity data to first item in feeding cultivation pool list, and delete Except first item in pool list is cultivated to feeding, the readings and note of temperature sensor and humidity sensor are obtained after feeding control Then record enters in next step if list is empty to feeding aquaculture pond as reordered in environmental data list, otherwise returns to step Suddenly 3.；

6. confirming return: whether confirmation current location is located at initial point, is moved to initial point if not in initial point Position, return step is 1. after environmental data list is sent to master control platform if in initial point.

The transmission for receiving master control platform cultivates pool list to feeding, is carried out by way of bluetooth ad hoc mode.

It is described that environmental data list is sent to master control platform, it is carried out by way of bluetooth ad hoc mode.

Described to reorder when feeding cultivation pool list end is plus current location, item where current location is corresponding Feeding capacity data are 0.

The step 6. in, confirmation current location whether be located at initial point, infrared sensor be aligned by way of It carries out.

The step 5. in feeding control, be control carry drawing-in device feed intake, drawing-in device carry is in fuselage Bottom.

The step 5. in acquisition temperature sensor and humidity sensor readings, temperature sensor and humidity sensor In fuselage bottom.

In the environmental data list, each single item records temperature value and humidity value, and missing values are -200.

The beneficial effects of the present invention are: more aquaculture pond feedings, temperature collection humidity data all the way by way of, application In on unmanned plane, the cost being greatly reduced in large-scale cultivation is effectively realized using unmanned plane.

Specific embodiment

Be described further below technical solution of the present invention, but claimed range be not limited to it is described.

The present invention provides a kind of unmanned aerial vehicle (UAV) control method of large-scale cultivation, includes the following steps:

4. movement is in place: being moved to current target point；

Communication is then realized without disposing industrial cable using the present invention as a result, as long as ensuring unmanned plane using the prior art It is mobile accurate, and cultivate pool controller and only need accurate temperature control, the control as temperature control communicates, and LORA mould can be used Block is communicated with master control platform, also extremely simple for technology is realized above；On the other hand, the present invention is based on unmanned plane realization, controls On adjustment it is extremely simple, it is however generally that unmanned plane can carry weight be 2~10kg, within drawing-in device weight 300g, therefore one Secondary feeding can meet at least three one day needs of aquaculture pond, for the feeding of different breeding pond different cultivars, as long as control is not Same unmanned plane.

Claims

1. a drone control method for large-scale cultivation, is characterized in that: comprise the steps:

①Receive command: wait until the start command of the master console is received, and then receive the list of the breeding ponds to be fed sent by the master console. The list of the breeding ponds to be fed includes the feeding amount data and location information of the breeding ponds to be fed. ;

②Path planning: Reorder the list of breeding ponds to be fed from near to far, and add the current position to the end of the reordered list of breeding ponds to be fed;

③Select path point: select the first item from the reordered list of breeding ponds to be fed as the current target point;

④ Move in place: move to the current target point;

⑤ Feeding collection: Control the feeding according to the feeding amount data of the first item in the list of the breeding ponds to be fed, and delete the first item in the list of the breeding ponds to be fed. After the feeding control is completed, obtain the temperature sensor and humidity sensor. Read the value and record it in the environmental data list, then if the reordered list of breeding ponds to be fed is empty, go to the next step, otherwise go back to step ③;

⑥Confirm the return position: confirm whether the current position is at the initial position, if not, move to the initial position, if it is at the initial position, send the environmental data list to the master console and return to step ①.

2. The unmanned aerial vehicle control method of large-scale cultivation as claimed in claim 1 is characterized in that: said receiving the list of cultivating ponds to be fed sent by the master console is carried out by means of Bluetooth point-to-point mode.

3 . The drone control method for large-scale farming according to claim 1 , wherein the sending of the environmental data list to the master console is performed in a peer-to-peer mode via Bluetooth. 4 .

4. the unmanned aerial vehicle control method of large-scale cultivation as claimed in claim 1, is characterized in that: described when adding current position at the end of the rear end of the rearrangement to be fed culturing pond list, the corresponding feeding of current position item The amount data is 0.

5. The unmanned aerial vehicle control method of large-scale farming as claimed in claim 1, is characterized in that: in described step ⑥, confirm whether the current position is at the initial point, and carry out by the mode of infrared sensor alignment.

6. the unmanned aerial vehicle control method of large-scale cultivation as claimed in claim 1 is characterized in that: in described step 5., feeding control is to control the mounted feeding device to carry out feeding, and the feeding device is mounted on the machine body bottom.

7. The unmanned aerial vehicle control method of large-scale cultivation as claimed in claim 1, is characterized in that: in described step ⑤, the reading value of acquiring temperature sensor and humidity sensor, temperature sensor and humidity sensor are at the bottom of the fuselage.

8 . The drone control method for large-scale farming according to claim 1 , wherein: in the environmental data list, each item records a temperature value and a humidity value, and the missing value is -200. 9 .