| Plant protection operations in orchard(spraying pesticides,pollination,etc.)are important links to improve quality of fruit and economic benefits of the orchard.In recent years,with the aging of rural labor force in China and the gradual increase of human operation costs in orchards,the application of multi rotor UAV to improve the efficiency of orchard plant protection has become an important development direction in the agricultural field.As we all known,the new application of drone is accompanied by the new demands of agricultural production,the professional teams of multiple unmanned aerial vehicle operation face more complex applied scenarios and operation scheduling requirements in orchard plant protection.In this thesis,from the perspective of practical agricultural application value,designed a single obstacle avoidance strategy,single machine multi region scheduling and task allocation of UAV cluster collaborative operation for three orchard plant protection scenarios,the multiple unmanned aerial vehicles orchard operation service system is also designed and implemented.The specific contents are as follows:(1)Obstacle avoidance route planning for orchard operation of plant protection UAV.When faced with an ecological orchard environment in a small area mixed with various types of ecospheres(e.g.house,Telegraph Pole,etc.),blind spraying operations by plant protection drones will seriously affect the ecological balance of orchards.Therefore,aiming at the applications of obstacle avoidance operations requiring obstacle avoidance in ecological orchard plant protection drones operation,based on the orchard model,the planning and design scheme of ecological orchard operation route based on obstacle avoidance strategy is studied,and the simulation and analysis of the operation track are carried out in the actual orchard environment,the simulation results show that the obstacle avoidance algorithm applied in this paper can meet the overall requirements of the operation evaluation index,and can effectively improve the local droplet coverage,achieving the goal of optimizing the overall index.(2)Single machine multi work area scheduling and UAV cluster collaborative work task allocation.Aiming at two types of special orchard plant protection operation scenarios with practical agricultural application value,this paper gives a theoretical exploration of plant protection drones operation technology that is one step ahead.Firstly,in the face of orchard plant protection operations in small areas with different belongings,geographical separation and similarity,The Branch and Bound Method and two-way TSP model are used to solve the scheduling optimization order between regions.Second,for large-scale orchards or emergency plant protection operation scenarios,the multi rotor UAV cluster formation operation form is adopted,and the Ant Colony Algorithm is applied to solve the CVRP model,realizing the task allocation simulation of multi rotor UAV cluster operation.Compared with single machine operation,this theory can effectively improve the efficiency of orchard plant protection operation.(3)The current third-party plant protection service information platform only provides farmers with contact information for plant protection companies,and lacks pre-operation data estimation.The big data service platform for agricultural UAVs operation will become an important direction for service companies to innovate the business models.In this thesis,we develop a plant protection drone orchard operation service system.The user role use case model,database design and service system function module design are firstly bulit.Then,the Vue front-end framework and the back-end framework based on Spring Boot service are used to develop and implement functional modules such as user management,job demand management,job implementation technical scheduling scheme and job evaluation.Finally,the system function and performance were tested,to verify the robustness,reliability,and scalability of the system. |
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