| The prevention and control of crop diseases and insect pests has always been an important link in agricultural production.The traditional pesticide spraying method consumes a lot of manpower and material resources,and the use of plant protection unmanned aerial vehicle(UAV)is an inevitable trend.As early as March 2017,the Ministry of agriculture and rural areas first mentioned that the plant protection UAV should be included in the pilot agricultural machinery subsidy,which reduced the cost of using the plant protection UAV to a certain extent.However,most users only used it as a simple spraying tool and did not give full play to the role of plant protection UAV.Therefore,this paper establishes the operation scheduling of multi plant protection UAV flight prevention The model,seeking the appropriate scheduling method,makes the cost of plant protection minimum or the shortest completion time of plant protection operation,and considers the multi plant protection UAV cooperative operation scheduling model under uncertain situation,so as to ensure the applicability of the research model.The research work of this paper is as follows:Through the research on the scheduling of plant protection UAV,the paper establishes two-dimensional environmental map according to the specific working farmland,establishes the constraint conditions according to the actual flight prevention environment of the plant protection UAV,reasonably performs the plant protection UAV scheduling,realizes the high matching between the plant protection UAV and the operation area where the plant protection spraying operation is required,and the shortest flight path for the plant protection operation is established The mathematical model of objective function is needed to reduce the flight path of non plant protection operation and reduce the consumption of battery chemicals,so as to improve the level of cooperation among multiple plant protection UAVs and the utilization rate of plant protection UAVs.At the same time,this paper improves the genetic algorithm,improves the coding method combined with the characteristics of the model,and adds protection and elimination operators to effectively prevent the algorithm from "premature convergence","search slow" and other problems.Finally,the feasibility of the model and the performance of the algorithm are verified by an example of a rice cooperative.Based on the previous research,this paper also considers the operation scheduling of multi plant protection UAV flight control under uncertain situation.The operation mode and effect of plant protection spraying are easily affected by wind,wind direction,temperature and humidity.If the above uncertain situations are encountered,the time window of rice planting and spraying will be changed.If the original planning is still followed,the time window of planting protection spraying will be affected The effect of conservation can not reach the original target of pest control,which has bad impact on agricultural production.Therefore,this paper establishes a multi plant protection UAV flight control operation scheduling model under uncertain circumstances,focuses on the scheduling of plant protection UAVs under sudden rainfall,effectively cope with the changes of farmland operation time window caused by sudden rainfall,avoid or reduce the impact of emergency on plant protection operation,and reasonably allocate the plant protection UAV to make every operation area as much as possible in the restricted time window The plant protection task is completed in order to achieve a better effect.Finally,an example of rice cooperative is introduced to verify the feasibility of the model and algorithm.The results show that the application of plant protection UAVs and the level of cooperation between multiple plant protection UAVs can be improved by analyzing the specific situation of the spraying process of cooperative rice pesticides,and the description and optimization of rice planting protection process by mathematical modeling method.The efficiency of plant protection and the level of pest prevention can be improved,and the utilization rate of plant protection UAVs and the level of cooperation of multiple plant protection UAVs can be improved,and then the use of plant protection UAVs can be verified The man-machine can greatly improve the efficiency of agricultural production,and reasonable scheduling of plant protection UAVs can effectively cope with the impact of uncertain situations such as sudden rainfall. |
