基于R树空间索引的植保无人机与植保作业匹配算法  

Matching algorithm for plant protecting unmanned aerial vehicles and plant protecting jobs based on R-tree spatial index

作　　者：杨泽[1] 郑立华[1] 李民赞[1] 杨玮[1] 孙红[1] 

机构地区：[1]中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083

出　　处：《农业工程学报》2017年第S1期92-98,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：北京市科委重大专项(D1511000012150002);"十三五"国家重点研发计划课题(2016YFD0200703)

摘　　要：为了充分保障植保作业的科学分配和植保无人机资源的合理配置,设计了一套高效的植保无人机植保作业匹配算法,为用户提供无人机与植保作业的快速匹配。为适应植保作业的并发性、时效性和准确性要求高的特点,该算法基于R树空间索引技术设计,实现了植保作业的区域查询功能与智能化无人机植保作业推荐功能。无人机植保作业匹配算法允许用户在地图上搜索任意矩形范围内的植保作业,也可以根据植保无人机用户当前位置和用户偏好推荐最佳的植保作业。该文在植保无人机作业匹配算法基础之上实现了植保无人机租赁与智能化调度系统,系统测试与分析表明,基于R树的无人机植保作业匹配算法具有较高的灵活性、准确性、高效性和动态性等优势,单次R树查询服务器响应时间低于1 ms,能够实现高效且精确合理的植保作业查询与匹配。Compared with the traditional plant-protecting machine, plant protection unmanned aerial vehicle(UAV) has advantages of high efficiency, high performance, good precision and good spraying effect. Most importantly, the promotion of physical protection is very significant. In order to fully guarantee that the plant protecting assignments can be allocated scientifically and the plant protecting UAV resources can be deployed efficiently, as well as for meeting the needs of plant protecting spray jobs, a high efficient algorithm for matching UAVs with plant protecting jobs was designed, and a high effective plant protecting assignments scheduling system was developed. The system can not only provide the UAV users with appropriate matching plant protecting assignments, but also help to find the appropriate matching UAVs for the users who need to rent the specific UAVs to carry out plant protection spray. In this paper, the existing technologies were analyzed and compared to find out which one could be used to fulfill matching algorithm for UAVs and assignments, the features of plant protection assignment for UAV were clarified, and a matching algorithm for UAV and its plant protection assignment based on the R-tree spatial indexing was designed. The R-tree is a completely dynamic spatial index of data structure, and sub-algorithms such as node inserting, deleting and querying operations are mutually independent. The matching algorithm for plant protection assignment includes the algorithms of inserting plant protecting assignment into the R-tree, querying plant protection assignment from the R-tree, and deleting some assignment when it is finished or canceled. By using the matching algorithm, the plant protection assignment intelligent recommendation system was developed, and it mainly included the region querying function and intelligent recommendation function. The region search function allows UAV users to search all the plant protection assignments within the scope of any rectangle dragged on the map. Meanwhile the

关 键 词：无人机 索引 算法 匹配 植保作业 R树空间索引技术 智能化调度 

分 类 号：S252.3[农业科学—农业机械化工程]