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Automatic trajectory planning method for unmanned helicopter pesticide spraying farmland operation area

A technology for unmanned helicopters and work areas, which is applied in the field of automatic planning of the flight path of unmanned helicopter pesticide spraying farmland work areas, to achieve the effects of easy implementation, improved spraying efficiency, and simple calculation

Active Publication Date: 2016-04-06
CENT SOUTH UNIV
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Problems solved by technology

[0020] The technical problem to be solved by the present invention is to provide an automatic planning method for the flight path of the unmanned helicopter pesticide spraying farmland operation area, to automatically plan the flight path of the unmanned helicopter in the farmland operation area, and generate a global The optimal S-shaped flight path and "back"-shaped flight path overcome the shortcomings of manual planning in the traditional manual operation method, so that the unmanned helicopter can reduce various cost consumption factors on the premise of meeting the operation tasks , to improve the spraying efficiency

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  • Automatic trajectory planning method for unmanned helicopter pesticide spraying farmland operation area
  • Automatic trajectory planning method for unmanned helicopter pesticide spraying farmland operation area
  • Automatic trajectory planning method for unmanned helicopter pesticide spraying farmland operation area

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Embodiment Construction

[0072] The inventive method is as follows:

[0073] (1) Local optimal S-shaped track planning

[0074] 1. Digital farmland operation area

[0075] Digital maps are the main source of information for track planning. Most of the research on digital maps at home and abroad uses the grid method to divide the terrain into equally spaced grids. The grid spacing is selected according to the actual situation required.

[0076] The invention utilizes the grid method to digitize the farmland operation area. That is, for farmland with an area of ​​((x,y)|0≤x≤a, 0≤y≤b), the x-axis and y-axis are divided into small cells according to a given interval to obtain a discretized farmland area.

[0077] Without loss of generality, for any polygonal farmland area, assuming that the number of vertices is n, then the starting point that can be used as the trajectory planning is equal to n. For each starting vertex, in order to ensure that the track can cover the entire area, the best starting he...

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Abstract

The invention discloses an automatic planning method for a flight path of an unmanned helicopter for spraying pesticide in a farmland operation area. The method comprises the steps of planning a local optimum S-shaped flight path of any starting vertex and any starting flight direction of a polygonal farmland operation area and a local optimum concentric-square-shaped flight path of any starting vertex and any starting flight direction; respectively finding out a global optimum S-shaped flight path and a global optimum concentric-square-shaped flight path from the local optimum S-shaped flight paths and the local optimum concentric-square-shaped flight paths. The automatic planning method for the flight path of the unmanned helicopter for spraying pesticide in the farmland operation area has the advantages that the defect of manually planning the flight path in the traditional manual method is overcome; on the premise that the unmanned helicopter can meet the requirements of operation tasks, various cost consumption factors are reduced and the spraying efficiency is improved.

Description

technical field [0001] The invention relates to the field of unmanned helicopter track planning, in particular to an automatic track planning method for an unmanned helicopter pesticide spraying farmland operation area. Background technique [0002] Under the vigorous promotion of the Ministry of Agriculture, the level of mechanization in plowing, sowing, and harvesting in my country has been significantly improved in recent years, but pesticide spraying (especially rice pesticide spraying) is basically still a traditional manual operation. my country is a large agricultural country. How to effectively prevent agricultural pests has become one of the important goals of my country's agricultural production. Especially in the process of promoting green agriculture and precision agriculture, the low-cost, accurate and high The mechanization and automation of environmentally friendly pesticide spraying has become an essential technology, and the use of small unmanned helicopters ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 谭冠政刘振焘胡建中黄宇蔡拯正胡建军李生琦饶源钦
Owner CENT SOUTH UNIV
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