Plant protection UAV operation route planning method and device

Abstract

The present invention discloses a plant protection UAV operation route planning method and a device. The accuracy of operation can be improved, a repeated coverage rate and a deficient spraying rate are reduced, and energy consumption and dose consumption are saved. The method comprises the steps of obtaining the image of an area to be operated and fitting the image as a convex polygon in a first coordinate system, a step of carrying out coordinate conversion from the first coordinate system to a second coordinate system on the convex polygon area corresponding to the convex polygon, a step of dividing the polygon area in the second coordinate system into a plurality of sub operation areas, a step of operating each of the sub operation areas in the second coordinate system to obtain a flight route segment corresponding to the sub operation area in the second coordinate system, a step of obtaining the flight route segment of a plant protection UAV in the second coordination system, and a step of converting the flight route segment of the plant protection UAV in the second coordination system into the first coordinate system to obtain the flight route segment of the plant protection UAV in the first coordination system.

Description

technical field [0001] The invention relates to the field of route planning for unmanned aerial vehicles, in particular to a method and device for planning a route for plant protection UAV operations. Background technique [0002] In terms of military affairs, the route planning of drones has been studied in depth. In terms of business, with the gradual rise of drone autonomous delivery services in the logistics industry, the method of drone delivery route planning has also been applied, mainly based on the distribution In terms of aerial photography, the full-coverage route planning method of UAVs has also been widely used. In terms of plant protection operations, there are relatively few researches on the route planning of UAVs. With the popularization of GIS and GPS technology and the development of sensing technology, plant protection UAV systems with autonomous operation functions are bound to become a development trend. For plant protection Research on UAV route plann...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the research on plant protection drones is focused on remote control of flight operations, analysis of problems with manual remote control and improvement measures, while there is little research on route planning for autonomous drones.

At present, the operation of plant protection drones is mainly controlled by human remote control. The actual operation relies too much on the operator, and the operation route often deviates seriously from the theoretical route, which makes the operation omission rate and repetition rate of the drone high, and the operation route Without prior planning and comparison, the reciprocating spraying is generally carried out randomly along a certain boundary direction of the operation area, and the effect is poor

Although the route planning method used in aerial photography is also a full-coverage path planning algorithm, in order to ensure the effectiveness of shooting, it is required that the side coverage of the UAV should at least exceed a certain range of the shooting boundary line. Using this method will cause wrong spraying. and waste of energy and dose

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