Rout planning method for plant protection unmanned aerial vehicle

Abstract

The invention relates to a rout planning method for a plant protection unmanned aerial vehicle. According to the method, a regional module is used for division to plan a route of a plant protection unmanned aerial vehicle; according to the battery endurance capability and the drug box capacity of the plant protection unmanned aerial vehicle, a threshold parameter for working regional module is determined; and a regional module division principle and classification, module classification, and a corresponding module internal route planning mechanism are provided. On the basis of the mechanism, mathematical models corresponding to I type region division and II type region division of horizontal and vertical work regions are established. A system inputs lengths and widths of the working regions as well as comprehensive characteristic parameters of the plant protection unmanned aerial vehicle; on the basis of the regional modularization division algorithm, a regional module division result with the shortest flight distance as well as boundary values of all models is outputted; and divided modules are obtained and a route plan of the plant protection unmanned aerial vehicle is obtained based on the module internal route planning mechanism. According to the invention, with the route planning method based on modular region division, the total flight distance in working of the plant protection unmanned aerial vehicle is reduced; the comprehensive use performance of the unmanned aerial vehicle is improved; and the ineffective energy consumption losses of the plant protection unmanned aerial vehicle are reduced.

Description

technical field [0001] The invention relates to the field of intelligent agriculture, in particular to a route planning method for a plant protection drone. Background technique [0002] The plant protection drone integrates the rotor drone, spraying device, sensor module, and control system. It is a new type of efficient and environmentally friendly agricultural machinery and equipment. In the process of operation, it is less affected by the terrain and crop growth conditions, and it saves water and pesticides, and has high safety. It has been widely used in large-scale crop plant protection operations in recent years. With the continuous development of artificial intelligence technology, the plant protection UAV has the function of autonomous flight, which can break away from the traditional manual remote control operation method, and the operation efficiency and quality have been greatly improved. Route planning is an important branch of autonomous flight research of pla...

AI Technical Summary

Problems solved by technology

However, in the process of actual UAV plant protection, due to the inability to achieve the best match between the battery and the medicine box, it often occurs: (1) The battery is exhausted, and there is a surplus of medicine in the medicine box, which is reflected in the invalid consumption of the battery ; (2) The amount of medicine in the medicine box is exhausted, and there is a surplus of battery power, which is reflected in the incomplete utilization of the battery

[0005] At present, the existing methods all optimize the route planning from the position of the return point to achieve the minimum energy consumption of the UAV in the global route traversal, but they do not fully consider the optimal comprehensive performance of the UAV itself in actual operations.

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