Operation area statistics method of agricultural plant protection unmanned aerial vehicle

Abstract

The invention discloses an operation area statistics method of an agricultural plant protection unmanned aerial vehicle, which comprises the following steps: 1) summarizing operation data of a vehiclecompleting operations, the operation data comprising aircraft position information, a spraying amplitude and an unmanned aerial vehicle spraying switch sign; 2) performing noise reduction on the operation data so as to screen out obvious abnormal points; 3) removing non-spraying track sections with the spraying switch sign of the unmanned aerial vehicle being turned off in the operation track, and forming a plurality of discontinuous spraying track sections; 4) fitting the track into a straight line in combination with the aircraft longitude and latitude position information of each sprayingtrack section, and generating a spraying track buffer area corresponding to the spraying track section according to the effective spraying amplitude; and 5) fusing the buffer areas of each track by adopting a polygon merging technology, and calculating the area of the fused polygon. The operation area statistics method has the main functions of reducing errors and being high in calculation accuracy.

Description

technical field [0001] The invention belongs to the technical field of agricultural drones, and in particular relates to a method for counting the operating area of ​​agricultural plant protection drones. Background technique [0002] There are many modes of agricultural UAV flight operations - manual mode, AB point mode and fully autonomous mode. The flight trajectories of UAVs under different operating modes have different statistical laws. In the fully autonomous mode, due to the route planning in advance, the operation area is calculated based on the degree of completion of the route and the area of ​​the plot. However, the statistical error of the area of ​​the irregular plot is relatively large, especially when there are obstacles in the plot, the statistical error will reach More than 30%; the length of the route in the AB point mode will be adjusted at any time according to the actual situation, so it is impossible to calculate the operating area based on the area o...

AI Technical Summary

Problems solved by technology

The specific method is to divide any polygon into triangles and accumulate the area of ​​the triangles: where V i and Y i Represent the vectors represented by the two sides of the i-th triangle. The scatter coverage area method calculates the minimum convex hull first, so cross spraying, or in the case of irregular plots, the spraying area will be overcalculated, and the error is large.

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