Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method

A convex polygon and track planning technology, which is applied in the field of trajectory planning of convex polygonal UAV spraying operations in farmland

Active Publication Date: 2015-04-08
CENT SOUTH UNIV
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Problems solved by technology

[0035] 2. Agricultural unmanned helicopters only consider direct flight and side flight when flying, which is very different from the general 360-degree omni-directional optimal flight trajectory (low consumption, short time, high work efficiency)

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  • Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method
  • Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method
  • Computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method

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Embodiment Construction

[0069] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0070] 1) For a convex polygonal farmland, the operator uses a handheld GPS positioning device to collect key position points along one direction along the boundary of the convex polygonal area (here, it is assumed that the direction of collection points is counterclockwise, and in actual operation, clockwise and counterclockwise method and result of the present invention are all unaffected), assuming that n points have been collected altogether, and the coordinates of each point in order are P 1 (x 1 ,y 1 ), P 2 (x 2 ,y 2 ), P 3 (x 3 ,y 3 ),...,P n (x n ,y n ); After the points are collected, the adjacent points are connected in sequence to form the farmland boundary. Then use the general formula ax+by+c=0 of the straight line equation to find out the adjacent two-point straight line P of the key position point 1 P 2 , P 2 P ...

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Abstract

The invention discloses a computer-based convex polygon field unmanned aerial vehicle spraying operation route planning method. The method includes the steps: firstly, solving a linear equation of each edge of a polygon; secondly, finding out the longest edge of the polygon; thirdly, respectively solving the distance from each endpoint of a field boundary to the longest point, and finding out the point farthest from the longest edge; fourthly, selecting a group of equidistant parallel lines parallel to the longest edge between the longest edge and the farthest point; fifthly, solving two intersections of each parallel line and the field boundary and storing result sets into corresponding groups; sixthly, connecting the two intersections of each parallel line and the polygon into a line segment, and then cutting off the parts, located outside the field operation area, of the group of parallel lines so as to obtain a group of parallel line segments located in the field operation area; finally, planning out a route. The method is simple algorithm and good in universality, efficiency of unmanned helicopters for executing spraying operation to irregular fields can be improved, and energy consumption of flight is lowered.

Description

technical field [0001] The invention relates to a computer-based method for planning a trajectory of a convex polygon farmland UAV spraying operation, wherein the spraying operation may include: pesticide spraying, liquid fertilizer spraying, aerial seeding and the like. Background technique [0002] With the continuous development of science and technology, the use of modern machinery to replace manual labor has become a trend in all walks of life. As a traditional large agricultural country, our country has a very large area of ​​arable land. However, most of the domestic farmland operations still use traditional manual methods. Among them, pesticide spraying adopts artificial spraying method, which is not only inefficient, but also has great physical and mental harm to workers. Therefore, advanced technology is urgently needed to change this phenomenon. Agricultural plant protection drones came into being. [0003] Under the current rural conditions in our country, the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 谭冠政宋戈汪飙谭冠军谭淦
Owner CENT SOUTH UNIV
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