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

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 ...

AI Technical Summary

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)

Images