Flight path planning method and device for plant protection unmanned aerial vehicle

Abstract

The invention discloses a flight path planning method and device for plant protection unmanned aerial vehicle, and can improve the operation precision and work efficiency of the unmanned aerial vehicle, reduce duplication coverage, spray leakage rate and energy consumption. The method comprises the following steps: fitting an operation area into a convex polygon, establishing a coordinate system, dividing corresponding area of the convex polygon by using grid to obtain a rectangular area composed of a plurality of raster regions; according to the rectangular area, acquiring an operation path of the plant protection unmanned aerial vehicle, and calculating the operation path length G; calculating the maximum path length Gm of a single operation of one plant protection unmanned aerial vehicle, calculating the midway return number of the plant protection unmanned aerial vehicle according to the G and Gm, and calculating efficient solutions of midway return points of each plant protection unmanned aerial vehicle corresponding to the midway return number; and selecting an optimal solution from the efficient solutions of coordinate of midway return point of each plant protection unmanned aerial vehicle, using the origin of the coordinate system as a starting point, and acquiring the flight path of the plant protection unmanned aerial vehicle according to the optimal solution and the operation path.

Description

Technical field [0001] The invention relates to the field of route planning of unmanned aerial vehicles, in particular to a method and device for trajectory planning of a planting protection unmanned aerial vehicle. Background technique [0002] In the military, there have been more in-depth studies on the route planning of drones. In the commercial aspect, as autonomous drone delivery services have gradually emerged in the logistics industry, drone delivery route planning methods have also been applied, mainly based on distribution. The location of the point is planned for a better traverse route. In agriculture, there are relatively few studies on UAV route planning. With the popularization of GIS (Geographic Information System) and GPS technology and the development of sensor technology, plant protection UAV systems with autonomous operations are bound to become a development. Trends, the research on the route planning of plant protection drones is particularly necessary. [0...

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, most plant protection UAVs are based on visual remote control. This method relies too much on human factors, and the actual effect is not ideal. The omission rate and repetition rate are high, and the driver's manipulation load is relatively large, the control time is delayed, and the performance requirements of the data link are high, and there are many technical difficulties

In addition, traditional plant protection UAVs are mainly based on the amount of medicine consumed to perform midway return operations. When the liquid medicine is used up, they will return immediately. However, this method does not consider the planning of the return route from the perspective of energy. Returning immediately after spraying, without reasonable arrangements for the return point in advance, will consume energy effectively and reduce operating efficiency under non-operational conditions, so it is not suitable for autonomous plant protection drones controlled by non-humans

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