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Multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and spraying working method and system of plant protection unmanned aerial vehicles

A plant protection UAV and UAV technology, applied in control/adjustment system, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of large error in planning route and inability to do multi-machine operations, etc. problem, to achieve the effect of small error, improved operation efficiency, and good flight effect

Inactive Publication Date: 2016-10-12
浙江空行飞行器技术有限公司
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Problems solved by technology

[0009] Based on this, it is necessary to provide a multi-machine operation route planning method and system for plant protection UAVs in view of the above-mentioned problems of large errors in the planned route and the inability to achieve multi-machine operations

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  • Multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and spraying working method and system of plant protection unmanned aerial vehicles
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  • Multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and spraying working method and system of plant protection unmanned aerial vehicles

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[0035] The following describes embodiments of the multi-aircraft operation route planning method and system and spraying operation method and system of the present invention in conjunction with the accompanying drawings.

[0036] reference figure 1 As shown, figure 1 It is a flowchart of the multi-aircraft operation route planning method of the plant protection UAV of the present invention, including:

[0037] S101, planning a serpentine course of the drone spraying operation on the farmland according to the farmland coordinate parameters;

[0038] S102: Sort the drone group in the order of take-off, and calculate the spraying cut-off point of the drone in the serpentine course according to the sequence and the spraying flow rate and flight speed of each drone;

[0039] S103: Send the starting point and cut-off point of each drone to the corresponding drone to set the flight route, where the spraying cut-off point of the previous drone is used as the starting point for the next drone t...

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Abstract

The invention relates to a multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and a spraying working method and system of the plant protection unmanned aerial vehicles. The planning method comprises the steps that a snake-shaped air line of the plant protection unmanned aerial vehicles during farmland spraying working is planned according to farmland coordinate parameters; the unmanned aerial vehicles are ranked according to the take-off sequence, and the spaying cut-off points of the unmanned aerial vehicles in the snake-shaped air line are calculated according to the sequence and the spraying flow and flying speed of each unmanned aerial vehicle; the starting point and cut-off point of each unmanned aerial vehicle are sent to the corresponding unmanned aerial vehicle to set the flight line, and the spraying cut-off point of the former unmanned aerial vehicle serves as the spraying starting point of the next unmanned aerial vehicle entering the air line. The errors of the planned air line are small, the flight effect of the unmanned aerial vehicles is good, multi-vehicle collaborative working can be achieved, the intelligent degree of spraying working is high, and the working efficiency of the unmanned aerial vehicles is improved.

Description

Technical field [0001] The present invention relates to the technical field of drone control, in particular to a method and system for multi-aircraft operation route planning of a planting drone and a spraying method and system. Background technique [0002] With the continuous improvement of the mechanization of the agricultural machinery industry, plant protection equipment is used in a large area. Nowadays, with the emergence of plant protection drones, the efficiency of plant protection operations has also been greatly improved. [0003] At present, plant protection drones generally have built-in inertial measurement units and satellite positioning modules to sense the drone's flight attitude and position information. There are three common operation methods: [0004] (1) Use the remote control to control the drone to spray pesticides; [0005] (2) Use the commercial map on the ground station to select coordinate points to plan the route; [0006] (3) Collect high-definition pictu...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 汪万里张斌斐
Owner 浙江空行飞行器技术有限公司
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