Automatic spraying homocentric-squares-shaped path planning method and crop protection plane spraying operation method

Abstract

The invention discloses an automatic spraying homocentric-squares-shaped path planning method, which comprises the steps that S101, a crop protection unmanned aerial vehicle position coordinates of four vertices of a farmland one by one and determines a height value in operation; S102, an angular bisector of each interior angle is calculated, and position coordinates of four new points whose distances to four sides equal to a preset spraying interval are respectively determined on each angular bisector; S103, iterative calculation is performed, the four points are determined to be four vertices of a new square, four new points are worked out according to the rule in the step S102 until the length of a certain side and an opposite side thereof of a new acquired square equals to two times of the spraying interval, and position coordinates of a midpoint of the side and position coordinates of a midpoint of the opposite side are acquired; and S104, the position coordinates are successively connected according to a preset rule so as to form a homocentric-squares-shaped path, and path planning is completed. The work intensity of a pilot can be reduced through performing drug spraying according to the path, and the spraying efficiency of the crop protection unmanned aerial vehicle can also be improved.

Description

technical field [0001] The invention relates to the technical field of plant protection drones, in particular to an automatic spraying back-shaped path planning method and a plant protection machine spraying operation method. Background technique [0002] In recent years, the UAV market has been booming, and its application fields have become more and more extensive. Agriculture is one of the huge markets. As a large agricultural country, China has 1.8 billion mu of basic farmland, and a large number of people are required to engage in agricultural plant protection operations every year. However, the labor force of young and middle-aged people in rural areas is gradually scarce, and labor costs are increasing. In addition, because pesticides are harmful to the human body, agriculture needs to start from new agricultural machinery. Find a way, and the plant protection drone is a good solution. The four-rotor plant protection UAV has a low operating height, can hover, and doe...

AI Technical Summary

Problems solved by technology

For different farmlands, it is necessary to continuously collect artificially, which will greatly reduce the spraying efficiency; in addition, some only collect two points, and then let the plant protection drone perform lateral movement according to these two boundary points. It can only be applied to square farmland, and if there is a slight deviation between the two collected points, the entire spraying path will deviate from the farmland, resulting in missed spraying and waste, and when the spraying is over, it is necessary to manually judge and stop the plant protection drone

Moreover, the operation method of lateral movement will cause the plant protection drone to continuously accelerate and decelerate during the operation process, and the border will be repeatedly sprayed when colleagues move laterally, which reduces the efficiency on the one hand, and causes the crops to be sprayed on the other hand. Secondary spraying, affecting the spraying effect

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