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Automatic spraying bow-shaped path planning method and plant protection machine spraying operation method

A path planning, automatic spraying technology, applied in non-electric variable control, vehicle position/route/height control, instruments, etc., can solve the problem of spraying path deviating from farmland, reducing spraying efficiency, secondary spraying, etc., to reduce repetition Spray area, reduce spray area, spray evenly

Active Publication Date: 2019-11-29
湖南圣尧智能科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For different farmlands, each piece needs to be manually collected, which will greatly reduce the spraying efficiency; in addition, some only collect two points, and then let the drone perform lateral movement operations according to these two boundary points. It can be applied to square or rectangular farmland, and if there is a slight deviation between the two points collected, the entire spraying path will deviate from the farmland, resulting in missed spraying and waste. At the same time, it is necessary to judge and stop the drone manually when the spraying is over.
[0004] Using 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 it is laterally moved. On the one hand, the efficiency is reduced, and on the other hand, the crops are secondary Spraying, resulting in excessive pesticide residues

Method used

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  • Automatic spraying bow-shaped path planning method and plant protection machine spraying operation method
  • Automatic spraying bow-shaped path planning method and plant protection machine spraying operation method
  • Automatic spraying bow-shaped path planning method and plant protection machine spraying operation method

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Effect test

Embodiment 1

[0056] The path design scheme of the present invention can perform automatic path planning for irregular quadrilateral fields. By flying the plant protection drone to the border endpoint to collect the position coordinates and height, calculate and plan a reasonable "bow"-shaped path. see Figure 1 to Figure 6 , the specific implementation is as follows:

[0057] First of all, the plant protection drone is controlled by the pilot in manual mode to fly to the four vertices A, B, C, and D of the farmland in sequence, and is controlled by the switch of the remote control to send an instruction to collect coordinates to the flight control system, thereby obtaining this The GPS location coordinates of the four points, that is, the latitude and longitude coordinates. The four boundaries of the farmland can be determined through these four points. And when the fourth endpoint D is collected, the height value of point D is collected back at the same time, and the path planned after...

Embodiment 2

[0085] The present invention provides a plant protection machine spraying operation method, the steps are as follows: use the path planning method of Embodiment 1 to complete the path planning, and then the series of points Z containing the real GPS latitude and longitude coordinates 0 point to Z Max As well as the previously collected altitude values ​​of point D are all uploaded to the memory of the flight controller, and the aircraft is switched to mission mode, then the aircraft will automatically spray from the first point to the last point. It should be pointed out that the memory can also be replaced by other storage media to store these data.

[0086] The method of the present invention can be applied to quadrilateral fields with irregular terrain; the present invention can realize automatic path planning and spraying operations through the picking points and autonomous calculation of the plant protection drone, and does not need artificial equipment to go to the field...

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Abstract

The invention discloses an automatic spray bow-shaped path planning method comprising the following steps: S101, position coordinates of four end points A, B, C and D of a to-be-operated quadrilateral farmland are obtained one by one by a plant protection unmanned aerial vehicle, and an operation height value of the plant protection unmanned aerial vehicle is determined; S102, a group of equidistant straight lines parallel to one selected edge of a quadrangle are taken, the spacing is H, the group of straight lines have at least one intersection point J with two side edges of the selected edge; and S103, all the intersection points are ranked, the intersection points are arrayed in a bow-shaped manner during series connection, and the path planning is completed. Through bow-shaped spraying of a drug, the working intensity of a drone flyer can be reduced, and the automatic spraying efficiency of the plant protection unmanned aerial vehicle also can be improved.

Description

technical field [0001] The invention relates to the technical field of plant protection drones, in particular to an automatic spraying bow-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 arable land, and a large number of people are required to engage in agricultural plant protection operations every year. At the same time, the labor force of young and middle-aged people in rural areas is gradually scarce, and labor costs are increasing. It is also necessary to find a way out of new agricultural machinery, and plant protection drones are a good solution. The four-rotor plant protection UAV has a low operating height, can hover, and does not need a special take-off and landing airport. The d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101
Inventor 张杰陈昱
Owner 湖南圣尧智能科技股份有限公司