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Obstacle avoidance method and UAV under single obstacle and small obstacle in the spraying process of agricultural plant protection UAV

A technology for planting and protecting drones and drones, which is applied in aircraft parts, three-dimensional position/channel control, launching devices, etc., which can solve the problems of heavy spray and leakage, and achieve the effect of reducing the number of sprays and increasing the number of sprays.

Active Publication Date: 2019-09-27
NORTHEAST AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the UAV spraying flight route planning method in the prior art fails to select an obstacle avoidance path suitable for the maneuvering characteristics of the UAV, and does not take into account that the UAV needs to fly back to the original route for spraying. Disadvantages that lead to excessive spray area of ​​heavy spray

Method used

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  • Obstacle avoidance method and UAV under single obstacle and small obstacle in the spraying process of agricultural plant protection UAV
  • Obstacle avoidance method and UAV under single obstacle and small obstacle in the spraying process of agricultural plant protection UAV
  • Obstacle avoidance method and UAV under single obstacle and small obstacle in the spraying process of agricultural plant protection UAV

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specific Embodiment approach 1

[0041] Specific implementation mode one: a method for avoiding obstacles under a single obstacle in the spraying process of an agricultural plant protection drone in this embodiment comprises the following steps:

[0042] Step 1) Connect the starting point and the end point of the flight path to form a straight line segment used to characterize the original flight path; this straight line segment can be used to represent a side of the spraying area, that is, in the case of no obstacles, the flight path can be It is a round-trip flight of "flying straight along one side of the spraying area → turning 180° to the next straight path". And the present invention does not consider the part of round-trip flight, only considers the situation that may run into obstacles when flying along a straight line.

[0043] Step 2) Judging whether the straight line segment intersects with the obstacle circle, if not, then fly straight along the original route, if it intersects, then perform step ...

specific Embodiment approach 2

[0053] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is:

[0054] Step 5) in, the determination method of the path length of plural optional flight paths is:

[0055] If the center of the obstacle circle and the center of the minimum turning circle are on different sides of the straight line segment, the path length of the flight path is calculated by the following formula:

[0056]

[0057] If the center of the obstacle circle and the center of the minimum turning circle are on the same side of the straight line segment, the path length of the flight path is calculated by the following formula:

[0058]

[0059] Where b is the length of the straight line segment, which is used to characterize the length of the original flight path; L is the distance from the center of the obstacle circle to the straight line segment; R is the radius of the obstacle circle; R z is the minimum turning radius of the ...

specific Embodiment approach 3

[0085] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is that the obstacle circle radius R satisfies the formula R=R d +R l , where R d is the distance from the center of the obstacle circle to the farthest edge, R l The safe distance that the UAV needs to keep from obstacles.

[0086] The geometric diagram corresponding to the above formula is as follows Image 6 shown.

[0087] The beneficial effect of this embodiment is that it takes into account the safety distance that the UAV needs to keep from obstacles due to flight jitter and external factors, which is not considered in the prior art. Further make the UAV flight path closer to the actual situation.

[0088] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to an obstacle avoidance method of a single obstacle and a small obstacle in spraying process of an agricultural plant protection unmanned machine and the unmanned machine, belongs to the flying path planning domain of the unmanned machine. In order to solve the shortcomings that the spraying and flying path planning method of the unmanned machine in the prior art has not selected a suitable obstacle avoidance path for the maneuvering characteristics of the unmanned machine, and has not considered about the spraying of the unmanned machine at the original path so that the re-spraying and leaked-spraying areas are too large. The obstacle avoidance method of a single obstacle in spraying process of the agricultural plant protection unmanned machine includes steps of judging if the straight section of an original flying path is tangential to an obstacle circle; if it is, generating a plurality of minimum turning circles which are tangential to the straight section and the target obstacle circle at the same time; according to the straight section, the target obstacle circle and the minimum turning circle, confirming a plurality of optional flying paths; selecting the path with the highest evaluation value after the normalization processing from the selectable paths as the final spraying and flying path. The invention is applicable to the line planning during the spraying work of the agricultural plant protection unmanned machine.

Description

technical field [0001] The invention relates to an obstacle avoidance method under single obstacles and small obstacles in the spraying process of an agricultural plant protection drone and the drone, belonging to the field of drone flight route planning. Background technique [0002] The area of ​​plant protection UAV spraying operation is generally large, and the UAV is small in size and flexible in response. Therefore, the general plant protection UAV spraying route is planned to be in the shape of "Π" back and forth. As shown in Figure 3. Figure 3(a) is a standard rectangular spraying area, and Figure 3(b) is an irregular spraying area, but their planned routes are all reciprocating. This back-and-forth route is especially good for the efficiency of the spraying operation and the uniformity of spraying (respray and miss spray) without obstacles. But in practical applications, this kind of unobstructed drone spraying operation hardly exists. [0003] The situation enco...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10B64D1/18
Inventor 张喜海范成国房俊龙刘东许绥佳乔岳杜佳丽
Owner NORTHEAST AGRICULTURAL UNIVERSITY