Accurate agricultural unmanned aerial vehicle (UAV) control method based on independent start/stop, according to requirements, of working units

Abstract

The invention discloses an accurate agricultural UAV control method for based on independent start / stop, according to requirements, of working units. The method comprises the following steps that 1) field block data and working parameters are input; 2) an initial value of a stepping angle of theta are set; 3) a working direction is determined, and a row center line is calculated; 4) unit center lines are obtained; 5) an initial path and a corresponding unit working state are solved; 6) a path which enables a minimal sum of the total traversal distance is solved, and stored as an optimal path in the working direction; 7) whether theta is lower than 180 degree is determined, if YES, one stepping angle is added to theta and the step 3) is returned to, and if NO, a next step is turned to; and 8) optimal paths corresponding to different values of theta are compared, the shortest optimal path is selected as a final work path, the final work path is stored corresponding to the unit working state, and flight control information of a UAV is obtained. Thus, the agricultural UAV is controlled accurately when the UAV works in the field, especially in an area near the boundary of a field, and the utilization rate of consumables as pesticides and fertilizers is improved.

Description

Technical field [0001] The invention relates to the field of agricultural equipment control, in particular to a precise control method for agricultural unmanned aerial vehicles based on independent start and stop of work units on demand. Background technique [0002] With the continuous advancement of technology, the application of multi-rotor drones in agriculture has become more and more extensive. When using drones to implement full coverage operations such as plant protection, fertilization, and seeding on a certain field, manual remote control operations are difficult, and the operation repetition rate and miss rate are high. When the working tool has a large working width and multiple working units, since it cannot be started and stopped independently on demand, the operation error in the area near the field boundary is large, which not only causes pesticides, fertilizers, seeds, etc. The waste of consumables, but also caused the omission of local operations. Summary of t...

AI Technical Summary

Problems solved by technology

When using drones to implement full-coverage operations such as plant protection, fertilization, and sowing on a certain field, manual remote control operations are difficult, and the repetition rate and omission rate of operations are high.

When the operating tool has a large working width and multiple working units, since it cannot be started and stopped independently on demand and in real time, the operation error in the area near the field border is large, which not only causes pesticides, fertilizers, seeds, etc. Waste of consumables, but also caused the omission of operations in local areas

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