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Turning path flight control method and device in agricultural plant protection unmanned aerial vehicle reciprocating spraying process and unmanned aerial vehicle

A plant protection UAV, flight control technology, applied in the field of turning path flight control, device and UAV during the reciprocating spraying process of agricultural plant protection UAV, it can solve the problem that does not take into account the flight speed of the UAV, the minimum Turning radius, spraying radius, and the actual maneuvering characteristics of the UAV are not fully considered, so as to reduce the time of variable-speed flight and reduce energy consumption.

Active Publication Date: 2017-08-18
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 turning strategy of the plant protection UAV in the prior art does not fully consider the actual maneuvering characteristics of the UAV, nor does it take into account the flight speed, minimum turning radius, and spraying radius of the UAV, and cannot Disadvantages of providing energy-saving turning strategies for plant protection drones by reducing the number of speed changes

Method used

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  • Turning path flight control method and device in agricultural plant protection unmanned aerial vehicle reciprocating spraying process and unmanned aerial vehicle
  • Turning path flight control method and device in agricultural plant protection unmanned aerial vehicle reciprocating spraying process and unmanned aerial vehicle
  • Turning path flight control method and device in agricultural plant protection unmanned aerial vehicle reciprocating spraying process and unmanned aerial vehicle

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specific Embodiment approach 1

[0025] Specific implementation mode one: the turning path flight control method used in the reciprocating spraying process of the plant protection drone in this embodiment, the turning path is that the drone flies from the turning position of the current straight line spraying path to the next turning point. The arc path passed by the straight line spraying path, it is characterized in that, described method comprises the following steps:

[0026] Step 1): Obtain the spraying radius R of the UAV p and the minimum turning radius R of the UAV z ;

[0027] Step 2): According to the spraying radius R p and the minimum turning radius R z Judging that the UAV should perform the first type of turn, the second type of turn or the third type of turn, and obtain the judgment result; the first type of turn means that the UAV passes through the minimum turn R at a constant speed z When flying to a straight line perpendicular to the current flight path, the adjacent straight spraying p...

specific Embodiment approach 2

[0029] Embodiment 2: This embodiment differs from Embodiment 1 in that in step 3), the flight parameters include flight speed, turning position, and turning radius where turning occurs.

[0030] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0031] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: in step 3), when the judgment result is the first type of turn, the drone performs the following steps in sequence:

[0032] Step 3A.1) At the turning position, turn 90 degrees at a constant speed and pass the minimum turn R z Fly to a straight line perpendicular to the current flight path;

[0033] Step 3A.2) Fly along a straight line to an adjacent straight spraying path;

[0034] Step 3A.3) Go through the minimum turn R at a constant speed at the turn position z Fly to adjacent spray paths;

[0035] Step 3A.4) Fly in a straight line along said adjacent spray paths.

[0036] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention provides a turning path flight control method and device in an agricultural plant protection unmanned aerial vehicle reciprocating spraying process and an unmanned aerial vehicle (UAV), belonging to the field of unmanned aerial vehicle route planning method and control method. The invention aims to solve a problem that the UAV can not be adapted to a variable speed environment and energy is wasted in changing a speed caused by a condition that the UAV is forced to carry out long time variable speed flight caused by a condition that a plant protection unmanned aerial vehicle turning strategy does not fully consider the actual dynamic characteristics of the UAV and a minimum number of turn in the prior art. The method comprises a step of obtaining the spraying radius of the UAV and the minimum turning radius of the UAV, a step of judging whether the UAV should carry out a first type turn, a second turn or a third turn according to the spraying radius and the minimum turning radius, and obtaining a judgment result, and a step of adjusting the flight state parameter of the UAV according to the judgment result and controlling the UAV to fly. The invention also provides the turning path flight control device and the UAV. The method and the device are suitable for a plant protection unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a turning path flight control method, device and UAV during the reciprocating spraying process of a plant protection UAV, and belongs to the field of UAV route planning methods and control methods. 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(a) and Figure 3(b), this situation will involve the turning problem of the UAV, and the route generated by man-made or offline planner generally does not consider the maneuvering characteristics of the UAV effect on turning. The spraying paths shown in Fig. 3(a) and Fig. 3(b) are more reasonable when flying vertically, but when the first spraying path turns to the second path, the turning path at this time is A right angle, which obviously does ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张喜海范成国房俊龙杜佳丽乔岳许绥佳刘东
Owner NORTHEAST AGRICULTURAL UNIVERSITY