Wind-direction-based agricultural unmanned aerodynamic ship path planning method

An aerodynamic and path planning technology, which can be used in measurement devices, instruments, surveying and navigation, etc., and can solve the problems of unfavorable accurate navigation of aerodynamic ships.

Inactive Publication Date: 2018-09-28
ZHEJIANG UNIV
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  • Application Information

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  • Wind-direction-based agricultural unmanned aerodynamic ship path planning method
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  • Wind-direction-based agricultural unmanned aerodynamic ship path planning method

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[0034] The present invention will be described in detail below in conjunction with the embodiments and accompanying drawings, but the present invention is not limited thereto.

[0035] Due to the shallow draft of the aerodynamic boat, it can completely float above the water surface in shallow water environments such as paddy fields. Driving in any direction will not affect the normal growth of rice seedlings. The wind direction of natural wind is relatively stable. For example, China has a subtropical monsoon climate, with east and southeast winds prevailing in spring and summer, and westerly and northwest winds prevailing in autumn and winter. figure 1 It is the real-time wind direction within an hour recorded by the wind sensor. It can be seen that within one hour, the wind direction basically falls in an acute angle of 60° within the range of 240°-300°.

[0036] The agricultural unmanned aerodynamic ship path planning method in the present embodiment utilizes C language ...

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Abstract

The invention discloses a wind-direction-based agricultural unmanned aerodynamic ship path planning method, which comprises: acquiring the position coordinate information of paddy field edge corner points; according to the steering radius of an aerodynamic ship and a rice planting situation, setting a safe distance between a working area and the paddy field edge; monitoring wind direction information by using a wind direction sensor, and carrying out standard value treatment on the wind direction; according to the wind direction information, setting the initial path direction, the initial steering and the path line spacing of aerodynamic ship in the working area; finding the paddy field edge corner point nearest to the first path, and establishing a straight line, wherein the straight linepasses through the corner point and is parallel to the initial path direction; and planning n paths parallel to the straight line in the working area according to the initial steering and the path line spacing, and completing the path planning in the working area when the number of the intersection points of the path and the boundary of the working area is less than 2. With the method of the present invention, the interference of the external wind on the heading of the unmanned aerodynamic ship can be substantially reduced, and the lateral drift during the navigation can be reduced.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method for agricultural unmanned aerodynamic ships based on wind direction. Background technique [0002] In recent years, the aging population and the shortage of agricultural workers have seriously restricted the sustainable development of agriculture in my country. However, with the unprecedented development of computer technology and sensor technology, a series of automated agricultural machinery has been developed and even put on the market. The concept of smart agriculture has begun to become a reality. Among them, the path planning problem of unmanned agricultural machinery is one of the hot research fields. [0003] At this stage, the field path planning schemes of agricultural machinery are mainly divided into regional path planning schemes and global path planning schemes. Regional path planning is to use the camera or laser, ultrasonic, radar and other s...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 刘羽飞何勇刘飞
Owner ZHEJIANG UNIV
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