A full-coverage path planning method for aerial spraying area
A path planning, full coverage technology, applied in ground navigation, navigation calculation tools, satellite radio beacon positioning systems, etc., can solve the problems of different coverage areas and different lengths of operating routes, saving spraying time and improving spraying. Efficiency, the effect of satisfying the spraying effect
Active Publication Date: 2020-06-26
NANJING FORESTRY UNIV
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Problems solved by technology
However, for irregularly shaped polygonal operation areas, no matter what direction the boundary line is to be operated, the operation route cannot be guaranteed to be parallel or perpendicular to all boundaries. Therefore, the effects of spraying operations along different boundaries are different, and the premise of full coverage must be met. , the length of the operation route for spraying along different boundaries will be different, which will also lead to different redundant coverage areas. Therefore, it is necessary to plan the spraying area path to improve its spraying efficiency
Method used
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[0067] Preparation before spraying: GPS should be calibrated before the system works to ensure the accuracy of information collection.
[0068] Acquisition of the spraying area: input the latitude and longitude information of the five vertices A, B, C, D, and E of the spraying area in sequence through the display screen or the mobile app. The system will automatically use the first vertex point A as the coordinate origin and the AB line as the x-axis to construct a metric plane rectangular environment coordinate system Z according to the Gaussian projection method. 0 . and in the coordinate system Z 0 A pentagon with vertices A, B, C, D, and E is shown in . At this time, we can see information such as the shape of the spraying area, that is, the pentagon, the coordinates of each vertex, and the size of the area, through the display screen or the mobile phone app.
[0069] Route acquisition: After entering the spray information through the display screen or mobile app, click...
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The invention discloses a method for planning a full coverage path of an aerial application area, comprising the following steps: S1, inputting latitude and longitude information of an apex of the application area and a spraying width of an aircraft to an application system; S2, converting the latitude and longitude information of the apex of the application area into a metric coordinate system, and determining the application area in the metric coordinate system; S3, calculating the length of each edge in the application area, finding the longest edge in the application area by comparison, and obtaining a shortest application route through the longest edge in the application area; S4, calculating a shortest turning route; and S5, planning through the shortest application route obtained instep S3 and the shortest turning route obtained in step S4 to obtain an optimal full coverage path of the application area. The method can plan an optimal full coverage application path for an irregular terrain according to the operation area and the spraying width, so that on the premise of full coverage, the route is shortest in the application process and the redundant coverage area is minimum.
Description
technical field [0001] The invention relates to the field of agricultural pesticide application, in particular to a method for planning a path with full coverage of aerial pesticide application areas. Background technique [0002] At present, the actual operation of aviation spraying relies too much on the operator, mostly based on the driver's visual map and terrain, operating the aircraft to carry out the spraying operation. This artificial and real-time flying method does not plan the operation route in advance, so The flight route is longer, the spraying time is longer, and the energy consumption is larger. The traditional full-coverage route is to carry out reciprocating spraying in the direction of a certain boundary line of the operation area to complete the entire area coverage. However, for irregularly shaped polygonal operation areas, no matter what direction the boundary line is to be operated, the operation route cannot be guaranteed to be parallel or perpendicu...
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IPC IPC(8): G01C21/04G01C21/20G01S19/50
CPCG01C21/04G01C21/20G01S19/50
Inventor 刘洋洋茹煜徐忠刘彬
Owner NANJING FORESTRY UNIV