Flight control method for turning path of plant protection unmanned aerial vehicle

Abstract

The invention discloses a flight control method for a turning path of a plant protection unmanned aerial vehicle. The flight control method comprises the following steps: S1, flight parameter information of the unmanned aerial vehicle and boundary information of an operation area are acquired; s2, path distance information is set according to the flight parameter information of the unmanned aerialvehicle, the operation area is filled in an n-shaped mode to generate an air route according to the path distance information and boundary information of the operation area, round-trip paths adjacentto the air route are connected through arcs, the arcs are tangent to the round-trip paths, and the arcs are tangent to the boundary of the operation area; and S3, the unmanned aerial vehicle flies according to the air route, and the speed of the unmanned aerial vehicle flying along the air route is not changed until the flight task is completed. The operation area is filled in the operation areain the n-shaped mode to generate the air route, and in the air route, every two adjacent round-trip routes are connected through the corresponding arc, so that when the unmanned aerial vehicle flies along the air route, turning can be completed at a stable speed without a deceleration acceleration process, and the spraying efficiency can be improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a flight control method for plant protection unmanned aerial vehicles. Background technique [0002] Plant protection UAVs are more and more used in crop protection operations such as pesticide spraying, nutrient solution spraying, herbicide spraying, and defoliant spraying due to their high efficiency and good safety of human-drug separation. [0003] Due to the large area of ​​farmland, the flight route of the drone is usually planned based on the geographical information of the farmland, and then the drone automatically tracks the planned flight route to complete the job content. In view of the installation of the sprinkler head of the plant protection drone, such as figure 1 As shown, the air route 10 is basically set in the shape of "ji" for reciprocating flight. The part of the "ji"-shaped air route 10 overlaps with the boundary of the operation area 11. In the proc...

AI Technical Summary

Problems solved by technology

Such a deceleration and acceleration process not only affects the flying speed of the UAV, but also reduces the spraying efficiency of the UAV.

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