Unmanned aerial vehicle initial flight path planning method for soil pollution boundary survey

Abstract

The invention relates to an unmanned aerial vehicle initial flight path planning method for soil pollution boundary survey. The method comprises the following steps of: (1) randomly generating a series of random numbers, and overturning numbers in a long sequence with more than three continuous same numbers in the random number sequence to obtain a corrected random number sequence; and (2) executing an unmanned aerial vehicle flight survey task in a grid by using the corrected random number sequence according to the unmanned aerial vehicle course corresponding to the numbers. According to the method, 1 represents that the unmanned aerial vehicle flies rightwards by one grid, and 0 represents that the unmanned aerial vehicle flies upwards by one grid. According to the method, when a soil pollution boundary is generally curved and irregular in shape, the probability of surveying the soil pollution boundary is guaranteed through random flight; and by correcting the random number sequence, the unmanned aerial vehicle is prevented from flying out of a to-be-surveyed area too quickly, the surveying coverage area is increased to the maximum extent, the flight path is made to better fit the shape of the soil pollution boundary, meanwhile, the steering frequency of the unmanned aerial vehicle is reduced, and mechanical loss is reduced.

Description

technical field [0001] The present invention relates to a track planning method, in particular to an initial track planning method of an unmanned aerial vehicle for soil pollution boundary survey. Background technique [0002] With the continuous expansion of urban circles, more and more cities will relocate factories in the suburbs to free up land to meet the growing demand for residential and commercial construction land. However, the long-term production and operation of the factory often causes the soil in the area where it is located to be polluted. Before the construction of residential and commercial buildings, the polluted soil needs to be repaired to meet the use standards of the second-class construction land. Calculation of excavation volumes is required for soil remediation, and the first task is to survey the boundaries of soil contamination, which is often performed by drones. [0003] Manually controlling the UAV is too cumbersome. Usually, a certain flight r...

AI Technical Summary

Problems solved by technology

However, few technologies currently involve algorithms in this field, such as the particle firefly swarm optimization algorithm of CN201410807943, the adaptive weight pigeon group algorithm of CN201610990382, the genetic algorithm of CN201710278469, the parallel heuristic algorithm of CN201810394358, the IB of CN202011370176 - The ABC algorithm, etc. must be learned and optimized based on the existing track, without focusing on the planning of the initial track, and because the survey of the soil pollution boundary has its own characteristics, the above algorithms are not applicable

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