This invention discloses a method for generating a main flight path based on the
spatial relationship of
seedling points under
orthophoto photography, belonging to the field of
agricultural engineering and intelligent navigation technology. This invention uses the set of
seedling point coordinates extracted from orthophotos as input, and combines a
dynamic search radius mechanism and a direction constraint strategy to gradually generate a continuous and reasonable main flight path. The
system includes a
seedling point identification module, a spatial filtering module, a direction constraint module, and a
path generation module. The main flight path generated by this invention enables the main walking mechanism of the equipment to be precisely positioned between
crop rows, while its arm-reaching working mechanism covers a preset number of
crop rows. Furthermore, it directly uses the actual seedling point coordinates extracted from orthophotos as the basis for
path generation, maximizing the fit between the actual growth positions of the crops. This allows the walking mechanism of the agricultural equipment to accurately
traverse between seedling points, effectively avoiding the
crop root area, significantly reducing the risk of damage to crops from the equipment wheels, and improving the safety of field operations.