CN107065919B - Turning path flight control method and device in reciprocating spraying process of agricultural plant protection unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Turning path flight control method and device in reciprocating spraying process of agricultural plant protection unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a turning path flight control method and device for an agricultural plant protection unmanned aerial vehicle in a back-and-forth reciprocating spraying process and the unmanned aerial vehicle, belongs to the field of unmanned aerial vehicle route planning methods and control methods, and aims to solve the problems that the actual maneuvering characteristics of the unmanned aerial vehicle are not fully considered in a turning strategy of the plant protection unmanned aerial vehicle in the prior art, the minimum turning times are not considered, the unmanned aerial vehicle is forced to carry out long-time variable-speed flight, the unmanned aerial vehicle cannot adapt to a variable-speed environment, and energy is wasted during variable speed. The method of the invention comprises the following steps: acquiring the spraying radius of the unmanned aerial vehicle and the minimum turning radius of the unmanned aerial vehicle; judging whether the unmanned aerial vehicle should make a first type turn, a second type turn or a third type turn according to the spraying radius and the minimum turning radius, and obtaining a judgment result; and adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result, and further controlling the unmanned aerial vehicle to fly. The invention also provides a turning path flight control device and an unmanned aerial vehicle. The invention is suitable for the plant protection unmanned aerial vehicle.
Description
Technical Field
The invention relates to a turning path flight control method and device for a plant protection unmanned aerial vehicle in a reciprocating spraying process and an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle route planning methods and control methods.
Background
The area of the spraying operation of the plant protection unmanned aerial vehicle is large, the unmanned aerial vehicle is small in size and flexible in reaction, so that the spraying route of the general plant protection unmanned aerial vehicle is planned to be in a reciprocating shape like a n shape, the route is shown in fig. 3(a) and 3(b), the turning problem of the unmanned aerial vehicle can be involved in the situation, and the influence of the maneuvering characteristics of the unmanned aerial vehicle on the turning is not considered in the routes generated by the artificial or off-line planner. The spraying paths shown in fig. 3(a) and 3(b) are reasonable when flying in each vertical row, but when the first spraying path turns to the second spraying path, the turning path is a right angle, which obviously does not accord with the flight characteristics of the unmanned aerial vehicle, if the unmanned aerial vehicle turns according to the path, the unmanned aerial vehicle needs to decelerate to 0 first, then turn around at 90 degrees, accelerate and decelerate to 0, turn around at 90 degrees after flying to the second spraying path, accelerate to a speed V, and then spray at a constant speed. Such a flight path is accelerated and decelerated every time, which wastes both time and resources.
Fig. 3(a) shows a standard rectangular spray area and fig. 3(b) shows an irregular spray area, but the routes they plan are back and forth. This back and forth path is particularly effective in dispensing operations and uniformity of dispensing without impediments. But in practical application, the maneuvering (flying) characteristic of the plant protection unmanned aerial vehicle cannot turn like the route shown in fig. 3(a) and 3 (b).
And also can receive the influence of each factor when unmanned aerial vehicle turns, like plant protection unmanned aerial vehicle's flying speed, minimum turning radius's size, spraying radius's size etc.. The turning strategy of the plant protection unmanned aerial vehicle in the prior art does not fully consider the maneuvering characteristic of the unmanned aerial vehicle, does not consider the flight speed, the minimum turning radius and the spraying radius of the unmanned aerial vehicle, and does not reduce the variable-speed flight time of the unmanned aerial vehicle through the factors, so that the plant protection unmanned aerial vehicle is improved in energy conservation and enhanced cruising ability.
Disclosure of Invention
The invention aims to solve the defects that the turning strategy of the plant protection unmanned aerial vehicle in the prior art does not fully consider the actual maneuvering characteristics of the unmanned aerial vehicle, does not consider the flight speed, the minimum turning radius and the spraying radius of the unmanned aerial vehicle, and cannot provide an energy-saving turning strategy for the plant protection unmanned aerial vehicle by reducing the speed change times.
A turning path flight control method for a reciprocating spraying process of a plant protection unmanned aerial vehicle, wherein the turning path is an arc-shaped path through which the unmanned aerial vehicle flies from a turning position of a current straight spraying path to a next reverse straight spraying path, and the method comprises the following steps:
step 1): obtain unmanned aerial vehicle's spraying radius RpAnd minimum turning radius R of unmanned aerial vehiclez；
Step 2): according to the spray radius RpAnd the minimum turning radius RzJudging whether the unmanned aerial vehicle needs to make a first type turn, a second type turn or a third type turn, and obtaining a judgment result; the first type of turn indicates that the drone is passing through a minimum turn R at a uniform speedzWhen the aircraft flies to a straight line perpendicular to the current flight path, the adjacent straight line spraying path is not reached; the second type of turn represents that the unmanned aerial vehicle passes through the minimum turn R at a constant speedzCan just fly to the adjacent spraying path; the third type of turning means that the unmanned aerial vehicle passes through the minimum turning R at a constant speedzWhen flying to any straight line perpendicular to the current flying path, the aircraft will cross the adjacent spraying path or exceed the spraying area;
and 3) adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result, and further controlling the unmanned aerial vehicle to fly.
The invention also provides a turning path flight control device used in the back-and-forth reciprocating spraying process of the plant protection unmanned aerial vehicle, which comprises the following components:
a flight parameter acquisition module for acquiring the spraying radius of the unmanned aerial vehicle as RpAnd the minimum turning radius of the unmanned aerial vehicle is Rz；
A turning type judging module for judging the spraying radius RpAnd the minimum turning radius is RzJudging whether the unmanned aerial vehicle needs to make a first type turn, a second type turn or a third type turn, and obtaining a judgment result; the first type of turn indicates that the drone is passing through a minimum turn R at a uniform speedzWhen the aircraft flies to a straight line perpendicular to the current flight path, the adjacent straight line spraying path is not reached; the second type of turn represents that the unmanned aerial vehicle passes through the minimum turn R at a constant speedzCan just fly to the adjacentA spraying path; the third type of turning means that the unmanned aerial vehicle passes through the minimum turning R at a constant speedzWhen flying to any straight line perpendicular to the current flying path, the aircraft will cross the adjacent spraying path or exceed the spraying area;
and the flight state control module is used for adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result so as to control the unmanned aerial vehicle to fly.
The invention also comprises an unmanned aerial vehicle which comprises the turning path flight control device used in the reciprocating spraying process of the plant protection unmanned aerial vehicle.
The invention has the beneficial effects that: considering flight speed, minimum turning radius and spraying radius, planning a turning scheme according to the relation between the minimum turning radius and the spraying radius, enabling a turning path to be as small as possible, and reducing the time of variable-speed flight of the unmanned aerial vehicle to the maximum extent, thereby achieving the purpose of reducing energy consumption of the plant protection unmanned aerial vehicle.
Drawings
Fig. 1 is a flow chart of a turning path flight control method for the plant protection unmanned aerial vehicle in the reciprocating spraying process;
fig. 2 is a schematic diagram of the turning path flight control device for the plant protection unmanned aerial vehicle in the reciprocating spraying process;
fig. 3(a) is a schematic diagram of a route of spraying by an unmanned aerial vehicle in an unobstructed rectangular area;
fig. 3(b) is a schematic diagram of a route of spraying by an unmanned aerial vehicle in an unobstructed irregular area;
FIG. 4 is a diagram of a first type of turn flight route of the present invention;
FIG. 5 is a diagram of a second type of turn flight route of the present invention;
FIG. 6 is a diagram of a flight path when the spray path is even in a third type of turn according to the present invention;
FIG. 7 is a diagram of a flight path for an odd number of spray paths in a third type of turn according to the present invention;
fig. 8 is an overall flow chart of an embodiment of the present invention.
Detailed Description
The first embodiment is as follows: the turning path flight control method for the plant protection unmanned aerial vehicle to perform reciprocating spraying back and forth in the embodiment is characterized in that the turning path is an arc-shaped path which is formed by the unmanned aerial vehicle flying from the turning position of the current straight line spraying path to the next reverse straight line spraying path, and comprises the following steps:
step 1): obtain unmanned aerial vehicle's spraying radius RpAnd minimum turning radius R of unmanned aerial vehiclez；
Step 2): according to the spray radius RpAnd the minimum turning radius RzJudging whether the unmanned aerial vehicle needs to make a first type turn, a second type turn or a third type turn, and obtaining a judgment result; the first type of turn indicates that the drone is passing through a minimum turn R at a uniform speedzWhen the aircraft flies to a straight line perpendicular to the current flight path, the adjacent straight line spraying path is not reached; the second type of turn represents that the unmanned aerial vehicle passes through the minimum turn R at a constant speedzCan just fly to the adjacent spraying path; the third type of turning means that the unmanned aerial vehicle passes through the minimum turning R at a constant speedzWhen flying to any straight line perpendicular to the current flying path, the aircraft will cross the adjacent spraying path or exceed the spraying area;
and 3) adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result, and further controlling the unmanned aerial vehicle to fly.
The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: in step 3), the flight parameters include flight speed, turning position and turning radius of the turning.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: the present embodiment differs from the first or second embodiment in that: in step 3), when the judgment result is the first type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3A.1) passing through a minimum turn R at a turn position at a constant turn angle of 90 DEGzFlying to a straight line perpendicular to the current flight path;
step 3A.2) flying to an adjacent linear spraying path along a straight line;
step 3A.3) passing through the minimum turn R at a constant speed at the turning positionzFlying to an adjacent spraying path;
and 3A.4) linearly flying along the adjacent spraying paths.
Other steps and parameters are the same as those in the first or second embodiment.
The fourth concrete implementation mode: the difference between this embodiment mode and one of the first to third embodiment modes is: in step 3), when the judgment result is a second type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3B.1) making a 180-degree turn at a constant speed to pass through a minimum turn RzFlying to an adjacent spraying path;
and 3B.2) linearly flying along the adjacent spraying paths.
Other steps and parameters are the same as those in one of the first to third embodiments.
The fifth concrete implementation mode: the difference between this embodiment and one of the first to fourth embodiments is: in step 3), when the judgment result is a third type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3C.1) obtaining preset spraying path quantity information;
step 3C.2) identifying the spraying paths as odd number or even number according to the spraying path quantity information; when the spraying paths are even, the number of the spraying paths is recorded to be 2 k; when the spraying paths are odd, recording the number of the spraying paths as 2k + 1; k is a positive integer;
step 3C.3) executing the A-type flight route when the spraying paths are odd; when the spraying paths are even, executing a type B flight path;
the class a flight path is characterized by: when the spraying path reaches the turning position of the kth spraying path, the spraying path flies to the kth +2 path by turning 180 degrees at a constant speed; when the unmanned aerial vehicle flies to the 2k-1 spraying path, the unmanned aerial vehicle needs to turn 180 degrees at a constant speed and flies to the 2k spraying path from the 2k-1 spraying path;
the class B flight path is characterized in that: when the spraying path reaches the turning position of the kth spraying path, the spraying path flies to the kth +2 path by turning 180 degrees at a constant speed; and when the unmanned aerial vehicle flies to the 2k +1 th spraying path, the unmanned aerial vehicle needs to turn 180 degrees at a constant speed and flies to the 2k path from the 2k +1 th path.
Other steps and parameters are the same as in one of the first to fourth embodiments.
The sixth specific implementation mode: the difference between this embodiment and one of the first to fifth embodiments is:
the obstacle avoidance spraying path determining method for the plant protection unmanned aerial vehicle comprises the following steps:
in step 3c.3), executing the class a flight route specifically includes:
step A1) flying from the 1 st spraying path to the 3 rd spraying path at a turning position by turning 180 degrees at a constant speed;
step A2) is carried out at the position of the 3 rd spraying path in a uniform speed straight line flight mode until the position of a turn of the 3 rd spraying path is reached;
step A3) repeating the step A1) to the step A2) until the spraying of the 1 st and the 3 … … 2k-1 st spraying paths is completed;
step A4) flying to the 2k spraying path at the turning of the 2k-1 spraying path through variable speed;
step A5) is carried out in a 2k spraying path in a straight line at a constant speed until the turning position of the 2k spraying path is reached;
step A6) flying from the 2k spraying path to the 2k-2 spraying path at a uniform speed turning 180 degrees at the turning position of the 2k spraying path;
step A7) repeating the steps A4) to A6) until the spraying of the 2k and 2k-2 … … 2 spraying paths is completed.
Other steps and parameters are the same as those in one of the first to fifth embodiments.
The seventh embodiment: the difference between this embodiment and one of the first to sixth embodiments is:
in step 3c.3), executing the class B flight route specifically includes:
step B1) flying from the 1 st spraying path to the 3 rd spraying path at a uniform speed turning 180 degrees at a turning position;
step B2) performing uniform-speed straight-line flight at the 3 rd spraying path until the turning position of the 3 rd spraying path is reached;
step B3) repeating the steps B1) to B2) until the spraying of the 1 st and 3 … … 2k +1 st spraying paths is completed;
step B4) flying to the 2k spraying path at the turning of the 2k +1 spraying path through variable speed;
step B5), linearly flying at a constant speed in the 2k spraying path until the turning position of the 2k spraying path is reached;
step B6) flying from the 2k spraying path to the 2k-2 spraying path at a uniform speed turning 180 degrees at the turning position of the 2k spraying path;
step B7) repeating the steps B4) to B6) until the spraying of the 2k and 2k-2 … … 2 spraying paths is completed.
Other steps and parameters are the same as those in one of the first to sixth embodiments.
The specific implementation mode is eight: this embodiment is implemented based on any one of the first to seventh embodiments, and the differences are as follows:
the single flight path length for the first type of turn is:
Dturning to 1＝2Rp-2Rz+πRz；
The single flight path length for the second type of turn is:
Dturning to 2＝πRz；
The single flight path length for the third type of turn is:
Dturn to 3＝πRz。
The specific implementation method nine: this embodiment provides a turn route flight control device that is arranged in reciprocal spraying in-process of making a round trip of plant protection unmanned aerial vehicle, includes:
a flight parameter acquisition module for acquiring the spraying radius of the unmanned aerial vehicle as RpAnd the minimum turning radius of the unmanned aerial vehicle is Rz；
A turning type judging module for judging the spraying radius RpAnd the minimum turning radius is RzJudging whether the unmanned aerial vehicle needs to make a first type turn, a second type turn or a third type turn, and obtaining a judgment result; the first type of turn indicates that the drone is passing through a minimum turn R at a uniform speedzWhen the aircraft flies to a straight line perpendicular to the current flight path, the adjacent straight line spraying path is not reached; the second type of turn represents that the unmanned aerial vehicle passes through the minimum turn R at a constant speedzCan just fly to the adjacent spraying path; the third type of turning means that the unmanned aerial vehicle passes through the minimum turning R at a constant speedzWhen flying to any straight line perpendicular to the current flying path, the aircraft will cross the adjacent spraying path or exceed the spraying area;
and the flight state control module is used for adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result so as to control the unmanned aerial vehicle to fly.
The detailed implementation mode is ten: this embodiment provides an unmanned aerial vehicle, include as embodiment nine be used for plant protection unmanned aerial vehicle make a round trip to reciprocate turn route flight control device of spraying in-process:
< example >
This embodiment relates generally to the derivation of the formula that appears in the detailed description.
Symbol definition
Assuming that the plant protection unmanned aerial vehicle performs spraying operation on an ideal rectangular ground without obstacles (similar to other cases, such as the irregular shape in fig. 3 (b)), assuming that the length of the rectangle is a and the width of the rectangle is b, that is, the length of a single flight path of the plant protection unmanned aerial vehicle is b, the starting point of the single flight path of the plant protection unmanned aerial vehicle is named as S (i), and the ending point is named as T (i), and S (1) and T (1) represent the starting point and the ending point on the first flight path.
The relevant parameters when the plant protection unmanned aerial vehicle sprays the operation are as follows: spraying radius of plant protection unmanned aerial vehicle is RpThe minimum turning radius R of the plant protection unmanned aerial vehicle at the current speed of the flight speed Vz。
Second, analysis of turning condition in spraying operation process of plant protection unmanned aerial vehicle
There are many factors to consider when turning, first, the minimum turning radius RzThe influence of (a); secondly, the influence of the flying speed V of the unmanned aerial vehicle on the minimum turning radius; thirdly, unmanned aerial vehicle spraying operation radius RpThe influence of (c). In addition, the influence of a plurality of external factors such as wind interference, electromagnetic interference, obstacle interference and the like exists, and only the influence of the three items is discussed here without considering other external factors. Below is as RpAnd RzThe magnitude relationship of (1) is discussed.
The Dubins path used in the present invention is the prior art, and the author has shown in the article that the path obtained using the Dubins path is the shortest when connecting two directed vectors. The method is applied to the turning problem research of the spraying operation process of the plant protection unmanned aerial vehicle. By doing so, the length of the turning route is taken into consideration, and the turning efficiency is improved.
(1) Class 1 turn
When Rp > Rz, the plant protection unmanned aerial vehicle can fly to a straight line perpendicular to the first flight path through a minimum turning circle generated by the minimum turning radius Rz at a speed V by generating a straight line through a Dubins path, and fly to a second spraying operation path through the minimum turning circle after flying through a horizontal straight line at the speed V, wherein the spraying radius of the common plant protection unmanned aerial vehicle is about 6-8 m, and the minimum turning radius of the plant protection unmanned aerial vehicle is required to be smaller than the value. The specific flight is shown in fig. 4.
The turning path length calculated at this time is as follows (the length is the length from the start of turning to the end of turning):
firstly, calculating the lengths of two arcs, wherein the two minimum turning circles are consistent in size and tangent to two vertical line segments, and the radians corresponding to the two arcs are 90 degrees due to geometric knowledge, so that the sum of the lengths of the two arcs can be calculated to be
And due to
LHorizontal straight line segment＝2Rp-2Rz
In summary, the total path length at the time of turning is obtained as
DTurning to 1＝2Rp-2Rz+πRz
(2) Class 2 turn
When Rp is Rz, plant protection unmanned aerial vehicle just can be with the circle of making little turn that minimum turning radius generated this moment, has the straight line to fly to the spraying route of second again through the circular arc, just in time can rotate 180 like this, gets into next spraying route. But this is less likely to occur due to environmental factors and the flight characteristics of the drone itself. The flight route map is shown in fig. 5, and there is no horizontal straight line segment in the first case when calculating the turning route length, so the route length during turning in this case is:
Dturning to 2＝πRz
(3)3 type turn
When Rp < Rz (the maximum Rz value preset in this embodiment is Rz ═ 4Rp, the value of Rz increases and flies to the fourth spraying route, because similar to this, the discussion is not continued), at this time, it is impossible for the plant protection unmanned aerial vehicle to fly to the next spraying route with the current speed kept unchanged, and in this case, the unmanned aerial vehicle must fly to the next flight route through deceleration every time the unmanned aerial vehicle has flown to the spraying route. But every time the speed is accelerated and decelerated, unnecessary waste (such as fuel, pesticide, liquid fertilizer and the like) is necessarily caused. The procedure adopted herein is as follows
When the plant protection unmanned aerial vehicle finds that Rp < Rz before spraying operation, the taken flight path does not sequentially traverse each path any more, but directly turns from the first flight path to fly to the third flight path until the paths such as 1,3,5,7 … 2N +1 are completed, the first flight path is subjected to one-time speed change to fly to the 2N spraying path, and then the method is repeated until the operation is completed.
Specific flight paths are shown in fig. 6 and 7, wherein fig. 6 shows the case of even number of spray paths and fig. 7 shows the case of odd number of spray paths.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (6)
1. A turning path flight control method in the back-and-forth reciprocating spraying process of an agricultural plant protection unmanned aerial vehicle is characterized in that the turning path is an arc-shaped path which is passed by the unmanned aerial vehicle from the turning position of the current straight line spraying path to the next reverse straight line spraying path, and the method comprises the following steps:
step 1): obtain unmanned aerial vehicle's spraying radius RpAnd minimum turning radius R of unmanned aerial vehiclez；
Step 2): according to the spray radius RpAnd the minimum turning radius RzJudging whether the unmanned aerial vehicle needs to make a first type turn, a second type turn or a third type turn, and obtaining a judgment result; the first type of turn indicates that the drone is passing through a minimum turn R at a uniform speedzWhen the aircraft flies to a straight line perpendicular to the current flight path, the adjacent straight line spraying path is not reached; the second type of turn represents that the unmanned aerial vehicle passes through the minimum turn R at a constant speedzCan just fly to the adjacent spraying path; the third type of turning means that the unmanned aerial vehicle passes through the minimum turning R at a constant speedzWhen flying to any straight line perpendicular to the current flying path, the aircraft will cross the adjacent spraying path or exceed the spraying area;
step 3) adjusting the flight state parameters of the unmanned aerial vehicle according to the judgment result, and further controlling the unmanned aerial vehicle to fly;
the flight parameters comprise flight speed, turning position and turning radius of turning;
when the judgment result is a third type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3C.1) obtaining preset spraying path quantity information;
step 3C.2) identifying the spraying paths as odd number or even number according to the spraying path quantity information; when the spraying paths are even, the number of the spraying paths is recorded to be 2 k; when the spraying paths are odd, recording the number of the spraying paths as 2k + 1; k is a positive integer;
step 3C.3) executing the A-type flight route when the spraying paths are even; when the spraying paths are odd, executing a B-type flight path;
the class a flight path is characterized by: when the spraying path reaches the turning position of the kth spraying path, the spraying path flies to the kth +2 path by turning 180 degrees at a constant speed; when the unmanned aerial vehicle flies to the 2k-1 spraying path, the unmanned aerial vehicle needs to turn 180 degrees at a constant speed and flies to the 2k spraying path from the 2k-1 spraying path;
the class B flight path is characterized in that: when the spraying path reaches the turning position of the kth spraying path, the spraying path flies to the kth +2 path by turning 180 degrees at a constant speed; and when the unmanned aerial vehicle flies to the 2k +1 th spraying path, the unmanned aerial vehicle needs to turn 180 degrees at a constant speed and flies to the 2k path from the 2k +1 th path.
2. The method according to claim 1, wherein in step 3), when the judgment result is the first type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3A.1) passing through a minimum turn R at a turn position at a constant turn angle of 90 DEGzFlying to a straight line perpendicular to the current flight path;
step 3A.2) flying to an adjacent linear spraying path along a straight line;
step 3A.3) passing through the minimum turn R at a constant speed at the turning positionzFlying to an adjacent spraying path;
and 3A.4) linearly flying along the adjacent spraying paths.
3. The method according to claim 1, wherein in step 3), when the judgment result is the second type of turning, the unmanned aerial vehicle sequentially executes the following steps:
step 3B.1) making a 180-degree turn at a constant speed to pass through a minimum turn RzFlying to an adjacent spraying path;
and 3B.2) linearly flying along the adjacent spraying paths.
4. The method according to claim 1, wherein in step 3c.3), the performing of the class a flight path is specifically:
step A1) flying from the 1 st spraying path to the 3 rd spraying path at a turning position by turning 180 degrees at a constant speed;
step A2) is carried out at the position of the 3 rd spraying path in a uniform speed straight line flight mode until the position of a turn of the 3 rd spraying path is reached;
step A3) repeating the step A1) to the step A2) until the spraying of the 1 st and the 3 … … 2k-1 st spraying paths is completed;
step A4) flying to the 2k spraying path at the turning of the 2k-1 spraying path through variable speed;
step A5) is carried out in a 2k spraying path in a straight line at a constant speed until the turning position of the 2k spraying path is reached;
step A6) flying from the 2k spraying path to the 2k-2 spraying path at a uniform speed turning 180 degrees at the turning position of the 2k spraying path;
step A7) repeating the steps A4) to A6) until the spraying of the 2k and 2k-2 … … 2 spraying paths is completed.
5. The method according to claim 1, wherein in step 3c.3), the performing of the class B flight path is specifically:
step B1) flying from the 1 st spraying path to the 3 rd spraying path at a uniform speed turning 180 degrees at a turning position;
step B2) performing uniform-speed straight-line flight at the 3 rd spraying path until the turning position of the 3 rd spraying path is reached;
step B3) repeating the steps B1) to B2) until the spraying of the 1 st and 3 … … 2k +1 st spraying paths is completed;
step B4) flying to the 2k spraying path at the turning of the 2k +1 spraying path through variable speed;
step B5), linearly flying at a constant speed in the 2k spraying path until the turning position of the 2k spraying path is reached;
step B6) flying from the 2k spraying path to the 2k-2 spraying path at a uniform speed turning 180 degrees at the turning position of the 2k spraying path;
step B7) repeating the steps B4) to B6) until the spraying of the 2k and 2k-2 … … 2 spraying paths is completed.
6. The method according to any one of claims 1 to 5,
the single turn path length for the first type of turn is:
Dturning to 1＝2Rp-2Rz+πRz；
The single turn path length for the second type of turn is:
Dturning to 2＝πRz；
The total length of the single turn path for the third type of turn is:
Dturn to 3＝πRz。
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| CN110843907B (en) * | 2017-12-11 | 2021-03-23 | 中联农业机械股份有限公司 | Operation area path planning method and device based on blocks |
| CN112911932B (en) * | 2018-10-23 | 2023-04-04 | 株式会社尼罗沃克 | Travel route generation device, travel route generation method, computer-readable recording medium, and unmanned aerial vehicle |
| CN109634276B (en) * | 2018-12-13 | 2021-05-25 | 中联重科股份有限公司 | Agricultural vehicle unmanned control method and system and agricultural vehicle |
| CN112799415B (en) * | 2019-10-24 | 2022-06-21 | 广州极飞科技股份有限公司 | Working route generation method and device, route planning device and storage medium |
| CN110989662B (en) * | 2019-11-20 | 2022-08-30 | 中山飞旋天行航空科技有限公司 | Flight control method for turning path of plant protection unmanned aerial vehicle |
| CN111158392B (en) * | 2020-01-09 | 2023-05-26 | 辽宁壮龙无人机科技有限公司 | Planning control method and device for unmanned aerial vehicle turning, electronic equipment and storage medium |
| CN111964683B (en) * | 2020-08-21 | 2022-11-22 | 苏州极目机器人科技有限公司 | Spraying path planning method and device |
| CN113110471B (en) * | 2021-04-25 | 2023-03-21 | 珠海格力电器股份有限公司 | Equipment operation path planning method and device, computer equipment and storage medium |
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