摘要
随着农业现代化和规模化的发展,利用飞行器对农作物进行养护作业已经越来越普及,其中无人直升机以其独特的飞行和作业效果已被市场所接受,也已成为新兴智能农机装备的研究热点之一。针对不同形状的作业区域,能否自动设计和规划出合理的作业航线将直接影响到植保无人直升机在农业植保领域的商业价值和推广。本文针对农业植保作业的实际需求,利用解析几何法和图论学理论,通过对不规则农田的边界辨识、障碍物的规避方法以及全覆盖航线规划算法等进行研究,完成了全覆盖航线规划软件的设计和实现。经过测试和工程应用验证了植保作业航线规划方法的正确性以及软件的有效性。
With the development of agricultural modernization and scale, the use of aircraft for the maintenance of crops has become more and more popular. Unmanned helicopters have been accepted by the market for their unique flight and operation effects, and have become the hot research of emerging intelligent agricultural machinery and equipment. For different working areas, whether to automatically design and plan a reasonable operating route will directly affect the commercial value and promotion of plant protection unmanned helicopters in the field of agricultural plant protection. In this paper, based on the actual needs of agricultural plant protection operations, the analytic geometry method and the theory of graph theory are used to study the boundary identification of irregular farmland, the obstacle avoidance method and the full coverage route planning algorithm, and complete the design and implementation of the full coverage route planning software. The test and engineering application verified the correctness of the plant protection route planning method and the effectiveness of the software.
作者
陶德臣
祖家奎
高尚文
Tao Dechen;Zu Jiakui;Gao Shangwen(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《电子测量技术》
2020年第7期50-55,166,共7页
Electronic Measurement Technology
关键词
农业植保
无人直升机
航线规划
全覆盖路径
障碍规避
agricultural plant protection
unmanned helicopter
route plan
full coverage path
obstacle avoidance
