直升机航空施药全覆盖航线规划算法

为避免航空施药过程中由于多施、漏施、重施等现象造成的覆盖不精准问题,该研究开发了一种航程短,覆盖范围精准的航空施药全覆盖航线规划算法。首先基于区域全覆盖原理,通过对施药作业区域外喷雾航程计算与分析,得出在全覆盖的前提下,区域外最短喷雾航程计算公式。再结合全覆盖航线规划方法,得出全覆盖航空施药的最优航线规划算法,并通过软硬件设计实现了实时采集飞行轨迹,通过OneNet物联网平台与移动终端进行信息双向传输。最后分别对3种不同地形的试验场地进行了7个不同航向的全覆盖喷雾作业试验。试验结果表明,在3种试验场地中,按照规划航向作业的航程比试验组按照其他6个航向作业的航程短,航程比其他航向的航程最大可分别缩短4.920、6.903、59.913 km;且多余覆盖率均为最小,多余覆盖率最小分别为2.08%、7.17%、0.57%。

To address the issues of inaccurate coverage caused by over-application, missed application, repeated application and other phenomena during aerial pesticide application, this study developed a full-coverage route planning algorithm for aerial pesticide application, which features short voyage distance and precise coverage scope. First, based on the regional full-coverage principle, through the calculation and analysis of the spray voyage outside the pesticide application operation area, the formula for the shortest spray voyage outside the area under the full-coverage premise was derived. Then, combined with the full-coverage route planning method, the optimal route planning algorithm for full-coverage aerial pesticide application was obtained. Real-time collection of flight trajectories was realized via hardware and software design, and two-way information transmission was conducted between the OneNet IoT platform and mobile terminals. Finally, full-coverage spray operation tests with 7 different heading directions were carried out on three test sites with distinct terrains respectively. The test results demonstrated that, across the three test sites, the voyage distance when operating in accordance with the planned heading was shorter than that when operating with the other 6 headings in the test group. The maximum reductions in voyage distance compared to other headings were 4.920 km, 6.903 km and 59.913 km respectively; furthermore, the excess coverage rates were all the minimum, with the lowest values being 2.08%, 7.17% and 0.57% respectively.

搜集汇总

背景与挑战

背景概述

该数据集聚焦于直升机航空施药全覆盖航线规划算法，旨在解决施药过程中多施、漏施、重施等导致的覆盖不精准问题。算法基于区域全覆盖原理，通过计算最短喷雾航程和优化航线规划，实现精准覆盖，并在三种不同地形试验中验证了其有效性能显著缩短航程并降低多余覆盖率。数据集属于人工林重大灾害防控关键技术研究项目，以文档格式提供，为协议共享数据。