Photoactivation of plants by laser treatment is a promising direction in the development of modern agricultural production. Treatment of plants with radiation with specified characteristics stimulates the development of plants, the formation of generative traits and an increase in yield. An approach based on the use of a specialized laser installation mounted on an unmanned aerial vehicle (UAV) is proposed to automate the process of photoactivation of large cultivated areas. It is possible to perform laser activation of large areas with minimal expenditure of time and human resources due to autonomous processing of the field with the help of UAVs. An algorithm for calculating a covering trajectory for covering large rectangular areas with a laser spot with given characteristics is proposed in the paper. A methodology for calculating the required power of the laser installation depending on the altitude and flight time of the UAV is presented. The advantage of the developed approach is its versatility, since this approach takes into account the characteristics of a laser installation and can be used with devices of various types. Depending on the laser parameters, the algorithm builds such a trajectory for the UAV so that the irradiation of plant seedlings is uniform throughout the entire processing process. Field experiments were conducted when the UAV moved along the calculated trajectory at a speed of 0.3 m/s and the average processing time for a field 200 m long and 1 m wide was 9 minutes. The results of field experiments show that laser irradiation on most of the studied crops increased the yield and height of the stand (in cereals - in four out of six crops, in legumes - in four out of five studied crops). The proposed algorithm for constructing a path for uniform laser irradiation of a site takes into account the area of the laser spot to ensure the required radiation characteristics when using any laser installation.

No abstract

Diagnostics of high-voltage power lines using unmanned aerial vehicles enables to identify problems at the early stages. This method of inspection of power transmission lines allows for aerial imaging in hard-to-reach places in order to further analyze the images obtained. The construction of the optimal route in terms of avoiding obstacles and the time spent on calculating the trajectory itself and flying along it to study power lines directly affects the quality, speed, and results of examining the towers and elements of power lines. The paper proposes a method for examining power lines by detection of damage to the structure and elements of power transmission lines. The method consists of two algorithms: an algorithm for detecting operational altitudes and an algorithm for UAV movement along the power transmission line. In our proposed solution, the developed method of inspection of power lines is not limited to one straight section of power lines. The peculiarity of the method is that the path planning using the RRT algorithm along the power transmission line occurs in two-dimensional space at a given working height. To test the efficiency of the proposed survey method, simulation was performed in the Gazebo software environment. The path search time in our proposed survey method does not exceed 0.3 µs for two sections of power transmission lines with an angular tower and a total path length of 200 m. Moreover, this algorithm allows the UAV to fly around the towers at a safe distance, subject to a predetermined terrain map.

No abstract

No abstract