CN106568443A - Automatic spray bow-shaped path planning method and plant protection unmanned aerial vehicle spray operation method - Google Patents

Abstract

The invention discloses an automatic spray bow-shaped path planning method comprising the following steps: S101, position coordinates of four end points A, B, C and D of a to-be-operated quadrilateral farmland are obtained one by one by a plant protection unmanned aerial vehicle, and an operation height value of the plant protection unmanned aerial vehicle is determined; S102, a group of equidistant straight lines parallel to one selected edge of a quadrangle are taken, the spacing is H, the group of straight lines have at least one intersection point J with two side edges of the selected edge; and S103, all the intersection points are ranked, the intersection points are arrayed in a bow-shaped manner during series connection, and the path planning is completed. Through bow-shaped spraying of a drug, the working intensity of a drone flyer can be reduced, and the automatic spraying efficiency of the plant protection unmanned aerial vehicle also can be improved.

Description

Automatic spraying bends vee path V planing method and fog machine spraying operation method

Technical field

The present invention relates to plant protection unmanned air vehicle technique field, more particularly to a kind of automatic spraying bow vee path V planing method and Fog machine spraying operation method.

Background technology

In recent years, the market of unmanned plane is flourished, and also more and more extensively, agricultural is exactly that one of them is huge to application Market.Used as large agricultural country, 1,800,000,000 mu of basic arable lands need every year substantial amounts of personnel to be engaged in agriculture plant protection operation, together for China When, rural area person between twenty and fifty labour is gradually rare, and human cost increasingly increases, and when plant protection operation is carried out, agricultural chemicals is to human body Injury is larger, and agricultural is also required to be found a way out from agricultural machinery, and plant protection unmanned plane is exactly a good solution.Four rotations Wing plant protection unmanned plane has operation height low, can hover, and without the need for special landing airport, the downdraught that rotor is produced contributes to increasing Plus penetrability of the agricultural chemicals spray to crop, than artificial laxative more preferably, long-distance remote control is operated prevention effect, and spraying operation personnel keep away The danger being exposed under agricultural chemicals aerosol is exempted from, many advantages, such as improve spraying operation security.In addition, compared to traditional hand Dynamic sprinkling, plant protection unmanned plane can at least save 50% Pesticide use amount using spray mode, save 90% and use water Amount, this will significantly reduces cost.

Nowadays, realize that the company of the technology of plant protection unmanned plane automatic spraying is few, there are some to need artificial to go collection The boundary point in one piece of field, then can just calculate sprinkling path.For different farmlands, each piece is required for artificially going to adopt Collection, can so substantially reduce spraying efficiency；In addition, also there are some simply to gather two points, unmanned plane is then allowed according to the two Boundary point carries out traversing operation, and this method may be only available for the farmland of square or rectangle, and if 2 points of collection have Some deviations, can cause entirely to spray path and deflect away from farmland, cause drain spray and waste, while needing artificial going at the end of sprinkling Judge and stop unmanned plane.

Using traversing operational method, plant protection unmanned plane can be caused ceaselessly to accelerate in operation process, slow down, and it is traversing When can also cause border to repeat to spray, on the one hand reduce efficiency, on the other hand also cause crops by secondary sprinkling, cause agriculture Medicine residual is too high.

The unmanned plane of plant protection at present mainly realizes spraying operation by the manual manipulation of the winged hand of specialty, but due to daily The sprinkling task on hundreds of mu of ground is very high to the requirement for flying hand, therefore realizes that the automatic spraying function of plant protection unmanned plane is necessary 's.On the one hand, can reduce flying the working strength of hand, on the other hand can also improve the spraying efficiency of plant protection unmanned plane.

The content of the invention

It is an object of the invention to overcome the deficiency of above-mentioned prior art and provide a kind of automatic spraying bow vee path V rule The method of drawing, the present invention is aiming at the automatic spraying function of plant protection unmanned plane, there is provided a kind of efficient, convenient automatic spraying road Footpath algorithm.The present invention is primarily to improve the automatic spraying efficiency of plant protection unmanned plane.The present invention can pass through unmanned plane during flying Sampling site replacing artificially going to the sampling site mode on border, such that it is able to reducing the workload of winged hand and reducing the standard of spraying operation The standby time；Meanwhile, the present invention can realize the sprinkling path planning in the quadrangle field of irregular terrain profiles, and spreadability is strong, more Accurately, the demand in more different fields can be met.

For achieving the above object, the present invention provides a kind of automatic spraying bow vee path V planing method, comprises the steps：

S101, plant protection unmanned plane obtains one by one the position coordinates of four summits A, B, C, the D in the quadrangle farmland for treating operation, Any a line in the quadrangle farmland is chosen as selected side, two summits on the selected side as task point, and really The operation height value of unmanned plane is protected in field planting；

S102, takes parallel with the selected side and equidistant one group of straight line, and the spacing between adjacent straight line is H, this Its excess-three bar in group straight line and the quadrangle farmland while two of which while intersect, intersection point is J, and the intersection point J is task point；

S103, by all task points according to predetermined rule compositor, in the arrangement of " bow " font when making each task point connect, Complete path planning.

Preferably, S101 by control plant protection unmanned plane under winged hand manual mode specifically, fly to successively four tops in farmland Point A, B, C, D, by the switch control rule of remote control, to the flight control system of plant protection unmanned plane the instruction of coordinate acquisition are sent, and are obtained The GPS location coordinate of this four points, by four edges circle in farmland at this four points determination.

Preferably, when any end points is gathered, unmanned plane is flown to into specified altitude assignment, and gathers this height value, will This is highly as operation height H during automatic spraying.

Preferably, the step of S102 also includes coordinate transform before performing, specially：

S102-1, GPS location coordinate when being unlocked according to unmanned plane is as origin and former as coordinate system using the origin Point O, with towards due south as x-axis positive direction, towards due west as y-axis positive direction, the GPS location coordinate of summit A, B, C, D to be turned Change the x/y coordinates in units of rice into；

S102-2, X/Y coordinate systems are converted to using Euler's transformation by x/y coordinate systems, in the X/Y coordinate systems, with to AmountDirection be X-axis positive direction, perpendicular to vectorAnd towards C points and B points side be Y-axis positive direction.

Preferably, in S102-1, the coordinate of four summits A, B, C, D under x/y coordinate systems is set to (A_x, A_y), (B_x, B_y), (C_x, C_y), (D_x, D_y),

In S102-1, coordinate is (A under four summit X/Y coordinate systems after conversion_X, A_Y), (B_X, B_Y), (C_X, C_Y), (D_X, D_Y),

If auxiliary angle [alpha], is defined as：

Coordinate system transformation formula is：

Preferably, the linear equation of three sides AB, BC, CD under X/Y coordinate systems is calculated:

The linear equation on AB sides is：

The linear equation on BC sides is：

The linear equation on CD sides is：

Take AD while for select while；

Definition sprinkling path separation H, takes one group of straight line Y=ZH, this group of straight line and the selected side under X/Y coordinate systems It is parallel, wherein, Z is the positive integer more than or equal to 1, the AB of this group of straight line and quadrangle, BC, CD tri- while two of which while phase Hand over, obtain all intersection point J₂, J₃, J₄... ... J_i……J_Max.Wherein, 2≤i≤Max, Max >=2, J_MaxFor straight line and quadrangle Last intersection point, if (J_iX, J_iY) it is J_iCoordinate value of the point under X/Y coordinate systems；

Two task points on the farmland quadrangle are respectively defined as into J₀And J₁。

Preferably, the intersection point J₂, J₃, J₄... ... J_i……J_MaxCoding rule be：Every straight line and the farmland four The intersection point queueing discipline of side shape is：Successively according to the task point J with the selected side₁It is intersecting while with it is described selected while it is right While with it is described selected while task point J₀Intersecting side, serial number from small to large, the order of straight line is with adjacent with selected side Straight line is initial straight line, the direction serial number successively of the straight line on the selected side is directed away from, then to J_iPoint is numbered Adjustment, when i is more than 1, X-coordinate is exchanged by i with i divided by the point that 4 remainders are 0 divided by the point that 4 remainders are 1, then, each Business point is incremented by series connection and forms " bow " font according to i values.

Preferably, after the completion of path planning, to from J₀To J_MaxThe coordinate of series of points carry out the inversion of Euler's transformation Change, obtain J'₀To J'_MaxCoordinate of the series of points under x/y coordinate systems,For J_i' seat under x/y coordinate systems Scale value,

Specifically mapping mode is：

Again by J₀To J_MaxSeries of points Coordinate Conversion be true farmland region longitude coordinate and latitude coordinate series Point Z₀To Z_Max。

Preferably, with the operation height there is positive correlation, within the specific limits, operation height in the sprinkling spacing Higher, sprinkling spacing is bigger.

Preferably, it is 2 to 4 meters to spray spacing H.

Preferably, each position coordinate is stored in the flight control system of plant protection unmanned plane.

The present invention also provides a kind of fog machine spraying operation method, comprises the steps：

S1, using a kind of automatic spraying bow vee path V algorithm implementation method path planning is carried out；

S2, by point Z comprising GPS location coordinate₀To Z_MaxAnd height value is delivered to the memory of plant protection unmanned plane In, plant protection unmanned plane passes sequentially through Z₀To Z_MaxEach point performs spraying operation automatically.

The present invention also provides a kind of fog machine, is sprayed using a kind of automatic spraying bow vee path V algorithm implementation method Operation.That is, a kind of automatic spraying bow vee path V algorithm implementation method is applied on fog machine.Fog machine be plant protection without Man-machine abbreviation.

The invention has the beneficial effects as follows：

The present invention can fly to four boundary point coordinate acquisition positions in farmland by plant protection unmanned plane, then calculate in real time Go out and spray path, realize the automatic path planning of " bow " font, so make plant protection unmanned plane after collection point completes, at once Automatic spraying can be performed." bend " path planning of font in addition, it is possible to reduce repetition of the plant protection unmanned plane in operation process The region of sprinkling, so as to further improve the efficiency of automatic spraying.The inventive method goes for the four of irregular terrain profiles Side shape field.The present invention can realize that automatic path planning and sprinkling are made by the sampling site of plant protection unmanned plane and from host computer Industry, it is not necessary to which artificial goes field border sampling site with equipment；The present invention than only gather two points method for, be not in compared with Big skew, more accurately；After the path planning of the present invention, the sprinkling of plant protection unmanned plane is more uniform, reduces and repeats or omit Spray area.

Description of the drawings

Fig. 1 is the schematic diagram of farmland in the present embodiment under coordinate system O；

Fig. 2 is the schematic diagram that the farmland in the present embodiment carries out after Euler's transformation under coordinate system P；

Fig. 3 is that the schematic diagram after task point numbering is chosen in the farmland in the present embodiment under coordinate system P；

Fig. 4 is that the farmland in the present embodiment adjusts the schematic diagram after task point numbering under coordinate system P；

Fig. 5 be the farmland in the present embodiment task point after the inverse transformation for carrying out Euler's transformation showing under coordinate system O It is intended to；

Fig. 6 is that the task point in the farmland in the present embodiment is converted to showing after the GPS location coordinate system in true farmland region It is intended to；

Fig. 7 is the FB(flow block) of the present embodiment.

The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.

Specific embodiment

Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.

Embodiment one：

The path design of the present invention, can be directed to irregular quadrangle field carries out the planning of automated path.It is logical Cross plant protection unmanned plane and fly to collection of the boundary end point to position coordinates and height, calculate, cook up rational " bow " vee path V. Fig. 1 to Fig. 6 is referred to, specific implementation is as follows：

First, by four summits A, B, C, D that plant protection unmanned plane flies to successively farmland are controlled under winged hand manual mode, pass through The switch control rule of remote control, to flight control system send coordinate acquisition instruction, so as to and obtain this four points GPS location sit Mark, i.e. latitude and longitude coordinates.Four edges circle in farmland are can determine by this four points.And gather the 4th end points D when Wait, while returning the height value for collecting D points, the path come is cooked up afterwards, just the height using D points is used as work during automatic spraying Industry height.Any a line in quadrangle farmland is chosen as selected side, two summits on side is selected as task point.In this reality In applying example, to select side, summit A and summit D is task point to AD.

Flight control system can store unmanned plane GPS coordinate data at that time as unmanned plane when unmanned plane is unlocked Origin, using this origin as coordinate origin O points, with towards due south as x-axis positive direction, with towards due west as y-axis positive direction, The plane right-angle coordinate O that can be converted in units of rice by four GPS latitude and longitude coordinates selected that the first step is collected, puts down Face rectangular coordinate system O is x/y coordinate systems, as shown in figure 1, coordinate of tetra- points of A, B, C, D under coordinate system O is set to (A_x, A_y),(B_x,B_y),(C_x,C_y),(D_x,D_y)。

Plane right-angle coordinate P is built, coordinate system P is X/Y coordinate systems.The coordinate system with summit A as origin, with vectorDirection be X-axis positive direction, perpendicular to vectorFor Y-axis, and C points and B points is placed in Y-axis positive direction, that is, be distributed in First or second quadrant.The coordinate of 4 points is carried out into Euler's transformation.

Result after conversion is as shown in Figure 2.

Point coordinates of tetra- points of A, B, C, D after conversion under P coordinate systems is (A_X,A_Y),(B_X,B_Y),(C_X,C_Y),(D_X, D_Y),

If auxiliary angle [alpha], is defined as：

Coordinate system transformation formula is：

Wherein, by the change of above-mentioned transformation for mula, each point is transformed under coordinate system P under coordinate system O.Wherein, A points are seat Origin under mark system P, now, A points coordinate value (A under coordinate system P_X,A_Y) for (0,0).The auxiliary angle is being sat with selected side AD Slope under mark system O is related.

Calculate three side AB under P coordinate systems, the linear equation of BC, CD:

The linear equation on AB sides is：

The linear equation on BC sides is：

The linear equation on CD sides is：

Definition sprinkling path separation H, sprinkling spacing is that concrete measurement draws under certain altitude.Because unmanned plane is sprayed Liquid form cone in path when falling, therefore within the specific limits, operation height is higher, and sprinkling spacing is bigger, but by In the impact of many factors, without specific calculated relationship.The height value and sprinkling spacing of operation needs to set as the case may be It is fixed.In the present embodiment, optimum sprinkling spacing is 2-4 rice.

One group of straight line Y=ZH is taken under X/Y coordinate systems, this group of straight line is parallel and equidistant with the selected side, adjacent Spacing between two straight lines is H, wherein, Z is the positive integer more than or equal to 1, this group of straight line and AB, BC and CD of quadrangle Two of which side is intersected, and obtains all intersection points, and respectively numbering is J₂, J₃, J₄... ... J_i……J_MAX, wherein, 2≤i≤Max, Max≥2.It is J by D points numbering₀, A points numbering is J₁.Wherein J₂, J₃, J₄... ... J_i……J_MaxCoding rule be：It is straight per bar Line is with the intersection point queueing discipline of farmland quadrangle：According to the task on selected side point J₁It is intersecting while → with it is selected while opposite side → task point the J with selected side₀Intersecting side, descending order numbering, the order of straight line is with the straight line adjacent with selected side For initial straight line, the direction of the straight line for being directed away from selecting side serial number successively.

In the present embodiment, AD is while to select, the intersection point of every straight line and quadrangle with AB in → BC → CD sides Intersecting order is numbered from small to large, and the direction of the order of straight line with AD when adjacent straight line is as initial straight towards BC is successively Serial number, as shown in Figure 3.J_MaxFor straight line and quadrangle last intersection point, if last root straight line only has one with quadrangle Individual intersection point, then J_MaxFor C points, as shown in Figure 3.IfFor J_iCoordinate value of the point under coordinate system P.

To J_iPoint carries out the numbering adjustment of pre-defined rule, when i is more than 1, i is removed divided by the point that 4 remainders are 0 with i X-coordinate is exchanged with the point that 4 remainders are 1, as shown in Figure 4.Numbering being linked in sequence from small to large when each task point connects, it will Make plant protection unmanned plane directly proceed by automatic spraying task from D points, and sprayed with " bow " font order.

To J₀、J₁、J₂……J_i……J_MaxThe coordinate of series of points carry out the inverse transformation of Euler's transformation, obtain J'₀、 J₁'、J'₂……J_i'……J'_MaxSeries of points coordinate.J'₀To J'_MaxFor the coordinate in plane right-angle coordinate O,For J_i' coordinate value under plane right-angle coordinate O.

Specifically mapping mode is：

Again by J'₀To J'_MaxEach point is converted to the GPS location coordinate series Z in true farmland region₀Point arrives Z_Max, it is now just complete Into path planning.According to Z₀Point arrives Z_MaxOrder be exactly the three-back-shaped path cooked up of the present invention.

It is pointed out that it is first under coordinate system O by true GPS location Coordinate Conversion to employ in the present embodiment.Coordinate It is that O is referred to as x/y coordinate systems, then coordinate system O is transformed under coordinate system P, coordinate system P is properly termed as X/Y coordinate systems again, Thus, being that quadrangle is carried out into rotation process on two dimensional surface from from geometric figure, AD sides and plane right-angle coordinate are made X-axis alignment, and A points are set to into origin.Thus, the purpose for simplifying calculating can be reached.But, directly sat using GPS location Mark carries out follow-up calculating can similarly realize the purpose of the present invention.Additionally, operation height value can be by A, B, C, D point Obtain at any point, it is of course also possible to use the mean value of the height value of two points or multiple points in this four points.

In the present embodiment, as shown in figure 4, employ parallel with X-axis group straight line to go to cut quadrangle, this group of straight line There is crosspoint in, CD with AB.The coordinate in these crosspoints is tried to achieve by seeking straight line with the formula of straight-line intersection.

Refer to Fig. 6, Z₀→Z₁→Z₂→Z₃→Z₄→……Z_i……Z_MAXIt is the bow vee path V planning of the present invention.Need It is noted that it is the zonule put comprising each that each point can also be expanded, when plant protection unmanned plane is sequentially passed through comprising each During the region of point, it is treated as by the point, this mainly considers the positioning precision of plant protection unmanned plane, by adjusting the region Radius, can control the precision of spraying operation and the requirement of the positioning precision for plant protection unmanned plane.

The necessary implementation steps of the present invention are given in Fig. 7, in path planning algorithm, can be by computer according to this The algorithm of invention obtains computer program, and then plant protection unmanned plane removes the extreme coordinates for obtaining quadrangle farmland by program, and Outbound path is calculated by program.It is of course also possible to use mode of manual calculations etc..Comprise the steps of in Fig. 7：S101, plants The position coordinates that unmanned plane obtains one by one four summits A, B, C, the D in the quadrangle farmland for treating operation is protected, the quadrangle is chosen Used as selected side, two summits on the selected side determine plant protection unmanned plane to any a line in farmland as task point Operation height value；S102, takes parallel with the selected side and equidistant one group of straight line, and the spacing between adjacent straight line is H, Its excess-three bar in this group of straight line and the quadrangle farmland while two of which while intersect, intersection point is J, and the intersection point J is task Point；S103, by all task points according to predetermined rule compositor, in " bow " font row when making each described task point connect Row, complete path planning.If the area in quadrangle farmland is less, each intersection point J can be determined by way of reduction spacing H； It is to be noted that the horizontal linear can also be the neutrality line of the quadrangle.If farmland is too small, using plant protection unmanned plane Manual mode spraying operation.Any one of quadrangle is when can serve as selecting.

Embodiment two：

The present invention provides a kind of fog machine spraying operation method, and step is as follows：Using the paths planning method of embodiment one Path planning is finished, then by point Z comprising true GPS latitude and longitude coordinates₀Point arrives Z_MaxAnd the D for collecting before Point height value all upload in the internal memory of flight controller, aircraft is switched to into mission mode, then aircraft will automatically from First point starts a sprinkling to the last point.It is pointed out that internal memory can also be replaced by other storage mediums, to Store these data.

The inventive method goes for the quadrangle field of irregular terrain profiles；The present invention can pass through plant protection unmanned plane Sampling site and from host computer realizing automatic path planning and spraying operation, it is not necessary to artificial goes to field border to adopt with equipment Point；Be not in larger skew, more accurately for the present invention is than the only method of two points of collection；The path rule of the present invention After drawing, the sprinkling of plant protection unmanned plane is more uniform, reduces the spray area for repeating or omitting.

Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is in the principle and objective without departing from the present invention In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.

Claims (10)

1. a kind of automatic spraying bends vee path V planing method, it is characterised in that comprise the steps：

S101, plant protection unmanned plane obtains one by one the position coordinates of four summits A, B, C, the D in the quadrangle farmland for treating operation, chooses Used as selected side, two summits on the selected side determine plant to any a line in the quadrangle farmland as task point Protect the operation height value of unmanned plane；

S102, takes parallel with the selected side and equidistant one group of straight line, and the spacing between adjacent straight line is H, and this group is straight Its excess-three bar in line and the quadrangle farmland while two of which while intersect, intersection point is J, and the intersection point J is task point；

S103, all task points are sorted according to pre-defined rule, in " bow " font row when making each described task point connect Row, complete path planning.

2. according to claim 1 automatic spraying bends vee path V planing method, it is characterised in that：

S101 is specifically, by four summits A, B, C, D that plant protection unmanned plane flies to successively farmland are controlled under winged hand manual mode, lead to The switch control rule of remote control is crossed, to the flight control system of plant protection unmanned plane the instruction of coordinate acquisition is sent, obtain this four tops The GPS location coordinate of point, by this four described summits four edges circle in farmland are determined.

3. according to claim 2 automatic spraying bends vee path V planing method, it is characterised in that：Gathering arbitrary summit When, unmanned plane is flown to into specified altitude assignment, and this height value is gathered, using this highly as operation height during automatic spraying Value.

4. according to claim 2 automatic spraying bends vee path V planing method, it is characterised in that：

The step of S102 also includes coordinate transform before performing, specially：

S102-1, GPS location coordinate when being unlocked according to unmanned plane as origin, and using the origin as coordinate origin O, With towards due south as x-axis positive direction, with towards due west as y-axis positive direction, by the GPS location Coordinate Conversion of summit A, B, C, D into X/y coordinates in units of rice；

S102-2, X/Y coordinate systems are converted to using Euler's transformation by x/y coordinate systems, in the X/Y coordinate systems, with vector Direction be X-axis positive direction, perpendicular to vectorAnd towards C points and B points side be Y-axis positive direction.

5. according to claim 4 automatic spraying bends vee path V planing method, it is characterised in that：

In S102-1, the coordinate of four described summit A, B, C, D under x/y coordinate systems is set to (A_x, A_y),(B_x, B_y),(C_x, C_y), (D_x, D_y),

In S102-2, the coordinate under X/Y coordinate systems of four summits after conversion is (A_X, A_Y), (B_X, B_Y), (C_X, C_Y), (D_X, D_Y),

If auxiliary angle [alpha], is defined as：

$tan\mathrm{\α}=\frac{D_y-A_y}{D_x-A_x}$

Coordinate system transformation formula is：

$\left\{\begin{array}{c}{A}_X=0\\ A_Y=0\end{array}\right.,$

$\left\{\begin{array}{c}{B}_X=(B_x-A_x)\·\cos \mathrm{\α}+(B_y-A_y)\·\sin \mathrm{\α}\\ B_Y=-(B_x-A_x)\·\sin \mathrm{\α}+(B_y-A_y)\·\cos \mathrm{\α}\end{array}\right.,$

$\left\{\begin{array}{c}{C}_X=(C_x-A_x)\·\cos \mathrm{\α}+(C_y-A_y)\·\sin \mathrm{\α}\\ C_Y=(C_x-A_x)\·\sin \mathrm{\α}+(C_y-A_y)\·\cos \mathrm{\α}\end{array}\right.,$

$\left\{\begin{array}{c}{D}_X=(D_x-A_x)\·\cos \mathrm{\α}+(D_y-A_y)\·\sin \mathrm{\α}\\ D_Y=0\end{array}\right..$

6. according to claim 4 automatic spraying bends vee path V planing method, it is characterised in that：

Calculate the linear equation of three sides AB, BC, CD under X/Y coordinate systems:

The linear equation on AB sides is：

The linear equation on BC sides is：

The linear equation on CD sides is：

Definition sprinkling path separation H, takes one group of straight line Y=ZH under X/Y coordinate systems, and this group of straight line is flat with the selected side OK, wherein, Z is the positive integer more than or equal to 1, its excess-three bar of this group of straight line and quadrangle while two of which while intersect, obtain All intersection point J₂, J₃, J₄... ... J_i……J_Max, wherein, 2≤i≤Max, Max >=2, J_MaxFor straight line and quadrangle last Intersection point, ifFor J_iCoordinate value of the point under X/Y coordinate systems；

Two task points on the farmland quadrangle are respectively defined as into J₀And J₁。

7. according to claim 6 automatic spraying bends vee path V planing method, it is characterised in that：

The pre-defined rule is：The intersection point J₂, J₃, J₄... ... J_i……J_MaxCoding rule be：Every straight line and the agriculture The intersection point queueing discipline of field quadrangle is：Successively according to the task point J with the selected side₁It is intersecting while with it is described selected while Opposite side and the selected side task point J₀Intersecting side, serial number from small to large, the order of straight line with selected side phase Adjacent straight line is initial straight line, the direction serial number successively of the straight line on the selected side is directed away from, then, to J_iPoint is carried out Numbering adjustment, when i is more than 1, X-coordinate is exchanged by i with i divided by the point that 4 remainders are 0 divided by the point that 4 remainders are 1, finally, Each task point is incremented by series connection and forms " bow " font according to i values.

8. according to claim 7 automatic spraying bends vee path V planing method, it is characterised in that：

After the completion of path planning, to from J₀To J_MaxThe coordinate of series of points carry out the inverse transformation of Euler's transformation, obtain J'₀Arrive J'_MaxCoordinate of the series of points under x/y coordinate systems,For J '_iCoordinate value under x/y coordinate systems,

Specifically mapping mode is：

$\left\{\begin{array}{c}{J}_{i_x}^{\′}=J_{i_X}\·\cos \mathrm{\α}-J_{i_Y}\·\sin \mathrm{\α}+A_x\\ J_{i_y}^{\′}=J_{i_X}\·\sin \mathrm{\α}+J_{i_Y}\·\cos \mathrm{\α}+A_y\end{array}\right.,$

Again by J₀To J_MaxSeries of points Coordinate Conversion be true farmland region longitude coordinate and latitude coordinate point Z₀ To Z_Max。

9. according to claim 1 automatic spraying bends vee path V planing method, it is characterised in that：

The position coordinates of each task point is stored in the flight control system of plant protection unmanned plane.

10. a kind of fog machine spraying operation method, it is characterised in that comprise the steps：

S1, using a kind of automatic spraying bow vee path V planing method described in any one of claim 1 to 9 path rule are carried out Draw；

S2, by point Z comprising GPS location coordinate₀To Z_MaxAnd height value is delivered in the memory of plant protection unmanned plane, plant Protect unmanned plane and pass sequentially through Z₀To Z_MaxEach point performs spraying operation automatically.