CN106568443B - Automatic spraying bends vee path V planing method and fog machine spraying operation method - Google Patents
Automatic spraying bends vee path V planing method and fog machine spraying operation method Download PDFInfo
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- CN106568443B CN106568443B CN201610912176.3A CN201610912176A CN106568443B CN 106568443 B CN106568443 B CN 106568443B CN 201610912176 A CN201610912176 A CN 201610912176A CN 106568443 B CN106568443 B CN 106568443B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of automatic sprayings to bend vee path V planing method, includes the following steps S101, and plant protection drone obtains the position coordinates of four terminal As to operation quadrangle farmland, B, C, D one by one, and determines the operation height value of plant protection drone；S102 takes the equidistant one group straight line parallel with the selected side of quadrangle, spacing H, this group of straight line and the two sides of selected deckle at least one intersection point J；Each intersection point sorting is made each intersection point, in bow font arrangement, complete path planning when connecting by S103.By bending the sprinkling drug of font, the working strength of winged hand can be reduced, can also be improved the automatic spraying efficiency of plant protection drone.
Description
Technical field
The present invention relates to plant protection drone technical field more particularly to a kind of automatic spraying bow vee path V planing method and
Fog machine spraying operation method.
Background technique
In recent years, the market of unmanned plane is flourished, and application field is also more and more extensive, and agricultural is exactly that one of them is huge
Market.China is used as large agricultural country, 1,800,000,000 mu of basic arable lands, needs a large amount of personnel to be engaged in agriculture plant protection operation every year, together
When, rural area person between twenty and fifty labour is gradually rare, and human cost increasingly increases, and when carrying out plant protection operation, pesticide is to human body
Injure larger, agricultural is also required to find a way out from agricultural machinery, and plant protection drone is exactly a good solution.Four rotations
Wing plant protection drone has operation height low, can hover, and is not necessarily to dedicated landing airport, and the downdraught that rotor generates helps to increase
Add pesticide spray to the penetrability of crop, control efficiency is more preferable than artificial laxative, and long-distance remote control operation, spraying operation personnel keep away
Many advantages, such as having exempted from the danger being exposed under pesticide aerosol, having improved spraying operation safety.In addition, compared to traditional hand
Dynamic sprinkling, plant protection drone can at least save 50% Pesticide use amount using spray mode, save 90% and use water
Amount, this will significantly reduce cost.
Nowadays, it realizes that the company of the technology of plant protection drone automatic spraying is few, has and some need artificial to go to acquire
Then the boundary point in one piece of field can just calculate sprinkling path.For different farmlands, each piece requires artificially to go to adopt
Collection, will be greatly reduced spraying efficiency in this way；In addition, then allowing unmanned plane according to the two there are also two points are only acquired
Boundary point carries out traversing operation, and this method may be only available for the farmland of square or rectangle, and if the two o'clock of acquisition has
Some deviations can entirely to spray path and deflect away from farmland, cause drain spray and waste, while needing artificial go at the end of spraying
Judge and stops unmanned plane.
Using traversing operational method, plant protection drone can be made ceaselessly to accelerate in operation process, slow down, and traversing
When can also make boundary repeat to spray, efficiency is on the one hand reduced, on the other hand but also crops cause agriculture by secondary sprinkling
Medicine residual is excessively high.
Plant protection drone mainly realizes spraying operation by the manual manipulation of the winged hand of profession at present, but due to daily
Requirement of the sprinkling task on several hundred mu of ground to winged hand is very high, therefore realizes that the automatic spraying function of plant protection drone is necessary
's.On the one hand, the working strength of winged hand can be reduced, on the other hand can also be improved the spraying efficiency of plant protection drone.
Summary of the invention
A kind of automatic spraying bow vee path V rule are provided it is an object of the invention to overcome the deficiency of the above-mentioned prior art
The method of drawing, the present invention is aiming at the automatic spraying function of plant protection drone, efficient, the convenient automatic spraying road of one kind that provides
Diameter algorithm.The present invention is primarily to improve the automatic spraying efficiency of plant protection drone.The present invention can pass through unmanned plane during flying
Sampling site replaces the sampling site mode for artificially going to boundary, so as to reduce the workload of winged hand and reduce the standard of spraying operation
The standby time；Meanwhile the sprinkling path planning in the quadrangle field of irregular terrain profiles may be implemented in the present invention, spreadability is strong, more
Accurately, it can satisfy the demand in more different fields.
To achieve the above object, the present invention provides a kind of automatic spraying bow vee path V planing method, includes the following steps:
S101, plant protection drone obtain the position coordinates of four vertex A, B, C, the D in the quadrangle farmland to operation one by one,
Any a line in the quadrangle farmland is chosen as selected side, two vertex on the selected side are and true as task point
Determine the operation height value of plant protection drone；
S102 takes parallel with the selected side and equidistant one group of straight line, and the spacing between adjacent straight line is H, this
Group straight line and its excess-three in the quadrangle farmland while two of them while intersect, intersection point J, the intersection point J are task point；
S103 arranges each task point when connecting in " bow " font by all task points according to scheduled rule compositor,
Complete path planning.
Preferably, S101 is specifically, successively fly to four tops in farmland by flying control plant protection drone under hand manual mode
Point A, B, C, D send the instruction of coordinate acquisition to the flight control system of plant protection drone by the switch control of remote controler, obtain
The GPS location coordinate of this four points passes through four edges circle in farmland at this four points determinations.
Preferably, when acquiring any endpoint, unmanned plane is flown into specified altitude assignment, and acquire this height value, it will
This is highly used as operation height H when automatic spraying.
Preferably, S102 further includes the steps that there is coordinate transform before executing, specifically:
S102-1, GPS location coordinate when being unlocked according to unmanned plane are former as origin, and using the origin as coordinate system
Point O, using towards due south as positive direction of the x-axis, using towards due west as positive direction of the y-axis, by the GPS location coordinate of vertex A, B, C, D turn
Change the x/y coordinate as unit of rice into；
X/y coordinate system is converted to X/Y coordinate system using Euler's transformation by S102-2, in the X/Y coordinate system, with to
AmountDirection be X-axis positive direction, perpendicular to vectorAnd towards C point and the point side B be Y-axis positive direction.
Preferably, in S102-1, the coordinate of four vertex A, B, C, D under x/y coordinate system is set as (Ax, Ay), (Bx, By),
(Cx, Cy), (Dx, Dy),
In S102-1, coordinate is (A under the X/Y coordinate system of transformed four vertexX, AY), (BX, BY), (CX, CY), (DX,
DY),
If assisting angle [alpha], is defined as:
Coordinate system transformation formula are as follows:
Preferably, the linear equation of three sides AB, BC, CD under X/Y coordinate system are calculated:
The linear equation on the side AB are as follows:
The linear equation on the side BC are as follows:
The linear equation on the side CD are as follows:
Take AD while to be selected；
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 system
In parallel, wherein Z is positive integer more than or equal to 1, the AB of this group of straight line and quadrangle, BC, CD tri- while two of them while phase
It hands over, obtains all intersection point J2, J3, J4... ... Ji……JMax.Wherein, 2≤i≤Max, Max >=2, JMaxFor straight line and quadrangle
The last one intersection point, if (JiX, JiY) it is JiCoordinate value of the point under X/Y coordinate system；
Two task points on the farmland quadrangle are respectively defined as J0And J1。
Preferably, the intersection point J2, J3, J4... ... Ji……JMaxCoding rule are as follows: every straight line and the farmland four
The intersection point queueing discipline of side shape are as follows: successively according to the task point J with the selected side1Intersection while, with it is described selected while pair
While, with it is described selected while task point J0The side of intersection, serial number from small to large, the sequence of straight line is with adjacent with selected side
Straight line is starting straight line, the direction of the straight line on the selected side successively serial number is directed away from, then to JiPoint is numbered
The point that i is 0 divided by 4 remainders is exchanged X-coordinate divided by the point that 4 remainders are 1 with i when i is greater than 1 by adjustment, then, each
Business point is incremented by series connection according to i value and forms " bow " font.
Preferably, after the completion of path planning, to from J0To JMaxSeries of points coordinate carry out Euler's transformation inversion
It changes, obtains J'0To J'MaxCoordinate of the series of points under x/y coordinate system,For Ji' seat under x/y coordinate system
Scale value,
Specific mapping mode are as follows:
Again by J0To JMaxSeries of points coordinate be converted to true farmland region longitude coordinate and latitude coordinate series
Point Z0To ZMax。
Preferably, there are positive correlations with the operation height for the sprinkling spacing, in a certain range, operation height
Higher, sprinkling spacing is bigger.
Preferably, sprinkling spacing H is 2 to 4 meters.
Preferably, each position coordinate is stored in the flight control system of plant protection drone.
The present invention also provides a kind of fog machine spraying operation methods, include the following steps:
S1 carries out path planning using a kind of automatic spraying bow vee path V algorithm implementation method；
S2, by the point Z comprising GPS location coordinate0To ZMaxAnd height value is transmitted to the memory of plant protection drone
In, plant protection drone passes sequentially through Z0To ZMaxEach point executes spraying operation automatically.
The present invention also provides a kind of fog machines, are 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 beneficial effects of the present invention are:
The present invention can fly to four boundary point coordinate acquisition positions in farmland by plant protection drone, then calculate in real time
Path is sprayed out, realizes the automatic path planning of " bow " font, after completing plant protection drone in collection point, at once
Automatic spraying can be executed.In addition " bend " path planning of font, it is possible to reduce repetition of the plant protection drone in operation process
The region of sprinkling, to further improve the efficiency of automatic spraying.The method of the present invention can be adapted 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 drone and from host computer
Industry does not need artificial to go field boundary sampling site with equipment；For method of the present invention than only acquiring two points, be not in compared with
Big offset, it is more accurate；After path planning of the invention, the sprinkling of plant protection drone is more uniform, reduces and repeats or omit
Spray area.
Detailed description of the invention
Fig. 1 is schematic diagram of the farmland at coordinate system O in the present embodiment；
Fig. 2 is that farmland in the present embodiment carries out schematic diagram after Euler's transformation at coordinate system P；
Fig. 3 is that the schematic diagram after task point number is chosen in the farmland in the present embodiment at coordinate system P；
Fig. 4 is that the farmland in the present embodiment adjusts the schematic diagram after task point number at coordinate system P；
Fig. 5 be the farmland in the present embodiment task point carry out Euler's transformation inverse transformation after showing at 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 flow diagram of the present embodiment.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Embodiment one:
Path design scheme of the invention can carry out the planning of automated path for irregular quadrangle field.It is logical
It crosses plant protection drone and flies to acquisition of the boundary end point to position coordinates and height, calculate, cook up reasonable " bow " vee path V.
Fig. 1 to Fig. 6 is please referred to, specific implementation is as follows:
Firstly, successively flying to four vertex A, B, C, the D in farmland by flying control plant protection drone under hand manual mode, pass through
The switch control of remote controler, to flight control system send coordinate acquisition instruction, thus and obtain this four points GPS location sit
Mark, i.e. latitude and longitude coordinates.Four edges circle in farmland can be determined by this four points.And acquire the 4th endpoint D when
Wait, while returning and collecting the height value of D point, cook up the path come later, just using the height of D point as automatic spraying when work
Industry height.Any a line in quadrangle farmland is chosen as selected side, selectes two vertex on side as task point.In this reality
It applies in example, AD is selected side, and vertex A and vertex D are task point.
Flight control system can store the GPS coordinate data of unmanned plane at that time as unmanned plane when unmanned plane unlocks
Origin, using this origin as coordinate origin O point, using towards due south as positive direction of the x-axis, using towards due west as positive direction of the y-axis,
Collected four GPS latitude and longitude coordinates selected of the first step can be converted into the plane right-angle coordinate O as unit of rice, put down
Face rectangular coordinate system O is x/y coordinate system, as shown in Figure 1, coordinate of tetra- points of A, B, C, D at coordinate system O is set as (Ax,
Ay),(Bx,By),(Cx,Cy),(Dx,Dy)。
Plane right-angle coordinate P is constructed, coordinate system P is X/Y coordinate system.The coordinate system is using vertex A as origin, with vectorDirection be X-axis positive direction, perpendicular to vectorIt for Y-axis, and is placed in C point and B point in Y-axis positive direction, that is, is distributed
In first or second quadrant.The coordinate of 4 points is subjected to Euler's transformation.
Transformed result is as shown in Figure 2.
Point coordinate of tetra- points of transformed A, B, C, D under P coordinate system is (AX,AY),(BX,BY),(CX,CY),(DX,
DY),
If assisting angle [alpha], is defined as:
Coordinate system transformation formula are as follows:
Wherein, by the variation of above-mentioned transformation for mula, each point is transformed under coordinate system P under coordinate system O.Wherein, A point is to sit
Origin under mark system P, at this point, A point coordinate value (A at coordinate system PX,AY) it is (0,0).The auxiliary angle is being sat with selected side AD
Slope under mark system O is related.
Three side AB under P coordinate system are calculated, the linear equation of BC, CD:
The linear equation on the side AB are as follows:
The linear equation on the side BC are as follows:
The linear equation on the side CD are as follows:
Definition sprinkling path separation H, sprinkling spacing are that specifically measurement obtains under certain altitude.Since unmanned plane sprays
Medical fluid form cone in path when falling, therefore in a certain range, operation height is higher, and sprinkling spacing is bigger, but by
In the influence of many factors, without specific calculated relationship.The height value and sprinkling spacing of operation need to set as the case may be
It is fixed.In the present embodiment, optimal sprinkling spacing is 2-4 meters.
One group of straight line Y=ZH is taken under X/Y coordinate system, this group of straight line is parallel with the selected side and equidistant, adjacent
Spacing between two straight lines is H, wherein Z is the positive integer more than or equal to 1, AB, BC and CD's of this group of straight line and quadrangle
The intersection of two of them side, obtains all intersection points, and number is J respectively2, J3, J4... ... Ji……JMAX, wherein 2≤i≤Max,
Max≥2.D point is numbered as J0, A point number is J1.Wherein J2, J3, J4... ... Ji……JMaxCoding rule are as follows: every is straight
The intersection point queueing discipline of line and farmland quadrangle are as follows: according to the task on selected side point J1Intersection while → with it is selected while opposite side
→ task point the J with selected side0The side of intersection, descending order number, the sequence of straight line is with the straight line adjacent with selected side
To originate straight line, it is directed away from the direction of the straight line on selected side successively serial number.
In the present embodiment, AD is when being selected, the intersection point of every straight line and quadrangle with AB in → BC → side CD
The sequence of intersection is numbered from small to large, the sequence of straight line using AD in adjacent straight line as initial straight towards BC while direction successively
Serial number, as shown in Figure 3.JMaxFor straight line and the last one intersection point of quadrangle, if last root straight line and quadrangle only have one
A intersection point, then JMaxFor C point, as shown in Figure 3.IfFor JiCoordinate value of the point at coordinate system P.
To JiPoint carries out the number adjustment of pre-defined rule, and when i is greater 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.To number sequential connection from small to large when each task point connects, it will
So that plant protection drone is carried out automatic spraying task directly since D point, and is sprayed with " bow " font sequence.
To J0、J1、J2……Ji……JMaxSeries of points coordinate carry out Euler's transformation inverse transformation, obtain J'0、
J1'、J'2……Ji'……J'MaxSeries of points coordinate.J'0To J'MaxFor the coordinate in plane right-angle coordinate O,For Ji' coordinate value at plane right-angle coordinate O.
Specific mapping mode are as follows:
Again by J'0To J'MaxEach point is converted to the GPS location coordinate series Z in true farmland region0Point arrives ZMax, just complete at this time
At path planning.According to Z0Point arrives ZMaxSequence be exactly the rectangular-ambulatory-plane path cooked up of the present invention.
First true GPS location coordinate is converted under coordinate system O it should be pointed out that being used in the present embodiment.Coordinate
It is that O is referred to as x/y coordinate system, then coordinate system O is transformed under coordinate system P, coordinate system P is properly termed as X/Y coordinate system again,
In this way, being that quadrangle is carried out to rotation process on two-dimensional surface from geometric figure, make the side AD and plane right-angle coordinate
X-axis alignment, and A point is set as origin.In this way, can achieve the purpose for simplifying calculating.But directly adopt GPS location seat
Mark, which carries out subsequent calculating, similarly may be implemented the purpose of the present invention.In addition, operation height value can be by A, B, C, D point
It is obtained at any point, it is of course also possible to use the average value of the height value of two points or multiple points in this four points.
In the present embodiment, as shown in figure 4, using the one group straight line parallel with X-axis removes cutting quadrangle, this group of straight line
There is crosspoint in, CD with AB.By asking the formula of straight line and straight-line intersection to acquire the coordinate in these crosspoints.
Referring to Fig. 6, Z0→Z1→Z2→Z3→Z4→……Zi……ZMAXIt is bow vee path V planning of the invention.It needs
It is noted that each point can also be expanded as the zonule comprising each point, when plant protection drone is successively passed through comprising each
It when the region of point, is treated as through the point, this mainly considers the positioning accuracy of plant protection drone, by adjusting the region
Radius can control the requirement of the precision and the positioning accuracy for plant protection drone of spraying operation.
Necessary implementation steps of the invention are given in Fig. 7, it, can be by computer according to this in path planning algorithm
The algorithm of invention obtains computer program, and then plant protection drone goes to obtain the extreme coordinates in quadrangle farmland by program, and
Outbound path is calculated by program.It is of course also possible to use the mode etc. of manual calculations.Comprise the following steps that: S101 plants in Fig. 7
The position coordinates that unmanned plane obtains four vertex A, B, C, the D in the quadrangle farmland to operation one by one are protected, the quadrangle is chosen
Any a line in farmland determines plant protection drone as task point as selected side, two vertex on the selected side
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,
This group of straight line and its excess-three in the quadrangle farmland while two of them while intersect, intersection point J, the intersection point J are task
Point；S103 arranges each task point when connecting in " bow " font by all task points according to scheduled rule compositor
Column complete path planning.If the area in quadrangle farmland is smaller, each intersection point J can be determined by way of reducing 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, plant protection drone is used
Manual mode spraying operation.Any one of quadrangle is when all can serve as selected.
Embodiment two:
The present invention provides a kind of fog machine spraying operation method, and steps are as follows: using the paths planning method of embodiment one
Path planning is finished, then by the point Z comprising true GPS latitude and longitude coordinates0Point arrives ZMaxAnd collected D before
Point height value all upload in the memory of flight controller, aircraft is switched to mission mode, then aircraft will automatically from
First point starts a sprinkling to the last point.It should be pointed out that memory can also be replaced by other storage mediums, to
Store these data.
The method of the present invention can be adapted for the quadrangle field of irregular terrain profiles；The present invention can pass through plant protection drone
Sampling site and automatic path planning and spraying operation are realized from host computer, do not need artificial to go to field boundary to adopt with equipment
Point；It is not in biggish offset for method of the present invention than only acquiring two points, it is more accurate；Path rule of the invention
After drawing, the sprinkling of plant protection drone is more uniform, reduces the spray area for repeating or omitting.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (3)
1. a kind of automatic spraying bends vee path V planing method, which comprises the steps of:
S101 successively flies to four vertex A, B, C, the D in farmland by flying control plant protection drone under hand manual mode, passes through remote control
The switch control of device sends the instruction of coordinate acquisition to the flight control system of plant protection drone, obtains the GPS on this four vertex
Position coordinates determine four edges circle in farmland by this four described vertex, and any a line for choosing quadrangle farmland is made
To select side, two vertex on the selected side determine the operation height value of plant protection drone as task point；
S102 takes parallel with the selected side and equidistant one group of straight line, and the spacing between adjacent straight line is H, this group is straight
Line and its excess-three in the quadrangle farmland while two of them while intersect, intersection point J, the intersection point J are task point；
S103 sorts all task points according to pre-defined rule, arranges each task point when connecting in " bow " font
Column complete path planning；
When acquiring any vertex, unmanned plane is flown into specified altitude assignment, and acquire this height value, using this height as
Operation height value when automatic spraying；
S102 further includes the steps that there is coordinate transform before executing, specifically:
S102-1, GPS location coordinate when being unlocked according to unmanned plane is as origin, and using the origin as coordinate origin O,
Using towards due south as positive direction of the x-axis, as positive direction of the y-axis, the GPS location coordinate of vertex A, B, C, D to be converted into towards due west
X/y coordinate as unit of rice；
X/y coordinate system is converted to X/Y coordinate system using Euler's transformation, in the X/Y coordinate system, with vector by S102-2
Direction be X-axis positive direction, perpendicular to vectorAnd towards C point and the point side B be Y-axis positive direction；
In S102-1, the coordinate of four described vertex A, B, C, D under x/y coordinate system is set as (Ax, Ay),(Bx, By),(Cx, Cy),
(Dx, Dy),
In S102-2, transformed four vertex coordinate under X/Y coordinate system is (AX, AY), (BX, BY), (CX, CY), (DX,
DY),
If assisting angle [alpha], is defined as:
Coordinate system transformation formula are as follows:
,
Calculate the linear equation of three sides AB, BC, CD under X/Y coordinate system:
The linear equation on the side AB are as follows:
The linear equation on the side BC are as follows:
The linear equation on the side CD are as follows:
Definition sprinkling path separation H, takes one group of straight line Y=ZH under X/Y coordinate system, this group of straight line and the selected side are flat
Row, wherein Z is positive integer more than or equal to 1, this group of straight line and its excess-three of quadrangle while two of them while intersect, acquisition
All intersection point J2, J3, J4... ... Ji……JMax, wherein 2≤i≤Max, Max >=2, JMaxFor straight line and quadrangle the last one
Intersection point, ifFor JiCoordinate value of the point under X/Y coordinate system；
Two task points on the farmland quadrangle are respectively defined as J0And J1；
The pre-defined rule are as follows: the intersection point J2, J3, J4... ... Ji……JMaxCoding rule are as follows: every straight line and the agriculture
The intersection point queueing discipline of field quadrangle are as follows: successively according to the task point J with the selected side1Intersection while, with it is described selected while
Opposite side, with the task point J on the selected side0The side of intersection, serial number from small to large, the sequence of straight line with selected side phase
Adjacent straight line is starting straight line, the direction of the straight line on the selected side successively serial number is directed away from, then, to JiPoint carries out
The point that i is 0 divided by 4 remainders is exchanged X-coordinate divided by the point that 4 remainders are 1 with i when i is greater than 1 by number adjustment, finally,
Each task point is incremented by series connection according to i value and forms " bow " font；
After the completion of path planning, to from J0To JMaxSeries of points coordinate carry out Euler's transformation inverse transformation, obtain J'0It arrives
J'MaxCoordinate of the series of points under x/y coordinate system,For Ji' coordinate value under x/y coordinate system,
Specific mapping mode are as follows:
Again by J0To JMaxThe coordinate of series of points be converted to the longitude coordinate and latitude coordinate point Z in true farmland region0
To ZMax；
It is the region comprising each task point that each task point, which is expanded, when plant protection drone successively passes through the region comprising each point
When, it is treated as through the point, the radius in the region is adjustable.
2. automatic spraying bends vee path V planing method according to claim 1, it is characterised in that:
The position coordinates of each task point are stored in the flight control system of plant protection drone.
3. a kind of fog machine spraying operation method, which comprises the steps of:
S1, using a kind of described in any item automatic spraying bow vee path V planing method progress path rule of claim 1 to 2
It draws；
S2, by the point Z comprising GPS location coordinate0To ZMaxAnd height value is transmitted in the memory of plant protection drone, is planted
It protects unmanned plane and passes sequentially through Z0To ZMaxEach point executes spraying operation automatically.
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| CN109032165B (en) * | 2017-07-21 | 2021-09-10 | 广州极飞科技股份有限公司 | Method and device for generating unmanned aerial vehicle air route |
| CN107272739B (en) * | 2017-07-24 | 2020-09-29 | 湘潭大学 | Pesticide spraying system and method based on primary and secondary systems |
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| WO2019041266A1 (en) * | 2017-08-31 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Path planning method, aircraft, and flight system |
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