CN107065919A - Agricultural plant protection unmanned plane back and forth spray back and forth during turning path flight control method, device and unmanned plane - Google Patents
Agricultural plant protection unmanned plane back and forth spray back and forth during turning path flight control method, device and unmanned plane Download PDFInfo
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- CN107065919A CN107065919A CN201611156321.6A CN201611156321A CN107065919A CN 107065919 A CN107065919 A CN 107065919A CN 201611156321 A CN201611156321 A CN 201611156321A CN 107065919 A CN107065919 A CN 107065919A
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- 239000007921 spray Substances 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 27
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 18
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 238000000429 assembly Methods 0.000 claims abstract description 7
- 238000005507 spraying Methods 0.000 claims description 21
- 241000196324 Embryophyta Species 0.000 description 34
- 238000010586 diagram Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005204 segregation Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The present invention provides turning path flight control method, device and the unmanned plane during a kind of agricultural plant protection unmanned plane is back and forth sprayed back and forth, belong to unmanned plane route planning method and control method field, in order to solve the actual maneuvering characteristics that plant protection unmanned plane turning strategy of the prior art does not take into full account unmanned plane, minimum number of turns is not considered yet, unmanned plane is caused to be forced to carry out long-time speed change flight, and then cause unmanned plane can not adapt to speed change environment, the problem of wasting the energy during speed change.The method of the present invention includes：Obtain the spray radius of unmanned plane and the min. turning radius of unmanned plane；Judge that unmanned plane should carry out first kind turning, Equations of The Second Kind and turn or the turning of the 3rd class according to spray radius and min. turning radius, and obtain judged result；The flight status parameter of unmanned plane is adjusted according to judged result, and then controls unmanned plane during flying.The present invention also provides a kind of turning path flight control assemblies and unmanned plane.The present invention is applied to plant protection unmanned plane.
Description
Technical field
Turning path flight control method, device during back and forth being sprayed back and forth the present invention relates to a kind of plant protection unmanned plane
And unmanned plane, belong to unmanned plane route planning method and control method field.
Background technology
The general area in region that plant protection unmanned plane sprays operation is larger, and unmanned plane small volume, and reaction is flexible, so typically
The route that plant protection unmanned plane is sprayed is formulated for back and forth reciprocal shape such as " Π " shape, its route such as Fig. 3 (a) and Fig. 3 (b) institutes
Show, such case will be related to the turn problems of unmanned plane, either the route one of artificial or segregation reasons device generation
As do not consider influence of the maneuvering characteristics to turning of unmanned plane.Sprinkling path shown in Fig. 3 (a) and Fig. 3 (b) is in each perpendicular row
It is that comparison is rational during flight, but when spraying path and turning to the second paths for first, turning path at this moment is one
Individual right angle, the flight characteristics of unmanned plane is not obviously met so, if being turned according to this route, unmanned plane needs first to decelerate to 0, so
90 ° are turned around afterwards, by accelerating to slow down 0 again, are turned around by accelerating to speed V, then at the uniform velocity at 90 ° after flight to the second paths
Sprayed.Such a flight path will carry out acceleration-deceleration every time, not only lose time but also waste of resource.
Fig. 3 (a) shows that the rectangle of standard sprays region, Fig. 3 (b) show one it is irregular spray region, still
The route that they plan all is back and forth reciprocal.This reciprocal route back and forth sprays the effect of operation in the case of without obstacle
Rate and the uniformity of sprinkling are all especially good.But motor-driven (flight) characteristic of plant protection unmanned plane in itself is impossible in actual applications
Route as shown in Fig. 3 (a) and Fig. 3 (b) is turned.
And unmanned plane can also be influenceed when turning by each factor, such as flying speed of plant protection unmanned plane, minimum turns
The size of curved radius, sprays size of radius etc..The plant protection unmanned plane turning strategy of prior art does not take into full account nobody
The maneuvering characteristics of machine, the flying speed of unmanned plane, min. turning radius are not considered yet, radius is sprayed, more not over above-mentioned
Factor reduces the time of unmanned plane speed change flight, so as to be saved, strengthened the improvement of endurance for plant protection unmanned plane.
The content of the invention
The invention aims to solve plant protection unmanned plane turning strategy of the prior art not take into full account nobody
The actual maneuvering characteristics of machine, the flying speed of unmanned plane, min. turning radius are not considered yet, radius is sprayed, and can not be led to
Cross and reduce speed change number of times and then provide the shortcoming that energy-conservation turns strategy for plant protection unmanned plane.
A kind of turning path flight control method being used for during plant protection unmanned plane is back and forth sprayed back and forth, the turning road
The turning position that footpath sprays path by unmanned plane from current straight line flies to next reverse straight line to spray the arc that path is passed through
Shape path, methods described comprises the following steps：
Step 1)：Obtain the spray radius R of unmanned planepAnd the min. turning radius R of unmanned planez；
Step 2)：According to the spray radius RpAnd the min. turning radius RzJudge that the unmanned plane should be carried out
The first kind is turned, Equations of The Second Kind is turned or the 3rd class is turned, and obtains judged result；The first kind, which is turned, represents the unmanned plane
With at the uniform velocity by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to adjacent straight line sprays road
Footpath；The Equations of The Second Kind, which is turned, represents the unmanned plane with the uniform velocity by minimum turning RzIt can just fly to adjacent and spray road
Footpath；3rd class, which is turned, represents the unmanned plane at the uniform velocity by minimum turning RzFlight to arbitrarily with current flight path
During vertical straight line, it will cross and adjacent spray path or beyond spraying region；
Step 3) flight status parameter of the unmanned plane is adjusted according to the judged result, and then control unmanned plane to fly
OK.
The present invention also provides a kind of turning path flight control dress during back and forth being sprayed back and forth for plant protection unmanned plane
Put, including：
Flight parameter acquisition module, the spray radius for obtaining unmanned plane are RpAnd the min. turning radius of unmanned plane
For Rz；
Turn type judge module, for according to the spray radius RpAnd the min. turning radius is RzJudge institute
First kind turning, Equations of The Second Kind turning or the turning of the 3rd class should be carried out by stating unmanned plane, and obtain judged result；The first kind turns
It is curved to represent the unmanned plane with the uniform velocity by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to phase
Adjacent straight line sprays path；The Equations of The Second Kind, which is turned, represents the unmanned plane with the uniform velocity by minimum turning RzCan just it fly
Path is sprayed to adjacent；3rd class, which is turned, represents the unmanned plane at the uniform velocity by minimum turning RzFly to arbitrary
During with the straight line of current flight path orthogonal, it will cross and adjacent spray path or beyond spraying region；
State of flight control module, the flight status parameter for adjusting the unmanned plane according to the judged result, enters
And control unmanned plane during flying.
Present invention additionally comprises a kind of unmanned plane, including it is previously described for turning during plant protection unmanned plane is back and forth sprayed back and forth
Detour footpath flight control assemblies.
The beneficial effects of the invention are as follows：It take into account flying speed, min. turning radius, spray radius, turned according to minimum
Curved radius and the relation planning turning scheme for spraying radius, make turning path as small as possible, and reduce nobody to greatest extent
The time of machine speed change flight, so as to be reached for the purpose that plant protection unmanned plane reduces energy consumption.
Brief description of the drawings
Fig. 1 is the turning path flight control method being used for during plant protection unmanned plane is back and forth sprayed back and forth of the present invention
Flow chart；
Fig. 2 is the turning path flight control assemblies being used for during plant protection unmanned plane is back and forth sprayed back and forth of the present invention
Schematic diagram；
Fig. 3 (a) is the route schematic diagram that unmanned plane is sprayed in accessible rectangular area；
Fig. 3 (b) is the route schematic diagram that unmanned plane is sprayed in accessible irregular area；
The flight path figure that Fig. 4 turns for the first kind of the present invention；
The flight path figure that Fig. 5 turns for the Equations of The Second Kind of the present invention；
Fig. 6 is that flight path figure when path is even number article is sprayed during the 3rd class of the invention is turned；
Fig. 7 is that flight path figure when path is odd number article is sprayed during the 3rd class of the invention is turned；
Fig. 8 is the overall flow figure of one embodiment of the present of invention.
Embodiment
Embodiment one：The turning path being used for during plant protection unmanned plane is back and forth sprayed back and forth of present embodiment
Flight control method, the turning path is that the turning position that unmanned plane sprays path from current straight line flies to next reversely
Straight line sprays the curved path that path is passed through, it is characterised in that methods described comprises the following steps：
Step 1)：Obtain the spray radius R of unmanned planepAnd the min. turning radius R of unmanned planez；
Step 2)：According to the spray radius RpAnd the min. turning radius RzJudge that the unmanned plane should be carried out
The first kind is turned, Equations of The Second Kind is turned or the 3rd class is turned, and obtains judged result；The first kind, which is turned, represents the unmanned plane
With at the uniform velocity by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to adjacent straight line sprays road
Footpath；The Equations of The Second Kind, which is turned, represents the unmanned plane with the uniform velocity by minimum turning RzIt can just fly to adjacent and spray road
Footpath；3rd class, which is turned, represents the unmanned plane at the uniform velocity by minimum turning RzFlight to arbitrarily with current flight path
During vertical straight line, it will cross and adjacent spray path or beyond spraying region；
Step 3) flight status parameter of the unmanned plane is adjusted according to the judged result, and then control unmanned plane to fly
OK.
Embodiment two：Present embodiment from unlike embodiment one：Step 3) in, the flight ginseng
Number includes flying speed, turning position and the radius of turn turned.
Other steps and parameter are identical with embodiment one.
Embodiment three：Present embodiment from unlike embodiment one or two：Step 3) in, work as judgement
When as a result being turned for the first kind, unmanned plane performs following steps successively：
Step 3A.1) pass through minimum turning R at the uniform velocity to turn 90 degree at turning positionzHang down in flight to current flight path
Straight straight line；
Step 3A.2) spray path along rectilinear flight to adjacent straight line；
Step 3A.3) at the uniform velocity pass through minimum turning R at turning positionzFlight to adjacent sprays path；
Step 3A.4) adjacent spray path rectilinear flight along described.
Other steps and parameter are identical with embodiment one or two.
Embodiment four：Unlike one of present embodiment and embodiment one to three：Step 3) in, when
When judged result is that Equations of The Second Kind is turned, unmanned plane performs following steps successively：
Step 3B.1) minimum turning R is passed through with 180 degree of at the uniform velocity turningzFlight to adjacent is sprayed on path；
Step 3B.2) adjacent spray path rectilinear flight along described.
Other steps and parameter are identical with one of embodiment one to three.
Embodiment five：Unlike one of present embodiment and embodiment one to four：Step 3) in, when
When judged result is that the 3rd class is turned, unmanned plane performs following steps successively：
Step 3C.1) obtain and default spray number of paths information；
Step 3C.2) to spray the identification of number of paths information to spray path be odd number or even number according to described；When described
When spraying path for even number, it is 2k that note, which sprays the quantity in path,；When it is described spray path for odd number when, note spray path
Quantity be 2k+1；K is positive integer；
Step 3C.3) when it is described spray path for odd number when, perform A class flight paths；When the path that sprays is occasionally
When several, B class flight paths are performed；
The A classes flight path is characterized in：When arrival kth bar sprays the turning in path, at the uniform velocity to turn
180 ° fly to the paths of kth+2；And when unmanned plane flies to spray path to the 2k-1 articles, need to be at the uniform velocity to turn 180 ° by
2k-1 articles sprays path and flies to the 2k articles to spray path；
The B classes flight path is characterized in：When arrival kth bar sprays the turning in path, at the uniform velocity to turn
180 ° fly to the paths of kth+2；And when unmanned plane flies to spray path to the 2k+1 articles, need to be at the uniform velocity to turn 180 ° by 2k
+ 1 paths fly to 2k paths.
Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：
The avoidance for plant protection unmanned plane of present embodiment sprays determining method of path and comprised the following steps：
Step 3C.3) in, performing A class flight paths is specially：
Step A1) path is sprayed by the 1st article at the uniform velocity to turn 180 ° at turning position fly to the 3rd article to spray path；
Step A2) unaccelerated flight at path is sprayed at described 3rd article, until reaching the 3rd article of turning for spraying path
At position；
Step A3) repeat step A1) to step A2), until the 1st, 3 ... 2k-1 articles spray path and all spray and finish；
Step A4) turning that sprays path at the 2k-1 articles flies to the 2k articles by speed change and sprays path；
Step A5) path unaccelerated flight is sprayed at the 2k articles, until reaching the 2k articles turning position for spraying path
Place；
Step A6) sprayed at the 2k articles sprayed at the turning position in path with the uniform velocity turning 180 ° by the 2k articles path fly to
The 2k-2 articles sprays path；
Step A7) repeat step A4) to step A6), all spray and finish until 2 articles of 2k, 2k-2 ... sprays path.
Other steps and parameter are identical with one of embodiment one to five.
Embodiment seven：Unlike one of present embodiment and embodiment one to six：
Step 3C.3) in, performing B class flight paths is specially：
Step B1) path is sprayed by the 1st article at the uniform velocity to turn 180 ° at turning position fly to the 3rd article to spray path；
Step B2) unaccelerated flight at path is sprayed at described 3rd article, until reaching the 3rd article of turning for spraying path
At position；
Step B3) repeat step B1) to step B2), until the 1st, 3 ... 2k+1 articles spray path and all spray and finish；
Step B4) turning that sprays path at the 2k+1 articles flies to the 2k articles by speed change and sprays path；
Step B5) path unaccelerated flight is sprayed at the 2k articles, until reaching the 2k articles turning position for spraying path
Place；
Step B6) sprayed at the 2k articles sprayed at the turning position in path with the uniform velocity turning 180 ° by the 2k articles path fly to
The 2k-2 articles sprays path；
Step B7) repeat step B4) to step B6), all spray and finish until 2 articles of 2k, 2k-2 ... sprays path.
Other steps and parameter are identical with one of embodiment one to six.
Embodiment eight：Present embodiment is realized based on any one in embodiment one to seven, its
Difference is：
The first kind turn single flight path length be：
DTurn 1=2Rp-2Rz+πRz；
Equations of The Second Kind turn single flight path length be：
DTurn 2=π Rz；
3rd class turn single flight path length be：
DTurn 3=π Rz。
Embodiment nine：Present embodiment provides a kind of turning during back and forth being sprayed back and forth for plant protection unmanned plane
Detour footpath flight control assemblies, including：
Flight parameter acquisition module, the spray radius for obtaining unmanned plane are RpAnd the min. turning radius of unmanned plane
For Rz；
Turn type judge module, for according to the spray radius RpAnd the min. turning radius is RzJudge institute
First kind turning, Equations of The Second Kind turning or the turning of the 3rd class should be carried out by stating unmanned plane, and obtain judged result；The first kind turns
It is curved to represent the unmanned plane with the uniform velocity by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to phase
Adjacent straight line sprays path；The Equations of The Second Kind, which is turned, represents the unmanned plane with the uniform velocity by minimum turning RzCan just it fly
Path is sprayed to adjacent；3rd class, which is turned, represents the unmanned plane at the uniform velocity by minimum turning RzFly to arbitrary
During with the straight line of current flight path orthogonal, it will cross and adjacent spray path or beyond spraying region；
State of flight control module, the flight status parameter for adjusting the unmanned plane according to the judged result, enters
And control unmanned plane during flying.
Embodiment ten：Present embodiments provide for a kind of unmanned plane, including as described in embodiment nine
Turning path flight control assemblies during back and forth being sprayed back and forth for plant protection unmanned plane：
<Embodiment>
The present embodiment relates generally to the derivation for occurring formula in embodiment.
First, symbol definition
Assuming that plant protection unmanned plane carries out spraying operation (other situations on the rectangle ground without obstacle of a block ideal
It is similar, the irregular shape in such as Fig. 3 (b)), it is assumed that a length of a of rectangle, a width of b, namely plant protection unmanned plane wall scroll flight road
Electrical path length is b, and the starting point of plant protection unmanned plane wall scroll flight path is named as S (i), and terminal is named as T (i), if S (1) T (1)
Represent the beginning and end in first flight path.
Relevant parameter when plant protection unmanned plane sprays operation is：The spray radius of plant protection unmanned plane are Rp, flying speed V,
Under present speed, the min. turning radius R of plant protection unmanned planez。
2nd, plant protection unmanned plane sprays the analysis of turning situation in operation process
The factor considered is needed to have much during turning, first, min. turning radius RzInfluence；Second, unmanned plane during flying
Influences of the speed V to min. turning radius；3rd, unmanned plane sprays operating radius RpInfluence.Also have in addition it is many it is outside because
The influence of element, such as wind-force are disturbed, electromagnetic interference, obstacle interference etc., and the influence of above three is only discussed here, not considered outside other
Portion's factor.Below with regard to RpAnd RzMagnitude relationship open discussion.
The Dubins paths that the present invention is used are prior arts, and author provided proof in article, and connection two is oriented
When vectorial, the path obtained using Dubins paths is most short.The present invention applies it to plant protection unmanned plane and sprays operation
In the turn problems research of journey.The length for both having taken into account turning route is so done, the efficiency of turning is improved again.
(1) 1 class is turned
Work as Rp>During Rz, plant protection unmanned plane can be passed through with minimum turning by Dubins coordinates measurements by straight line with speed V
The minimum circle flight of turning of radius Rz generations is to the straight line vertical with first flight path, then flies over horizontal one with speed V
After section straight line, sprayed through minimum turning circle flight to Article 2 on working path, common plant protection unmanned plane sprays radius about
It is 6-8 meters, now requires that the min. turning radius of plant protection unmanned plane should be less than this value.Its specific flight is as shown in Figure 4.
Now calculate obtained turning path length following (length is the length terminated from starting to turn to turning)：
Two sections of arc length are calculated first, because two minimum circle line segments in the same size and all vertical with two of turning are tangent, are had
The radian that geometric knowledge obtains corresponding to two sections of circular arcs is all 90 °, it is possible to which calculating two sections of arc length sums is
And due to
LThe straightway of level=2Rp-2Rz
To sum up, obtain turn when total path length be
DTurn 1=2Rp-2Rz+πRz
(2) 2 classes are turned
As Rp=Rz, what now plant protection unmanned plane can by chance be generated with min. turning radius does small circle of turning, and has straight
Line flies to Article 2 by circular arc and sprays path again, so can just turn over 180 °, and path is sprayed into next.But due to
The flight characteristics influence of environmental factor and unmanned plane in itself, it is less likely that this situation occurs.Its flight path figure such as Fig. 5 institutes
Show do not have the straightway of the level in the first situation when now calculating turning path length, so the turning of such a situation
During path length be：
DTurn 2=π Rz
(3) 3 classes are turned
Work as Rp<(default Rz maximums are Rz=4Rp to Rz in the present embodiment, and Rz value is further added by that Article 4 will be flown to
Path is sprayed, because similar just not continued with such), now, plant protection unmanned plane can not possibly be kept by present speed
Flown in the case of constant on the next path for spraying operation, unmanned plane must be sprayed in every flown one in this case
During path, by decelerating flight to next flight path.But acceleration-deceleration is carried out every time, it is unnecessary necessarily to cause
Waste (such as fuel, agricultural chemicals, liquid fertilizer etc.).The method taken herein is as follows
When plant protection unmanned plane finds Rp before operation is sprayed<During Rz, the flight path taken no longer is to travel through every successively
Path, but directly turned from first flight path and fly to Article 3 flight path, the road such as 2N+1 until completing 1,3,5,7 ...
Behind footpath, by a speed change, fly to the 2N articles and spray on path, then the repeatedly above method, until operation is completed.
As shown in Figure 6 and Figure 7, wherein Fig. 6 is to be illustrated that even number bar sprays the situation in path to specific flight path, figure
7 are illustrated that odd number bar sprays the situation in path.
The present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, this area
Technical staff works as can make various corresponding changes and deformation according to the present invention, but these corresponding changes and deformation should all belong to
The protection domain of appended claims of the invention.
Claims (10)
1. a kind of agricultural plant protection unmanned plane back and forth spray back and forth during turning path flight control method, the turning path
The turning position for spraying path from current straight line by unmanned plane flies to next reverse straight line to spray the arc that path is passed through
Path, it is characterised in that methods described comprises the following steps：
Step 1)：Obtain the spray radius R of unmanned planepAnd the min. turning radius R of unmanned planez；
Step 2)：According to the spray radius RpAnd the min. turning radius RzJudge that the unmanned plane should carry out first
Class is turned, Equations of The Second Kind is turned or the 3rd class is turned, and obtains judged result；The first kind, which is turned, represents the unmanned plane with even
Speed is by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to adjacent straight line sprays path；Institute
State Equations of The Second Kind and turn the expression unmanned plane with the uniform velocity by minimum turning RzIt can just fly to adjacent and spray path；Institute
State the 3rd class and turn the expression unmanned plane at the uniform velocity by minimum turning RzFlight to arbitrarily with current flight path orthogonal
Straight line when, will cross and adjacent spray path or beyond spraying region；
Step 3) flight status parameter of the unmanned plane is adjusted according to the judged result, and then control unmanned plane during flying.
2. according to the method described in claim 1, it is characterised in that step 3), the flight parameter includes flying speed, turned
Curved position and the radius of turn turned.
3. method according to claim 2, it is characterised in that step 3) in, when judged result is that the first kind is turned, nothing
It is man-machine to perform following steps successively：
Step 3A.1) pass through minimum turning R at the uniform velocity to turn 90 degree at turning positionzFly to current flight path orthogonal
Straight line；
Step 3A.2) spray path along rectilinear flight to adjacent straight line；
Step 3A.3) at the uniform velocity pass through minimum turning R at turning positionzFlight to adjacent sprays path；
Step 3A.4) adjacent spray path rectilinear flight along described.
4. method according to claim 2, it is characterised in that step 3) in, when judged result is that Equations of The Second Kind is turned, nothing
It is man-machine to perform following steps successively：
Step 3B.1) minimum turning R is passed through with 180 degree of at the uniform velocity turningzFlight to adjacent is sprayed on path；
Step 3B.2) adjacent spray path rectilinear flight along described.
5. method according to claim 2, it is characterised in that step 3) in, when judged result is that the 3rd class is turned, nothing
It is man-machine to perform following steps successively：
Step 3C.1) obtain and default spray number of paths information；
Step 3C.2) to spray the identification of number of paths information to spray path be odd number or even number according to described；Sprayed when described
When path is even number, it is 2k that note, which sprays the quantity in path,；When it is described spray path for odd number when, note sprays the number in path
Measure as 2k+1；K is positive integer；
Step 3C.3) when it is described spray path for odd number when, perform A class flight paths；When even number is in the path that sprays
When, perform B class flight paths；
The A classes flight path is characterized in：When arrival kth bar sprays the turning in path, at the uniform velocity to turn, 180 ° fly
To the paths of kth+2；And when unmanned plane flies to spray path to the 2k-1 articles, need to be sprayed with the uniform velocity turning 180 ° by the 2k-1 articles
Path is applied to fly to the 2k articles to spray path；
The B classes flight path is characterized in：When arrival kth bar sprays the turning in path, at the uniform velocity to turn, 180 ° fly
To the paths of kth+2；And when unmanned plane flies to spray path to the 2k+1 articles, need to be at the uniform velocity to turn 180 ° by the 2k+1 articles road
Footpath flies to 2k paths.
6. method according to claim 5, it is characterised in that the step 3C.3) in, perform A class flight paths specific
For：
Step A1) path is sprayed by the 1st article at the uniform velocity to turn 180 ° at turning position fly to the 3rd article to spray path；
Step A2) unaccelerated flight at path is sprayed at described 3rd article, until reaching the 3rd article of turning position for spraying path
Place；
Step A3) repeat step A1) to step A2), until the 1st, 3 ... 2k-1 articles spray path and all spray and finish；
Step A4) turning that sprays path at the 2k-1 articles flies to the 2k articles by speed change and sprays path；
Step A5) path unaccelerated flight is sprayed at the 2k articles, until reaching at the 2k articles turning position for spraying path；
Step A6) sprayed at the 2k articles and spray path at the turning position in path by the 2k articles at the uniform velocity to turn 180 ° and fly to
2k-2 bars spray path；
Step A7) repeat step A4) to step A6), all spray and finish until 2 articles of 2k, 2k-2 ... sprays path.
7. method according to claim 5, it is characterised in that the step 3C.3) in, perform B class flight paths specific
For：
Step B1) path is sprayed by the 1st article at the uniform velocity to turn 180 ° at turning position fly to the 3rd article to spray path；
Step B2) unaccelerated flight at path is sprayed at described 3rd article, until reaching the 3rd article of turning position for spraying path
Place；
Step B3) repeat step B1) to step B2), until the 1st, 3 ... 2k+1 articles spray path and all spray and finish；
Step B4) turning that sprays path at the 2k+1 articles flies to the 2k articles by speed change and sprays path；
Step B5) path unaccelerated flight is sprayed at the 2k articles, until reaching at the 2k articles turning position for spraying path；
Step B6) sprayed at the 2k articles and spray path at the turning position in path by the 2k articles at the uniform velocity to turn 180 ° and fly to
2k-2 bars spray path；
Step B7) repeat step B4) to step B6), all spray and finish until 2 articles of 2k, 2k-2 ... sprays path.
8. method as claimed in any of claims 1 to 7, it is characterised in that
The first kind turn single turning path length be：
DTurn 1=2Rp-2Rz+πRz；
Equations of The Second Kind turn single turning path length be：
DTurn 2=π Rz；
3rd class turn single turning path total length be：
DTurn 3=π Rz。
9. a kind of turning path flight control assemblies being used for during plant protection unmanned plane is back and forth sprayed back and forth, it is characterised in that
Including：
Flight parameter acquisition module, the spray radius R for obtaining unmanned planepAnd the min. turning radius R of unmanned planez；
Turn type judge module, for according to the spray radius RpAnd the min. turning radius RzJudge it is described nobody
Machine should carry out first kind turning, Equations of The Second Kind and turn or the turning of the 3rd class, and obtain judged result；The first kind, which is turned, to be represented
The unmanned plane is with the uniform velocity by minimum turning RzDuring flight to straight line with current flight path orthogonal, not up to adjacent is straight
Line sprays path；The Equations of The Second Kind, which is turned, represents the unmanned plane with the uniform velocity by minimum turning RzCan just it fly to adjacent
Spray path；3rd class, which is turned, represents the unmanned plane at the uniform velocity by minimum turning RzFlight to it is arbitrary with it is current
During the vertical straight line of flight path, it will cross and adjacent spray path or beyond spraying region；
State of flight control module, the flight status parameter for adjusting the unmanned plane according to the judged result, and then control
Unmanned plane during flying processed.
10. a kind of agricultural plant protection unmanned plane, it is characterised in that including agricultural plant protection unmanned plane as claimed in claim 9 back and forth
Turning path flight control assemblies during back and forth spraying.
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