The invention discloses a flight path
planning method and device for
plant protection unmanned aerial vehicle, and can improve the operation precision and work efficiency of the unmanned aerial vehicle, reduce duplication coverage, spray
leakage rate and
energy consumption. The method comprises the following steps: fitting an operation area into a
convex polygon, establishing a coordinate
system, dividing corresponding area of the
convex polygon by using grid to obtain a rectangular area composed of a plurality of raster regions; according to the rectangular area, acquiring an operation path of the
plant protection unmanned aerial vehicle, and calculating the operation
path length G; calculating the maximum
path length Gm of a single operation of one
plant protection unmanned aerial vehicle, calculating the midway return number of the plant protection unmanned aerial vehicle according to the G and Gm, and calculating efficient solutions of midway return points of each plant protection unmanned aerial vehicle corresponding to the midway return number; and selecting an optimal solution from the efficient solutions of coordinate of midway return point of each plant protection unmanned aerial vehicle, using the origin of the coordinate
system as a starting point, and acquiring the flight path of the plant protection unmanned aerial vehicle according to the optimal solution and the operation path.