CN112106009A - Route planning method and route planning equipment for spraying operation - Google Patents
Route planning method and route planning equipment for spraying operation Download PDFInfo
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Abstract
A path planning method and a path planning device for spraying operation are provided, wherein the path planning method for spraying operation comprises the following steps: determining an operation area to be sprayed; obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the range size parameters comprise one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range; and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed, so that the boundary safety problem caused when the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed can be solved by adopting the mode.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a path planning method and path planning equipment for spraying operation.
Background
With the rapid development of the unmanned aircraft technology, the unmanned aircraft is applied to a plurality of fields, and due to the advantages of simple operation, high operation efficiency, good spraying effect and the like of the unmanned aircraft, the unmanned aircraft is widely applied to the field of spraying operation, and a large amount of manpower and material resources can be saved when the unmanned aircraft is used for spraying operation.
In the existing unmanned aerial vehicle path planning algorithm, the safety problem of the boundary is not taken into consideration, but the safety problem exists actually. When the unmanned aerial vehicle carries out spraying operation on an area to be sprayed, the motion trail of the unmanned aerial vehicle is calculated by a path planning algorithm built in the unmanned aerial vehicle. When the unmanned aerial vehicle carries out spraying operation close to the boundary of an operation area to be sprayed, the fuselage of the unmanned aerial vehicle possibly exceeds the boundary of the operation area to be sprayed, the exceeding part of the rotary wing and downward spraying objects cause great potential safety hazards to pedestrians beyond the boundary, and when two operation areas to be sprayed, which need different spraying objects, are adjacent, the unmanned aerial vehicle exceeds the boundary, so that the spraying objects are sprayed onto the wrong operation area to be sprayed.
Disclosure of Invention
The embodiment of the invention discloses a path planning method and path planning equipment for spraying operation, which aim to solve the problem of boundary safety caused when an unmanned aerial vehicle executes spraying operation in a spraying operation area.
The first aspect of the embodiment of the invention discloses a path planning method for spraying operation, which comprises the following steps:
determining an operation area to be sprayed;
obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
The second aspect of the embodiments of the present invention discloses a path planning device for spraying operation, including: a processor and a memory, wherein:
the memory for storing a computer program comprising program instructions;
the processor is used for executing the following steps when calling the program instruction:
determining an operation area to be sprayed;
obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
The third aspect of the embodiment of the present invention discloses a path planning device for spraying operation, which comprises:
the determining module is used for determining an operation area to be sprayed;
the unmanned aerial vehicle control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring range size parameters of a characteristic range of the unmanned aerial vehicle, and the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
the determining module is further configured to determine a waypoint at which the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, a characteristic range of the unmanned aerial vehicle does not exceed a boundary of the operation area to be sprayed.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for planning a path of a spraying operation according to the first aspect is implemented.
The embodiment of the invention can determine the operation area to be sprayed, obtain the range size parameter of the characteristic range of the unmanned aerial vehicle, and further determine the waypoint of the unmanned aerial vehicle for spraying the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays the operation on the flight path indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed, so that the problem of the safety of the boundary caused by the unmanned aerial vehicle when the unmanned aerial vehicle sprays the operation area to be sprayed is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a method for planning a path of a spraying operation according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating another method for planning a path of a spraying operation according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of an unmanned aerial vehicle with a characteristic range exceeding the boundary of an operation area to be sprayed, according to an embodiment of the invention;
FIG. 3b is a schematic diagram of an initial waypoint and dangerous waypoint marking according to the disclosure of the embodiments of the invention;
FIG. 3c is a schematic diagram of a calculated dangerous distance according to an embodiment of the present invention;
FIG. 3d is a schematic diagram illustrating an adjusted dangerous waypoint according to an embodiment of the disclosure;
FIG. 3e is a schematic diagram of a dangerous waypoint adjustment rear segment without coverage according to an embodiment of the disclosure;
FIG. 3f is a schematic view of a supplemental waypoint disclosed in accordance with an embodiment of the invention;
FIG. 3g is a schematic diagram of input and output of a path planning algorithm according to an embodiment of the present invention;
fig. 3h is a schematic diagram of a path planning process disclosed in the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a path planning apparatus for spraying operation according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a path planning apparatus for spraying operation according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a path planning method for spraying operation according to an embodiment of the present invention. The method for planning the spraying operation path described in this embodiment may include the following steps:
101. and determining a working area to be sprayed.
Wherein, the operation area to be sprayed can be the areas of crops, lawns, forests and the like.
Specifically, when the operation area to be sprayed is determined, the operation area to be sprayed can be mapped to obtain a three-dimensional map of the operation area to be sprayed, and a waypoint of the unmanned aerial vehicle for performing spraying operation in the operation area to be sprayed is further planned according to the three-dimensional map of the operation area to be sprayed. The three-dimensional map can be acquired by an unmanned aerial vehicle, the unmanned aerial vehicle acquiring the three-dimensional map and the unmanned aerial vehicle executing the spraying operation can be the same unmanned aerial vehicle or different unmanned aerial vehicles, the three-dimensional map can also be acquired by surveying and mapping personnel carrying a positioning device to carry out field investigation in an operation area to be sprayed and measuring positioning information of boundary points of the operation area to be sprayed.
102. And acquiring range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range.
The range size parameter includes a radius or a side length, and the range size parameter of the characteristic range of the unmanned aerial vehicle may be the side length of the fuselage range of the unmanned aerial vehicle, the radius of the working range of a power system of the unmanned aerial vehicle, or the radius of the spraying working range of the unmanned aerial vehicle.
Optionally, the characteristic range may be a spraying operation range of the unmanned aerial vehicle, the spraying operation range of the unmanned aerial vehicle may be a system default range, or may be set by a user, when the range size parameter of the characteristic range of the unmanned aerial vehicle is obtained, the spraying operation range setting operation of the user is detected first, the spraying operation range of the unmanned aerial vehicle is determined according to the spraying operation range setting operation of the user, and further, the range size parameter of the characteristic range of the unmanned aerial vehicle may be determined to be the radius of the spraying operation range of the unmanned aerial vehicle.
103. And determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on the flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
Specifically, a waypoint planning region is determined in the operation region to be sprayed according to the range size parameter of the characteristic range of the unmanned aerial vehicle, and further waypoints of the unmanned aerial vehicle for executing spraying operation on the operation region to be sprayed are determined in the waypoint planning region.
Optionally, the determination manner of the waypoint planning region may be: and determining a boundary moving parameter according to the range size parameter of the characteristic range of the unmanned aerial vehicle, wherein the boundary moving parameter can be the radius of the spraying operation range of the unmanned aerial vehicle, then, moving each boundary of the spraying operation area to the direction close to the spraying operation area according to the boundary moving parameter, and the area formed after moving is the waypoint planning area. The purpose of determining the waypoint planning area is mainly to ensure that the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed when the unmanned aerial vehicle sprays operation on a route indicated by the waypoint.
It should be noted that the above method steps may be executed by a path planning device, and the path planning device may specifically be a ground platform, where the ground platform may include one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, an intelligent wearable device (e.g., a smart watch, a smart bracelet, etc.), and the ground platform determines a waypoint and then sends the waypoint to the unmanned aerial vehicle. Or the path planning device may be an unmanned aerial vehicle, that is, the unmanned aerial vehicle determines a waypoint, at this time, the ground platform sends the operation area to be sprayed set by the user and the range size parameter to the unmanned aerial vehicle, and the unmanned aerial vehicle determines a waypoint for performing spraying operation on the operation area to be sprayed according to the range size parameter. In some embodiments, a part of the components of the path planning device are arranged on the ground platform and a part of the components are arranged on the unmanned aerial vehicle, i.e. the method steps may be performed by both the ground platform and the unmanned aerial vehicle.
In the embodiment of the invention, an operation area to be sprayed is determined, a range size parameter of a characteristic range of the unmanned aerial vehicle is obtained, the range size parameter comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range, and further, a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed is determined according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight path indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed, so that the problem of boundary safety caused when the unmanned aerial vehicle performs spraying operation in the spraying operation area is solved.
Fig. 2 is a schematic flow chart of another method for planning a spraying operation path according to an embodiment of the present invention. The method for planning the spraying operation path described in this embodiment may include the following steps:
201. and determining a working area to be sprayed.
202. And acquiring range size parameters of the characteristic range of the unmanned aerial vehicle, wherein the range size parameters comprise one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range.
For specific implementation of steps S201 to S202, reference may be made to the detailed description of steps S101 to S102 in the above embodiment, which is not described herein again.
203. And determining an initial waypoint for executing spraying operation on the area to be sprayed in the area to be sprayed.
Wherein the initial waypoint is determined by an existing path planning algorithm. Specifically, an initial waypoint for performing the spraying operation on the operation area to be sprayed is determined in the operation area to be sprayed according to the existing path planning algorithm, as shown in fig. 3b, the initial waypoint is a schematic diagram of the initial waypoint, and a series of waypoints including small hollow circles in the drawing are provided in the operation area to be sprayed, and the waypoints are the initial waypoints for performing the spraying operation on the operation area to be sprayed.
204. And determining dangerous waypoints from the plurality of initial waypoints according to the range size parameters, wherein when the unmanned aerial vehicle is positioned at the dangerous waypoints, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed.
Specifically, a dangerous waypoint is determined from a plurality of initial waypoints according to a range size parameter of a characteristic range of the unmanned aerial vehicle, the distance between each waypoint in the plurality of initial waypoints and a reference boundary corresponding to the waypoint is obtained, the reference boundary is one of the boundaries of the operation area to be sprayed, which is closest to the waypoint, and the initial waypoint in the plurality of initial waypoints, which is less than the range size parameter, is determined as the dangerous waypoint.
As shown in fig. 3b, which is a schematic diagram of marking an initial waypoint and a dangerous waypoint, when the initial waypoint is determined by using an existing path planning algorithm, only the full coverage problem of the unmanned aerial vehicle when the unmanned aerial vehicle performs the spraying operation on the area to be sprayed is considered, and the safety problem of the unmanned aerial vehicle when the unmanned aerial vehicle performs the spraying operation is not considered, when the spraying operation range of the unmanned aerial vehicle exceeds the area to be sprayed, potential safety hazards may be caused to pedestrians outside the boundary of the area to be sprayed, and other potential safety hazards may be caused, as shown in fig. 3a, it is indicated that the spraying operation range of the unmanned aerial vehicle exceeds the boundary of the area to be sprayed. Therefore, a dangerous waypoint needs to be determined from a plurality of initial waypoints according to the radius of the spraying operation range of the unmanned aerial vehicle, as shown in fig. 3b, a series of waypoints mark a part of dangerous waypoints in the operation area to be sprayed, the part of dangerous waypoints are three marked hollow small circles close to the left side boundary, which are respectively marked as 1, 2 and 3, and when the unmanned aerial vehicle is located at the dangerous waypoints, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed, that is, the spraying operation range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed.
Alternatively, the dangerous waypoint may be determined from a plurality of initial waypoints by calculating the distance between each of the initial waypoints and a boundary closest to the waypoint, for example, in fig. 3b, the boundary closest to the marked hollow small circle is the left boundary of the operation area to be sprayed, and the distance between the waypoint represented by the marked hollow small circle and the boundary closest to the waypoint is the distance between the marked hollow small circle and the left boundary. If there are initial waypoints from a plurality of initial waypoints that are less than the radius of the spray operating range, these initial waypoints are determined to be dangerous waypoints, such as shown in FIG. 3b, with the small open circles marked to indicate part of the dangerous waypoints.
205. And moving the dangerous waypoint to the direction close to the spraying operation area to obtain a safe waypoint corresponding to the dangerous waypoint, wherein when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
The navigation points of the unmanned aerial vehicle for spraying operation on the area to be sprayed comprise a plurality of navigation points of initial navigation points except dangerous navigation points and safe navigation points.
Specifically, the dangerous waypoint is moved towards the direction close to the spraying operation area to obtain the safe waypoint corresponding to the dangerous waypoint, namely, the dangerous waypoint is moved towards the direction perpendicular to the reference boundary corresponding to the dangerous waypoint and pointing to the dangerous waypoint to obtain the safe waypoint corresponding to the dangerous waypoint, wherein the moving distance is the difference between the range size parameter and the distance between the dangerous waypoint and the corresponding reference boundary.
For example, as shown in fig. 3c, D in the figure represents a dangerous distance of the dangerous waypoint, that is, the above-mentioned moving distance is a difference between the radius of the spraying operation range and the distance between the dangerous waypoint and the corresponding reference boundary, in order to further obtain the safe waypoint corresponding to the dangerous waypoint, it is only necessary to move the dangerous waypoint by the dangerous distance in a direction perpendicular to the reference boundary corresponding to the dangerous waypoint and pointing to the dangerous waypoint, as shown in fig. 3c, the hollow small circle is the hollow small circle No. 1 in fig. 3b, which represents a dangerous waypoint, and in order to obtain the safe waypoint corresponding to the dangerous waypoint, the hollow small circle No. 1 is moved to the right by the distance D, that is, the hollow small circle No. 4 shown in fig. 3D, that is the safe waypoint corresponding to the dangerous waypoint.
In the embodiment of the invention, the operation area to be sprayed is determined, the range size parameter of the characteristic range of the unmanned aerial vehicle is obtained, the range size parameter comprises one or more of the range of the fuselage, the working range of the power system of the unmanned aerial vehicle and the spraying operation range, and further, determining an initial waypoint for performing spraying operation on the area to be sprayed in the area to be sprayed, determining a dangerous waypoint from a plurality of initial waypoints according to the range size parameter, wherein, when the unmanned aerial vehicle is positioned at the dangerous waypoint, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed, the dangerous waypoint is moved to the direction close to the operation area to be sprayed so as to obtain the safe waypoint corresponding to the dangerous waypoint, wherein, when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed, the problem of boundary safety caused when the unmanned aerial vehicle carries out spraying operation in a spraying operation area can be solved.
Optionally, after the waypoints are determined, in order to ensure the comprehensiveness of coverage, the problem that a part of the area is not covered after the dangerous waypoints are adjusted can be further solved. Determining an uncovered area in an area to be sprayed according to the waypoint for executing the spraying operation and the range size parameter, and setting a supplementary waypoint aiming at the uncovered area, wherein the specific operation of the supplementary waypoint can be that two adjacent waypoints closest to the uncovered area are determined from the waypoints for executing the spraying operation, the supplementary waypoint is added between the two adjacent waypoints, and then the supplementary waypoint is added into the waypoint for executing the spraying operation.
For example, as shown in fig. 3e, after determining a dangerous waypoint from a plurality of initial waypoints, moving the dangerous waypoint by a dangerous distance, and determining a safe waypoint corresponding to the dangerous waypoint, the coverage area of the initial waypoint in the operation area to be sprayed may change, and a situation that a part of the area in the operation area to be sprayed cannot be covered may occur, such as the shaded area shown in fig. 3 e. As shown in fig. 3f, in the figure, the hollow small circles 4 and 5 are two adjacent waypoints closest to the uncovered area, the hollow small circle 6 added between the two hollow small circles is a supplementary waypoint, and after the supplementary waypoint, when the unmanned aerial vehicle flies to the supplementary waypoint, the uncovered area shown in fig. 3e can be covered.
The purpose of setting the supplementary waypoint in the non-coverage area of the operation area to be sprayed is to ensure that the unmanned aerial vehicle can realize the full coverage of the operation area to be sprayed when spraying operation is executed in the operation area to be sprayed according to the waypoint.
It should be noted that the above method steps may be executed by a path planning device, and the path planning device may specifically be a ground platform, where the ground platform may include one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, an intelligent wearable device (e.g., a smart watch, a smart bracelet, etc.), and the ground platform determines a waypoint and then sends the waypoint to the unmanned aerial vehicle. Or the path planning device may be an unmanned aerial vehicle, that is, the unmanned aerial vehicle determines a waypoint, at this time, the ground platform sends the operation area to be sprayed set by the user and the range size parameter to the unmanned aerial vehicle, and the unmanned aerial vehicle determines a waypoint for performing spraying operation on the operation area to be sprayed according to the range size parameter. In some embodiments, a part of the components of the path planning device are arranged on the ground platform and a part of the components are arranged on the unmanned aerial vehicle, i.e. the method steps may be performed by both the ground platform and the unmanned aerial vehicle.
As shown in fig. 3g, a schematic input/output diagram of a path planning algorithm for a path planning method for a spraying operation is shown, the method comprises the steps of inputting a conventional path planning algorithm, a map and a range size parameter, wherein the map is a three-dimensional map of an operation area to be sprayed, the range size parameter is a range size parameter of a characteristic range of the unmanned aerial vehicle, specifically, the radius of the spraying operation range, determining a waypoint of an initial path planning by using the conventional path planning algorithm, inputting the waypoint of the initial path planning, the three-dimensional map of the operation area to be sprayed and the range size parameter into the path planning algorithm disclosed by the embodiment of the invention, determining a waypoint of the unmanned aerial vehicle for spraying operation on the operation area to be sprayed, and outputting the waypoint, namely, the waypoint for spraying operation, and the unmanned aerial vehicle for spraying operation on the operation area to be sprayed according to the waypoint.
As shown in fig. 3h, a schematic path planning process is shown, which includes first recording input data shown in fig. 3g, that is, waypoints of the initial path planning, a three-dimensional map of the operation area to be sprayed, and range size parameters, and determining dangerous waypoints from a plurality of initial waypoints according to the input data, where when the unmanned aerial vehicle is located at the dangerous waypoints, the spraying operation range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed, then calculating a dangerous distance according to the range size parameters, and determining safe waypoints corresponding to the dangerous waypoints, where when the unmanned aerial vehicle is located at the safe waypoints, the spraying operation range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed. In order to solve the problem, further, an uncovered area caused by the fact that the waypoints are modified is searched, waypoints are supplemented to cover the covered area, the waypoints are integrated, and the waypoints for determining that the waypoints of the unmanned aerial vehicle for spraying the operating area to be sprayed comprise a plurality of initial waypoints, waypoints except the dangerous waypoint, safe waypoints and supplementary waypoints.
Fig. 4 is a schematic structural diagram of a path planning apparatus for spraying operation according to an embodiment of the present invention. The path planning device for spraying operation comprises:
a determining module 401, configured to determine a work area to be sprayed;
an obtaining module 402, configured to obtain range size parameters of a characteristic range of the unmanned aerial vehicle, where the characteristic range includes one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle, and a spraying operation range;
the determining module 401 is further configured to determine, according to the range size parameter, a waypoint at which the unmanned aerial vehicle performs a spraying operation on the operation area to be sprayed, where when the unmanned aerial vehicle sprays an operation on a route indicated by the waypoint, a characteristic range of the unmanned aerial vehicle does not exceed a boundary of the operation area to be sprayed.
Optionally, the range size parameter includes a radius or a side length.
Optionally, the characteristic range is a spraying operation range, and the obtaining module 402 is specifically configured to:
detecting the spraying operation range setting operation of a user, and determining the spraying operation range of the unmanned aerial vehicle according to the operation.
Optionally, the determining module 401 is specifically configured to:
determining a waypoint planning area in the operation area to be sprayed according to the range size parameter;
and determining a waypoint for performing spraying operation on the operation area to be sprayed in the waypoint planning area.
Optionally, the determining module 401 is specifically configured to:
determining a boundary moving parameter according to the range size parameter;
and moving each boundary of the spraying operation area to a direction close to the spraying operation area according to the boundary moving parameters to obtain the waypoint planning area.
Optionally, the determining module 401 is specifically configured to:
determining an initial waypoint for performing spraying operation on the operation area to be sprayed in the operation area to be sprayed;
determining a dangerous waypoint from the plurality of initial waypoints according to the range size parameter, wherein when the unmanned aerial vehicle is positioned at the dangerous waypoint, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed;
moving the dangerous waypoint to a direction close to the spraying operation area to obtain a safe waypoint corresponding to the dangerous waypoint, wherein when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed;
wherein the waypoints at which the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed include waypoints of the plurality of initial waypoints other than the dangerous waypoint and the safe waypoint.
Optionally, the determining module 401 is specifically configured to:
acquiring the distance between each waypoint in the initial waypoints and a reference boundary corresponding to the waypoint, wherein the reference boundary is one of the boundaries of the operation area to be sprayed, which is closest to the waypoint;
determining an initial waypoint of the plurality of initial waypoints for which the distance is less than the range dimension parameter as the dangerous waypoint.
Optionally, the determining module 401 is specifically configured to:
and moving the dangerous waypoint to a direction which is perpendicular to the reference boundary corresponding to the dangerous waypoint and points to the dangerous waypoint so as to obtain a safe waypoint corresponding to the dangerous waypoint.
Optionally, the moving distance is a difference between the range size parameter and a distance between the dangerous navigation point and the corresponding reference boundary.
Optionally, the apparatus further comprises a supplementary module 403, wherein:
the determining module 401 is further configured to determine an uncovered area in the area to be sprayed according to the waypoint for performing the spraying operation and the range size parameter;
the supplementary module 403 is configured to set a supplementary waypoint for the no-coverage area;
the supplementary module 403 is further configured to add the supplementary waypoint to the waypoint where the spraying operation is performed.
Optionally, the supplementary module 403 is specifically configured to:
determining two adjacent waypoints closest to the uncovered area from the waypoints for performing the spraying operation;
adding the supplemental waypoint to between the two adjacent waypoints.
It can be understood that the functions of the functional modules of the path planning apparatus for spraying operation described in the embodiment of the present invention may be specifically implemented according to the method in the method embodiment described in fig. 1 or fig. 2, and the specific implementation process may refer to the related description of the method embodiment in fig. 1 or fig. 2, which is not described herein again.
In the embodiment of the invention, the determining module 401 may determine an operation area to be sprayed, the obtaining module 402 obtains a range size parameter of a characteristic range of the unmanned aerial vehicle, where the range size parameter includes one or more of a fuselage range, a working range of an unmanned aerial vehicle power system, and a spraying operation range, and the determining module 401 further determines a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, where the characteristic range of the unmanned aerial vehicle does not exceed a boundary of the operation area to be sprayed when the unmanned aerial vehicle performs spraying operation on a flight path indicated by the waypoint, so as to solve a problem of safety of the boundary caused when the unmanned aerial vehicle performs spraying operation in the spraying operation area.
Fig. 5 is a schematic structural diagram of a path planning apparatus for spraying operation according to an embodiment of the present invention. The path planning apparatus described in this embodiment includes: a processor 501 and a memory 502. The processor 501 and the memory 502 are connected by a bus.
The Processor 501 may be a Central Processing Unit (CPU), and may also be other general purpose processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field-Programmable Gate arrays (FPGA) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may include both read-only memory and random access memory, and provides program instructions and data to the processor 501. A portion of the memory 502 may also include non-volatile random access memory. Wherein, the processor 501, when calling the program instruction, is configured to perform:
determining an operation area to be sprayed;
obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
Optionally, the range size parameter includes a radius or a side length.
Optionally, the characteristic range is a spraying operation range, and the processor 501 is specifically configured to:
detecting the spraying operation range setting operation of a user, and determining the spraying operation range of the unmanned aerial vehicle according to the operation.
Optionally, the processor 501 is specifically configured to:
determining a waypoint planning area in the operation area to be sprayed according to the range size parameter;
and determining a waypoint for performing spraying operation on the operation area to be sprayed in the waypoint planning area.
Optionally, the processor 501 is specifically configured to:
determining a boundary moving parameter according to the range size parameter;
and moving each boundary of the spraying operation area to a direction close to the spraying operation area according to the boundary moving parameters to obtain the waypoint planning area.
Optionally, the processor 501 is specifically configured to:
determining an initial waypoint for performing spraying operation on the operation area to be sprayed in the operation area to be sprayed;
determining a dangerous waypoint from the plurality of initial waypoints according to the range size parameter, wherein when the unmanned aerial vehicle is positioned at the dangerous waypoint, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed;
moving the dangerous waypoint to a direction close to the spraying operation area to obtain a safe waypoint corresponding to the dangerous waypoint, wherein when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed;
wherein the waypoints at which the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed include waypoints of the plurality of initial waypoints other than the dangerous waypoint and the safe waypoint.
Optionally, the processor 501 is specifically configured to:
acquiring the distance between each waypoint in the initial waypoints and a reference boundary corresponding to the waypoint, wherein the reference boundary is one of the boundaries of the operation area to be sprayed, which is closest to the waypoint;
determining an initial waypoint of the plurality of initial waypoints for which the distance is less than the range dimension parameter as the dangerous waypoint.
Optionally, the processor 501 is specifically configured to:
and moving the dangerous waypoint to a direction which is perpendicular to the reference boundary corresponding to the dangerous waypoint and points to the dangerous waypoint so as to obtain a safe waypoint corresponding to the dangerous waypoint.
Optionally, the moving distance is a difference between the range size parameter and a distance between the dangerous navigation point and the corresponding reference boundary.
Optionally, the processor 501 is specifically configured to:
determining an uncovered area in the area to be sprayed according to the navigation point for executing the spraying operation and the range size parameter;
setting a supplementary waypoint for the uncovered area;
adding the supplemental waypoint to the waypoint at which the spray operation was performed.
Optionally, the processor 501 is specifically configured to:
determining two adjacent waypoints closest to the uncovered area from the waypoints for performing the spraying operation;
adding the supplemental waypoint to between the two adjacent waypoints.
In a specific implementation, the processor 501 and the memory 502 described in this embodiment of the present invention may execute the implementation manner described in the path planning method for spraying operation provided in fig. 1 or fig. 2 in this embodiment of the present invention, and may also execute the implementation manner of the path planning apparatus for spraying operation described in fig. 4 in this embodiment of the present invention, which is not described herein again.
In the embodiment of the invention, the processor 501 can determine the operation area to be sprayed, obtain the range size parameter of the characteristic range of the unmanned aerial vehicle, wherein the range size parameter comprises one or more of the range of the fuselage, the working range of the power system of the unmanned aerial vehicle and the spraying operation range, and further determine the waypoint of the unmanned aerial vehicle for performing the spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays the operation on the flight path indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed, so that the problem of the safety of the boundary caused when the unmanned aerial vehicle performs the spraying operation in the spraying operation area is solved.
An embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the computer storage medium may include some or all of the steps of the path planning method for spraying operation in the embodiment corresponding to fig. 1 or fig. 2.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above detailed description is provided for the path planning method and the path planning apparatus for spraying operation according to the embodiments of the present invention, and the principle and the implementation manner of the present invention are explained in the present document by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (22)
1. A method for planning a path of a spraying operation is characterized by comprising the following steps:
determining an operation area to be sprayed;
obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
2. The method of claim 1, wherein the range size parameter comprises a radius or a side length.
3. The method according to claim 1 or 2, wherein the characteristic range is a spraying operation range, wherein the obtaining of the range size parameter of the characteristic range of the unmanned aerial vehicle comprises:
detecting the spraying operation range setting operation of a user, and determining the spraying operation range of the unmanned aerial vehicle according to the operation.
4. The method according to any one of claims 1-3, wherein the determining a waypoint at which the UAV performs a spray operation on the work area to be sprayed based on the range size parameter comprises:
determining a waypoint planning area in the operation area to be sprayed according to the range size parameter;
and determining a waypoint for performing spraying operation on the operation area to be sprayed in the waypoint planning area.
5. The method of claim 4, wherein the determining a waypoint planning region in the work area to be sprayed in accordance with the range size parameter comprises:
determining a boundary moving parameter according to the range size parameter;
and moving each boundary of the spraying operation area to a direction close to the spraying operation area according to the boundary moving parameters to obtain the waypoint planning area.
6. The method according to any one of claims 1-3, wherein the determining a waypoint at which the UAV performs a spray operation on the work area to be sprayed based on the range size parameter comprises:
determining an initial waypoint for performing spraying operation on the operation area to be sprayed in the operation area to be sprayed;
determining a dangerous waypoint from the plurality of initial waypoints according to the range size parameter, wherein when the unmanned aerial vehicle is positioned at the dangerous waypoint, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed;
moving the dangerous waypoint to a direction close to the spraying operation area to obtain a safe waypoint corresponding to the dangerous waypoint, wherein when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed;
wherein the waypoints at which the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed include waypoints of the plurality of initial waypoints other than the dangerous waypoint and the safe waypoint.
7. The method of claim 6, wherein said determining a dangerous waypoint from the plurality of initial waypoints in accordance with the range size parameter comprises:
acquiring the distance between each waypoint in the initial waypoints and a reference boundary corresponding to the waypoint, wherein the reference boundary is one of the boundaries of the operation area to be sprayed, which is closest to the waypoint;
determining an initial waypoint of the plurality of initial waypoints for which the distance is less than the range dimension parameter as the dangerous waypoint.
8. The method of claim 7, wherein moving the hazardous waypoint in a direction proximate to the spray work area to obtain a safety waypoint corresponding to the hazardous waypoint comprises:
and moving the dangerous waypoint to a direction which is perpendicular to the reference boundary corresponding to the dangerous waypoint and points to the dangerous waypoint so as to obtain a safe waypoint corresponding to the dangerous waypoint.
9. The method of claim 8, wherein the distance moved is a difference between a range size parameter and a distance between the dangerous waypoint and a corresponding reference boundary.
10. The method according to any one of claims 6-8, wherein after determining the waypoint at which the UAV performs spray operations on the operational area to be sprayed based on the range dimension parameter, the method further comprises:
determining an uncovered area in the area to be sprayed according to the navigation point for executing the spraying operation and the range size parameter;
setting a supplementary waypoint for the uncovered area;
adding the supplemental waypoint to the waypoint at which the spray operation was performed.
11. The method of claim 10, wherein the adding the supplemental waypoint to the waypoint at which to perform the spray operation comprises:
determining two adjacent waypoints closest to the uncovered area from the waypoints for performing the spraying operation;
adding the supplemental waypoint to between the two adjacent waypoints.
12. A path planning apparatus, comprising: a processor and a memory, wherein:
the memory to store program instructions;
the processor is used for executing the following steps when calling the program instruction:
determining an operation area to be sprayed;
obtaining range size parameters of a characteristic range of the unmanned aerial vehicle, wherein the characteristic range comprises one or more of a fuselage range, a working range of a power system of the unmanned aerial vehicle and a spraying operation range;
and determining a waypoint of the unmanned aerial vehicle for performing spraying operation on the operation area to be sprayed according to the range size parameter, wherein when the unmanned aerial vehicle sprays operation on a flight line indicated by the waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed.
13. The path planner as claimed in claim 12 wherein the range size parameter comprises a radius or a side length.
14. The path planning apparatus according to claim 12 or 13, wherein the characteristic range is a spraying operation range, and the processor is specifically configured to:
detecting the spraying operation range setting operation of a user, and determining the spraying operation range of the unmanned aerial vehicle according to the operation.
15. The path planning device according to any one of claims 12 to 14, wherein the processor is specifically configured to:
determining a waypoint planning area in the operation area to be sprayed according to the range size parameter;
and determining a waypoint for performing spraying operation on the operation area to be sprayed in the waypoint planning area.
16. The path planning device according to claim 15, wherein the processor is specifically configured to:
determining a boundary moving parameter according to the range size parameter;
and moving each boundary of the spraying operation area to a direction close to the spraying operation area according to the boundary moving parameters to obtain the waypoint planning area.
17. The path planning device according to any one of claims 12 to 14, wherein the processor is specifically configured to:
determining an initial waypoint for performing spraying operation on the operation area to be sprayed in the operation area to be sprayed;
determining a dangerous waypoint from the plurality of initial waypoints according to the range size parameter, wherein when the unmanned aerial vehicle is positioned at the dangerous waypoint, the characteristic range of the unmanned aerial vehicle exceeds the boundary of the operation area to be sprayed;
moving the dangerous waypoint to a direction close to the spraying operation area to obtain a safe waypoint corresponding to the dangerous waypoint, wherein when the unmanned aerial vehicle is positioned at the safe waypoint, the characteristic range of the unmanned aerial vehicle does not exceed the boundary of the operation area to be sprayed;
wherein the waypoints at which the unmanned aerial vehicle performs spraying operation on the operation area to be sprayed include waypoints of the plurality of initial waypoints other than the dangerous waypoint and the safe waypoint.
18. The path planning device according to claim 17, wherein the processor is specifically configured to:
acquiring the distance between each waypoint in the initial waypoints and a reference boundary corresponding to the waypoint, wherein the reference boundary is one of the boundaries of the operation area to be sprayed, which is closest to the waypoint;
determining an initial waypoint of the plurality of initial waypoints for which the distance is less than the range dimension parameter as the dangerous waypoint.
19. The path planning apparatus according to claim 18, wherein the processor is specifically configured to:
and moving the dangerous waypoint to a direction which is perpendicular to the reference boundary corresponding to the dangerous waypoint and points to the dangerous waypoint so as to obtain a safe waypoint corresponding to the dangerous waypoint.
20. The path planner as claimed in claim 19 wherein the distance moved is a difference between a range size parameter and a distance between the dangerous waypoint and a corresponding reference boundary.
21. The path planning apparatus according to claims 17-19, wherein the processor is further configured to:
determining an uncovered area in the area to be sprayed according to the navigation point for executing the spraying operation and the range size parameter;
setting a supplementary waypoint for the uncovered area;
adding the supplemental waypoint to the waypoint at which the spray operation was performed.
22. The path planning apparatus according to claim 21, wherein the processor is specifically configured to:
determining two adjacent waypoints closest to the uncovered area from the waypoints for performing the spraying operation;
adding the supplemental waypoint to between the two adjacent waypoints.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/103286 WO2021035613A1 (en) | 2019-08-29 | 2019-08-29 | Path planning method and path planning device for spraying operation |
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| CN112106009A true CN112106009A (en) | 2020-12-18 |
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| CN201980030519.5A Pending CN112106009A (en) | 2019-08-29 | 2019-08-29 | Route planning method and route planning equipment for spraying operation |
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| WO (1) | WO2021035613A1 (en) |
Cited By (1)
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| CN114611802A (en) * | 2022-03-15 | 2022-06-10 | 广州极飞科技股份有限公司 | Working route generation method and device, electronic equipment and readable storage medium |
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