CN113946164A - Air route planning method and device for unmanned aerial vehicle and storage medium - Google Patents
Air route planning method and device for unmanned aerial vehicle and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004590 computer program Methods 0.000 claims description 9
- 238000005507 spraying Methods 0.000 abstract description 18
- 231100000674 Phytotoxicity Toxicity 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 239000007921 spray Substances 0.000 description 6
- 238000007667 floating Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 1
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- 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 embodiment of the application discloses a method, a device and a storage medium for planning a route of an unmanned aerial vehicle, wherein the method comprises the steps of obtaining a target operation area; acquiring a first operation width of the unmanned aerial vehicle set by a user; determining a second operation width of the unmanned aerial vehicle according to the target operation area and the first operation width; and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width. The operation width set by the user can be adjusted according to the operation area, so that the operation range can completely cover the operation area when the user operates according to the adjusted operation width, and the problems of operation leakage, repeated operation, coverage of the operation range outside the operation area and the like are prevented. The operation is more efficient, and the situation that after the operation is finished, manual operation is carried out on the area which is not covered by the edge, such as manual spraying again is avoided; can also avoid repeated operation, such as phytotoxicity and pollution caused by repeated spraying, and is more environment-friendly.
Description
Technical Field
The present application relates to the field of unmanned aerial vehicle technology, and in particular, to a method, an apparatus, and a storage medium for planning routes of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle can be widely applied to operation scenes such as agriculture, surveying and mapping, aerial photography and tour, the operation scenes are complex, a corresponding target air route is generated by a traditional air route planning method according to the air route operation width set by a user, and operation missing scenes are easy to appear at the edge of an operation area when the target air route is operated. Taking spraying operation as an example, often need the user to do manually operation unmanned vehicles again at last, spray marginal area, very big influence the degree of automation of operation on the one hand, on the other hand, repeated operation is difficult manual control to spout the medicine mode, appears heavy spray, the regional problem such as harm of producing of blowout.
Disclosure of Invention
The application provides a flight path planning method, a flight path planning device and a storage medium of an unmanned aerial vehicle, and aims to solve the technical problems that operation is easy to miss, repeated, the operation range covers the outside of an operation area and the like when the unmanned aerial vehicle obtains flight path operation according to the flight path planning method.
In a first aspect, an embodiment of the present application provides a method for planning routes of an unmanned aerial vehicle, including:
acquiring a target operation area;
acquiring a first operation width of the unmanned aerial vehicle set by a user;
determining a second working width of the unmanned aerial vehicle according to the target working area and the first working width;
and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width.
In a second aspect, embodiments of the present application provide an airline planning device, comprising one or more processors, which individually or collectively operate to perform the steps of the aforementioned airline planning method.
In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the above-mentioned method.
The embodiment of the application provides a method, a device and a storage medium for planning routes of an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring a target operation area; acquiring a first operation width of the unmanned aerial vehicle set by a user; determining a second working width of the unmanned aerial vehicle according to the target working area and the first working width; and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width. The operation width set by the user can be adjusted according to the operation area, so that the operation range can completely cover the operation area when the user operates according to the adjusted operation width, and the problems of operation leakage, repeated operation, coverage of the operation range outside the operation area and the like are prevented.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a method for planning routes of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a target flight path in one embodiment;
FIG. 3 is a schematic diagram of a target route obtained in a scene by a current route planning method;
FIG. 4 is a schematic diagram of a target route obtained in another scenario by the current route planning method;
FIG. 5 is a schematic diagram of a target route obtained by the route planning method of the embodiment of the application;
FIG. 6 is a schematic diagram showing a user-set route and a target route, in one embodiment;
FIG. 7 is a schematic diagram showing a user-set course and a target course in another embodiment;
FIG. 8 is a schematic block diagram of an airline planning apparatus provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for planning a route of an unmanned aerial vehicle according to an embodiment of the present application. The method can be used for determining the target route of the unmanned aerial vehicle and other processes according to the target operation area and the operation width of the unmanned aerial vehicle set by a user. In some embodiments, the route planning method may be applied to a terminal device or an unmanned aerial vehicle, although not limited thereto.
The terminal equipment can comprise at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment, a remote controller and the like; illustratively, the unmanned aerial vehicle may be a rotary wing drone, such as a quad-rotor drone, a hexa-rotor drone, an eight-rotor drone, or a fixed wing drone. In some embodiments, the unmanned aerial vehicle can carry a load of sprinklers, cameras, etc. for performing corresponding work tasks, such as pesticide spraying, aerial photography, surveying, etc.
For example, the terminal device may determine a target flight path of the unmanned aerial vehicle according to the target operation area and the operation width of the unmanned aerial vehicle set by the user, and send the target flight path to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs operations according to the target flight path, such as flying along the target flight path, and during the flying process, corresponding tasks, such as pesticide spraying, aerial photography, surveying and mapping, may be performed through a carried load, such as a spraying device, a shooting device, and the like, without being limited thereto. This application mainly takes the operation scene to agricultural unmanned aerial vehicle cover route to explain as an example.
In some embodiments, as shown in fig. 2, the target route obtained by the route planning method includes a plurality of working routes 11 and a turning route 12 connected to the working routes 11, the plurality of working routes 11 are arranged in parallel, and the turning route 12 is perpendicular to the working routes 11 or not. Illustratively, the working width, such as the width that the spray device is capable of spraying, may be represented as L when the UAV is flying along the working flight line 11. Illustratively, the distance between two adjacent working lanes 11 is equal to or approximately equal to the width L that the spraying device can spray, so as to prevent missing spraying or repeated spraying.
The current route planning method usually generates a target route with the distance between adjacent operation routes equal to the operation width in an operation area input by a user according to the operation width input by the user, and because the actual operation area is not considered by the operation width set by the user, the situations of operation leakage and the like at the edge of the area are easily caused.
Illustratively, referring to fig. 3, the user enters a job area having a width W1 of 62.0 meters, and enters a job width L1 of 8.0 meters; as can be seen, the flight paths are sequentially generated from left to right according to the interval of the operation flight paths of 8.0 meters; but on the last route at the right end, when the unmanned aerial vehicle sprays according to the width of 8.0 meters in L1, the unmanned aerial vehicle is easy to spray outside the working area, and waste or phytotoxicity is caused. Illustratively, referring to FIG. 4, the user enters a job region having a width W2 of 66.0 meters, and enters a job width L1 of 8.0 meters. As can be seen, the flight paths are sequentially generated from left to right according to the interval of the operation flight paths of 8.0 meters; but an area which can not be sprayed exists at the right end, the spraying of the airplane needs to be controlled manually, the operation efficiency is reduced, and meanwhile, the operations of missed spraying and mistaken spraying are easy to occur.
The inventor of the application improves the route planning method of the unmanned aerial vehicle, and can adjust the operation width set by a user according to the operation area, so that the operation range can completely cover the operation area when the unmanned aerial vehicle operates according to the adjusted operation width, and the problems of operation leakage, repeated operation, coverage of the operation range outside the operation area and the like are prevented.
As shown in fig. 1, the route planning method for an unmanned aerial vehicle according to the embodiment of the present application includes steps S110 to S140.
And S110, acquiring a target operation area.
In some embodiments, the target work area is a work area of the unmanned aerial vehicle planned by the user, or may be a previously stored work area. Illustratively, the terminal device displays an area determination interface, the area determination interface includes a map, a user can demarcate a boundary of an area on the map, the boundary can be a closed boundary, a boundary point and/or a non-closed boundary, and a target operation area can be determined according to the demarcated boundary. Certainly, the method is not limited to this, for example, the user triggers the terminal device to record the boundary positions at different positions with the terminal device, and the terminal device determines the target working area according to a plurality of boundary positions.
And S120, acquiring a first working width of the unmanned aerial vehicle set by a user.
In some embodiments, the user may determine the working width according to the type, performance, working state of the load of the unmanned aerial vehicle, the attribute (such as the type or height of the crop) of the working object, and the like, and may also determine the working width according to the size of the target working area; for example, when the job is to be completed urgently, a larger job width may be set.
For example, the terminal device may obtain the first job width set by the user through an input device, such as a keyboard, a touch screen, or the like, or may obtain the first job width set by the user through voice recognition, which is not limited thereto.
S130, determining a second operation width of the unmanned aerial vehicle according to the target operation area and the first operation width.
For example, the job width set by the user is adjusted according to the target job region, and the adjusted job width may be referred to as a second job width.
For example, when the unmanned aerial vehicle performs work based on the target route generated according to the second work width, the work range can completely cover the target work area. In some embodiments, adjusting the user-set work width according to the target work area may be referred to as equalizing the user-set work width, and the second work width may be referred to as an equalized work width.
In some embodiments, said determining a second working width based on said target working area and said first working width comprises: determining the number of operation routes according to the target operation area and the first operation width; and determining a second operation width according to the target operation area and the number of the operation routes.
Illustratively, the number of the determined working routes is an integer according to the target working area and the first working width.
In some embodiments, the determining a second work width based on the target work area and the number of work lanes comprises: and determining a second operation width according to the operation area width of the target operation area and the quotient of the number of the operation routes.
For example, as shown in fig. 5, the number num of work lanes is 7, the work area width W of the target work area is W/num, and the quotient d _ adjust of the number num of work lanes is W/num, so that a second work width L2 is d _ adjust. Referring to fig. 5, according to the target flight path generated by the second working width L2, the working range of exactly an integer number of working flight paths can be ensured to cover the target working area.
In some embodiments, said determining a number of working lanes from said target working area and said first working width comprises: determining the width of an operation area according to the width of the target operation area in a first direction, wherein the first direction is vertical to the direction of an operation route of the unmanned aerial vehicle; and determining the number of the operation routes according to the width of the operation area and the first operation width.
For example, the working area width may be a length of a projection of the target working area in the first direction.
For example, the direction of the working route may be determined according to the shape of the target working area and/or the starting position of the work, or may be set by the user.
Illustratively, the total width of the generating route, namely the working area width, is calculated according to the geometric outline of the target working area, and then the number of the working routes is determined according to the working area width and the first working width.
In some embodiments, said determining a number of working lanes from said working area width and said first working width comprises: and rounding the quotient of the width of the operation area and the first operation width to obtain the number of the operation routes.
Referring to fig. 3 and 4, since the quotient of the working area width and the first working width set by the user may not be an integer, when the target route is generated according to the first working width, the working area of the unmanned aerial vehicle may not completely cover the target working area or cover an area outside the target working area.
By rounding the quotient of the working area width and the first working width, the number of working routes of an integer, that is, the number num of balanced working routes, can be obtained.
For example, the quotient of the working area width and the first working width may be rounded to obtain the number of working routes.
Illustratively, according to the width of the operation area and the first operation width set by the user, calculating the quotient in the form of floating point decimal to obtain the number of required flight paths, rounding the floating point decimal to get an integer, and obtaining the number of operation flight paths of the balanced integer.
Illustratively, referring to fig. 3 and 6, the working area width W1 is 62.0 meters, the first working width L1 is 8.0 meters, the quotient of the working area width and the first working width is 7.75, rounding to obtain 8 working routes, and the second working width L2' is 7.75 meters, determined according to the quotient of the working area width W1 and the 8 working routes. Referring to fig. 6, the working range corresponding to the target route obtained according to the second working width L2' can completely cover the working area.
Illustratively, referring to fig. 4 and 7, the working area width W2 is 66.0 meters, the first working width L1 is 8.0 meters, the quotient of the working area width and the first working width is 8.25, rounding to obtain 8 working routes, and the second working width L2 "is determined to be 8.25 meters according to the quotient of the working area width W2 and the number of working routes 8. Referring to fig. 7, the working range corresponding to the target route obtained according to the second working width L2 ″ can completely cover the working area.
S140, determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width.
Illustratively, according to the direction of the working route and the second working width, a plurality of working routes are arranged in the target working area at intervals, the number of the plurality of working routes may be an integer obtained by dividing the width of the working area by the width of the first working width, and the lengths of the plurality of working routes may be equal or unequal. And connecting the operation route through a steering route to generate a continuous target route.
In some embodiments, the unmanned aerial vehicle overlaps the target work area in at least the first direction along the target course line according to the second work width. The first direction is the direction in which a plurality of operation air routes in the target air route are arranged in parallel. Referring to fig. 5 to 7, when the unmanned aerial vehicle performs the operation according to the second operation width along the target route, the operation range is completely overlapped with the target operation area at least in the transverse direction, so that problems such as operation omission, repeated operation, coverage of the operation range outside the operation area, and the like are prevented.
In some embodiments, the rounding the quotient of the work area width and the first work width to obtain the number of work lanes comprises: and rounding the quotient of the width of the working area and the first working width according to the first working width and the upper limit and/or the lower limit of the working width of the unmanned aerial vehicle to obtain the number of the working routes.
For example, in order to ensure the working effect (such as uniform spraying of crops in a spraying operation) and/or the working performance limited by the load (such as the width of a spraying device), the upper limit of the working width and/or the lower limit of the working width of the unmanned aerial vehicle can be preset. By determining the rounding mode of the quotient of the working area width and the first working width according to the size relation between the first working width and the upper limit and/or the lower limit of the working width, the number of the obtained working routes, the second working width and the target route can be more reasonable, and the working effect can be ensured.
For example, when the first working width is within a first preset range (e.g., 90% to 105% of the upper limit of the working width) corresponding to the upper limit of the working width, rounding the quotient of the working area width and the first working width by a further method to obtain the number of the working routes. For example, the width of the working area is 66 meters, the first working width is 8 meters, the upper limit of the working width is 8 meters, and the quotient 8.25 of the width of the working area and the first working width is rounded up by a further method to obtain the number of the working routes is 9; and determining that the second working width is 7.34 meters and is smaller than the upper limit of the working width, and the working range corresponding to the target route can cover the target working area.
For example, when the first working width is within a second preset range (e.g., 95% to 110% of the lower limit of the working width) corresponding to the lower limit of the working width, rounding the quotient of the working area width and the first working width by ignoring decimal to obtain the number of the working routes. For example, the width of the working area is 63 meters, the first working width is 6 meters, the lower limit of the working width is 6 meters, and the quotient 10.5 of the width of the working area and the first working width is rounded by neglecting decimal to obtain the number of the working routes as 10; and determining that the second working width is 6.3 meters and is larger than the lower limit of the working width, and the working range corresponding to the target route can cover the target working area.
For example, when the first working width is not within a first preset range corresponding to the upper working width limit or is not within a second preset range corresponding to the lower working width limit, rounding the quotient of the working area width and the first working width to obtain the number of the working routes.
In some embodiments, the route planning method further comprises: determining a user-set route of the unmanned aerial vehicle according to the target operation area and the first operation width; displaying the target course and the user-set course on a display device.
Referring to fig. 6, the first working width is L1, and the dashed route represents the user-defined route; l2' represents the second working width, and the solid course represents the user-set course. And prompting the user that the target route is more optimal than the route set by the user by displaying the target route and the route set by the user, and covering a complete target operation area.
Illustratively, the displaying the target route and the user-set route on a display device includes: and displaying the target air route and the user-set air route on a display device, and superposing and displaying the working range of the second working width on the target air route and superposing and displaying the working range of the first working width on the user-set air route. Referring to fig. 6 and 7, the width of the working range of the second working width is L2', and the width of the working range of the first working width is L1, so as to prompt the user that the working range on the working route is better than the set first working width when the unmanned aerial vehicle works according to the target route.
The method for planning the air route of the unmanned aerial vehicle comprises the steps of obtaining a target operation area; acquiring a first operation width of the unmanned aerial vehicle set by a user; determining a second working width of the unmanned aerial vehicle according to the target working area and the first working width; and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width. The operation width set by the user can be adjusted according to the operation area, so that the operation range can completely cover the operation area when the user operates according to the adjusted operation width, and the problems of operation leakage, repeated operation, coverage of the operation range outside the operation area and the like are prevented. The operation is more efficient, and the situation that after the operation is finished, manual operation is carried out on the area which is not covered by the edge, such as manual spraying again is avoided; can also avoid repeated operation, such as phytotoxicity and pollution caused by repeated spraying, and is more environment-friendly.
Referring to fig. 8 in conjunction with the above embodiments, fig. 8 is a schematic block diagram of a route planning apparatus 600 according to an embodiment of the present application. Alternatively, the route planning apparatus 600 may be applied to the route planning method of the unmanned aerial vehicle described above.
For example, the route planning device may be mounted on a terminal device or on an unmanned aerial vehicle. The terminal equipment can comprise at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment, a remote controller and the like; illustratively, the unmanned aerial vehicle may be a rotary wing drone, such as a quad-rotor drone, a hexa-rotor drone, an eight-rotor drone, or a fixed wing drone.
The route planning apparatus 600 includes one or more processors 601, the one or more processors 601 operating individually or collectively to perform the steps of the foregoing method of route planning for an unmanned aircraft.
The example airline planning device 600 also includes memory 602.
Illustratively, the processor 601 and the memory 602 are coupled via a bus 603, such as an I2C (inter-programmed Ci circuit) bus 603.
Specifically, the Processor 601 may be a Micro-control l er Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 602 may be an F l ash chip, a Read-only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
Wherein the processor 601 is configured to run a computer program stored in the memory 602 and to implement the aforementioned steps of the route planning method for an unmanned aerial vehicle when executing the computer program.
Illustratively, the processor 601 is configured to run a computer program stored in the memory 602 and to implement the following steps when executing the computer program:
acquiring a target operation area;
acquiring a first operation width of the unmanned aerial vehicle set by a user;
determining a second working width of the unmanned aerial vehicle according to the target working area and the first working width;
and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width.
Optionally, the target air route comprises a plurality of operation air routes and a steering air route connected with the operation air routes, and the plurality of operation air routes are arranged in parallel along a first direction;
and the unmanned aerial vehicle overlaps with the target operation area at least in the first direction according to the operation range of the target route during operation according to the second operation width.
Optionally, when determining the second job width according to the target job region and the first job width, the processor 601 is configured to:
determining the number of operation routes according to the target operation area and the first operation width;
and determining a second operation width according to the target operation area and the number of the operation routes.
Optionally, when determining the number of working routes according to the target working area and the first working width, the processor 601 is configured to:
determining the width of an operation area according to the width of the target operation area in a first direction, wherein the first direction is vertical to the direction of an operation route of the unmanned aerial vehicle;
and determining the number of the operation routes according to the width of the operation area and the first operation width.
Optionally, when determining the number of working routes according to the working area width and the first working width, the processor 601 is configured to:
and rounding the quotient of the width of the operation area and the first operation width to obtain the number of the operation routes.
Optionally, the processor 601 is configured to, when rounding the quotient of the working area width and the first working width to obtain the number of working routes,:
and rounding the quotient of the width of the operation area and the first operation width to obtain the number of the operation routes.
Optionally, the processor 601 is configured to, when rounding the quotient of the working area width and the first working width to obtain the number of working routes,:
and rounding the quotient of the width of the working area and the first working width according to the first working width and the upper limit and/or the lower limit of the working width of the unmanned aerial vehicle to obtain the number of the working routes.
Optionally, when rounding the quotient of the working area width and the first working width according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle to obtain the number of working routes, the processor 601 is configured to:
and when the first working width is within a first preset range corresponding to the upper limit of the working width, rounding the quotient of the working area width and the first working width by a further method to obtain the number of the working routes.
Optionally, when rounding the quotient of the working area width and the first working width according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle to obtain the number of working routes, the processor 601 is configured to:
and when the first working width is within a second preset range corresponding to the lower limit of the working width, rounding the neglected decimal number of the quotient of the working area width and the first working width to obtain the number of the working routes.
Optionally, when rounding the quotient of the working area width and the first working width according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle to obtain the number of working routes, the processor 601 is configured to:
and when the first working width is not in a first preset range corresponding to the upper limit of the working width or in a second preset range corresponding to the lower limit of the working width, rounding the quotient of the working area width and the first working width to obtain the number of the working routes.
Optionally, when the second working width is determined according to the target working area and the number of working routes, the processor 601 is configured to:
and determining a second operation width according to the operation area width of the target operation area and the quotient of the number of the operation routes.
Optionally, the processor 601 is further configured to implement:
determining a user-set route of the unmanned aerial vehicle according to the target operation area and the first operation width;
displaying the target course and the user-set course on a display device.
Optionally, the processor 601, when displaying the target route and the user-set route on the display device, is configured to:
and displaying the target air route and the user-set air route on a display device, and superposing and displaying the working range of the second working width on the target air route and superposing and displaying the working range of the first working width on the user-set air route.
The specific principle and implementation manner of the route planning device provided by the embodiment of the application are similar to the route planning method of the unmanned aerial vehicle in the foregoing embodiment, and are not described here again.
Embodiments of the present application further provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is enabled to implement the steps of the route planning method for an unmanned aerial vehicle provided in the above embodiments.
The computer readable storage medium may be an internal storage unit of the air route planning device according to any of the embodiments, such as a hard disk or a memory of the air route planning device. The computer readable storage medium may also be an external storage device of the airline planning device, such as a plug-in hard disk provided on the airline planning device, a Smart Media Card (SMC), a Secure digital (Secure Di gita l, SD) Card, a flash memory Card (F l ash Card), and the like.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
It should be noted that the descriptions relating to "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (15)
1. A method of route planning for an unmanned aerial vehicle, comprising:
acquiring a target operation area;
acquiring a first operation width of the unmanned aerial vehicle set by a user;
determining a second working width of the unmanned aerial vehicle according to the target working area and the first working width;
and determining a target route of the unmanned aerial vehicle according to the target operation area and the second operation width.
2. The route planning method according to claim 1, wherein the target route includes a plurality of working routes, and a turning route connecting the working routes, the plurality of working routes being arranged in parallel in a first direction;
and the unmanned aerial vehicle overlaps with the target operation area at least in the first direction according to the operation range of the target route during operation according to the second operation width.
3. The airline planning method according to claim 1, wherein the determining a second job width based on the target job region and the first job width comprises:
determining the number of operation routes according to the target operation area and the first operation width;
and determining a second operation width according to the target operation area and the number of the operation routes.
4. The route planning method of claim 3 wherein said determining a number of operating routes based on said target operating area and said first operating width comprises:
determining the width of an operation area according to the width of the target operation area in a first direction, wherein the first direction is vertical to the direction of an operation route of the unmanned aerial vehicle;
and determining the number of the operation routes according to the width of the operation area and the first operation width.
5. The route planning method of claim 4 wherein said determining a number of operating routes based on said operating field width and said first operating width comprises:
and rounding the quotient of the width of the operation area and the first operation width to obtain the number of the operation routes.
6. The route planning method of claim 5 wherein rounding the quotient of the working area width and the first working width to obtain the number of working routes comprises:
and rounding the quotient of the width of the operation area and the first operation width to obtain the number of the operation routes.
7. The route planning method of claim 5 wherein rounding the quotient of the working area width and the first working width to obtain the number of working routes comprises:
and rounding the quotient of the width of the working area and the first working width according to the first working width and the upper limit and/or the lower limit of the working width of the unmanned aerial vehicle to obtain the number of the working routes.
8. The flight path planning method according to claim 7, wherein rounding the quotient of the working area width and the first working width to obtain the number of working flight paths according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle comprises:
and when the first working width is within a first preset range corresponding to the upper limit of the working width, rounding the quotient of the working area width and the first working width by a further method to obtain the number of the working routes.
9. The flight path planning method according to claim 7, wherein rounding the quotient of the working area width and the first working width to obtain the number of working flight paths according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle comprises:
and when the first working width is within a second preset range corresponding to the lower limit of the working width, rounding the neglected decimal number of the quotient of the working area width and the first working width to obtain the number of the working routes.
10. The flight path planning method according to claim 7, wherein rounding the quotient of the working area width and the first working width to obtain the number of working flight paths according to the first working width and the upper working width limit and/or the lower working width limit of the unmanned aerial vehicle comprises:
and when the first working width is not in a first preset range corresponding to the upper limit of the working width or in a second preset range corresponding to the lower limit of the working width, rounding the quotient of the working area width and the first working width to obtain the number of the working routes.
11. The route planning method according to any one of claims 3 to 10, wherein said determining a second working width based on the target working area and the number of working routes comprises:
and determining a second operation width according to the operation area width of the target operation area and the quotient of the number of the operation routes.
12. The route planning method according to any one of claims 1-10, further comprising:
determining a user-set route of the unmanned aerial vehicle according to the target operation area and the first operation width;
displaying the target course and the user-set course on a display device.
13. The airline planning method according to claim 12, wherein the displaying the target airline and the user-set airline on a display device comprises:
and displaying the target air route and the user-set air route on a display device, and superposing and displaying the working range of the second working width on the target air route and superposing and displaying the working range of the first working width on the user-set air route.
14. An airline planning device comprising one or more processors, operating individually or collectively, for performing the steps of the airline planning method according to any of claims 1-13.
15. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the route planning method according to any one of claims 1-13.
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