WO2021081894A1 - Procédé et système de planification de travail pour plate-forme mobile, et terminal de commande - Google Patents

Procédé et système de planification de travail pour plate-forme mobile, et terminal de commande Download PDF

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Publication number
WO2021081894A1
WO2021081894A1 PCT/CN2019/114713 CN2019114713W WO2021081894A1 WO 2021081894 A1 WO2021081894 A1 WO 2021081894A1 CN 2019114713 W CN2019114713 W CN 2019114713W WO 2021081894 A1 WO2021081894 A1 WO 2021081894A1
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WIPO (PCT)
Prior art keywords
reference direction
reference point
movable platform
control terminal
setting operation
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Application number
PCT/CN2019/114713
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English (en)
Chinese (zh)
Inventor
贾向华
王璐
闫光
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114713 priority Critical patent/WO2021081894A1/fr
Priority to CN201980040066.4A priority patent/CN112313595B/zh
Publication of WO2021081894A1 publication Critical patent/WO2021081894A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiments of the present application relate to the technical field of movable platforms, and in particular, to a method, system, and control terminal for operation planning of a movable platform.
  • agricultural drones occupies an important position as an industry-level application drone.
  • Plant protection operations such as spraying operations (spraying water, pesticides, seeds, etc.)
  • spraying operations spraying water, pesticides, seeds, etc.
  • have brought great convenience to the agricultural field such as saving users' time, improving operating efficiency, increasing operating income, and improving the utilization efficiency of agricultural machinery.
  • agricultural drones can automatically generate corresponding routes for rectangular operation areas based on specific waypoints, and complete tasks such as flying and spraying according to the routes.
  • users need to operate agricultural drones for manual work, which results in low work efficiency.
  • the embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform, which are used to improve the operation efficiency of the movable platform.
  • an embodiment of the present application provides a method for planning operations of a movable platform, which is applied to a control terminal, and the method includes:
  • the second setting operation of the user is detected, and a second reference point and a second reference direction are determined according to the detected second setting operation, where the second reference direction is a reference direction corresponding to the second reference point, wherein the
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point.
  • the reference point is an area defined by a reference line extending along the second reference direction.
  • an embodiment of the present application provides a control terminal, including:
  • An interactive device for detecting the user's first setting operation
  • a processor configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device, where the first reference direction is a reference direction corresponding to the first reference point;
  • the interaction device is also used to detect the second setting operation of the user
  • the processor is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device, where the second reference direction is a reference direction corresponding to the second reference point, wherein, the working area of the movable platform is a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the first reference point in the first reference direction.
  • the second reference point is an area defined by a reference line extending along the second reference direction.
  • an embodiment of the present application provides an operation planning system for a movable platform, including the movable platform and the control terminal as described in the embodiment of the present application in the second aspect.
  • an embodiment of the present application provides a readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, it realizes the readable storage medium as described in the embodiment of the present application in the first aspect. Operation planning method of mobile platform.
  • an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the control terminal can read from the readable storage medium Taking the computer program, the at least one processor executes the computer program so that the control terminal implements the operation planning method of the movable platform described in the embodiment of the present application in the first aspect.
  • the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the detected first setting operation, and the user is detected
  • the first setting operation, the second reference point and the second reference direction are determined according to the detected second setting operation
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, from the first reference point
  • the working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
  • FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application
  • FIG. 4 is a schematic diagram of a working area of a movable platform provided by an embodiment of the application.
  • Figure 5 is a schematic diagram of adjusting the position and heading of a movable platform provided by an embodiment of the application
  • Fig. 6 is a schematic diagram of generating a route in a work area of a movable platform provided by an embodiment of the application;
  • FIG. 7 is a flowchart of a method for planning operations on a movable platform according to another embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of the application.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • the embodiments of the present application provide a method, system and control terminal for operation planning of a movable platform.
  • the movable platform may be a drone, an unmanned ship, an unmanned car, a robot, etc.
  • the unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through the air, and the embodiments of the present application are not limited thereto.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system according to an embodiment of the present application.
  • a rotary wing drone is taken as an example for description.
  • the drone system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the unmanned aerial vehicle 110 is taken as an example of an unmanned aerial vehicle, which may include a power system 150, a control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.
  • the drone may also be an unmanned vehicle or an unmanned ship.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage, and is used for supporting the UAV 110 when it is landed.
  • the power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153.
  • the motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arm of the drone 110.
  • the ESC 151 is used to receive the driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, or multiple ESCs 151 may correspond to one motor 152 respectively.
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the control system 160 may include a controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the controller 161 is used to control the flight or operation of the drone 110, for example, it can control the flight or operation of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the pan/tilt head 120 may include a pan/tilt motor 122.
  • the pan/tilt is used to carry the camera 123.
  • the controller 161 can control the movement of the pan-tilt 120 through the pan-tilt motor 122.
  • the pan/tilt head 120 may further include a pan/tilt controller for controlling the movement of the pan/tilt head 120 by controlling the pan/tilt motor 122.
  • the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
  • the pan/tilt motor 122 may be a DC motor or an AC motor.
  • the pan/tilt motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt can be located on the top of the drone, or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located on the ground, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
  • the image taken by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.
  • the control terminal 140 is located on the ground end of the UAV system 100, and can communicate with the UAV 110 in a wireless manner for remote control of the UAV 110.
  • a liquid storage tank 170 is also mounted between the legs of the UAV, and the liquid storage tank 170 is used to store liquid medicine or water; and the arm There is also a spray head 180 at the end of the, and the liquid in the liquid storage tank 170 is pumped into the spray head 180 by a pump, and is sprayed out by the spray head 180.
  • a continuous wave radar 190 can be mounted on the tripod.
  • the continuous wave radar 190 is a rotating continuous wave radar.
  • the continuous wave radar 190 can be used for ranging, but is not limited to ranging.
  • the agricultural drone may include two or more tripods, and the continuous wave radar 190 is mounted on one of the tripods.
  • FIG. 3 is a flowchart of a method for planning operations on a movable platform provided by an embodiment of the application. As shown in FIG. 3, the method of this embodiment is applied to a control terminal, and the method of this embodiment may include:
  • S301 Detect a first setting operation of the user, and determine a first reference point and a first reference direction according to the detected first setting operation, where the first reference direction is a reference direction corresponding to the first reference point.
  • the control terminal in this embodiment may be a control terminal of a movable platform.
  • the control terminal includes one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device, which will not be repeated here. .
  • the control terminal can detect the operation of the user through the interactive device.
  • the interactive device can be an important part of the control terminal and an interface for interacting with the user.
  • the user can control the movable platform by operating the interactive device; When the user wants to control the movable platform, the user operates the interactive device of the control terminal, and the control terminal detects the user's operation through the interactive device.
  • the interactive device can be, for example, one or more of the touch screen, keyboard, joystick, and wave wheel of the control terminal; at the same time, the touch screen can also display the operating parameters of the movable platform (such as position, route, heading, etc.) ), can display the screen shot by the movable platform.
  • the touch screen can also display the operating parameters of the movable platform (such as position, route, heading, etc.) ), can display the screen shot by the movable platform.
  • the user when the user wants to plan the work area of the movable platform in the area to be planned, the user needs to set two reference points and reference directions corresponding to the two reference points.
  • the two reference points are called the first A reference point and a second reference point, and the reference directions corresponding to the two reference points are called the reference direction corresponding to the first reference point and the reference direction corresponding to the second reference point.
  • the control terminal can The first setting operation of the user is detected through the interactive device. After detecting the first setting operation, the control terminal determines the first reference point and the reference direction corresponding to the first reference point according to the first setting operation, where the reference direction corresponding to the first reference point is called the first reference direction .
  • the first reference point is the reference point in the area to be planned, and the control terminal accordingly determines the first reference point from the area to be planned, that is, the user sets a reference point in the area to be planned.
  • the first setting operation may be one operation, and the control terminal simultaneously determines the first reference point and the first reference direction according to the first setting operation.
  • the first setting operation may be multiple operations.
  • the first setting operation includes a first reference point setting operation and a first direction setting operation. Accordingly, the control terminal detects the user's first reference point setting operation, and according to the detected first reference point setting operation A reference point setting operation determines the first reference point, then the user's first direction setting operation is detected, and the first reference direction is determined according to the detected first direction setting operation.
  • the working area is the area defined by the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the second reference point in the second reference direction .
  • the control terminal can The second setting operation of the user is detected through the interactive device. After detecting the second setting operation, the control terminal determines the second reference point and the reference direction corresponding to the second reference point according to the second setting operation, where the reference direction corresponding to the second reference point is called the second reference direction .
  • the second reference point is also the reference point in the area to be planned, and the terminal is controlled to determine the second reference point from the area to be planned accordingly, that is, the user sets another reference point in the area to be planned.
  • the operating area of the movable platform is also determined accordingly, that is, the reference between the first reference point and the second reference point
  • the second reference point is reference point B.
  • the operation area of the movable platform may be a part of the area to be planned. Therefore, through the solution of this embodiment, a plurality of the operation areas mentioned above can be determined from the planning area.
  • control terminal may also determine the operating area of the movable platform as the reference between the first reference point and the second reference point according to the first reference point, the second reference point, the first reference direction, and the second reference direction.
  • control terminal notifies the movable platform of the first reference point, the second reference point, the first reference direction, and the second reference direction, and accordingly, the movable platform according to the first reference point, the second reference point ,
  • the first reference direction and the second reference direction determine the working area of the movable platform as the reference line between the first reference point and the second reference point, the reference line extending from the first reference point along the first reference direction and
  • the second reference point is an area defined by a reference line extending along the second reference direction.
  • the second setting operation may be one operation, and the control terminal simultaneously determines the second reference point and the second reference direction according to the second setting operation.
  • the second setting operation may be multiple operations.
  • the second setting operation includes a second reference point setting operation and a second direction setting operation. Accordingly, the control terminal detects the user's second reference point setting operation, and according to the detected second reference point setting operation The second reference point setting operation determines the second reference point, and then the second direction setting operation of the user is detected, and the second reference direction is determined according to the detected second direction setting operation.
  • the first setting operation of the user is detected, the first reference point and the first reference direction are determined according to the first setting operation detected, the first setting operation of the user is detected, and the second setting operation is detected.
  • the working area of the movable platform is the reference line between the first reference point and the second reference point, the reference line extending from the first reference point in the first reference direction, and the reference line extending from the first reference point in the first reference direction.
  • the working area is no longer limited to a rectangle, and the movable platform is improved. The efficiency of the operation.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
  • the first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the movable platform collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the movable platform collected when the control terminal detects the second setting operation.
  • At least one of the first reference point and the second reference point is a collected position of the movable platform.
  • the first reference point is the position of the movable platform collected when the control terminal detects the first setting operation; or, the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation; or, The first reference point is the position of the movable platform collected when the control terminal detects the first setting operation, and the second reference point is the position of the movable platform collected when the control terminal detects the second setting operation.
  • a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction.
  • the control terminal detects the user's first setting operation, acquires the position of the movable platform and the orientation of the movable platform collected when the first setting operation is detected, and sets the collected position of the movable platform as the first reference Point, and set the collected orientation of the movable platform as the first reference direction.
  • a possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the movable platform As the second reference point, the collected orientation of the movable platform is set as the second reference direction.
  • the control terminal detects the second setting operation of the user, acquires the position of the movable platform and the orientation of the movable platform collected when the second setting operation is detected, and sets the collected position of the movable platform as the second reference Point, and set the collected orientation of the movable platform as the second reference direction.
  • the working area of the movable platform can be determined by the position and orientation of the movable platform.
  • the control terminal before performing the above S301, the control terminal also detects the user's first movement control operation, and controls the movable platform to move to the first reference point according to the detected first movement control operation.
  • the control terminal detects the first movement control operation of the user and controls the operation according to the first movement Control the movable platform to move until it moves to the first position (ie the first reference point) desired by the user.
  • the first movement control operation is not limited to this.
  • the control terminal sets the position of the movable platform as the first reference point according to the first setting operation.
  • control terminal Before performing the above S302, the control terminal also detects the user's second movement control operation, and controls the movable platform to move to the second reference point according to the detected second movement control operation.
  • the control terminal detects the second movement control operation of the user and controls the operation according to the second movement Control the movable platform to move until it moves to the second position desired by the user (ie, the second reference point). Then, after detecting the second setting operation, the control terminal sets the position of the movable platform as the second reference point according to the second setting operation.
  • the user controls the movement of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference point and the second reference point, so that the determined working area of the movable platform is more accurate.
  • the control terminal before performing S301, the control terminal also detects the user's first orientation control operation, and adjusts the orientation of the movable platform to the first reference direction according to the detected first orientation control operation.
  • the control terminal detects the user's first orientation control operation and controls according to the first orientation control operation
  • the movable platform rotates until the orientation of the movable platform rotates to the direction desired by the user (that is, the first reference direction), for example, as shown in FIG. 5, the user controls the movable by sliding on the touch screen of the control terminal
  • the first orientation control operation is not limited to this.
  • the control terminal sets the orientation of the movable platform as the first reference direction according to the first setting operation.
  • the control terminal Before performing the above S302, the control terminal also detects the second orientation control operation of the user, and adjusts the orientation of the movable platform to the second reference direction according to the detected second orientation control operation.
  • the control terminal detects the user's second orientation control operation and controls according to the second orientation control operation
  • the movable platform rotates until the orientation of the movable platform rotates toward the direction desired by the user (ie, the second reference direction).
  • the control terminal sets the orientation of the movable platform to the second reference direction according to the second setting operation.
  • the user controls the orientation of the movable platform by operating the control terminal, and can flexibly and accurately set the first reference direction and the second reference direction, so that the determined working area of the movable platform is more accurate.
  • the orientation of the above-mentioned movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  • the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  • control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the heading of the movable platform on the image.
  • the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device.
  • the control terminal can also obtain the heading of the movable platform, for example, the heading of the fuselage of the movable platform is the heading of the movable platform, or the heading of the camera of the movable platform is the heading of the movable platform; the control terminal will use The indication mark for indicating the heading of the movable platform is displayed on the image collected by the movable platform.
  • the user can determine whether the heading of the movable platform is the heading desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the first heading control operation and/or the second heading control operation on the control terminal.
  • the heading control operation is to adjust the heading of the movable platform to set the first reference direction and the second reference direction.
  • the user can observe the area to be planned around the movable platform through the image.
  • the user can know which direction the heading of the movable platform is pointing to the area to be planned by observing the indication mark.
  • the heading of the movable platform indicated by the indicator is determined as the first reference direction and/or the second reference direction.
  • the indicator may be an indicator such as an indicator line or an indicator arrow. Therefore, combining the images collected by the movable platform can accurately adjust the heading of the movable platform to the heading desired by the user, so as to ensure that the first reference direction and the second reference direction are accurately set.
  • control terminal also acquires and displays an image collected by the movable platform, and displays an indication mark indicating the position of the movable platform on the image.
  • the movable platform can collect images, the movable platform sends the collected images to the control terminal, and the control terminal receives the images collected by the movable platform, and displays the images collected by the movable platform through the display device.
  • the control terminal can also obtain the position of the movable platform, and the control terminal displays the indication mark for indicating the position of the movable platform on the image collected by the movable platform.
  • the user determines whether the position of the movable platform is the position desired by the user through the displayed image and the indication mark displayed on the image. If not, the user can perform the above-mentioned first movement control operation and/or second movement control operation on the control terminal.
  • the movement control operation adjusts the position of the movable platform to set the first reference point and the second reference point.
  • combining the images collected by the movable platform can accurately adjust the position of the movable platform to the position desired by the user, so as to ensure that the first reference point and the second reference point are accurately set.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
  • the first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation; or, the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation; or, The first reference direction is the orientation of the control terminal collected when the control terminal detects the first setting operation, and the second reference direction is the orientation of the control terminal collected when the control terminal detects the second setting operation.
  • At least one of the first reference point and the second reference point is a collected position of the control terminal.
  • the first reference direction is the position of the control terminal collected when the control terminal detects the first setting operation; or, the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation; or, The first reference point is the position of the control terminal collected when the control terminal detects the first setting operation, and the second reference point is the position of the control terminal collected when the control terminal detects the second setting operation.
  • a possible implementation manner of determining the first reference point and the first reference direction according to the detected first setting operation in S301 is: in response to the detected first setting operation, the collected The position of the control terminal is set as the first reference point, and the collected orientation of the control terminal is set as the first reference direction.
  • the control terminal detects the user's first setting operation, obtains the position of the control terminal and the direction of the control terminal collected when the first setting operation is detected, and sets the collected position of the control terminal as the first reference Point, and set the collected orientation of the control terminal as the first reference direction.
  • a possible implementation manner of determining the second reference point and the second reference direction according to the detected second setting operation in S302 is: in response to the detected second setting operation, setting the collected position of the control terminal As the second reference point, the collected orientation of the movable platform is set as the second reference direction.
  • the control terminal detects the second setting operation of the user, acquires the position of the control terminal and the orientation of the control terminal collected when the second setting operation is detected, and sets the collected position of the control terminal as the second reference Point, and set the collected orientation of the control terminal as the second reference direction.
  • the working area of the movable platform can be determined by controlling the position and orientation of the terminal.
  • control terminal also acquires and displays a digital map.
  • the digital map is, for example, the above-mentioned digital map of the area to be planned.
  • a possible implementation manner of the above S301 is: detecting a user's first setting operation on the displayed digital map, and determining the first reference point and the first reference direction according to the detected first setting operation.
  • the user can set the first reference point and the first reference direction based on the displayed digital map.
  • the user performs the first setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device.
  • a possible implementation of the above S302 is: detecting a second setting operation of the user on the displayed digital map, and determining the second reference point and the second reference direction according to the detected second setting operation.
  • the user can set the second reference point and the second reference direction based on the displayed digital map.
  • the user performs the second setting operation on the displayed digital map through the interactive device of the control terminal, and accordingly, the control terminal detects the user through the interactive device.
  • the first reference point, the first reference direction, the second reference point, and the second reference direction can be accurately set to ensure the accuracy of the work area of the movable platform.
  • control terminal also acquires and displays a digital map, and displays the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map. So that the user can determine the working area of the movable platform in time through the displayed digital map and the first reference point and the first reference direction, the second reference point and the second reference direction displayed on the digital map. If the determined operating area of the movable platform does not meet the user's expectations, the user can adjust it in time.
  • control terminal after performing the above S301 and S302, the control terminal further controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction.
  • the mobile platform performs work tasks in the work area.
  • the control terminal After determining the first reference point, the first reference direction, the second reference point and the second reference direction, the control terminal controls the movable platform according to the first reference point, the first reference direction, the second reference point and the second reference direction
  • the work task is executed in the area (ie, the work area) defined by the reference line extending in the reference direction.
  • control terminal generates the route of the movable platform in the operation area according to the first reference point and the first reference direction, the second reference point and the second reference direction;
  • the movable platform performs work tasks in the work area, for example: the control terminal sends a work instruction to the movable platform, the work instruction includes the route, and accordingly, the movable platform receives the work instruction sent by the control terminal, and Perform work tasks according to the routes in the work instructions.
  • an optional implementation manner for generating the route of the movable platform in the operation area is: as shown in Fig. 6, the longitude and latitude of the determined first reference point A are (lon A , lat A ), and the first reference point A is (lon A, lat A ).
  • a reference direction (for example, the course of the movable platform at point A) is Yaw A
  • the longitude and latitude of the second reference point B are (lon B , lat B )
  • the second reference direction (for example, the movable platform at point B Heading) is Yaw B
  • the operating distance determined by the control terminal according to the detected user's operating distance setting operation is l
  • the heading of the movable platform moving along the extension of the reference line between point A and point B is Yaw AB
  • the distance to point A is l A
  • the control terminal determines the first reference point and the first reference direction, the second reference point and the second reference direction
  • the user can operate the control terminal at any time to control the The mobile platform performs work tasks in the work area.
  • the user wants to control the mobile platform to perform work tasks
  • the user performs the start operation operation on the control terminal through the interactive device. Accordingly, after the control terminal detects the user's start operation operation , And then according to the first reference point and the first reference direction, the second reference point and the second reference direction, the movable platform is controlled to perform work tasks in the work area, so as to improve the user's manipulation Sex.
  • the control terminal controls the movable to perform work tasks in the target area according to the first reference point and the first reference direction, the second reference point and the second reference direction Before, it is also determined whether the first reference direction and the second reference direction meet the preset pointing relationship. When the first reference direction and the second reference direction meet the preset pointing relationship, the control terminal controls the control terminal according to the first reference point and the first reference direction, the second reference point and the second reference direction
  • the movable platform performs work tasks in the work area to ensure that the movable platform can efficiently and smoothly perform work tasks in the work area.
  • the control terminal further determines whether the first reference direction and the second reference direction satisfy a preset pointing relationship.
  • a prompt message is displayed.
  • the prompt information may prompt that the first reference direction and the second reference direction do not satisfy the preset pointing relationship, and the movable platform cannot be controlled to perform work tasks in the work area; or, the prompt information may prompt that the work area planning is unsuccessful. This allows the user to readjust the first reference direction or the second reference direction through the prompt information.
  • a possible implementation manner of determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship may be: determining the first reference direction and the second reference direction. Whether the reference directions all point to the same side of the two sides of the reference line between the first reference point and the second reference point. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction satisfy The preset pointing relationship. If the first reference direction and the second reference direction do not all point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the first reference direction and the second reference direction are not Meet the preset directional relationship. If both the first reference direction and the second reference direction point to the same side of the two sides of the reference line between the first reference point and the second reference point, it means that the determined work area is favorable for the movable platform to perform work tasks.
  • agricultural drones are a drone platform that can be manipulated by users to perform tasks such as flying and spraying.
  • This type of drone usually has a GPS module, which is used to accurately locate the real-time position information of the drone. It is usually equipped with a compass, barometer and other modules to measure the aircraft’s heading angle and flight altitude.
  • the control terminal (such as a remote control) that communicates with the aircraft generally has buttons or an APP graphical interface to realize the interaction between the user and the aircraft.
  • the existing UAV operation methods for the same plot mainly include the following:
  • the same operation mode is generally used when the user performs the operation again.
  • manual mode and M+ mode the user needs to control the entire operation during the entire operation.
  • the operation area is large , Repeated operation is time-consuming and labor-intensive; for the operation mode of two reference points (point AB), the user still needs to re-arrange the plan when the operation is repeated. If the operation needs to be re-planned many times during the operation, it is also necessary for the operation again The same maneuver, therefore, the operation on the same plot in the non-airline mode often requires repeated work and the operation efficiency is very low. How to repeat operations on the same plot conveniently and efficiently is a long-standing problem in this field.
  • this embodiment of the application proposes an interactive method for uploading/saving/recalling operation routes.
  • the drone records the drone's flight information during the user's operation in real time and presents it to the APP interface of the control terminal. After that, the drone can automatically generate a three-dimensional route for drone operations, or after the user clicks to upload the three-dimensional route, the drone can automatically generate a three-dimensional route for drone operations.
  • the control terminal saves the three-dimensional route, or the control terminal uploads the three-dimensional route to the remote server for storage.
  • the user needs to perform repeated operations on the same plot, he can directly call the route information to quickly perform another operation to achieve fully autonomous flight operations.
  • the method is flexible and easy to operate, which greatly improves the user's operating efficiency.
  • users can also adjust the flight altitude, flight speed and spraying flow according to the growth and health of the crops. While ensuring operation efficiency, it also enhances the operation effect of autonomous operation, which can effectively improve the use value of plant protection drones. .
  • this embodiment may include the following steps: the user uses manual or semi-automatic operation modes such as manual, M+, AB point, etc.
  • the drone such as the flight controller
  • the drone will perform real-time operation at a certain frequency. Record the flight status information of the drone.
  • the drone (such as the flight controller) will automatically calculate a 3D flight route based on the operation information, and the control terminal will display the 3D flight route (that is, the drone will The flight route is sent to the control terminal, and the control terminal displays the 3D flight route through the corresponding APP interface).
  • the control terminal detects the user’s route upload operation, and according to the route upload operation, the 3D flight route of this mission
  • the flight route is automatically saved locally or uploaded to a remote server and other equipment for saving, otherwise, the control terminal will clear the route.
  • the three-dimensional flight route may also be calculated by the control terminal according to the flight status information of the drone.
  • this embodiment is not limited to performing the route upload operation by controlling the options in the APP interface of the terminal (for example, the remote control), and the route upload operation can also be performed by means of buttons on the remote control or the like.
  • the user can directly call the saved 3D flight route through the APP interface of the control terminal, and then control the drone to complete the fully automatic flight route.
  • the user can set the altitude, flight speed, and spraying flow of the three-dimensional flight route according to the crop's growth and health status.
  • the embodiments of the present application also provide a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the methods in the foregoing embodiments.
  • FIG. 8 is a schematic structural diagram of a control terminal provided by an embodiment of this application.
  • the control terminal 800 of this embodiment may include: an interactive device 801 and a processor 802.
  • the interaction device 801 and the processor 802 may be connected in communication via a bus.
  • the above-mentioned processor 802 may be a central processing unit (CPU), and the processor 802 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits).
  • ASIC Field-Programmable Gate Array
  • FPGA Field-Programmable Gate Array
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the control terminal 800 of this embodiment may further include: a display device 803.
  • the display device 803 may be communicatively connected with the above-mentioned components through a bus.
  • the interaction device 801 is used to detect the first setting operation of the user.
  • the processor 802 is configured to determine a first reference point and a first reference direction according to a first setting operation detected by the interaction device 801, where the first reference direction is a reference direction corresponding to the first reference point.
  • the interaction device 801 is also used to detect the second setting operation of the user.
  • the processor 802 is further configured to determine a second reference point and a second reference direction according to a second setting operation detected by the interaction device 801, where the second reference direction is a reference corresponding to the second reference point Direction, wherein the working area of the movable platform is a reference line between the first reference point and the second reference point, and a reference line extending from the first reference point along the first reference direction And an area defined by a reference line extending from the second reference point in the second reference direction.
  • the processor 802 is further configured to determine the operating area of the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the movable platform.
  • the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interactive device 801, it is specifically configured to: respond to all the information detected by the interactive device 801. In the first setting operation, the collected position of the movable platform is set as the first reference point, and the collected orientation of the movable platform is set as the first reference direction;
  • the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the movable platform is set as a second reference point, and the collected orientation of the movable platform is set as the The second reference direction.
  • the interaction device 801 is also used to detect the user's first movement control operation
  • the processor 802 is further configured to control the movable platform to move to the first reference point according to the first movement control operation detected by the interaction device 801;
  • the interaction device 801 is also used to detect a second movement control operation of the user
  • the processor 802 is further configured to control the movable platform to move to the second reference point according to the second movement control operation detected by the interaction device 801.
  • the interaction device 801 is also used to detect the user's first orientation control operation
  • the processor 802 is further configured to adjust the orientation of the movable platform to the first reference direction according to the first orientation control operation detected by the interaction device 801;
  • the interaction device 801 is also used to detect the second orientation control operation of the user;
  • the processor 802 is further configured to adjust the orientation of the movable platform to the second reference direction according to the second orientation control operation detected by the interaction device 801.
  • the orientation of the movable platform includes the orientation of the fuselage of the movable platform or the orientation of the camera of the movable platform.
  • the heading of the fuselage of the movable platform is the heading of the nose of the movable platform.
  • the processor 802 is also used to obtain images collected by the movable platform;
  • the display device 803 is configured to display the image collected by the movable platform, and display an indication mark indicating the heading of the movable platform on the image.
  • At least one of the first reference direction and the second reference direction is the collected orientation of the control terminal.
  • the processor 802 determines the first reference point and the first reference direction according to the first setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the control terminal 800 is set as the first reference point, and the collected orientation of the control terminal 800 is set as the first reference direction ;
  • the processor 802 determines the second reference point and the second reference direction according to the second setting operation detected by the interaction device 801, it is specifically configured to:
  • the collected position of the control terminal 800 is set as the second reference point, and the collected orientation of the control terminal 800 is set as the second reference direction .
  • the processor 802 is also used to obtain a digital map
  • the display device 803 is used to display the digital map
  • the interaction device 801 detects the first setting operation of the user, it is specifically configured to: detect the first setting operation of the user on the displayed digital map;
  • the interaction device 801 detects the second setting operation of the user, it is specifically configured to detect the second setting operation of the display digital map by the user.
  • the processor 802 is also used to obtain a digital map
  • the display device 803 is configured to display the digital map, and display the first reference point and the first reference direction, the second reference point and the second reference direction on the digital map.
  • the processor 802 is further configured to control the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction Perform work tasks in the work area.
  • the processor 802 is specifically configured to: generate information about the movable platform according to the first reference point and the first reference direction, the second reference point and the second reference direction. Route; according to the route, the movable platform is controlled to perform work tasks in the operation area.
  • the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship
  • the processor 802 controls the movable to perform a work task in the work area according to the first reference point and the first reference direction, the second reference point and the second reference direction , Specifically used for:
  • the processor 802 is further configured to determine whether the first reference direction and the second reference direction satisfy a preset pointing relationship
  • the display device 803 is configured to display prompt information when the processor 802 determines that the preset pointing relationship is not satisfied.
  • the processor 802 is specifically configured to: when determining whether the first reference direction and the second reference direction satisfy a preset pointing relationship:
  • first reference direction and the second reference direction both point to the same side of the two sides of the reference line between the first reference point and the second reference point.
  • control terminal 800 of this embodiment may further include a memory (not shown in the figure).
  • the memory is used to store program code.
  • the control terminal 800 may implement the techniques of the foregoing embodiments. Program.
  • control terminal of this embodiment can be used to implement the technical solutions of the control terminal in the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 9 is a schematic structural diagram of a work planning system for a movable platform provided by an embodiment of this application.
  • the work planning system 900 for a movable platform in this embodiment may include: a movable platform 901 and a control Terminal 902.
  • the control terminal 902 can adopt the structure of the embodiment shown in FIG. 8, which can correspondingly execute the technical solutions of the control terminal in the foregoing method embodiments.
  • the implementation principles and technical effects are similar, and will not be repeated here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un système de planification de travail pour une plate-forme mobile, et un terminal de commande. Le procédé comprend les étapes consistant à : détecter une première opération de réglage d'un utilisateur, et déterminer un premier point de référence et une première direction de référence en fonction de la première opération de réglage détectée, la première direction de référence étant une direction de référence correspondant au premier point de référence (S301) ; et détecter une seconde opération de réglage de l'utilisateur, et déterminer un second point de référence et une seconde direction de référence en fonction de la seconde opération de réglage détectée, la seconde direction de référence étant une direction de référence correspondant au second point de référence, et une zone de travail d'une plate-forme mobile étant une zone définie par une ligne de référence entre le premier point de référence et le second point de référence, une ligne de référence s'étendant à partir du premier point de référence dans la première direction de référence, et une ligne de référence s'étendant à partir du second point de référence dans la seconde direction de référence (S302). Par conséquent, une zone de travail d'une plate-forme mobile n'est plus limitée à une zone rectangulaire, ce qui permet d'améliorer l'efficacité de travail de la plate-forme mobile.
PCT/CN2019/114713 2019-10-31 2019-10-31 Procédé et système de planification de travail pour plate-forme mobile, et terminal de commande WO2021081894A1 (fr)

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PCT/CN2019/114713 WO2021081894A1 (fr) 2019-10-31 2019-10-31 Procédé et système de planification de travail pour plate-forme mobile, et terminal de commande
CN201980040066.4A CN112313595B (zh) 2019-10-31 2019-10-31 可移动平台的作业规划方法、***和控制终端

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WO2006062466A1 (fr) * 2004-12-09 2006-06-15 Exechon Ab Machine parallele cinematique presentant un systeme de mesure actif
CN103950540A (zh) * 2014-04-01 2014-07-30 东北农业大学 一种基于无线传感器网络的植保无人机喷施作业方法
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