WO2021081896A1 - Operation planning method, system, and device for spraying unmanned aerial vehicle - Google Patents

Operation planning method, system, and device for spraying unmanned aerial vehicle Download PDF

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Publication number
WO2021081896A1
WO2021081896A1 PCT/CN2019/114723 CN2019114723W WO2021081896A1 WO 2021081896 A1 WO2021081896 A1 WO 2021081896A1 CN 2019114723 W CN2019114723 W CN 2019114723W WO 2021081896 A1 WO2021081896 A1 WO 2021081896A1
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WIPO (PCT)
Prior art keywords
area
target crop
spraying
waypoints
sub
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PCT/CN2019/114723
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French (fr)
Chinese (zh)
Inventor
赵力尧
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深圳市大疆创新科技有限公司
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Priority to CN201980034351.5A priority Critical patent/CN112219177A/en
Priority to PCT/CN2019/114723 priority patent/WO2021081896A1/en
Publication of WO2021081896A1 publication Critical patent/WO2021081896A1/en

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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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the embodiments of the present application relate to the technical field of drones, and in particular, to a method, system and equipment for planning operations of spraying drones.
  • the embodiments of the present application provide a method, system and equipment for planning the operation of spraying drones, which are used to save energy consumption during the operation of spraying drones, improve the spraying effect, and reduce the rate of power consumption.
  • an operation planning method for spraying drones includes:
  • the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
  • multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
  • the waypoints of the sub-routes in each contour area are acquired.
  • an operation planning device for spraying drones includes: a memory and a processor;
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, it is used to:
  • the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
  • multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
  • the waypoints of the sub-routes in each contour area are acquired.
  • an embodiment of the present application provides an operation planning system for spraying drones, including a spraying drone and the operation planning equipment for spraying drones as described in the embodiments 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 implements the spraying method described in the embodiment of the present application in the first aspect.
  • UAV operation planning method UAV operation planning method.
  • 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 operation planning device for spraying drones can be downloaded from all The readable storage medium reads the computer program, and the at least one processor executes the computer program to make the operation planning device of the spray drone implement the operation of the spray drone according to the embodiment of the application in the first aspect Planning method.
  • the operation planning method, system, and equipment for spraying drones obtained by the embodiments of the present application obtain three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least two-dimensional position and height, and the target crop area is Planting multiple target crops; determining multiple equal-height regions in the target crop area according to the three-dimensional space information, wherein the height of each equal-height region is within a height range, and the height of each equal-height region is located The altitude range of is not overlapped with the altitude range in which the altitudes of other equal-height areas are located; determine the waypoints of the sub-routes of each equal-height area; obtain the target according to the waypoints of the sub-routes of each equal-height area The waypoint of the route within the crop area.
  • this embodiment first determines the waypoints in each contour area, and then determines the waypoints in the target crop area according to the waypoints in each contour area, the waypoints in the target crop area make the spraying drones on the target
  • the crop area is flown in sequence along the same height area, and the operation process conforms to the topographic characteristics of the terrain (such as terraces) with different heights, which saves the energy consumption of spraying drones and improves the spraying effect.
  • FIG. 1 is a schematic diagram of surveying and mapping a target crop area by a surveying and mapping drone provided in an embodiment of the application;
  • Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application
  • FIG. 3 is a schematic diagram of spraying drones spraying multiple target crops in a target crop area according to an embodiment of the application
  • FIG. 4 is a flowchart of the operation planning method for spraying drones according to an embodiment of the application
  • FIG. 5 is a schematic diagram of a reference line generated according to a two-dimensional position of a geometric position of a cell area according to an embodiment of the application;
  • FIG. 6 is a schematic diagram of a reference line in a target crop area provided by an embodiment of the application.
  • FIG. 7 is a schematic diagram of a spraying coverage area provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of target crops not in the spraying coverage area provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of newly added waypoints determined according to target crops not in the spraying coverage area provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of an operation planning device for spraying drones provided by an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of a spraying drone operation planning system 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.
  • Fig. 1 is a schematic diagram of a surveying drone surveying and mapping a target crop area provided by an embodiment of the application. As shown in Fig. 1, the surveying and mapping drone 101 is flying over the target crop area, and a photographing device configured by the surveying drone 101 is used Take pictures of the target crop area. Wherein, multiple target crops are planted in the target crop area. In some cases, multiple target crops are sparsely planted in the target crop area.
  • the target crop may be any agricultural crop.
  • FIG. 2 is a schematic diagram of the application scenario provided by an embodiment of the application. As shown in Figure 2, Figure 2 shows a surveying and mapping drone 101, a spray drone operation planning device 102, a spray drone 103, and a ground control terminal 104.
  • the operation planning device 102 for spraying drones is any device that can determine the waypoints of the route based on the three-dimensional spatial information of the target crop area as described above.
  • the operation planning device 102 for spraying drones may include a remote control.
  • the ground control terminal 104 of the spray drone 103 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet).
  • the ground control terminal 104 is a remote control 1041 and a terminal device 1042 as an example for schematic description.
  • the terminal device 1042 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.
  • the surveying and mapping drone 101 can acquire the image output by the shooting device, and acquire the three-dimensional spatial information of the target crop area according to the image, wherein the three-dimensional spatial information of the target crop area is used to determine that the spraying drone has an impact on the The waypoint of the route where multiple target crops are sprayed.
  • the operation planning device 102 of the spraying drone can obtain the three-dimensional space information of the target crop area from the surveying drone 101 through direct or indirect, wired communication or wireless communication, and determine the navigational route according to the three-dimensional space information.
  • the waypoint spraying control information is used to determine the route for spraying the drone 103 to spray the multiple target crops in the target crop area.
  • the operation planning device 102 of the spraying drone can obtain the three-dimensional spatial information of the target crop area from other ways than the surveying drone 101.
  • the spraying drone 103 can obtain the waypoint/route from the spraying drone's operation planning device 102 through direct or indirect, wired communication or wireless communication, and fly according to the route indicated by the waypoint to target the target crop.
  • the target crops in the area are sprayed.
  • the operation planning device 102 of the spraying drone may send the waypoint/route to the ground control terminal 104 of the spraying drone 103, and the ground control terminal 104 of the spraying drone 103 can use the waypoint/route according to the waypoint/route.
  • the route control spraying drone 103 flying in the target crop area and spraying control.
  • the operation planning device 102 of the spraying drone can send the waypoint/route to the spraying drone 103, and the spraying drone 103 can target the target crop area according to the waypoint/route. Flying mid-range to spray target crops, as shown in Figure 3.
  • FIG. 4 is a flowchart of the operation planning method of spraying drones according to an embodiment of the application. As shown in FIG. 4, the method of this embodiment can be applied to the operation planning equipment of spraying drones. The method of this embodiment Can include:
  • S401 Acquire three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and plant multiple target crops in the target crop area.
  • the three-dimensional spatial information of the target crop area is acquired. Multiple target crops are planted in the target crop area.
  • the target crop is, for example, a tree, and optionally, the tree is, for example, a fruit tree.
  • the target crop of this embodiment is not limited to this.
  • the three-dimensional space information includes at least two-dimensional position and height. In some cases, the three-dimensional space information also includes color information, which can be used to distinguish various types of objects in the target area, such as target crops, if trees, take apple trees as an example, fruit trees containing red information For the apple tree.
  • the three-dimensional spatial information may be three-dimensional point cloud information or three-dimensional map information.
  • a possible implementation manner of the above S401 is: acquiring multiple frames of images taken by a surveying and mapping drone flying over the target crop area; acquiring three-dimensional spatial information of the target crop area according to the multiple frames of images.
  • the surveying and mapping drone is equipped with a photographing device.
  • the photographing device configured on the surveying and mapping drone can photograph the target crop area to obtain multiple frames of images output by the photographing device.
  • the surveying and mapping drone can fly in the target crop area according to the pre-planned route.
  • the photographing device may be used for photographing at equal intervals or at equal time when the surveying and mapping drone is flying.
  • the surveying and mapping drone and the spraying control information determination device may communicate through a wired communication connection or a wireless communication connection.
  • the surveying and mapping drone sends the captured multi-frame images to the operation planning equipment of the spraying drone through a wireless communication connection or a wired communication connection.
  • the operation planning equipment of the spraying drone receives the above-mentioned multi-frame images sent by the surveying drone through a wireless communication connection or a wired communication connection.
  • the wired communication connection or wireless communication connection communication can be direct communication, that is, point-to-point communication, or indirect communication, that is, communication is performed through an intermediate device (such as a ground control terminal of a surveying drone).
  • the surveying drone stores multiple frames of images in a storage device.
  • the operation planning device of the spraying drone obtains the multi-frame images from the storage device.
  • the storage device is, for example, a Secure Digital Memory Card (SD card). This embodiment is not limited to this.
  • SD card Secure Digital Memory Card
  • the surveying and mapping drone can store the captured multiple frames of images in the SD card, and then the user can download the SD card from the surveying and mapping. Unplug the drone and insert it into the operation planning device of the spraying drone, and the operation planning device of the spraying drone obtains multiple frames of images from the SD card inserted into it.
  • the operation planning equipment of the spraying drone obtains the three-dimensional spatial information of the target crop area according to the multi-frame images.
  • the three-dimensional spatial information according to the images please refer to the description in the related technology, which will not be repeated here.
  • S401 Another possible implementation of S401 is: acquiring the three-dimensional spatial information of the target crop area obtained by the surveying and mapping drone according to multiple frames of images taken while flying over the target crop area. That is, when the surveying and mapping drone is flying in the target crop area, the shooting device configured on the surveying and mapping drone can shoot the target crop area to obtain multiple frames of images output by the shooting device, and then the surveying and mapping drone according to the shooting device The outputted multi-frame images obtain the three-dimensional spatial information of the target crop area. Then, the operation planning equipment of the spraying drone of this embodiment obtains the above-mentioned three-dimensional space information from the surveying and mapping drone. For how to obtain the three-dimensional space information, please refer to the description of obtaining the multi-frame images above, which will not be repeated here.
  • S402. Determine multiple equal-height areas in the target crop area according to the three-dimensional space information, the height of each equal-height area is within one height range, and the height of each equal-height area is in the same height range as other equal-height areas The height range of the height does not overlap.
  • the two-dimensional position corresponding to the height in the same height range can be determined according to the three-dimensional space information, and the area in the same height range can be determined according to these two-dimensional positions.
  • the area in the same height range can be called It is the contour area.
  • the waypoints of the sub-routes in each contour area are respectively determined. Since each contour area is a different sub-area within the target crop area, after determining the waypoints of the sub-routes in each contour area, the target crop area can be obtained according to the waypoints of the sub-routes in all the contour areas The waypoints of the routes within. Wherein, the waypoint of the route in the target crop area includes at least two-dimensional coordinates and altitude.
  • the spraying drone obtains the waypoint of the route in the target crop area obtained by the operation planning device of the spraying drone of this embodiment. Then the spraying drone flies in the target crop area according to the route indicated by the waypoint. Since the waypoints of the route in the target crop area are obtained based on the waypoints of the sub-routes in each contour area, when the spraying drone flies in the target crop area, it will fly along the contour area, that is, fly in one area first. When flying in the same height area, after the flight in the same height area is completed, enter another adjacent area of the same height to fly, and so on.
  • how the spraying drone obtains waypoints from the spraying drone's operation planning equipment can refer to the process of obtaining multi-frame images by the spraying drone's operation planning equipment, which will not be repeated here.
  • a plurality of target crops are planted in the target crop area;
  • the multiple contour regions in the target crop region wherein the height of each contour region is within a height range, and the height of each contour region is in the same height range as the height of other contour regions.
  • the altitude ranges of are not overlapping; determine the waypoints of the sub-routes in each contour area; obtain the waypoints of the course in the target crop area according to the waypoints of the sub-routes in each contour area.
  • this embodiment first determines the waypoints in each contour area, and then determines the waypoints in the target crop area according to the waypoints in each contour area, the waypoints in the target crop area make the spraying drones on the target
  • the crop area is flown in sequence along the same height area, and the operation process conforms to the topographic characteristics of the terrain (such as terraces) with different heights, which saves the energy consumption of spraying drones and improves the spraying effect.
  • the heights of the waypoints in the sub-routes of the contour area are the same, that is, the heights of the waypoints of the sub-routes in the same contour area are the same, and the height of the waypoints of the sub-route is the same as the height of the corresponding contour area related. This can ensure that the spraying drones fly along the same height when flying in the same contour area, fit the terrain features of the current area, and avoid the phenomenon of high and low flying in the same contour area.
  • the height of the waypoint in the route in the target crop area is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information, so as to ensure that the spraying drone is flying in the target crop area according to the waypoint in the route. Refer to the actual height of the current position to ensure the spraying effect.
  • a possible implementation of S403 above is: divide each region of equal height into a plurality of cell regions; determine the sub-region according to the two-dimensional position of the geometric center of the plurality of cell regions. The two-dimensional position of the waypoint of the route.
  • each contour area is divided into multiple cell areas, and the size of each cell area can be the same, and then according to the contour area
  • the two-dimensional positions of the geometric centers of the multiple cell areas in the area determine the two-dimensional positions of the waypoints of the sub-routes in the same height area.
  • the two-dimensional positions of the geometric centers of multiple cell areas in the contour area can be determined as the two-dimensional positions of the waypoints of the sub-routes in the contour area, that is, the contour area
  • the two-dimensional position of each waypoint of the sub-route is the two-dimensional position of the geometric center of each cell area in the same height area.
  • the number of waypoints of the sub-route in the same height area is the same as the number of the cell area in the same height area. The number is the same.
  • a reference line can be generated according to the two-dimensional position of the geometric centers of multiple cell regions in the contour area, for example, as shown in Figure 5, each circle represents a cell region, where , The circular areas of the same depth color represent the cell areas belonging to the same contour area. It should be noted that this embodiment is not limited to the cell area being circular.
  • the reference line is generated according to the two-dimensional position of the center of each circular area in each contour area. For example, the center of each circular area is located on the reference line, such as the reference line L1 and the reference line L2 in Figure 5, where the reference The line L1 and the reference line L2 are the reference lines of two different contour areas. Then collect reference points on each reference line according to the preset sampling strategy.
  • each reference line can collect reference points at equal intervals on the reference line.
  • N reference lines namely L1, L2,..., LN
  • the above method can obtain N reference lines, namely L1, L2,..., LN, and then collect reference points at equal intervals on each reference line.
  • the starting point of L1 is A1 and the end point is B1.
  • the two-dimensional position of each reference point collected in the reference line of each contour area is determined as the two-dimensional position of the waypoint of the sub-airline in the contour area.
  • the size of the cell area is determined according to the fuselage size or spraying range of the spraying drone, so as to prevent the cell area from being too large or too small, and to ensure that the spraying drone is in accordance with the above-determined route.
  • the spraying effect when the waypoint is flying in the target crop area avoid repeated spraying some areas or not spraying some areas.
  • a semantic recognition algorithm based on the three-dimensional space information to identify the target crop in the target crop area. Since the three-dimensional space information includes a two-dimensional position, this embodiment can obtain the identified target crop. The two-dimensional position of each target crop. Then determine the target crop in each contour area. Since the two-dimensional position of each contour area is determined, the target crop in each contour area can be determined according to the two-dimensional position of each target crop.
  • a possible implementation of S403 is: determining the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the target crop in each of the contour regions.
  • the two-dimensional position of the target crop in the contour area can be determined as the two-dimensional position of the waypoint of the sub-route in the contour area.
  • reference lines can be generated according to the two-dimensional position of each target crop in the contour area, and then reference points are collected on each reference line according to the preset sampling strategy, and then each contour The two-dimensional position of each reference point collected within the reference line of the area is determined as the two-dimensional position of the waypoint of the sub-route in the same height area.
  • a semantic recognition algorithm is also executed according to the three-dimensional space information to identify the target crop in the target crop area, and to determine the waypoint indication of the spraying drone in sequence along the plurality of contour areas
  • the spraying coverage area of the spraying drone during the flight of the sub-route is shown in Figure 7.
  • the two-dimensional position of each point on the sub-route can be taken as the center, and the spraying radius can be determined according to the spraying radius of the spraying drone.
  • the target crops in the target crop area that are not in the spraying coverage area are determined, as shown in FIG. 8, where D shown in the figure is the target crops that are not in the spraying coverage area.
  • the new waypoint according to the three-dimensional spatial information of the target crop not in the spraying coverage area.
  • the two-dimensional position of the new waypoint can be determined according to the two-dimensional position of the target crop not in the spraying coverage area.
  • the height of the waypoint is related to the height of the target crop.
  • the two-dimensional position of the target crop that is not in the spray coverage area can be determined as the two-dimensional position of the newly added waypoint.
  • the three-dimensional spatial information of the target crop can be obtained according to the three-dimensional spatial information of the target crop area.
  • a possible implementation of S404 may be: acquiring the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area and the newly added waypoints.
  • the obtained waypoint of the route in the target crop area may include the newly added waypoint, and the route in the target crop area is, for example, as shown in FIG. 9. Therefore, when the spraying drone is flying according to the route indicated by the above-mentioned waypoint, it can spray to the target crops that are not originally covered by the spraying area, avoiding the phenomenon that some target crops are not sprayed, and improving the spraying effect.
  • a semantic recognition algorithm is also executed according to the three-dimensional space information to identify the target crop in the target crop area, wherein the two-dimensional position of the target crop is used to indicate that the spraying drone is in accordance with the Whether to perform spraying operation when flying on the route indicated by the waypoint.
  • the operation planning device for spraying drones of this embodiment also determines that the spraying drone is in the target crop area according to the two-dimensional position of the target crop in the target crop area.
  • the spraying control information during the flight of the route, the spraying control information is used to control the spraying drone to perform the spraying operation when it is in the two-dimensional position of the target crop while flying in the target crop area.
  • the sprayer when the spraying drone is flying within the target crop area according to the above-mentioned route, the sprayer will be turned on to perform the spraying operation when flying to a two-dimensional position where the spraying range covers the target crop according to the spraying control information, and the sprayer can be turned off in other positions.
  • the operation planning device of the spraying drone of this embodiment sends the two-dimensional position of the target crop to the spraying drone, When the spraying drone is flying along the route of the target crop area, it decides whether to perform the spraying operation according to the two-dimensional position of the target crop. For example, the spraying drone turns on the nozzle to perform spraying when it flies to a two-dimensional position where the spraying range covers the target crop. Operation, when in other positions, the spray head can be closed to save the amount of sprayed medicine.
  • a semantic recognition algorithm is also executed according to the three-dimensional space information to identify obstacles in the target crop area, such as houses, roads, etc.;
  • the spraying coverage area of the spraying drone during the flight of the sub-route indicated by the waypoints in the multiple equal height areas.
  • After determining the spray coverage area determine the obstacles in the target crop area in the spray coverage area, and then determine the new waypoints based on the three-dimensional information of the obstacles in the spray coverage area.
  • the two-dimensional position of the obstacle in the area determines the two-dimensional position of the new waypoint.
  • the height of the new waypoint can be related to the height of the obstacle.
  • the new waypoint can make the drone spray the target crop The two-dimensional position far away from obstacles when flying in the area.
  • the three-dimensional spatial information of the obstacle can be obtained according to the three-dimensional spatial information of the target crop area.
  • a possible implementation of S404 may be: acquiring the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area and the newly added waypoints.
  • the obtained waypoint of the route in the target crop area may include the newly added waypoint. Therefore, the spraying drone can avoid accidentally spraying on obstacles when flying according to the route indicated by the above-mentioned waypoints.
  • a semantic recognition algorithm is also executed according to the three-dimensional space information to identify obstacles in the target crop area, wherein the two-dimensional position of the obstacle is used to indicate that the spraying drone is in accordance with the Whether to perform spraying operation when flying on the route indicated by the waypoint.
  • the operation planning device for spraying drones of this embodiment also determines that the spraying drone is in the target crop area according to the two-dimensional position of the obstacle in the target crop area.
  • the spraying control information during the flight of the route, the spraying control information is used to control the spraying drone to perform the spraying operation when it is in the two-dimensional position of the obstacle when flying in the target crop area.
  • the sprayer when the spraying drone is flying within the target crop area according to the above-mentioned route, the sprayer will be turned off when flying to a two-dimensional position where the spraying range covers obstacles according to the spraying control information, so as to avoid false spraying.
  • the operation planning device of the spraying drone of this embodiment after identifying the obstacle in the target crop area, sends the two-dimensional position of the obstacle to the spraying drone, When the spraying drone is flying along the route of the target crop area, it decides whether to perform the spraying operation according to the two-dimensional position of the obstacle. For example, the spraying drone closes the nozzle when it flies to the two-dimensional position where the spraying range covers the obstacle to avoid Misspray phenomenon.
  • 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 spraying drone operation planning method in the above embodiments. .
  • FIG. 10 is a schematic structural diagram of a spraying drone operation planning device provided by an embodiment of the application.
  • the spraying drone operation planning device 1000 of this embodiment may include: a memory 1001 and a processor 1002 .
  • the memory 1001 and the processor 1002 may be connected by a bus.
  • the aforementioned processor 1002 may be a central processing unit (CPU), and the processor 1002 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) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the operation planning equipment 1000 for spraying drones in this embodiment may further include: a communication device (not shown in the figure).
  • the communication device and the processor 1002 may be connected via a bus.
  • the communication device is used to communicate with other equipment. Communication, other equipment such as surveying and mapping drones, spraying drones, etc.
  • the memory 1001 is used to store program codes.
  • the processor 1002 calls the program code, and when the program code is executed, is used to:
  • the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
  • multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
  • the waypoints of the sub-routes in each contour area are acquired.
  • the processor 1002 when the processor 1002 obtains the three-dimensional spatial information of the target crop area, it is specifically configured to: obtain multiple frames of images taken by the surveying and mapping drone flying over the target crop area; The frame image acquires the three-dimensional spatial information of the target crop area.
  • the altitudes of the waypoints in the sub-routes are the same.
  • the height of the waypoint in the route is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information.
  • the processor 1002 determines the waypoints of the sub-routes in each contour area, it is specifically configured to: divide each contour area into multiple cell areas; The two-dimensional position of the geometric center of the cell area determines the two-dimensional position of the waypoint of the sub-route.
  • the processor 1002 determines the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the geometric center of the plurality of cell regions, it is specifically configured to: The two-dimensional position of the geometric center of the cell area generates a reference line; the reference point is collected on the reference line according to a preset sampling strategy; the two-dimensional position of the reference point is determined as the second of the waypoint of the sub-route Dimensional location.
  • the size of the cell area is determined according to the size of the body of the spraying drone or the spraying range.
  • the processor 1002 is further configured to: run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area; determine the target crop in each contour area;
  • the processor 1002 determines the waypoints of the sub-routes in each contour area, it is specifically configured to: determine the waypoints of the sub-routes according to the two-dimensional position of the target crop in each contour area. Two-dimensional location.
  • the processor 1002 determines the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position, it is specifically configured to: generate a reference line according to the two-dimensional position; The sampling strategy collects multiple reference points from the reference line; the two-dimensional positions of the multiple reference points are determined as the two-dimensional positions of the multiple waypoints of the sub-route.
  • the processor 1002 is further configured to run a semantic recognition algorithm based on the three-dimensional space information to identify the target crop in the target crop area, and to determine that the spraying drone moves along the plurality of The spraying coverage area of the sub-airline indicated by the waypoints in the contour area when the drone is sprayed during the flight, determining the target crop that is not in the spraying coverage area, and determining the new waypoint according to the three-dimensional space information of the target crop;
  • the processor 1002 obtains the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area, it is specifically configured to: according to the route of the sub-routes in each contour area. Point and the newly added waypoint to obtain the waypoint of the route in the target crop area.
  • the processor 1002 is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area, wherein the two-dimensional position of the target crop is used to indicate Whether the spraying drone performs spraying operations when flying according to the route indicated by the waypoint.
  • the processor 1002 is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify obstacles in the target crop area, wherein the two-dimensional position of the obstacle is used to indicate Whether the spraying drone performs spraying operations when flying according to the route indicated by the waypoint.
  • the operation planning equipment for spraying drones in this embodiment can be used to implement the technical solutions of the operation planning equipment for spraying drones in the above-mentioned method embodiments of this application.
  • the implementation principles and technical effects are similar, and will not be repeated here. .
  • FIG. 11 is a schematic structural diagram of a spraying drone operation planning system provided by an embodiment of the application.
  • the spraying drone operation planning system 1100 of this embodiment may include: spraying drones
  • the operation planning device 1101 of the spraying drone can adopt the structure of the embodiment shown in FIG. 10, which correspondingly can execute the technical solutions of the spraying drone operation planning device in the foregoing method embodiments, and its implementation principles are as follows: The technical effects are similar, so I won’t repeat them here.
  • the spraying drone 1102 obtains the waypoint of the route in the target crop area obtained by the spraying drone 1102, and flies in the target crop area according to the route indicated by the waypoint.
  • the operation planning system 1100 for spraying drones may further include: a surveying drone 1103.
  • 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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Abstract

An operation planning method for a spraying unmanned aerial vehicle, the method comprising: obtaining 3D spatial information of a target crop area, the 3D spatial information at least comprising a 2D position and altitude, and a plurality of target crops are planted in the target crop area (S401); according to the 3D spatial information, determining a plurality of contour areas in the target crop area, the altitude of each contour area being within one altitude range, and the altitude range within which is the altitude of each contour area does not overlap with altitude ranges within which are the altitudes of other contour areas (S402); determining waypoints of sub-routes in each contour area (S403); and according to the waypoints of sub-routes in each contour area, obtaining waypoints of a route in the target crop area (S404). Therefore, the spraying unmanned aerial vehicle flies within the target crop area according to the route indicated by the waypoints, which complies with terrain features of terrains with different altitudes, reduces energy consumption during operation of the spraying unmanned aerial vehicle, and improves the spraying effect. Further disclosed are an operation system and device for a spraying unmanned aerial vehicle.

Description

喷洒无人机的作业规划方法、***和设备Operation planning method, system and equipment for spraying drone 技术领域Technical field
本申请实施例涉及无人机技术领域，尤其涉及一种喷洒无人机的作业规划方法、***和设备。The embodiments of the present application relate to the technical field of drones, and in particular, to a method, system and equipment for planning operations of spraying drones.
背景技术Background technique
随着消费级无人机日益普及，行业级应用无人机也开始崭露头角，对为农行业来说，农业无人机作为行业级应用无人机占据着重要的位置，其可以对农田地进行植保作业，例如喷洒作业(喷洒水分、农药、种子等等)，给农业领域带来了极大的便利，例如节省用户时间、提高作业效率、增加作业收益以及提高农业机械的利用效率等。With the increasing popularity of consumer-grade drones, industry-level application drones have also begun to emerge. For the agricultural industry, agricultural drones occupies an important position as an industry-level application drone. Plant protection operations, such as 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.
然而，现有的喷洒作业方式应用于梯田时，由于梯田各层的高度不同，使得农业无人机在对梯田的种植物进行喷洒作业时，会时而飞高时而飞低，飞行路径难以把控，造成喷洒效果不佳、农业无人机的电量消耗速率高。However, when the existing spraying method is applied to terraces, due to the different heights of the terraces, agricultural drones will sometimes fly high and sometimes low when spraying plants on the terraces, making it difficult to control the flight path. , Resulting in poor spraying effect and high power consumption rate of agricultural drones.
发明内容Summary of the invention
本申请实施例提供一种喷洒无人机的作业规划方法、***和设备，用于节省喷洒无人机作业时的能耗，改善喷洒效果，降低电量能耗速率。The embodiments of the present application provide a method, system and equipment for planning the operation of spraying drones, which are used to save energy consumption during the operation of spraying drones, improve the spraying effect, and reduce the rate of power consumption.
第一方面，本申请实施例提供的一种喷洒无人机的作业规划方法，包括：In the first aspect, an operation planning method for spraying drones provided by an embodiment of the present application includes:
获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；Acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；According to the three-dimensional space information, multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
确定每一个等高区域的子航线的航点；Determine the waypoints of the sub-routes in each contour area;
根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area, the waypoints of the route in the target crop area are acquired.
第二方面，本申请实施例提供的一种喷洒无人机的作业规划设备，包括： 存储器和处理器；In the second aspect, an operation planning device for spraying drones provided by the embodiment of the present application includes: a memory and a processor;
所述存储器，用于存储程序代码；The memory is used to store program code;
所述处理器，调用所述程序代码，当程序代码被执行时，用于：The processor calls the program code, and when the program code is executed, it is used to:
获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；Acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；According to the three-dimensional space information, multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
确定每一个等高区域的子航线的航点；Determine the waypoints of the sub-routes in each contour area;
根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area, the waypoints of the route in the target crop area are acquired.
第三方面，本申请实施例提供一种喷洒无人机的作业规划***，包括喷洒无人机和如第二方面本申请实施例所述的喷洒无人机的作业规划设备。In the third aspect, an embodiment of the present application provides an operation planning system for spraying drones, including a spraying drone and the operation planning equipment for spraying drones as described in the embodiments of the present application in the second aspect.
第四方面，本申请实施例提供一种可读存储介质，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如第一方面本申请实施例所述的喷洒无人机的作业规划方法。In a fourth 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 implements the spraying method described in the embodiment of the present application in the first aspect. UAV operation planning method.
第五方面，本申请实施例提供一种程序产品，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，喷洒无人机的作业规划设备的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序使得喷洒无人机的作业规划设备实施如第一方面本申请实施例所述的喷洒无人机的作业规划方法。In a fifth aspect, 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 operation planning device for spraying drones can be downloaded from all The readable storage medium reads the computer program, and the at least one processor executes the computer program to make the operation planning device of the spray drone implement the operation of the spray drone according to the embodiment of the application in the first aspect Planning method.
本申请实施例提供的喷洒无人机的作业规划方法、***和设备，通过获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；确定每一个等高区域的子航线的航点；根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。由于本实施例是先确定每个等高区域内的航点，然后根据每个等高区域内的航点再确定目标作物区域的航点，目标作物区域的航点使得喷洒无人机 在目标作物区域内沿着等高区域依次飞行，作业过程符合了高度不同的地形(例如梯田)的地形特征，节省喷洒无人机作业时的能耗，改善喷洒效果。The operation planning method, system, and equipment for spraying drones provided by the embodiments of the present application obtain three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least two-dimensional position and height, and the target crop area is Planting multiple target crops; determining multiple equal-height regions in the target crop area according to the three-dimensional space information, wherein the height of each equal-height region is within a height range, and the height of each equal-height region is located The altitude range of is not overlapped with the altitude range in which the altitudes of other equal-height areas are located; determine the waypoints of the sub-routes of each equal-height area; obtain the target according to the waypoints of the sub-routes of each equal-height area The waypoint of the route within the crop area. Since this embodiment first determines the waypoints in each contour area, and then determines the waypoints in the target crop area according to the waypoints in each contour area, the waypoints in the target crop area make the spraying drones on the target The crop area is flown in sequence along the same height area, and the operation process conforms to the topographic characteristics of the terrain (such as terraces) with different heights, which saves the energy consumption of spraying drones and improves the spraying effect.
附图说明Description of the drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1为本申请实施例提供的测绘无人机对目标作物区域进行测绘的示意图；FIG. 1 is a schematic diagram of surveying and mapping a target crop area by a surveying and mapping drone provided in an embodiment of the application;
图2为本申请实施例提供的应用场景示意图；Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;
图3为本申请实施例提供的喷洒无人机对目标作物区域中的多株目标作物进行喷洒的示意图；FIG. 3 is a schematic diagram of spraying drones spraying multiple target crops in a target crop area according to an embodiment of the application;
图4为本申请一实施例提供的喷洒无人机的作业规划方法的流程图；FIG. 4 is a flowchart of the operation planning method for spraying drones according to an embodiment of the application;
图5为本申请一实施例提供的根据单元格区域的几何位置的二维位置生成的参考线的一种示意图；FIG. 5 is a schematic diagram of a reference line generated according to a two-dimensional position of a geometric position of a cell area according to an embodiment of the application;
图6为本申请一实施例提供的目标作物区域内的参考线的一种示意图；FIG. 6 is a schematic diagram of a reference line in a target crop area provided by an embodiment of the application;
图7为本申请一实施例提供的喷洒覆盖区域的一种示意图；FIG. 7 is a schematic diagram of a spraying coverage area provided by an embodiment of the application;
图8为本申请一实施例提供的不在喷洒覆盖区域内的目标作物的一种示意图；FIG. 8 is a schematic diagram of target crops not in the spraying coverage area provided by an embodiment of the application;
图9为本申请一实施例提供的根据不在喷洒覆盖区域内的目标作物确定的新增航点的一种示意图；FIG. 9 is a schematic diagram of newly added waypoints determined according to target crops not in the spraying coverage area provided by an embodiment of the application; FIG.
图10为本申请一实施例提供的喷洒无人机的作业规划设备的结构示意图；FIG. 10 is a schematic structural diagram of an operation planning device for spraying drones provided by an embodiment of the application;
图11为本申请一实施例提供的喷洒无人机的作业规划***的一种结构示意图。FIG. 11 is a schematic structural diagram of a spraying drone operation planning system provided by an embodiment of the application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述， 显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is 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.
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.
本申请实施例提供的一种喷洒无人机的作业规划方法和设备，可以应用于喷洒无人机对作物区域中的多株目标作物进行喷洒控制的场景，尤其应用于作物区域为高度不等的区域，例如梯田区域。图1为本申请实施例提供的测绘无人机对目标作物区域进行测绘的示意图，如图1所示，测绘无人机101对目标作物区域上飞行，利用测绘无人机101配置的拍摄装置对目标作物区域进行拍摄。其中，目标作物区域中种植多株目标作物，在某些情况中，目标作物区域中稀疏地种植多株目标作物，该目标作物可以是任何农业作物，进一步地，所述目标作物可以包括树木，更进一步地，所述树木可以包括果树、茶树、橡胶树等等，但本申请各实施例并不限于此。图2为本申请实施例提供的应用场景示意图，如图2所示，图2中示出了测绘无人机101、喷洒无人机的作业规划设备102、喷洒无人机103和地面控制终端104。喷洒无人机的作业规划设备102为任何可以根据如前所述的目标作物区域的三维空间信息确定航线的航点的设备，例如，所述喷洒无人机的作业规划设备102可以包括遥控器、智能手机、台式电脑、膝上型电脑、服务器、穿戴式设备(手表、手环)中的一种或多种，本申请实施例以喷洒无人机的作业规划设备102为电脑来进行示意性说明。喷洒无人机103的地面控制终端104可以是遥控器、智能手机、台式电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种。本申请实施例以地面控制终端104为摇控器1041和终端设备1042为例来进行示意性说明。该终端设备1042例如是智能手机、可穿戴 设备、平板电脑等，但本申请实施例并限于此。The operation planning method and equipment for spraying drones provided by the embodiments of the application can be applied to the scenario where the spraying drones spray control of multiple target crops in the crop area, especially when the height of the crop area is unequal. Areas, such as terraced fields. Fig. 1 is a schematic diagram of a surveying drone surveying and mapping a target crop area provided by an embodiment of the application. As shown in Fig. 1, the surveying and mapping drone 101 is flying over the target crop area, and a photographing device configured by the surveying drone 101 is used Take pictures of the target crop area. Wherein, multiple target crops are planted in the target crop area. In some cases, multiple target crops are sparsely planted in the target crop area. The target crop may be any agricultural crop. Further, the target crop may include trees, Furthermore, the trees may include fruit trees, tea trees, rubber trees, etc., but the embodiments of the present application are not limited thereto. Figure 2 is a schematic diagram of the application scenario provided by an embodiment of the application. As shown in Figure 2, Figure 2 shows a surveying and mapping drone 101, a spray drone operation planning device 102, a spray drone 103, and a ground control terminal 104. The operation planning device 102 for spraying drones is any device that can determine the waypoints of the route based on the three-dimensional spatial information of the target crop area as described above. For example, the operation planning device 102 for spraying drones may include a remote control. One or more of, smart phones, desktop computers, laptop computers, servers, wearable devices (watches, bracelets), the embodiment of this application uses the operation planning device 102 spraying drones as a computer for illustration Sexual description. The ground control terminal 104 of the spray drone 103 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). In this embodiment of the present application, the ground control terminal 104 is a remote control 1041 and a terminal device 1042 as an example for schematic description. The terminal device 1042 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.
其中，测绘无人机101可以获取拍摄装置输出的图像，并根据所述图像获取目标作物区域的三维空间信息，其中，所述目标作物区域的三维空间信息用于确定喷洒无人机对所述多株目标作物进行喷洒的航线的航点。喷洒无人机的作业规划设备102可以通过直接或者间接、有线通信或者无线通信的方式从所述测绘无人机101获取所述目标作物区域的三维空间信息，并根据所述三维空间信息确定航点，其中，所述航点喷洒控制信息用于确定喷洒无人机103对目标作物区域内的所述多株目标作物进行喷洒的航线。在某些情况中，喷洒无人机的作业规划设备102可以从除测绘无人机101以外的其他途径获取目标作物区域的三维空间信息。喷洒无人机103可以通过直接或者间接、有线通信或者无线通信的方式从喷洒无人机的作业规划设备102获取所述航点/航线，并按照所述航点指示的航线飞行以对目标作物区域中的目标作物进行喷洒。在某些实施例中，喷洒无人机的作业规划设备102可以将航点/航线发送给喷洒无人机103的地面控制终端104，由喷洒无人机103的地面控制终端104根据航点/航线控制喷洒无人机103在目标作物区域内的飞行以及喷洒控制。在某些实施例中，喷洒无人机的作业规划设备102可以将所述航点/航线发送给喷洒无人机103，喷洒无人机103可以根据所述航点/航线在对目标作物区域中飞行以对目标作物进行喷洒，如图3所示。Wherein, the surveying and mapping drone 101 can acquire the image output by the shooting device, and acquire the three-dimensional spatial information of the target crop area according to the image, wherein the three-dimensional spatial information of the target crop area is used to determine that the spraying drone has an impact on the The waypoint of the route where multiple target crops are sprayed. The operation planning device 102 of the spraying drone can obtain the three-dimensional space information of the target crop area from the surveying drone 101 through direct or indirect, wired communication or wireless communication, and determine the navigational route according to the three-dimensional space information. Wherein, the waypoint spraying control information is used to determine the route for spraying the drone 103 to spray the multiple target crops in the target crop area. In some cases, the operation planning device 102 of the spraying drone can obtain the three-dimensional spatial information of the target crop area from other ways than the surveying drone 101. The spraying drone 103 can obtain the waypoint/route from the spraying drone's operation planning device 102 through direct or indirect, wired communication or wireless communication, and fly according to the route indicated by the waypoint to target the target crop. The target crops in the area are sprayed. In some embodiments, the operation planning device 102 of the spraying drone may send the waypoint/route to the ground control terminal 104 of the spraying drone 103, and the ground control terminal 104 of the spraying drone 103 can use the waypoint/route according to the waypoint/route. The route control spraying drone 103 flying in the target crop area and spraying control. In some embodiments, the operation planning device 102 of the spraying drone can send the waypoint/route to the spraying drone 103, and the spraying drone 103 can target the target crop area according to the waypoint/route. Flying mid-range to spray target crops, as shown in Figure 3.
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
图4为本申请一实施例提供的喷洒无人机的作业规划方法的流程图，如图4所示，本实施例的方法可以应用于喷洒无人机的作业规划设备，本实施例的方法可以包括：FIG. 4 is a flowchart of the operation planning method of spraying drones according to an embodiment of the application. As shown in FIG. 4, the method of this embodiment can be applied to the operation planning equipment of spraying drones. The method of this embodiment Can include:
S401、获取目标作物区域的三维空间信息，三维空间信息至少包括二维位置和高度，目标作物区域中种植多株目标作物。S401: Acquire three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and plant multiple target crops in the target crop area.
本实施例获取目标作物区域的三维空间信息。该目标作物区域中种植多株目标作物。可选地，该目标作物例如为树木，可选地，该树木例如为果树。本实施例的目标作物并不限于此。其中，该三维空间信息至少包括二维位置和高度。在某些情况中，所述三维空间信息还包括颜色信息，颜色信息可以用于区分目标区域中的各种类型的物体，例如目标作物，如果树，以苹 果树为例，包含红色信息的果树为苹果树。可选地，该三维空间信息可以是三维点云信息或者三维地图信息。In this embodiment, the three-dimensional spatial information of the target crop area is acquired. Multiple target crops are planted in the target crop area. Optionally, the target crop is, for example, a tree, and optionally, the tree is, for example, a fruit tree. The target crop of this embodiment is not limited to this. Wherein, the three-dimensional space information includes at least two-dimensional position and height. In some cases, the three-dimensional space information also includes color information, which can be used to distinguish various types of objects in the target area, such as target crops, if trees, take apple trees as an example, fruit trees containing red information For the apple tree. Optionally, the three-dimensional spatial information may be three-dimensional point cloud information or three-dimensional map information.
上述S401的一种可能的实现方式为：获取测绘无人机在所述目标作物区域上飞行时拍摄的多帧图像；根据所述多帧图像获取所述目标作物区域的三维空间信息。A possible implementation manner of the above S401 is: acquiring multiple frames of images taken by a surveying and mapping drone flying over the target crop area; acquiring three-dimensional spatial information of the target crop area according to the multiple frames of images.
其中，测绘无人机上配置有拍摄装置，测绘无人机在目标作物区域飞行的过程中，测绘无人机上配置的拍摄装置可以对目标作物区域进行拍摄，从而获得拍摄装置输出的多帧图像。其中，测绘无人机可以按照预先规划的航线在目标作物区域内飞行。其中，该拍摄装置可以是在测绘无人机飞行时，等间距拍摄或者等时间拍摄。Among them, the surveying and mapping drone is equipped with a photographing device. When the surveying and mapping drone is flying in the target crop area, the photographing device configured on the surveying and mapping drone can photograph the target crop area to obtain multiple frames of images output by the photographing device. Among them, the surveying and mapping drone can fly in the target crop area according to the pre-planned route. Wherein, the photographing device may be used for photographing at equal intervals or at equal time when the surveying and mapping drone is flying.
在一些实施例中，测绘无人机与喷洒控制信息确定设备可以通过有线通信连接或无线通信连接通信。测绘无人机将拍摄的多帧图像通过无线通信连接或者有线通信连接发送给喷洒无人机的作业规划设备。相应地，喷洒无人机的作业规划设备通过无线通信连接或者有线通信连接接收所述测绘无人机发送的上述多帧图像。其中，所述有线通信连接或无线通信连接通信可以为直接地通信，即点对点的通信，也可以为间接通信，即通过中间设备(例如测绘无人机的地面控制端)来进行通信。In some embodiments, the surveying and mapping drone and the spraying control information determination device may communicate through a wired communication connection or a wireless communication connection. The surveying and mapping drone sends the captured multi-frame images to the operation planning equipment of the spraying drone through a wireless communication connection or a wired communication connection. Correspondingly, the operation planning equipment of the spraying drone receives the above-mentioned multi-frame images sent by the surveying drone through a wireless communication connection or a wired communication connection. Wherein, the wired communication connection or wireless communication connection communication can be direct communication, that is, point-to-point communication, or indirect communication, that is, communication is performed through an intermediate device (such as a ground control terminal of a surveying drone).
在另一些实施例中，测绘无人机将多帧图像存储到存储设备中。相应地，喷洒无人机的作业规划设备从存储设备中获取所述多帧图像。该存储设备例如为安全数码卡(Secure Digital Memory Card，SD卡)，本实施例并不限于此，测绘无人机可以将拍摄的多帧图像存储在SD卡中，然后用户将SD卡从测绘无人机上拔出并***至喷洒无人机的作业规划设备中，喷洒无人机的作业规划设备从***其中的SD卡中获取多帧图像。In other embodiments, the surveying drone stores multiple frames of images in a storage device. Correspondingly, the operation planning device of the spraying drone obtains the multi-frame images from the storage device. The storage device is, for example, a Secure Digital Memory Card (SD card). This embodiment is not limited to this. The surveying and mapping drone can store the captured multiple frames of images in the SD card, and then the user can download the SD card from the surveying and mapping. Unplug the drone and insert it into the operation planning device of the spraying drone, and the operation planning device of the spraying drone obtains multiple frames of images from the SD card inserted into it.
然后喷洒无人机的作业规划设备根据多帧图像获取所述目标作物区域的三维空间信息，其中，如何根据图像获取三维空间信息可以参见相关技术中的描述，此处不再赘述。Then, the operation planning equipment of the spraying drone obtains the three-dimensional spatial information of the target crop area according to the multi-frame images. For how to obtain the three-dimensional spatial information according to the images, please refer to the description in the related technology, which will not be repeated here.
上述S401的另一种可能的实现方式为：获取测绘无人机根据在所述目标作物区域上飞行时拍摄的多帧图像获得的所述目标作物区域的三维空间信息。也就是，测绘无人机在目标作物区域飞行的过程中，测绘无人机上配置的拍摄装置可以对目标作物区域进行拍摄，从而获得拍摄装置输出的 多帧图像，然后测绘无人机根据拍摄装置输出的多帧图像获取该目标作物区域的三维空间信息。然后本实施例的喷洒无人机的作业规划设备从测绘无人机获取上述三维空间信息，其中，如何获取三维空间信息可以参见上述获取多帧图像的描述，此处不再赘述。Another possible implementation of S401 is: acquiring the three-dimensional spatial information of the target crop area obtained by the surveying and mapping drone according to multiple frames of images taken while flying over the target crop area. That is, when the surveying and mapping drone is flying in the target crop area, the shooting device configured on the surveying and mapping drone can shoot the target crop area to obtain multiple frames of images output by the shooting device, and then the surveying and mapping drone according to the shooting device The outputted multi-frame images obtain the three-dimensional spatial information of the target crop area. Then, the operation planning equipment of the spraying drone of this embodiment obtains the above-mentioned three-dimensional space information from the surveying and mapping drone. For how to obtain the three-dimensional space information, please refer to the description of obtaining the multi-frame images above, which will not be repeated here.
S402、根据三维空间信息确定所述目标作物区域中的多个等高区域，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的高度范围与其他等高区域的高度所处的高度范围不重叠。S402. Determine multiple equal-height areas in the target crop area according to the three-dimensional space information, the height of each equal-height area is within one height range, and the height of each equal-height area is in the same height range as other equal-height areas The height range of the height does not overlap.
本实施例中，在获取到目标作物区域的三维空间信息后，由于三维空间信息中包括高度，因此根据该三维空间信息可以确定哪些高度是处于同一个高度范围，又由于三维空间信息中包括二维位置，所以根据三维空间信息可以确定处于同一个高度范围的高度所对应的二维位置，根据这些二维位置可以确定处于同一个高度范围的区域，其中，处于同一个高度范围的区域可以称为等高区域。通过上述方式，可以从目标作物区域中确定多个不同高度的等高区域，同一个等高区域内的高度处于同一个高度范围，不同等高区域所处的高度范围不重叠。In this embodiment, after the three-dimensional spatial information of the target crop area is acquired, since the three-dimensional spatial information includes heights, it can be determined according to the three-dimensional spatial information which heights are in the same height range, and because the three-dimensional spatial information includes two Therefore, the two-dimensional position corresponding to the height in the same height range can be determined according to the three-dimensional space information, and the area in the same height range can be determined according to these two-dimensional positions. Among them, the area in the same height range can be called It is the contour area. Through the above method, multiple contour regions of different heights can be determined from the target crop region, the heights in the same contour region are in the same height range, and the height ranges of different contour regions do not overlap.
S403、确定每一个等高区域的子航线的航点。S403. Determine the waypoint of each sub-airline in the contour area.
S404、根据每一个等高区域的子航线的航点，获取目标作物区域内的航线的航点。S404: Obtain the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area.
本实施例中，在获得目标作物区域的多个等高区域之后，分别确定每一个等高区域内的子航线的航点。由于每个等高区域为目标作物区域内的不同子区域，所以在确定每个等高区域的子航线的航点之后，可以根据所有等高区域的子航线的航点，获取该目标作物区域内的航线的航点。其中，该目标作物区域内的航线的航点至少包括二维坐标和高度。In this embodiment, after obtaining multiple contour areas of the target crop area, the waypoints of the sub-routes in each contour area are respectively determined. Since each contour area is a different sub-area within the target crop area, after determining the waypoints of the sub-routes in each contour area, the target crop area can be obtained according to the waypoints of the sub-routes in all the contour areas The waypoints of the routes within. Wherein, the waypoint of the route in the target crop area includes at least two-dimensional coordinates and altitude.
可选地，喷洒无人机获取本实施例的喷洒无人机的作业规划设备获得的目标作物区域内的航线的航点。然后喷洒无人机根据该航点指示的航线在目标作物区域内飞行。由于目标作物区域内的航线的航点是根据各个等高区域的子航线的航点获得的，所以喷洒无人机在目标作物区域内飞行时是沿等高区域进行飞行，即先飞行在一个等高区域内飞行，在该等高区域内飞行完成后再进入相邻的另一个等高区域内进行飞行，以此类推。Optionally, the spraying drone obtains the waypoint of the route in the target crop area obtained by the operation planning device of the spraying drone of this embodiment. Then the spraying drone flies in the target crop area according to the route indicated by the waypoint. Since the waypoints of the route in the target crop area are obtained based on the waypoints of the sub-routes in each contour area, when the spraying drone flies in the target crop area, it will fly along the contour area, that is, fly in one area first. When flying in the same height area, after the flight in the same height area is completed, enter another adjacent area of the same height to fly, and so on.
其中，喷洒无人机如何从喷洒无人机的作业规划设备获取航点可以参见 喷洒无人机的作业规划设备获取多帧图像的过程，此处不再赘述。Among them, how the spraying drone obtains waypoints from the spraying drone's operation planning equipment can refer to the process of obtaining multi-frame images by the spraying drone's operation planning equipment, which will not be repeated here.
本实施例中，通过获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；确定每一个等高区域的子航线的航点；根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。由于本实施例是先确定每个等高区域内的航点，然后根据每个等高区域内的航点再确定目标作物区域的航点，目标作物区域的航点使得喷洒无人机在目标作物区域内沿着等高区域依次飞行，作业过程符合了高度不同的地形(例如梯田)的地形特征，节省喷洒无人机作业时的能耗，改善喷洒效果。In this embodiment, by acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, a plurality of target crops are planted in the target crop area; The multiple contour regions in the target crop region, wherein the height of each contour region is within a height range, and the height of each contour region is in the same height range as the height of other contour regions. The altitude ranges of are not overlapping; determine the waypoints of the sub-routes in each contour area; obtain the waypoints of the course in the target crop area according to the waypoints of the sub-routes in each contour area. Since this embodiment first determines the waypoints in each contour area, and then determines the waypoints in the target crop area according to the waypoints in each contour area, the waypoints in the target crop area make the spraying drones on the target The crop area is flown in sequence along the same height area, and the operation process conforms to the topographic characteristics of the terrain (such as terraces) with different heights, which saves the energy consumption of spraying drones and improves the spraying effect.
可选地，等高区域的子航线中航点的高度相同，也就是，同一等高区域内的子航线的航点的高度相同，并且该子航线的航点的高度与所属等高区域的高度有关。这样可以保证喷洒无人机在同一等高区域内飞行时沿着同一高度飞行，贴合当前区域的地形特征，避免在同一等高区域内出现时高时低的飞行现象。Optionally, the heights of the waypoints in the sub-routes of the contour area are the same, that is, the heights of the waypoints of the sub-routes in the same contour area are the same, and the height of the waypoints of the sub-route is the same as the height of the corresponding contour area related. This can ensure that the spraying drones fly along the same height when flying in the same contour area, fit the terrain features of the current area, and avoid the phenomenon of high and low flying in the same contour area.
可选地，所述目标作物区域内的航线中航点的高度是根据三维空间信息中航点的二维位置对应的高度确定的，从而保证喷洒无人机在根据航线中航点在目标作物区域飞行时参考了当前位置的实际高度，保证喷洒效果。Optionally, the height of the waypoint in the route in the target crop area is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information, so as to ensure that the spraying drone is flying in the target crop area according to the waypoint in the route. Refer to the actual height of the current position to ensure the spraying effect.
在一些实施例中，上述S403的一种可能的实现方式为：将每一个等高区域划分成多个单元格区域；根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置。In some embodiments, a possible implementation of S403 above is: divide each region of equal height into a plurality of cell regions; determine the sub-region according to the two-dimensional position of the geometric center of the plurality of cell regions. The two-dimensional position of the waypoint of the route.
本实施例中，在确定所述目标作物区域中的多个等高区域之后，将每个等高区域划分为多个单元格区域，每个单元格区域的大小可以相同，然后根据等高区域内多个单元格区域的几何中心的二维位置确定该等高区域的子航线的航点的二维位置。In this embodiment, after determining the multiple contour areas in the target crop area, each contour area is divided into multiple cell areas, and the size of each cell area can be the same, and then according to the contour area The two-dimensional positions of the geometric centers of the multiple cell areas in the area determine the two-dimensional positions of the waypoints of the sub-routes in the same height area.
其中，在一种可能的实现方式中，可以将等高区域内多个单元格区域的几何中心的二维位置确定为该等高区域的子航线的航点的二维位置，即等高区域的子航线的各个航点的二维位置就是该等高区域内各单元格区域的几何 中心的二维位置，等高区域的子航线的航点的数量与该等高区域内单元格区域的数量相同。Among them, in a possible implementation manner, the two-dimensional positions of the geometric centers of multiple cell areas in the contour area can be determined as the two-dimensional positions of the waypoints of the sub-routes in the contour area, that is, the contour area The two-dimensional position of each waypoint of the sub-route is the two-dimensional position of the geometric center of each cell area in the same height area. The number of waypoints of the sub-route in the same height area is the same as the number of the cell area in the same height area. The number is the same.
在另一种可能的实现方式中，可以根据等高区域内多个单元格区域的几何中心的二维位置生成参考线，例如如图5所示，每个圆形表示一个单元格区域，其中，同一深度颜色的圆形区域来表示属于同一等高区域的单元格区域，需要说明的是，本实施例并不限于单元格区域为圆形。根据每个等高区域内各个圆形区域的圆心的二维位置生成参考线，例如：各个圆形区域的圆心位于参考线上，如图5中的参考线L1和参考线L2，其中，参考线L1和参考线L2分别为两个不同等高区域的参考线。再按照预设的采样策略在每个参考线上采集参考点，例如可以是在参考线上等间距采集参考点，如图6所示，若目标区域内的等高区域为N个，则通过上述方式可以获得N条参考线，分别为L1、L2、…、LN，然后在每条参考线上等间隔采集参考点，以参考线L1为例，L1的起点为A1、终点为B1，在A1与B1之间等间隔采集参考点。然后将每个等高区域的参考线内采集的各个参考点的二维位置确定为该等高区域内子航线的航点的二维位置。In another possible implementation manner, a reference line can be generated according to the two-dimensional position of the geometric centers of multiple cell regions in the contour area, for example, as shown in Figure 5, each circle represents a cell region, where , The circular areas of the same depth color represent the cell areas belonging to the same contour area. It should be noted that this embodiment is not limited to the cell area being circular. The reference line is generated according to the two-dimensional position of the center of each circular area in each contour area. For example, the center of each circular area is located on the reference line, such as the reference line L1 and the reference line L2 in Figure 5, where the reference The line L1 and the reference line L2 are the reference lines of two different contour areas. Then collect reference points on each reference line according to the preset sampling strategy. For example, you can collect reference points at equal intervals on the reference line. As shown in Figure 6, if there are N equal height areas in the target area, pass The above method can obtain N reference lines, namely L1, L2,..., LN, and then collect reference points at equal intervals on each reference line. Taking reference line L1 as an example, the starting point of L1 is A1 and the end point is B1. Collect reference points at equal intervals between A1 and B1. Then, the two-dimensional position of each reference point collected in the reference line of each contour area is determined as the two-dimensional position of the waypoint of the sub-airline in the contour area.
可选地，所述单元格区域的尺寸是根据喷洒无人机的机身尺寸或者喷洒范围确定的，从而避免单元格区域过大或过小，保证喷洒无人机在根据上述确定的航线的航点在目标作物区域内飞行时的喷洒效果，避免重复喷洒一些区域或者未喷洒到一些区域。Optionally, the size of the cell area is determined according to the fuselage size or spraying range of the spraying drone, so as to prevent the cell area from being too large or too small, and to ensure that the spraying drone is in accordance with the above-determined route. The spraying effect when the waypoint is flying in the target crop area, avoid repeated spraying some areas or not spraying some areas.
在一些实施例中，还可以根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，由于三维空间信息中包括二维位置，因此，本实施例可以获得识别出的各目标作物的二维位置。然后确定每一个等高区域内的目标作物，由于每个等高区域的二维位置是确定的，根据各个目标作物的二维位置，即可确定各个等高区域内的目标作物。相应地，上述S403的一种可能的实现方式为：根据所述每一个等高区域内的目标作物的二维位置确定所述子航线的航点的二维位置。In some embodiments, it is also possible to run a semantic recognition algorithm based on the three-dimensional space information to identify the target crop in the target crop area. Since the three-dimensional space information includes a two-dimensional position, this embodiment can obtain the identified target crop. The two-dimensional position of each target crop. Then determine the target crop in each contour area. Since the two-dimensional position of each contour area is determined, the target crop in each contour area can be determined according to the two-dimensional position of each target crop. Correspondingly, a possible implementation of S403 is: determining the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the target crop in each of the contour regions.
其中，在一种可能的实现方式中，可以将等高区域内目标作物的二维位置确定为该等高区域的子航线的航点的二维位置。Among them, in a possible implementation manner, the two-dimensional position of the target crop in the contour area can be determined as the two-dimensional position of the waypoint of the sub-route in the contour area.
在另一种可能的实现方式中，可以根据等高区域内各目标作物的二维位置生成参考线，再按照预设的采样策略在每个参考线上采集参考点，然后将 每个等高区域的参考线内采集的各个参考点的二维位置确定为该等高区域内子航线的航点的二维位置。In another possible implementation manner, reference lines can be generated according to the two-dimensional position of each target crop in the contour area, and then reference points are collected on each reference line according to the preset sampling strategy, and then each contour The two-dimensional position of each reference point collected within the reference line of the area is determined as the two-dimensional position of the waypoint of the sub-route in the same height area.
在一些实施例中，还根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，以及确定所述喷洒无人机依次沿所述多个等高区域的航点指示的子航线飞行时喷洒无人机的喷洒覆盖区域，如图7所示，例如可以以子航线上的每个点的二维位置为中心，根据所述喷洒无人机的喷洒半径，确定喷洒无人机的喷洒覆盖区域。在确定喷洒覆盖区域之后，确定出目标作物区域中不在该喷洒覆盖区域内的目标作物，如图8所示，图中所示的D为不在喷洒覆盖区域内的目标作物。再根据不在该喷洒覆盖区域内的目标作物的三维空间信息确定新增航点，例如可以根据不在喷洒覆盖区域内的目标作物的二维位置确定该新增航点的二维位置，该新增航点的高度与该目标作物的高度有关，如图9所示，可以将该不在喷洒覆盖区域内的目标作物的二维位置确定为该新增航点的二维位置。其中，目标作物的三维空间信息可以根据目标作物区域的三维空间信息获得。In some embodiments, a semantic recognition algorithm is also executed according to the three-dimensional space information to identify the target crop in the target crop area, and to determine the waypoint indication of the spraying drone in sequence along the plurality of contour areas The spraying coverage area of the spraying drone during the flight of the sub-route is shown in Figure 7. For example, the two-dimensional position of each point on the sub-route can be taken as the center, and the spraying radius can be determined according to the spraying radius of the spraying drone. The area covered by the drone's spraying. After the spraying coverage area is determined, the target crops in the target crop area that are not in the spraying coverage area are determined, as shown in FIG. 8, where D shown in the figure is the target crops that are not in the spraying coverage area. Then determine the new waypoint according to the three-dimensional spatial information of the target crop not in the spraying coverage area. For example, the two-dimensional position of the new waypoint can be determined according to the two-dimensional position of the target crop not in the spraying coverage area. The height of the waypoint is related to the height of the target crop. As shown in FIG. 9, the two-dimensional position of the target crop that is not in the spray coverage area can be determined as the two-dimensional position of the newly added waypoint. Among them, the three-dimensional spatial information of the target crop can be obtained according to the three-dimensional spatial information of the target crop area.
相应地，上述S404的一种可能的实现方式可以为：根据每一个等高区域内的子航线的航点和所述新增航点，获取所述目标作物区域内的航线的航点。例如：获得的目标作物区域内的航线的航点可以包括该新增航点，目标作物区域内的航线例如如图9所示。因此，喷洒无人机在根据上述航点指示的航线飞行时，可以喷洒到原本不在上述喷洒覆盖区域内的目标作物，避免了有些目标作物未被喷洒到的现象，改善了喷洒效果。Correspondingly, a possible implementation of S404 may be: acquiring the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area and the newly added waypoints. For example, the obtained waypoint of the route in the target crop area may include the newly added waypoint, and the route in the target crop area is, for example, as shown in FIG. 9. Therefore, when the spraying drone is flying according to the route indicated by the above-mentioned waypoint, it can spray to the target crops that are not originally covered by the spraying area, avoiding the phenomenon that some target crops are not sprayed, and improving the spraying effect.
在一些实施例中，还根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，其中，所述目标作物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。在一种可能的实现方式中，本实施例的喷洒无人机的作业规划设备还根据识别出所述目标作物区域中的目标作物的二维位置，确定喷洒无人机在按照目标作物区域内的航线飞行时的喷洒控制信息，该喷洒控制信息用于控制喷洒无人机在目标作物区域内飞行时处于目标作物的二维位置时执行喷洒操作。相应地，喷洒无人机在根据上述航线在目标作物区域内飞行时，根据喷洒控制信息在飞行至喷洒范围覆盖目标作物的二维位置时开启喷头以执行喷洒操作，在其它位置时可以关闭喷头以节省喷洒的药量。在另一种可能的实现方式中，本实 施例的喷洒无人机的作业规划设备在识别出所述目标作物区域中的目标作物之后，将目标作物的二维位置发送给喷洒无人机，喷洒无人机在按照目标作物区域的航线飞行时，根据目标作物的二维位置决定是否执行喷洒操作，例如喷洒无人机在飞行至喷洒范围覆盖目标作物的二维位置时开启喷头以执行喷洒操作，在其它位置时可以关闭喷头以节省喷洒的药量。In some embodiments, a semantic recognition algorithm is also executed according to the three-dimensional space information to identify the target crop in the target crop area, wherein the two-dimensional position of the target crop is used to indicate that the spraying drone is in accordance with the Whether to perform spraying operation when flying on the route indicated by the waypoint. In a possible implementation manner, the operation planning device for spraying drones of this embodiment also determines that the spraying drone is in the target crop area according to the two-dimensional position of the target crop in the target crop area. The spraying control information during the flight of the route, the spraying control information is used to control the spraying drone to perform the spraying operation when it is in the two-dimensional position of the target crop while flying in the target crop area. Correspondingly, when the spraying drone is flying within the target crop area according to the above-mentioned route, the sprayer will be turned on to perform the spraying operation when flying to a two-dimensional position where the spraying range covers the target crop according to the spraying control information, and the sprayer can be turned off in other positions. In order to save the amount of sprayed medicine. In another possible implementation manner, after identifying the target crop in the target crop area, the operation planning device of the spraying drone of this embodiment sends the two-dimensional position of the target crop to the spraying drone, When the spraying drone is flying along the route of the target crop area, it decides whether to perform the spraying operation according to the two-dimensional position of the target crop. For example, the spraying drone turns on the nozzle to perform spraying when it flies to a two-dimensional position where the spraying range covers the target crop. Operation, when in other positions, the spray head can be closed to save the amount of sprayed medicine.
在一些实施例中，还根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的障碍物，障碍物例如为：房屋、道路等；以及确定所述喷洒无人机依次沿所述多个等高区域的航点指示的子航线飞行时喷洒无人机的喷洒覆盖区域。在确定喷洒覆盖区域之后，确定出目标作物区域中在该喷洒覆盖区域内的障碍物，再根据在该喷洒覆盖区域内的障碍物的三维空间信息确定新增航点，例如可以根据不在喷洒覆盖区域内的障碍物的二维位置确定该新增航点的二维位置，该新增航点的高度可以与该障碍物的高度有关，该新增航点可以使得喷洒无人机在目标作物区域飞行时远离障碍物的二维位置。其中，障碍物的三维空间信息可以根据目标作物区域的三维空间信息获得。In some embodiments, a semantic recognition algorithm is also executed according to the three-dimensional space information to identify obstacles in the target crop area, such as houses, roads, etc.; The spraying coverage area of the spraying drone during the flight of the sub-route indicated by the waypoints in the multiple equal height areas. After determining the spray coverage area, determine the obstacles in the target crop area in the spray coverage area, and then determine the new waypoints based on the three-dimensional information of the obstacles in the spray coverage area. The two-dimensional position of the obstacle in the area determines the two-dimensional position of the new waypoint. The height of the new waypoint can be related to the height of the obstacle. The new waypoint can make the drone spray the target crop The two-dimensional position far away from obstacles when flying in the area. Among them, the three-dimensional spatial information of the obstacle can be obtained according to the three-dimensional spatial information of the target crop area.
相应地，上述S404的一种可能的实现方式可以为：根据每一个等高区域内的子航线的航点和所述新增航点，获取所述目标作物区域内的航线的航点。例如：获得的目标作物区域内的航线的航点可以包括该新增航点。因此，喷洒无人机在根据上述航点指示的航线飞行时，可以避免误喷洒到障碍物上。Correspondingly, a possible implementation of S404 may be: acquiring the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area and the newly added waypoints. For example, the obtained waypoint of the route in the target crop area may include the newly added waypoint. Therefore, the spraying drone can avoid accidentally spraying on obstacles when flying according to the route indicated by the above-mentioned waypoints.
在一些实施例中，还根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的障碍物，其中，所述障碍物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。在一种可能的实现方式中，本实施例的喷洒无人机的作业规划设备还根据识别出所述目标作物区域中的障碍物的二维位置，确定喷洒无人机在按照目标作物区域内的航线飞行时的喷洒控制信息，该喷洒控制信息用于控制喷洒无人机在目标作物区域内飞行时处于障碍物的二维位置时执行喷洒操作。相应地，喷洒无人机在根据上述航线在目标作物区域内飞行时，根据喷洒控制信息在飞行至喷洒范围覆盖障碍物的二维位置时关闭喷头，以避免误喷洒现象。在另一种可能的实现方式中，本实施例的喷洒无人机的作业规划设备在识别出所述目标作物区域中的障碍物之后，将障碍物的二维位置发送给喷洒无人机，喷洒无人 机在按照目标作物区域的航线飞行时，根据障碍物的二维位置决定是否执行喷洒操作，例如喷洒无人机在飞行至喷洒范围覆盖障碍物的二维位置时关闭喷头，以避免误喷洒现象。In some embodiments, a semantic recognition algorithm is also executed according to the three-dimensional space information to identify obstacles in the target crop area, wherein the two-dimensional position of the obstacle is used to indicate that the spraying drone is in accordance with the Whether to perform spraying operation when flying on the route indicated by the waypoint. In a possible implementation manner, the operation planning device for spraying drones of this embodiment also determines that the spraying drone is in the target crop area according to the two-dimensional position of the obstacle in the target crop area. The spraying control information during the flight of the route, the spraying control information is used to control the spraying drone to perform the spraying operation when it is in the two-dimensional position of the obstacle when flying in the target crop area. Correspondingly, when the spraying drone is flying within the target crop area according to the above-mentioned route, the sprayer will be turned off when flying to a two-dimensional position where the spraying range covers obstacles according to the spraying control information, so as to avoid false spraying. In another possible implementation manner, the operation planning device of the spraying drone of this embodiment, after identifying the obstacle in the target crop area, sends the two-dimensional position of the obstacle to the spraying drone, When the spraying drone is flying along the route of the target crop area, it decides whether to perform the spraying operation according to the two-dimensional position of the obstacle. For example, the spraying drone closes the nozzle when it flies to the two-dimensional position where the spraying range covers the obstacle to avoid Misspray phenomenon.
本申请实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述各实施例中的喷洒无人机的作业规划方法的部分或全部步骤。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 spraying drone operation planning method in the above embodiments. .
图10为本申请一实施例提供的喷洒无人机的作业规划设备的结构示意图，如图10所示，本实施例的喷洒无人机的作业规划设备1000可以包括：存储器1001和处理器1002。存储器1001和处理器1002可以通过总线连接。上述处理器1002可以是中央处理单元(Central Processing Unit，CPU)，该处理器1002还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。FIG. 10 is a schematic structural diagram of a spraying drone operation planning device provided by an embodiment of the application. As shown in FIG. 10, the spraying drone operation planning device 1000 of this embodiment may include: a memory 1001 and a processor 1002 . The memory 1001 and the processor 1002 may be connected by a bus. The aforementioned processor 1002 may be a central processing unit (CPU), and the processor 1002 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) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
可选地，本实施例的喷洒无人机的作业规划设备1000还可以包括：通信装置(图中未示出)，通信装置与处理器1002可以通过总线连接，该通信装置用于与其它设备通信，其它设备例如是测绘无人机、喷洒无人机等。Optionally, the operation planning equipment 1000 for spraying drones in this embodiment may further include: a communication device (not shown in the figure). The communication device and the processor 1002 may be connected via a bus. The communication device is used to communicate with other equipment. Communication, other equipment such as surveying and mapping drones, spraying drones, etc.
其中，所述存储器1001，用于存储程序代码。Wherein, the memory 1001 is used to store program codes.
所述处理器1002，调用所述程序代码，当程序代码被执行时，用于：The processor 1002 calls the program code, and when the program code is executed, is used to:
获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；Acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；According to the three-dimensional space information, multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
确定每一个等高区域的子航线的航点；Determine the waypoints of the sub-routes in each contour area;
根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area, the waypoints of the route in the target crop area are acquired.
在一些实施例中，所述处理器1002在获取目标作物区域的三维空间信息时，具体用于：获取测绘无人机在所述目标作物区域上飞行时拍摄的多帧图 像；根据所述多帧图像获取所述目标作物区域的三维空间信息。In some embodiments, when the processor 1002 obtains the three-dimensional spatial information of the target crop area, it is specifically configured to: obtain multiple frames of images taken by the surveying and mapping drone flying over the target crop area; The frame image acquires the three-dimensional spatial information of the target crop area.
在一些实施例中，所述子航线中航点的高度相同。In some embodiments, the altitudes of the waypoints in the sub-routes are the same.
在一些实施例中，所述航线中航点的高度是根据三维空间信息中航点的二维位置对应的高度确定的。In some embodiments, the height of the waypoint in the route is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information.
在一些实施例中，所述处理器1002在确定每一个等高区域内的子航线的航点时，具体用于：将每一个等高区域划分成多个单元格区域；根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置。In some embodiments, when the processor 1002 determines the waypoints of the sub-routes in each contour area, it is specifically configured to: divide each contour area into multiple cell areas; The two-dimensional position of the geometric center of the cell area determines the two-dimensional position of the waypoint of the sub-route.
在一些实施例中，所述处理器1002在根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置时，具体用于：根据所述多个单元格区域的几何中心的二维位置生成参考线；按照预设的采样策略在所述参考线上采集参考点；将所述参考点的二维位置确定为所述子航线的航点的二维位置。In some embodiments, when the processor 1002 determines the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the geometric center of the plurality of cell regions, it is specifically configured to: The two-dimensional position of the geometric center of the cell area generates a reference line; the reference point is collected on the reference line according to a preset sampling strategy; the two-dimensional position of the reference point is determined as the second of the waypoint of the sub-route Dimensional location.
在一些实施例中，所述单元格区域的尺寸是根据喷洒无人机的机身尺寸或者喷洒范围确定的。In some embodiments, the size of the cell area is determined according to the size of the body of the spraying drone or the spraying range.
在一些实施例中，所述处理器1002，还用于：根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物；确定每一个等高区域内的目标作物；In some embodiments, the processor 1002 is further configured to: run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area; determine the target crop in each contour area;
所述处理器1002在确定每一个等高区域内的子航线的航点时，具体用于：根据所述每一个等高区域内的目标作物的二维位置确定所述子航线的航点的二维位置。When the processor 1002 determines the waypoints of the sub-routes in each contour area, it is specifically configured to: determine the waypoints of the sub-routes according to the two-dimensional position of the target crop in each contour area. Two-dimensional location.
在一些实施例中，所述处理器1002在根据所述二维位置确定所述子航线的航点的二维位置时，具体用于：根据所述二维位置生成参考线；按照预设的采样策略从所述参考线上采集多个参考点；将所述多个参考点的二维位置确定为所述子航线的多个航点的二维位置。In some embodiments, when the processor 1002 determines the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position, it is specifically configured to: generate a reference line according to the two-dimensional position; The sampling strategy collects multiple reference points from the reference line; the two-dimensional positions of the multiple reference points are determined as the two-dimensional positions of the multiple waypoints of the sub-route.
在一些实施例中，所述处理器1002，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，确定所述喷洒无人机依次沿所述多个等高区域的航点指示的子航线飞行时喷洒无人机的喷洒覆盖区域，确定不在所述喷洒覆盖区域内的目标作物，根据所述目标作物的三维空间信息确定新增航点；In some embodiments, the processor 1002 is further configured to run a semantic recognition algorithm based on the three-dimensional space information to identify the target crop in the target crop area, and to determine that the spraying drone moves along the plurality of The spraying coverage area of the sub-airline indicated by the waypoints in the contour area when the drone is sprayed during the flight, determining the target crop that is not in the spraying coverage area, and determining the new waypoint according to the three-dimensional space information of the target crop;
所述处理器1002在根据每一个等高区域内的子航线的航点，获取所述目 标作物区域内的航线的航点时，具体用于：根据每一个等高区域内的子航线的航点和所述新增航点，获取所述目标作物区域内的航线的航点。When the processor 1002 obtains the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area, it is specifically configured to: according to the route of the sub-routes in each contour area. Point and the newly added waypoint to obtain the waypoint of the route in the target crop area.
在一些实施例中，所述处理器1002，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，其中，所述目标作物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。In some embodiments, the processor 1002 is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area, wherein the two-dimensional position of the target crop is used to indicate Whether the spraying drone performs spraying operations when flying according to the route indicated by the waypoint.
在一些实施例中，所述处理器1002，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的障碍物，其中，所述障碍物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。In some embodiments, the processor 1002 is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify obstacles in the target crop area, wherein the two-dimensional position of the obstacle is used to indicate Whether the spraying drone performs spraying operations when flying according to the route indicated by the waypoint.
本实施例的喷洒无人机的作业规划设备，可以用于执行本申请上述各方法实施例中喷洒无人机的作业规划设备的技术方案，其实现原理和技术效果类似，此处不再赘述。The operation planning equipment for spraying drones in this embodiment can be used to implement the technical solutions of the operation planning equipment for spraying drones in the above-mentioned method embodiments of this application. The implementation principles and technical effects are similar, and will not be repeated here. .
图11为本申请一实施例提供的喷洒无人机的作业规划***的一种结构示意图，如图11所示，本实施例的喷洒无人机的作业规划***1100可以包括：喷洒无人机的作业规划设备1101和喷洒无人机1102。其中，喷洒无人机的作业规划设备1101可以采用图10所示实施例的结构，其对应地，可以执行上述各方法实施例中喷洒无人机的作业规划设备的技术方案，其实现原理和技术效果类似，此处不再赘述。FIG. 11 is a schematic structural diagram of a spraying drone operation planning system provided by an embodiment of the application. As shown in FIG. 11, the spraying drone operation planning system 1100 of this embodiment may include: spraying drones The operation planning equipment 1101 and the spraying drone 1102. Among them, the operation planning device 1101 of the spraying drone can adopt the structure of the embodiment shown in FIG. 10, which correspondingly can execute the technical solutions of the spraying drone operation planning device in the foregoing method embodiments, and its implementation principles are as follows: The technical effects are similar, so I won’t repeat them here.
其中，喷洒无人机1102获取喷洒无人机1102获得的目标作物区域内的航线的航点，以及根据航点指示的航线在目标作物区域内飞行。Among them, the spraying drone 1102 obtains the waypoint of the route in the target crop area obtained by the spraying drone 1102, and flies in the target crop area according to the route indicated by the waypoint.
可选地，喷洒无人机的作业规划***1100还可以包括：测绘无人机1103。所述测绘无人机1103在所述目标作物区域上飞行时拍摄的多帧图像；所述喷洒无人机的作业规划设备1101获取测绘无人机1103在所述目标作物区域上飞行时拍摄的多帧图像。Optionally, the operation planning system 1100 for spraying drones may further include: a surveying drone 1103. The multi-frame images taken when the surveying and mapping drone 1103 is flying over the target crop area; the operation planning device 1101 of the spraying drone obtains the images taken while the surveying and mapping drone 1103 is flying over the target crop area Multi-frame images.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码 的介质。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.
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims (26)

  1. 一种喷洒无人机的作业规划方法，其特征在于，包括：An operation planning method for spraying drones, which is characterized in that it includes:
    获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；Acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
    根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；According to the three-dimensional space information, multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
    确定每一个等高区域的子航线的航点；Determine the waypoints of the sub-routes in each contour area;
    根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area, the waypoints of the route in the target crop area are acquired.
  2. 根据权利要求1所述的方法，其特征在于，The method of claim 1, wherein:
    所述获取目标作物区域的三维空间信息，包括：The acquiring three-dimensional spatial information of the target crop area includes:
    获取测绘无人机在所述目标作物区域上飞行时拍摄的多帧图像；Acquiring multiple frames of images taken when the surveying and mapping drone is flying over the target crop area;
    根据所述多帧图像获取所述目标作物区域的三维空间信息。Acquiring the three-dimensional spatial information of the target crop area according to the multi-frame images.
  3. 根据权利要求1或2所述的方法，其特征在于，所述子航线中航点的高度相同。The method according to claim 1 or 2, wherein the heights of the waypoints in the sub-routes are the same.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述航线中航点的高度是根据三维空间信息中航点的二维位置对应的高度确定的。The method according to any one of claims 1 to 3, wherein the height of the waypoint in the route is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information.
  5. 根据权利要求1-4任一项所述的方法，其特征在于，The method according to any one of claims 1 to 4, characterized in that,
    所述确定每一个等高区域内的子航线的航点，包括：The determination of the waypoints of the sub-routes in each contour area includes:
    将每一个等高区域划分成多个单元格区域；Divide each area of equal height into multiple cell areas;
    根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置。The two-dimensional position of the waypoint of the sub-route is determined according to the two-dimensional position of the geometric center of the plurality of cell regions.
  6. 根据权利要求5所述的方法，其特征在于，The method of claim 5, wherein:
    所述根据所述多个单元格区域的几何中心的二维位置确定所述子航线的 航点的二维位置，包括：The determining the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the geometric center of the plurality of cell regions includes:
    根据所述多个单元格区域的几何中心的二维位置生成参考线；Generating a reference line according to the two-dimensional positions of the geometric centers of the multiple cell regions;
    按照预设的采样策略在所述参考线上采集参考点；Collecting reference points on the reference line according to a preset sampling strategy;
    将所述参考点的二维位置确定为所述子航线的航点的二维位置。The two-dimensional position of the reference point is determined as the two-dimensional position of the waypoint of the sub-route.
  7. 根据权利要求5或6所述的方法，其特征在于，所述单元格区域的尺寸是根据喷洒无人机的机身尺寸或者喷洒范围确定的。The method according to claim 5 or 6, wherein the size of the cell area is determined according to the size of the fuselage of the spraying drone or the spraying range.
  8. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-4, wherein the method further comprises:
    根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物；Running a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area;
    确定每一个等高区域内的目标作物；Determine the target crops in each contour area;
    所述确定每一个等高区域内的子航线的航点，包括：The determination of the waypoints of the sub-routes in each contour area includes:
    根据所述每一个等高区域内的目标作物的二维位置确定所述子航线的航点的二维位置。The two-dimensional position of the waypoint of the sub-route is determined according to the two-dimensional position of the target crop in each of the contour regions.
  9. 根据权利要求8所述的方法，其特征在于，The method according to claim 8, wherein:
    所述根据所述二维位置确定所述子航线的航点的二维位置，包括：The determining the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position includes:
    根据所述二维位置生成参考线；Generating a reference line according to the two-dimensional position;
    按照预设的采样策略从所述参考线上采集多个参考点；Collecting multiple reference points from the reference line according to a preset sampling strategy;
    将所述多个参考点的二维位置确定为所述子航线的多个航点的二维位置。The two-dimensional positions of the multiple reference points are determined as the two-dimensional positions of the multiple waypoints of the sub-route.
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-9, wherein the method further comprises:
    根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物；Running a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area;
    确定所述喷洒无人机依次沿所述多个等高区域的航点指示的子航线飞行时喷洒无人机的喷洒覆盖区域；Determining the spraying coverage area of the spraying drone when the spraying drone is flying along the sub-routes indicated by the waypoints of the multiple equal height areas in sequence;
    确定不在所述喷洒覆盖区域内的目标作物；Determine target crops that are not in the spray coverage area;
    根据所述目标作物的三维空间信息确定新增航点；Determine the newly added waypoint according to the three-dimensional spatial information of the target crop;
    所述根据每一个等高区域内的子航线的航点，获取所述目标作物区域内的航线的航点，包括：The acquiring the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area includes:
    根据每一个等高区域内的子航线的航点和所述新增航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area and the newly added waypoints, the waypoints of the routes in the target crop area are acquired.
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-10, wherein the method further comprises:
    根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，其中，所述目标作物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。Run a semantic recognition algorithm based on the three-dimensional space information to identify the target crop in the target crop area, wherein the two-dimensional position of the target crop is used to instruct the spraying drone to fly according to the route indicated by the waypoint Whether to perform spraying operation.
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-11, wherein the method further comprises:
    根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的障碍物，其中，所述障碍物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。Run a semantic recognition algorithm based on the three-dimensional space information to identify obstacles in the target crop area, wherein the two-dimensional position of the obstacle is used to instruct the spraying drone to fly according to the route indicated by the waypoint Whether to perform spraying operation.
  13. 一种喷洒无人机的作业规划设备，其特征在于，包括：存储器和处理器；An operation planning equipment for spraying drones, which is characterized by comprising: a memory and a processor;
    所述存储器，用于存储程序代码；The memory is used to store program code;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于：The processor calls the program code, and when the program code is executed, it is used to:
    获取目标作物区域的三维空间信息，其中，所述三维空间信息至少包括二维位置和高度，所述目标作物区域中种植多株目标作物；Acquiring three-dimensional spatial information of a target crop area, where the three-dimensional spatial information includes at least a two-dimensional position and height, and multiple target crops are planted in the target crop area;
    根据所述三维空间信息确定所述目标作物区域中的多个等高区域，其中，每一个等高区域的高度处于一个的高度范围，每一个等高区域的高度所处的所述高度范围与其他等高区域的高度所处的高度范围不重叠；According to the three-dimensional space information, multiple equal-height areas in the target crop area are determined, wherein the height of each equal-height area is within a height range, and the height of each equal-height area is in the same height range as The height ranges of the heights of other equal-height areas do not overlap;
    确定每一个等高区域的子航线的航点；Determine the waypoints of the sub-routes in each contour area;
    根据每一个等高区域的子航线的航点，获取所述目标作物区域内的航线的航点。According to the waypoints of the sub-routes in each contour area, the waypoints of the route in the target crop area are acquired.
  14. 根据权利要求13所述的设备，其特征在于，所述处理器在获取目标作物区域的三维空间信息时，具体用于：获取测绘无人机在所述目标作物区域上飞行时拍摄的多帧图像；根据所述多帧图像获取所述目标作物区域的三维空间信息。The device according to claim 13, wherein when the processor obtains the three-dimensional spatial information of the target crop area, it is specifically configured to: obtain multiple frames taken when the surveying and mapping drone is flying over the target crop area Image; obtaining the three-dimensional spatial information of the target crop area according to the multi-frame image.
  15. 根据权利要求13或14所述的设备，其特征在于，所述子航线中航点的高度相同。The device according to claim 13 or 14, wherein the heights of the waypoints in the sub-routes are the same.
  16. 根据权利要求13-15任一项所述的设备，其特征在于，所述航线中航点的高度是根据三维空间信息中航点的二维位置对应的高度确定的。The device according to any one of claims 13-15, wherein the height of the waypoint in the route is determined according to the height corresponding to the two-dimensional position of the waypoint in the three-dimensional space information.
  17. 根据权利要求13-16任一项所述的设备，其特征在于，所述处理器在确定每一个等高区域内的子航线的航点时，具体用于：将每一个等高区域划分成多个单元格区域；根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置。The device according to any one of claims 13-16, wherein when the processor determines the waypoints of the sub-routes in each contour area, it is specifically configured to: divide each contour area into A plurality of cell areas; the two-dimensional position of the waypoint of the sub-route is determined according to the two-dimensional position of the geometric center of the plurality of cell areas.
  18. 根据权利要求17所述的设备，其特征在于，所述处理器在根据所述多个单元格区域的几何中心的二维位置确定所述子航线的航点的二维位置时，具体用于：根据所述多个单元格区域的几何中心的二维位置生成参考线；按照预设的采样策略在所述参考线上采集参考点；将所述参考点的二维位置确定为所述子航线的航点的二维位置。The device according to claim 17, wherein the processor is specifically configured to determine the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position of the geometric center of the plurality of cell regions : Generate a reference line according to the two-dimensional position of the geometric center of the multiple cell regions; collect reference points on the reference line according to a preset sampling strategy; determine the two-dimensional position of the reference point as the sub The two-dimensional position of the waypoint of the route.
  19. 根据权利要求17或18所述的设备，其特征在于，所述单元格区域的尺寸是根据喷洒无人机的机身尺寸或者喷洒范围确定的。The device according to claim 17 or 18, wherein the size of the cell area is determined according to the size of the body of the spraying drone or the spraying range.
  20. 根据权利要求13-16任一项所述的设备，其特征在于，所述处理器，还用于：根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物；确定每一个等高区域内的目标作物；The device according to any one of claims 13-16, wherein the processor is further configured to: run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area; and determine Target crops in each contour area;
    所述处理器在确定每一个等高区域内的子航线的航点时，具体用于：根据所述每一个等高区域内的目标作物的二维位置确定所述子航线的航点的二 维位置。When determining the waypoints of the sub-routes in each contour area, the processor is specifically configured to: determine the second of the waypoints of the sub-course according to the two-dimensional position of the target crop in each contour area. Dimensional location.
  21. 根据权利要求20所述的设备，其特征在于，所述处理器在根据所述二维位置确定所述子航线的航点的二维位置时，具体用于：根据所述二维位置生成参考线；按照预设的采样策略从所述参考线上采集多个参考点；将所述多个参考点的二维位置确定为所述子航线的多个航点的二维位置。The device according to claim 20, wherein when the processor determines the two-dimensional position of the waypoint of the sub-route according to the two-dimensional position, it is specifically configured to: generate a reference according to the two-dimensional position Line; collect multiple reference points from the reference line according to a preset sampling strategy; determine the two-dimensional positions of the multiple reference points as the two-dimensional positions of the multiple waypoints of the sub-route.
  22. 根据权利要求13-21任一项所述的设备，其特征在于，所述处理器，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，确定所述喷洒无人机依次沿所述多个等高区域的航点指示的子航线飞行时喷洒无人机的喷洒覆盖区域，确定不在所述喷洒覆盖区域内的目标作物，根据所述目标作物的三维空间信息确定新增航点；The device according to any one of claims 13-21, wherein the processor is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area, and determine the When the spraying drone is flying along the sub-routes indicated by the waypoints of the multiple equal height areas, the spraying coverage area of the spraying drone is determined, and the target crops not in the spraying coverage area are determined according to the target crop Three-dimensional space information to determine the new waypoint;
    所述处理器在根据每一个等高区域内的子航线的航点，获取所述目标作物区域内的航线的航点时，具体用于：根据每一个等高区域内的子航线的航点和所述新增航点，获取所述目标作物区域内的航线的航点。When the processor obtains the waypoints of the route in the target crop area according to the waypoints of the sub-routes in each contour area, it is specifically used to: according to the waypoints of the sub-routes in each contour area And the newly added waypoint to obtain the waypoint of the route in the target crop area.
  23. 根据权利要求13-22任一项所述的设备，其特征在于，所述处理器，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的目标作物，其中，所述目标作物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。The device according to any one of claims 13-22, wherein the processor is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify the target crop in the target crop area, wherein: The two-dimensional position of the target crop is used to indicate whether the spraying drone performs a spraying operation when flying according to the route indicated by the waypoint.
  24. 根据权利要求13-23任一项所述的设备，其特征在于，所述处理器，还用于根据所述三维空间信息运行语义识别算法识别出所述目标作物区域中的障碍物，其中，所述障碍物的二维位置用于指示喷洒无人机在按照所述航点指示的航线飞行时是否执行喷洒操作。The device according to any one of claims 13-23, wherein the processor is further configured to run a semantic recognition algorithm according to the three-dimensional space information to identify obstacles in the target crop area, wherein: The two-dimensional position of the obstacle is used to indicate whether the spraying drone performs a spraying operation when flying according to the route indicated by the waypoint.
  25. 一种喷洒无人机的作业规划***，其特征在于，包括喷洒无人机和如权利要求13-24任一项所述的喷洒无人机的作业规划设备。An operation planning system for spraying drones, which is characterized by comprising a spraying drone and the operation planning equipment for spraying drones according to any one of claims 13-24.
  26. 一种可读存储介质，其特征在于，所述可读存储介质上存储有计 算机程序；所述计算机程序在被执行时，实现如权利要求1-12任一项所述的喷洒无人机的作业规划方法。A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when executed, the computer program realizes the spraying drone according to any one of claims 1-12. Job planning method.
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