WO2021081896A1 - Procédé de planification de fonctionnement, système, et dispositif pour véhicule aérien sans pilote destiné à la pulvérisation - Google Patents

Procédé de planification de fonctionnement, système, et dispositif pour véhicule aérien sans pilote destiné à la pulvérisation 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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Prior art keywords
area
target crop
spraying
waypoints
sub
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PCT/CN2019/114723
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English (en)
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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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114723 priority Critical patent/WO2021081896A1/fr
Priority to CN201980034351.5A priority patent/CN112219177A/zh
Publication of WO2021081896A1 publication Critical patent/WO2021081896A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
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Abstract

L'invention concerne un procédé de planification du fonctionnement d'un véhicule aérien sans pilote destiné à la pulvérisation, le procédé consistant : à obtenir des informations spatiales 3D d'une zone de culture cible, les informations spatiales 3D comprenant au moins une position 2D et une altitude, et une pluralité de cultures cibles plantées dans la zone de culture cible (S401) ; en fonction des informations spatiales 3D, à déterminer une pluralité de zones de contour dans la zone de culture cible, l'altitude de chaque zone de contour étant comprise dans une plage d'altitudes, et la plage d'altitudes comprenant l'altitude de chaque zone de contour ne chevauchant pas les plages d'altitudes comprenant les altitudes d'autres zones de contour (S402) ; à déterminer des points de cheminement de sous-itinéraires dans chaque zone de contour (S403) ; et en fonction des points de cheminement des sous-itinéraires dans chaque zone de contour, à obtenir des points de cheminement d'un itinéraire dans la zone de culture cible (S404). Par conséquent, le véhicule aérien sans pilote destiné à la pulvérisation vole à l'intérieur de la zone de culture cible en fonction de l'itinéraire indiqué par les points de cheminement, ce qui permet de respecter les caractéristiques des terrains de différentes altitudes, de réduire la consommation d'énergie pendant le fonctionnement du véhicule aérien sans pilote destiné à la pulvérisation, et d'améliorer l'effet de pulvérisation. L'invention concerne en outre un système et un dispositif d'actionnement d'un véhicule aérien sans pilote destiné à la pulvérisation.
PCT/CN2019/114723 2019-10-31 2019-10-31 Procédé de planification de fonctionnement, système, et dispositif pour véhicule aérien sans pilote destiné à la pulvérisation WO2021081896A1 (fr)

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PCT/CN2019/114723 WO2021081896A1 (fr) 2019-10-31 2019-10-31 Procédé de planification de fonctionnement, système, et dispositif pour véhicule aérien sans pilote destiné à la pulvérisation
CN201980034351.5A CN112219177A (zh) 2019-10-31 2019-10-31 喷洒无人机的作业规划方法、***和设备

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CN113349038B (zh) * 2021-06-30 2023-03-24 广州极飞科技股份有限公司 一种灌溉作业控制方法、装置、存储介质及灌溉设备

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