WO2021087750A1

WO2021087750A1 - Route planning method and device for unmanned aerial vehicle

Info

Publication number: WO2021087750A1
Application number: PCT/CN2019/115739
Authority: WO
Inventors: 邹亭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2021-05-14
Also published as: CN112313476A

Abstract

A route planning method and device for an unmanned aerial vehicle, the method comprising: according to preset route planning information, generating a plurality of route reference lines in a target area (S101); acquiring position information of a no-fly zone in the target area (S102); according to the position information of the no-fly zone, segmenting the target area into a plurality of sub-areas, so that the sub-areas do not overlap with the no-fly zone (S103); according to route reference lines of the plurality of sub-areas, determining the operation order of the plurality of sub-areas and a connection route between every two adjacent sub-areas in the operation order (S104); and determining an operation route of the unmanned aerial vehicle according to the route reference lines of the sub-areas, the operation order of the plurality of sub-areas and the connection routes (S105), the number of intersections of the route reference line in each sub-area with the present sub-area is less than or equal to 2. In this way, the unmanned aerial vehicle does not need to perform obstacle avoidance on a no-fly zone multiple times, reducing the length of the non-operation route, and improving the operation efficiency of the unmanned aerial vehicle.

Description

无人飞行器的航线规划方法和装置Route planning method and device for unmanned aerial vehicle

技术领域Technical field

本发明涉及航线规划领域，尤其涉及一种无人飞行器的航线规划方法和装置。The invention relates to the field of route planning, and in particular to a route planning method and device of an unmanned aerial vehicle.

背景技术Background technique

覆盖路径规划技术在无人飞行器领域具有广泛的应用，同时覆盖路径规划任务中的避障技术也是一项重要的技术，良好的避障技术对任务执行效率具有较大的提升。Coverage path planning technology has a wide range of applications in the field of unmanned aerial vehicles. At the same time, obstacle avoidance technology in cover path planning tasks is also an important technology. Good obstacle avoidance technology can greatly improve the efficiency of mission execution.

现有技术中，采用在每条航线段上进行绕障的航线规划方式，航线规划的过程包括如下步骤：首先，根据用户划定的区域，生成往复式的覆盖作业航线段；接着，识别区域内的障碍物；最后，检查当前作业航线段内是否存在障碍物，如果存在，执行绕障，并继续执行当前航线段。现有航线规划方式对于较小的障碍物具有良好的应用，但是对于大型禁飞区，如建筑物等，由于禁飞区横跨了多条航线段，若采用现有航线规划方式，无人飞行器常常需要执行多次绕障，有时绕障航线比作业航线还长，对无人飞行器执行作业任务的执行效率带来了极为不利的影响。另外，从飞行安全性考虑，现有航线规划方式中，一旦无人飞行器前方有禁飞区或障碍物，就要进行绕障，由于禁飞区、障碍物等通常具有复杂的属性，频繁的绕障给无人飞行器带来了极大的飞行安全风险。In the prior art, the route planning method of circumventing obstacles on each route segment is adopted. The route planning process includes the following steps: first, generate a reciprocating coverage operation route segment according to the area delineated by the user; then, identify the area Finally, check whether there are obstacles in the current operating route segment. If there is, perform obstacle bypassing and continue to execute the current route segment. The existing route planning method has good application for smaller obstacles, but for large no-fly zones, such as buildings, because the no-fly zone spans multiple route segments, if the existing route planning method is adopted, no one Aircraft often need to perform multiple obstacle circumventions, and sometimes the obstacle circumvention route is longer than the operation route, which has an extremely negative impact on the efficiency of the unmanned aerial vehicle's execution of tasks. In addition, from the perspective of flight safety, in the existing route planning methods, once there is a no-fly zone or obstacle in front of the UAV, the obstacle must be bypassed. Because the no-fly zone, obstacles, etc. usually have complex attributes and frequently Obstacle circumvention brings great flight safety risks to unmanned aerial vehicles.

发明内容Summary of the invention

本发明提供一种无人飞行器的航线规划方法和装置。The invention provides a route planning method and device for an unmanned aerial vehicle.

具体地，本发明是通过如下技术方案实现的：Specifically, the present invention is implemented through the following technical solutions:

根据本发明的第一方面，提供一种无人飞行器的航线规划方法，所述方法包括：According to a first aspect of the present invention, there is provided a route planning method for an unmanned aerial vehicle, the method comprising:

根据预设的航线规划信息，在目标区域中生成多条航线参考线；According to the preset route planning information, generate multiple route reference lines in the target area;

获取所述目标区域内的禁飞区的位置信息；Acquiring the position information of the no-fly zone in the target area;

根据所述禁飞区的位置信息，将所述目标区域分割成多个子区域，使得所述子区域与所述禁飞区不重合，其中，每个子区域中的航线参考线与该子区域的交点的数量小于或等于2；According to the position information of the no-fly zone, the target area is divided into a plurality of sub-areas, so that the sub-area does not overlap with the no-fly zone, wherein the route reference line in each sub-area is the same as that of the sub-area. The number of intersections is less than or equal to 2;

根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线；Determining the operating sequence of the multiple sub-regions and the connecting route between the two adjacent sub-regions in the operating sequence according to the route reference lines of the multiple sub-regions;

根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线。The operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route.

根据本发明的第二方面，提供一种无人飞行器的航线规划装置，所述装置包括：According to a second aspect of the present invention, there is provided a route planning device for an unmanned aerial vehicle, the device comprising:

存储装置，用于存储程序指令；以及Storage device for storing program instructions; and

一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

根据本发明实施例提供的技术方案，本发明按照禁飞区的几何特征，将目标区域分割成多个与禁飞区不重合子区域，再根据多个子区域的航线参考线确定各子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线，最后根据子区域的航线参考线作业顺序以及连接航线确定无人飞行器的作业航线，采用区域分割环绕禁飞区执行作业任务，解决了现有在每条航线上进行绕障的方式导致的对大型禁飞区执行效率低的问题，避免了无人飞行器对禁飞区的多次避障，减少了非作业航线的长度，提升了无人飞行器的作业效率；同时，缩短了无人机在作业过程中与禁飞区近距离接触的时间，提高了无人飞行器飞行安全性。According to the technical solutions provided by the embodiments of the present invention, the present invention divides the target area into a plurality of sub-areas that do not overlap with the no-fly zone according to the geometric characteristics of the no-fly zone, and then determines the sub-area of each sub-area according to the route reference line of the multiple sub-zones. The operating sequence and the connecting route between the two adjacent sub-regions in the operating sequence. Finally, the operating route of the unmanned aircraft is determined according to the operating sequence of the route reference line and the connecting route in the sub-region, and the operation task is performed around the no-fly zone by area division. The existing method of circumventing obstacles on each route causes the problem of low execution efficiency in the large no-fly zone, avoids the multiple obstacle avoidance of the no-fly zone by the unmanned aerial vehicle, reduces the length of the non-operating route, and improves The operation efficiency of the unmanned aerial vehicle is improved; at the same time, the time for the unmanned aerial vehicle to be in close contact with the no-fly zone during the operation process is shortened, and the flight safety of the unmanned aerial vehicle is improved.

附图说明Description of the drawings

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

图1是本发明一实施例中的无人飞行器的航线规划方法的方法流程图；Fig. 1 is a method flowchart of an unmanned aerial vehicle route planning method in an embodiment of the present invention;

图2是本发明一实施例中的航线参考线的规划方式示意图；2 is a schematic diagram of a planning method of a route reference line in an embodiment of the present invention;

图3是本发明一实施例中的子区域中位于最外侧的两条航线参考线与子区域的边界的交点的示意图；3 is a schematic diagram of the intersection of the two outermost reference lines of the route in the sub-region and the boundary of the sub-region in an embodiment of the present invention;

图4是本发明一实施例提供的一种根据多个子区域的航线参考线，确定多个子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线的示意图；4 is a schematic diagram of determining the operation sequence of multiple sub-regions and the connecting route between two sub-regions adjacent to the operation sequence according to the route reference lines of multiple sub-regions according to an embodiment of the present invention;

图5是本发明一实施例提供的确定起始作业区域的航线的终点的示意图；5 is a schematic diagram of determining the end point of the route of the starting operation area provided by an embodiment of the present invention;

图6是本发明一实施例提供的确定除起始作业区域外的子区域的航线的终点的示意图；FIG. 6 is a schematic diagram of determining the end point of the route of the sub-area except the initial operation area according to an embodiment of the present invention;

图7是本发明一实施例提供的根据交点的位置信息以及多个子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线的示意图；FIG. 7 is a schematic diagram of determining a connecting route between two sub-regions adjacent in the operation sequence according to the location information of the intersection and the operation sequence of multiple sub-regions according to an embodiment of the present invention;

图8是本发明一实施例提供的根据子区域的航线参考线、多个子区域的作业顺序以及连接航线，确定无人飞行器的作业航线的示意图；FIG. 8 is a schematic diagram of determining the operation route of the unmanned aerial vehicle according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route according to an embodiment of the present invention;

图9是本发明一实施例中的无人飞行器的航线规划装置的结构框图。Fig. 9 is a structural block diagram of a route planning device for an unmanned aerial vehicle in an embodiment of the present invention.

具体实施方式Detailed ways

由于大型禁飞区通常横跨了多条航线段，因此现有在每条航线段上进行绕障的航线规划方式需要执行多次绕障，有时绕障航线比作业航线还长，对无人飞行器执行作业任务的执行效率带来了极为不利的影响。例如，在农业无人机领域，无人飞行器完成所有绕障使飞行路径成倍增加，导致无人飞行器在原始航线下本可以通过一次充电即可完成一片农田的药物喷洒，而经过多次绕障后电量不足以支撑增加了绕障航线的总的航线，导致无人飞行器需要中断喷洒返回充电，或者在农药未喷完的情况下需要替换另一架无人飞行器来作业的情况发生。另外，从飞行安全性考虑，现有航线规划方式中，一旦无人飞行器前方有禁飞区或障碍物，就要进行绕障，由于禁飞区通常具有复杂的属性，频繁的绕障给无人飞行器带来了极大的飞行安全风险。Since large no-fly zones usually span multiple route segments, the existing route planning method for circumventing obstacles on each route segment requires multiple obstacle circumventions. Sometimes the obstacle circumvention route is longer than the operation route, which is very difficult for unmanned people. The efficiency of the aircraft's operational tasks has brought extremely negative effects. For example, in the field of agricultural drones, the unmanned aerial vehicle completes all obstacle circumventions, which doubles the flight path. As a result, the unmanned aerial vehicle can spray a piece of farmland with a single charge on the original route. The power after the obstacle is not enough to support the total route that increases the route around the obstacle, causing the UAV to interrupt the spraying and return to charging, or it may happen that another UAV needs to be replaced for operation when the pesticide is not sprayed. In addition, from the perspective of flight safety, in the existing route planning methods, once there is a no-fly zone or obstacle in front of the unmanned aerial vehicle, the obstacle must be bypassed. Because the no-fly zone usually has complex attributes, frequent obstacle bypassing is required. Human aircraft poses a great flight safety risk.

对于此，本发明按照禁飞区的几何特征，将目标区域分割成多个与禁飞区不重合子区域，再根据多个子区域的航线参考线确定各子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线，最后根据子区域的航线参考线作业顺序以及连接航线确定无人飞行器的作业航线，采用区域分割环绕禁飞区执行作业任务，解决了现有在每条航线上进行绕障的方式导致的对大型禁飞区执行效率低的问题，避免了无人飞行器对禁飞区的多次避障，减少了非作业航线的长度，提升了无人飞行器的作业效率；同时，缩短了无人机在作业过程中与禁飞区近距离接触的时间，提高了无人飞行器飞行安全性。For this, the present invention divides the target area into multiple sub-areas that do not coincide with the no-fly zone according to the geometric characteristics of the no-fly zone, and then determines the operation sequence of each sub-area and the adjacent operation sequence according to the route reference line of the multiple sub-regions. The connecting route between the two sub-areas of the sub-area. Finally, the operation route of the unmanned aircraft is determined according to the operation sequence of the route reference line in the sub-area and the connecting route, and the operation task is performed around the no-fly zone by the division of the area, which solves the existing problems in each route. The method of circumventing obstacles above leads to the problem of low execution efficiency in large no-fly zones, avoiding multiple obstacle avoidance by unmanned aerial vehicles in the no-fly zone, reducing the length of non-operating routes, and improving the operating efficiency of unmanned aerial vehicles ; At the same time, it shortens the time of close contact between the UAV and the no-fly zone during the operation, and improves the flight safety of the UAV.

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。It should be noted that, in the case of no conflict, the features in the following embodiments and implementations can be combined with each other.

本发明的无人飞行器可以为无人机，也可以为其他类型的无人飞行器。The unmanned aerial vehicle of the present invention can be an unmanned aerial vehicle or other types of unmanned aerial vehicles.

本发明实施例提供一种无人飞行器的航线规划方法，请参见图1，所述无人飞行器的航线规划方法可以包括步骤S101～S105。The embodiment of the present invention provides a route planning method for an unmanned aerial vehicle. Referring to Fig. 1, the route planning method for an unmanned aerial vehicle may include steps S101 to S105.

其中，在步骤S101中，根据预设的航线规划信息，在目标区域中生成多条航线参考线。Wherein, in step S101, according to preset route planning information, multiple route reference lines are generated in the target area.

目标区域为用户划定的无人飞行器的作业区域，其中，无人飞行器的作业可以包括以下中的一种或多种：喷洒、播种、测绘、巡线(电力巡线)；应当理解地，无人飞行器的作业类型不限于上述列举的作业类型，也可以为其他作业类型。The target area is the operation area of the unmanned aerial vehicle designated by the user. The operation of the unmanned aerial vehicle may include one or more of the following: spraying, seeding, surveying and mapping, and line patrol (power line patrol); it should be understood that, The operation type of the unmanned aerial vehicle is not limited to the above-listed operation types, and may also be other operation types.

本实施例中，航线规划信息可以包括多条航线参考线之间的位置关系和航线参考线的方向；当然，航线规划信息也可以包括其他指示航线参考线特征的信息，如靠近禁飞区的航线参考线与禁飞区的边界的最小距离、航线参考线与禁飞区不相交等等。In this embodiment, the route planning information may include the positional relationship between multiple route reference lines and the direction of the route reference line; of course, the route planning information may also include other information indicating the characteristics of the route reference line, such as those close to the no-fly zone. The minimum distance between the route reference line and the border of the no-fly zone, the route reference line does not intersect with the no-fly zone, and so on.

多条航线参考线之间的位置关系是无人飞行器的作业需求决定的，例如，在喷洒或播种作业时，为防止重复喷洒或播种，可以将多条航线参考线设计为大致平行的。进一步可选地，多条航线参考线之间的位置关系可以包括相邻两条航线参考线之间的间距。示例性的，参见图2，目标区域10中包括多个禁飞区20，在目标区域中生成多条大致平行的航线参考线，相邻两条航线参考线之间的间距为预设间距阈值，生成的航线参考线即为图2中的虚线。此外，图2中，航线参考线与禁飞区不相交；进一步地，对于延长线与禁飞区相交航线参考线，其朝向禁飞区的端部至禁飞区的边界的距离为第一预设距离阈值；此外，与禁飞区相邻的航线参考线至禁飞区的边界的最小距离大于第二预设距离阈值。其中，预设间距阈值、第一距离阈值以及第二距离阈值的大小均可根据需要设置。The positional relationship between the multiple route reference lines is determined by the operation requirements of the unmanned aerial vehicle. For example, during spraying or seeding operations, in order to prevent repeated spraying or seeding, the multiple route reference lines can be designed to be approximately parallel. Further optionally, the positional relationship between the multiple flight route reference lines may include the distance between two adjacent flight route reference lines. Exemplarily, referring to FIG. 2, the target area 10 includes a plurality of no-fly zones 20, a plurality of substantially parallel route reference lines are generated in the target area, and the distance between two adjacent route reference lines is a preset distance threshold. , The generated route reference line is the dashed line in Figure 2. In addition, in Figure 2, the route reference line does not intersect the no-fly zone; further, for the extension line and the no-fly zone intersecting the route reference line, the distance from the end of the no-fly zone to the border of the no-fly zone is the first The preset distance threshold; in addition, the minimum distance from the route reference line adjacent to the no-fly zone to the boundary of the no-fly zone is greater than the second preset distance threshold. Among them, the size of the preset distance threshold, the first distance threshold, and the second distance threshold can be set according to needs.

而在测绘或巡线等作业时，可以存在重合、交叉的航线参考线，确保无人飞行器进行测绘或巡线作业时的覆盖范围。可以理解的是，在其他作业时，多条航线参考线之间的位置关系还可以设置为其他。In surveying and mapping or line patrol operations, there may be overlapping and crossing route reference lines to ensure the coverage of the unmanned aerial vehicle during surveying and mapping or line patrol operations. It is understandable that in other operations, the positional relationship between multiple route reference lines can also be set to other.

航线参考线的方向是指航线参考线相对基准线的位置关系，如航线参考线与基准线的夹角大小。其中，基准线可以为水平线，也可以为竖直线。示例性的，请参见图2，航线参考线为竖直方向的线段。The direction of the route reference line refers to the positional relationship between the route reference line and the reference line, such as the angle between the route reference line and the reference line. Among them, the reference line can be a horizontal line or a vertical line. Exemplarily, please refer to Fig. 2. The route reference line is a vertical line segment.

在步骤S102中，获取目标区域内的禁飞区的位置信息。In step S102, the position information of the no-fly zone in the target area is acquired.

本实施例中，禁飞区的位置信息为禁飞区在目标区域中的相对位置信息。In this embodiment, the position information of the no-fly zone is the relative position information of the no-fly zone in the target area.

禁飞区的位置信息可以包括禁飞区的边界位置信息；当然，禁飞区的位置信息不限于禁飞区的边界位置信息，也可以包括禁飞区的特殊点的位置信息，如禁飞区的中心的位置信息。示例性的，对于规则形状的禁飞区，可以获取禁飞区的中心的位置信息，然后根据禁飞区的中心的位置信息确定禁飞区的边界的位置信息。The position information of the no-fly zone can include the border position information of the no-fly zone; of course, the position information of the no-fly zone is not limited to the border position information of the no-fly zone, and can also include the position information of special points in the no-fly zone, such as no-fly zone. Location information of the center of the district. Exemplarily, for a regular-shaped no-fly zone, the location information of the center of the no-fly zone may be obtained, and then the location information of the border of the no-fly zone can be determined according to the location information of the center of the no-fly zone.

禁飞区可以包括以下至少一种：预设的禁飞区、目标区域中的障碍物所在区域、目标区域中面积大于预设面积阈值的非作业区域。其中，预设的禁飞区可以包括预设的禁止飞行器飞行的区域。此外，通过将目标区域中面积大于预设面积阈值的非作业区域设置为禁飞区，减少了非作业航线的长度，提升了无人飞行器的作业效率，而预设面积阈值大小可以根据需要设置。The no-fly zone may include at least one of the following: a preset no-fly zone, an area where an obstacle in the target area is located, and a non-operation area with an area greater than a preset area threshold in the target area. Among them, the preset no-fly zone may include a preset zone where aircraft is prohibited from flying. In addition, by setting the non-operating area in the target area with an area greater than the preset area threshold as a no-fly zone, the length of the non-operating route is reduced, and the operating efficiency of the unmanned aerial vehicle is improved. The preset area threshold can be set as needed .

获取禁飞区的位置信息的方式可以由禁飞区的类型决定，例如，在一些实施例中，识别目标区域中的禁飞区，获取禁飞区的位置信息。本实施例中，基于图像识别算法识别目标区域中的禁飞区的。由于预设的禁飞区为预先确定的，故采样上述获取禁飞区的位置信息的方式后，预设的禁飞区均会被识别出来。然而，图像识别算法的精度等因素可能会导致目标区域中的障碍物、目标区域中面积大于预设面积阈值的非作业区域未被识别的情况发生，故上述获取禁飞区的位置信息的方式比较适用于预设的禁飞区。The manner of obtaining the position information of the no-fly zone may be determined by the type of the no-fly zone. For example, in some embodiments, the no-fly zone in the target area is identified, and the position information of the no-fly zone is obtained. In this embodiment, the no-fly zone in the target area is identified based on an image recognition algorithm. Since the preset no-fly zone is predetermined, all the preset no-fly zones will be identified after sampling the above-mentioned method of obtaining the position information of the no-fly zone. However, factors such as the accuracy of the image recognition algorithm may cause obstacles in the target area and non-operating areas with an area larger than the preset area threshold in the target area to be unrecognized. Therefore, the above method of obtaining the position information of the no-fly zone More suitable for the preset no-fly zone.

在另外一些实施例中，根据获取的对目标区域输入的禁飞区指示，确定禁飞区的位置信息，其中，禁飞区指示包括禁飞区的边界轨迹和/或禁飞区位置。本实施例中，用户是直接在目标区域的图像上输入禁飞区的边界轨迹和/或禁飞区位置的，当由于图像识别算法的精度等因素导致目标区域中的障碍物、目标区域中面积大于预设面积阈值的非作业区域未被识别的情况发生时，可以通过用户直接在目标区域的图像上输入禁飞区的边界轨迹和/或禁飞区位置来确定禁飞区的位置信息。In some other embodiments, the position information of the no-fly zone is determined according to the acquired no-fly zone indication input to the target area, wherein the no-fly zone indication includes the border trajectory of the no-fly zone and/or the no-fly zone position. In this embodiment, the user directly inputs the boundary trajectory of the no-fly zone and/or the position of the no-fly zone on the image of the target area. When the accuracy of the image recognition algorithm and other factors lead to obstacles in the target area, When a non-operating area with an area larger than the preset area threshold is not recognized, the user can directly input the boundary track of the no-fly zone and/or the position of the no-fly zone on the image of the target area to determine the position information of the no-fly zone .

在步骤S103中，根据禁飞区的位置信息，将目标区域分割成多个子区域，使得子区域与禁飞区不重合，其中，每个子区域中的航线参考线与该子区域的交点的数量小于或等于2。In step S103, the target area is divided into multiple sub-areas according to the position information of the no-fly zone, so that the sub-area does not overlap with the no-fly zone, wherein the number of intersections between the route reference line in each sub-area and the sub-area Less than or equal to 2.

示例性的，请参见图2，将目标区域10分割成子区域11、子区域12、子区域13、子区域14、子区域15、子区域16、子区域17、子区域18和子区域19。Exemplarily, referring to FIG. 2, the target area 10 is divided into a sub-area 11, a sub-area 12, a sub-area 13, a sub-area 14, a sub-area 15, a sub-area 16, a sub-area 17, a sub-area 18, and a sub-area 19.

对于每个子区域中的航线参考线，每条航线参考线与该子区域的交点的数量为1或2。如图3所示，子区域16的其中一条航线参考线与该子区域16的交点的数量为1，子区域16的其余航线参考线与该子区域14的交点的数量均为2；除子区域16外的其他子区域的航线参考线与对应子区域的交点的数量均为2。本实施例中，对于每个子区域中位于最外侧的两条航线参考线，每个航线参考线与该子区域的边界的交点为1个或2个，也即，每个子区域中位于最外侧的两条航线参考线与该子区域的边界的交点数量为2个(未显示)、3个(如子区域16)或4个(如子区域11-15以及子区域17-19)；而对于每个子区域中位于最外侧的两条航线参考线之间的航线参考线，每个航线参考线与该子区域的边界的交点为2个。For the route reference line in each sub-area, the number of intersections between each route reference line and the sub-area is 1 or 2. As shown in Figure 3, the number of intersections of one of the route reference lines of the sub-region 16 and the sub-region 16 is 1, and the number of intersections of the remaining route reference lines of the sub-region 16 and the sub-region 14 are all 2; The number of intersections of the route reference lines of the other sub-areas outside the area 16 and the corresponding sub-areas is 2. In this embodiment, for the two outermost route reference lines in each sub-area, there are one or two intersection points between each route reference line and the boundary of the sub-area, that is, the outermost in each sub-area The number of intersections between the two reference lines of the route and the boundary of the sub-area is 2 (not shown), 3 (e.g., sub-area 16), or 4 (e.g., sub-area 11-15 and sub-area 17-19); and For the route reference line between the two outermost route reference lines in each sub-area, there are two intersection points between each route reference line and the boundary of the sub-area.

本实施例的子区域可以包括凸多边形、圆形、椭圆形中的至少一种；当然子区域也可以为其他形状，只要该形状的子区域中的航线参考线与子区域的交点的数量小于或等于2即可。The sub-region of this embodiment may include at least one of convex polygon, circle, and ellipse; of course, the sub-region may also have other shapes, as long as the number of intersections between the route reference line and the sub-region in the sub-region of the shape is less than Or equal to 2.

在步骤S104中，根据多个子区域的航线参考线，确定多个子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线。In step S104, according to the route reference lines of the multiple sub-regions, the operation sequence of the multiple sub-regions and the connecting route between the two adjacent sub-regions in the operation sequence are determined.

图4是本发明一实施例提供的一种根据多个子区域的航线参考线，确定多个子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线的示意图，请参见图4，所述方法可以包括：Fig. 4 is a schematic diagram of determining the operation sequence of multiple sub-regions and the connecting route between two sub-regions adjacent to the operation sequence according to the route reference lines of multiple sub-regions according to an embodiment of the present invention. Please refer to Fig. 4, The method may include:

S401、获取每个子区域中位于最外侧的两条航线参考线与子区域的边界的交点的位置信息。S401: Acquire position information of the intersection of the two outermost flight route reference lines in each sub-region and the boundary of the sub-region.

如上述实施例所述，每个子区域中位于最外侧的两条航线参考线与该子区域的边界的交点数量为2个、3个或4个。As described in the foregoing embodiment, the number of intersections between the two outermost route reference lines in each subregion and the boundary of the subregion is 2, 3, or 4.

S402、根据多个子区域中位于最外侧的两条航线参考线与子区域的边界的交点的位置信息，确定多个子区域的作业顺序。S402: Determine the operation sequence of the multiple sub-regions according to the position information of the intersection of the two outermost flight route reference lines in the multiple sub-regions and the boundary of the sub-region.

在一些实施例中，在实现步骤S402时，可以包括但不限于如下两个步骤：In some embodiments, when step S402 is implemented, it may include but not limited to the following two steps:

(1)、确定多个子区域中无人飞行器的起始作业区域。(1) Determine the starting operating area of the unmanned aerial vehicle in multiple sub-areas.

可采用不同的方式确定起始作业区域，例如，在其中一些实施例中，首先获取无人飞行器的当前位置信息；接着，根据多个子区域中位于最外侧的两条航线参考线与子区域的边界的交点的位置信息和当前位置信息，确定多个子区域中位于最外侧的两条航线参考线与子区域的边界的交点中距离无人飞行器的当前位置最近的交点；将多个子区域中位于最外侧的两条航线参考线与子区域的边界的交点中距离无人飞行器的当前位置最近的交点所在子区域确定为无人飞行器的起始作业区域。这种确定起始作业区域的方式能够减少无人飞行器的非作业航线的长度，提升无人飞行器的作业效率。Different methods can be used to determine the starting operation area. For example, in some embodiments, the current position information of the unmanned aerial vehicle is first obtained; The position information and current position information of the intersection of the boundary determine the intersection of the two outermost route reference lines in the multiple sub-regions and the boundary of the sub-region that is closest to the current position of the UAV; Among the intersections of the two outermost route reference lines and the boundaries of the sub-regions, the sub-region where the intersection closest to the current position of the unmanned aerial vehicle is located is determined as the initial operation area of the unmanned aerial vehicle. This method of determining the starting operating area can reduce the length of the unmanned aerial vehicle's non-operating route and improve the operating efficiency of the unmanned aerial vehicle.

在另外一些实施例中，根据用户指令确定起始作业区域，以满足不同的用户需求。具体地，获取第一用户指令；根据第一用户指令，将指定子区域确定为无人飞行器的起始作业区域。其中，第一用户指令用于指示多个子区域中的指定子区域作为无人飞行器的起始作业区域。本实施例中，由用户输入第一用户指令，例如，可以通过交互界面呈现目标区域分割成多个子区域后的图像，用户可以在图像上直接点击多个子区域中的一个子区域，将用户点击的子区域作为指定区域，也即无人飞行器的起始作业区域；也可以将多个子区域分别编号，用户输入指定区域的编号即可。当然，可以理解的是，用户输入第一用户指令方式包括但不限于上述内容，只要通过第一用户指令的输入，可以确定无人飞行器的起始作业区域即可。需要说明的是，用户输入第一用户指令的方式除了在交互界面实现之外，也可以包括其它方式，例如语音，此处不作具体限定。In other embodiments, the starting work area is determined according to user instructions to meet different user requirements. Specifically, the first user instruction is acquired; according to the first user instruction, the designated sub-area is determined as the initial operation area of the unmanned aerial vehicle. Wherein, the first user instruction is used to instruct a designated sub-area among the plurality of sub-areas as the initial operation area of the unmanned aerial vehicle. In this embodiment, the first user instruction is input by the user. For example, an image in which the target area is divided into multiple sub-areas can be presented through an interactive interface. The user can directly click on one of the multiple sub-areas on the image, and the user can click The sub-area of is regarded as the designated area, that is, the initial operating area of the UAV; multiple sub-areas can also be numbered separately, and the user can enter the number of the designated area. Of course, it can be understood that the manner in which the user inputs the first user instruction includes but is not limited to the above content, as long as the initial operation area of the unmanned aerial vehicle can be determined through the input of the first user instruction. It should be noted that, in addition to being implemented on the interactive interface, the way for the user to input the first user instruction may also include other ways, such as voice, which is not specifically limited here.

(2)、根据起始作业区域的交点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定除起始作业区域外的子区域的作业顺序。(2) According to the position information of the intersection of the starting work area and the position information of the intersection of the sub-area except the starting work area, determine the work sequence of the sub-area except the starting work area.

可选地，在实现该步骤时，首先确定起始作业区域的航线的起点；接着，根据起始作业区域的航线的起点和起始作业区域的航线参考线，确定起始作业区域的航线的终点；再根据起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点(即除起始作业区域外的子区域中位于最外侧的两条航线参考线与该子区域的边界的交点)的位置信息，确定除起始作业区域外的子区域的作业顺序。Optionally, when implementing this step, first determine the starting point of the route of the starting operation area; then, according to the starting point of the route of the starting operation area and the route reference line of the starting operation area, determine the starting point of the route of the starting operation area. End point; then according to the position information of the end point of the starting operation area and the intersection of the sub-areas except the starting operation area (that is, the two outermost route reference lines in the sub-area except the starting operation area and the sub-area The position information of the intersection of the boundary of the) determines the operation sequence of the sub-regions except the initial operation area.

起始作业区域的航线的起点也可采用不同的方式确定，例如，在其中一些实施例中，获取无人飞行器的当前位置信息；根据当前位置信息和起始作业区域的交点(即起始作业区域中位于最外侧的两条航线参考线与起始作业区域的边界的交点)的位置信息，确定起始作业区域的航线的起点。可以计算无人飞行器的当前位置至起始作业区域各交点的距离，可选地，起始作业区域的航线的起点为起始区域的交点中距离无人飞行器的当前位置最近的交点，减少无人飞行器的非作业航线的长度，提升无人飞行器的作业效率。当然，起始作业区域的航线的起点也可以为起始作业区域中位于最外侧的两条航线参考线与起始作业区域的边界的交点中的其他交点。The starting point of the route of the starting operation area can also be determined in different ways. For example, in some embodiments, the current position information of the unmanned aerial vehicle is obtained; according to the intersection of the current position information and the starting operation area (that is, the starting operation The location information of the intersection of the two outermost route reference lines and the boundary of the starting operation area in the area determines the starting point of the route of the starting operation area. The distance from the current position of the UAV to the intersection of the starting operation area can be calculated. Optionally, the starting point of the route of the starting operation area is the intersection point of the starting area that is closest to the current position of the UAV to reduce the The length of the non-operating route of the human aircraft improves the operating efficiency of the unmanned aircraft. Of course, the starting point of the route of the starting operation area may also be another intersection point among the intersections of the two outermost route reference lines in the starting operation area and the boundary of the starting operation area.

在另外一些实施例中，根据用户指令确定起始作业区域的航线的起点，以满足不同的用户需求。具体地，获取第二用户指令；根据第二用户指令，将指定交点确定为起始作业区域的起点。其中，第二用户指令用于指示起始作业区域中位于最外侧的两条航线参考线与起始作业区域的边界的交点中指定交点作为起始作业区域的起点。本实施例中，由用户输入第二用户指令，例如，在确定起始作业区域后，可以通过交互界面呈现起始作业区域的图像，用户可以在图像上直接点击起始作业区域的边界的交点中的一个，将用户点击的交点作为指定交点，也即起始作业区域的航线的起点；也可以将起始作业区域的边界的交点分别编号，用户输入指定交点的编号即可。当然，可以理解的是，用户输入第二用户指令方式包括但不限于上述内容，只要通过第二用户指令的输入，可以确定起始作业区域的航线的起点即可。需要说明的是，用户输入第二用户指令的方式除了在交互界面实现之外，也可以包括其它方式，例如语音，此处不作具体限定。In some other embodiments, the starting point of the route of the starting operation area is determined according to user instructions to meet different user requirements. Specifically, a second user instruction is acquired; according to the second user instruction, the designated intersection is determined as the starting point of the initial work area. Wherein, the second user instruction is used to instruct the designated intersection of the two outermost route reference lines in the initial operation area and the boundary of the initial operation area as the starting point of the initial operation area. In this embodiment, the user inputs the second user instruction. For example, after the initial work area is determined, an image of the initial work area can be presented through the interactive interface, and the user can directly click on the intersection of the boundary of the initial work area on the image In one of them, the intersection clicked by the user is used as the designated intersection, that is, the starting point of the route of the starting operation area; the intersection of the boundary of the starting operation area can also be numbered separately, and the user can input the number of the designated intersection. Of course, it is understandable that the way for the user to input the second user instruction includes but is not limited to the above content, as long as the starting point of the route of the initial operation area can be determined through the input of the second user instruction. It should be noted that, in addition to being implemented on the interactive interface, the way for the user to input the second user instruction may also include other ways, such as voice, which is not specifically limited here.

可选地，在根据起始作业区域的航线的起点和起始作业区域的航线参考线，确定起始作业区域的航线的终点时，首先根据起始作业区域的航线的起点，将起始作业区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；接着将起始作业区域的航线上远离起始作业区域的航线的起点的一端端点确定为起始作业区域的终点。示例性的，请参见图5，无人飞行器的当前位置为A，起始作业区域11中位于最外侧的两条航线参考线与起始作业区域11的边界的交点包括4个，分别为A1、A2、A3和A4。A1、A2、A3和A4中距离A最近的为A1，故将A1作为起始作业区域11的航线的起点。将起始作业区域11中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线，即起始作业区域11中的粗线，起始作业区域11的航线的终点即为A3。Optionally, when determining the end point of the route of the starting operation area according to the starting point of the route of the starting operation area and the route reference line of the starting operation area, the starting operation is firstly determined according to the starting point of the route of the starting operation area. The end points on one side of the two adjacent route reference lines in the area are connected to form a route; then the end of the route in the starting operation area that is far from the starting point of the route in the starting operation area is determined as the starting operation area end. Exemplarily, referring to Fig. 5, the current position of the unmanned aerial vehicle is A, and the intersection of the two outermost route reference lines in the starting operation area 11 and the boundary of the starting operation area 11 includes 4 points, namely A1 , A2, A3, and A4. Among A1, A2, A3, and A4, the closest to A is A1, so A1 is taken as the starting point of the route of the starting operation area 11. Connect the end points on one side of the two adjacent route reference lines in the starting operation area 11 to form a route, that is, the thick line in the starting operation area 11, and the end point of the route in the starting operation area 11 is A3 .

根据起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定除起始作业区域外的子区域的作业顺序的实现方式也可以根据需要选择，示例性的，在根据起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定除起始作业区域外的子区域的作业顺序时，首先根据当前子区域的终点的位置信息以及未确定作业顺序的子区域的交点(即未确定作业顺序的子区域中位于最外侧的两条航线参考线与该子区域的边界的交点)的位置信息，确定未确定作业顺序的子区域中与当前子区域相邻的子区域，其中，当前子区域包括起始作业区域。接着，将未确定作业顺序的子区域中与当前子区域相邻的子区域的一个确定为当前子区域的下一作业子区域。According to the position information of the end point of the starting operation area and the position information of the intersection of the sub-areas except the starting operation area, the implementation method of determining the operation sequence of the sub-areas other than the starting operation area can also be selected according to needs. When determining the operation sequence of the sub-areas other than the initial operation area according to the position information of the end point of the initial operation area and the position information of the intersection of the sub-areas except the initial operation area, first according to the current sub-area The location information of the end point and the intersection of the sub-area where the work order is not determined (ie the intersection of the two outermost route reference lines in the sub-area where the work order is not determined and the boundary of the sub-area) position information to determine the work not determined The sub-area adjacent to the current sub-area among the sequential sub-area, where the current sub-area includes the starting work area. Next, one of the sub-regions adjacent to the current sub-region among the sub-regions in which the job sequence is not determined is determined as the next job sub-region of the current sub-region.

将未确定作业顺序的子区域中与当前子区域相邻的子区域的一个确定为当前子区域的下一作业子区域的实现方式可以包括多种，可选地，将未确定作业顺序的子区域中与当前子区域相邻的子区域且位于指定方向上的子区域确定为下一作业子区域。例如，在确定当前子区域的下一作业子区域时，按照右->下->上->左的方向顺序依次搜索未确定作业顺序的子区域，首先在未确定作业顺序的子区域中搜索与当前子区域相邻的且位于当前子区域右方的子区域，若未确定作业顺序的子区域中存在位于当前子区域右方的子区域，则将该位于当前子区域右方的子区域作为当前子区域的下一作业子区域；若未确定作业顺序的子区域中不存在位于当前子区域右方的子区域，则在未确定作业顺序的子区域中搜索与当前子区域相邻的且位于当前子区域下方的子区域，若未确定作业顺序的子区域中存在位于当前子区域下方的子区域，则将该位于当前子区域下方的子区域作为当前子区域的下一作业子区域；若未确定作业顺序的子区域中不存在位于当前子区域下方的子区域，则在未确定作业顺序的子区域中搜索与当前子区域相邻的且位于当前子区域上方的子区域，以此类推，直至搜索到当前作业区域的下一作业区域。示例性的，请参见图5，起始作业区域为子区域11，A1为子区域11的航线的起点，A3为子区域11的航线的终点，未确定作业顺序的子区域包括子区域12-19，按照本实施例的搜索方式，由于未确定作业顺序的子区域中存在位于子区域11右方的子区域12，则将子区域12确定为子区域11的下一作业子区域。The implementation of determining one of the sub-areas adjacent to the current sub-area in the sub-areas of the undetermined operation sequence as the next operation sub-area of the current sub-area may include multiple implementations. The sub-region adjacent to the current sub-region in the region and the sub-region located in the specified direction is determined as the next job sub-region. For example, when determining the next job sub-area of the current sub-area, follow the order of right->down->up->left to search for the sub-areas of undetermined job order, and first search in the sub-areas of undetermined job order The sub-area adjacent to the current sub-area and located to the right of the current sub-area. If there is a sub-area located to the right of the current sub-area in the sub-area whose work order is not determined, the sub-area located to the right of the current sub-area will be removed As the next operation sub-area of the current sub-area; if there is no sub-area to the right of the current sub-area in the sub-area where the work order is not determined, search for the sub-area adjacent to the current sub-area in the sub-area where the work order is not determined And the sub-area located below the current sub-area, if there is a sub-area below the current sub-area in the sub-area whose work order is not determined, the sub-area located below the current sub-area will be regarded as the next work sub-area of the current sub-area ; If there is no sub-area below the current sub-area in the sub-area where the work order is not determined, search for the sub-area adjacent to the current sub-area and above the current sub-area in the sub-area where the work order is not determined. And so on, until the next work area of the current work area is searched. Exemplarily, please refer to Fig. 5, the starting operation area is the sub-area 11, A1 is the starting point of the route of the sub-area 11, A3 is the end point of the route of the sub-area 11, and the sub-area whose operation sequence is not determined includes the sub-area 12- 19. According to the search method of this embodiment, since there is a sub-area 12 to the right of the sub-area 11 in the sub-area where the work order is not determined, the sub-area 12 is determined as the next work sub-area of the sub-area 11.

可选地，根据当前子区域的终点的位置信息以及未确定作业顺序的子区域中与当前子区域相邻的子区域的交点(即未确定作业顺序的子区域中，与当前子区域相邻的子区域中位于最外侧的两条航线参考线与该子区域的边界的交点)的位置信息，确定当前子区域的终点与未确定作业顺序的子区域中与当前子区域相邻的子区域的交点的距离；将距离最小的交点所在的子区域确定为下一作业区域。本实施例通过比较未确定作业顺序的子区域中与当前子区域相邻的所有子区域的交点的距离，将距离当前子区域的终点最近的交点所在的子区域确定为当前子区域的下一作业区域，减少了无人飞行器从当前子区域飞行至下一作业子区域的飞行路径，从而提高无人飞行器的作业效率。示例性的，请参见图5，起始作业区域为子区域11，A1为子区域11的航线的起点，A3为子区域11的航线的终点，未确定作业顺序的子区域包括子区域12-19，按照本实施例的搜索方式，由于未确定作业顺序的子区域中与子区域11相邻的子区域包括子区域12和子区域18，其中，子区域12和子区域18的交点中，子区域18的交点A13与A3最近，故将子区域18作为子区域11的下一作业子区域。Optionally, according to the position information of the end point of the current sub-region and the intersection of the sub-regions adjacent to the current sub-region in the sub-region where the work order is not determined (that is, in the sub-region where the work order is not determined, the current sub-region is adjacent to the current sub-region). The position information of the intersection of the two outermost route reference lines and the boundary of the sub-area in the sub-area of ), determine the end point of the current sub-area and the sub-area adjacent to the current sub-area in the sub-area whose operation sequence is not determined The distance of the intersection point; the sub-area where the intersection point with the smallest distance is located is determined as the next work area. In this embodiment, by comparing the distances of the intersections of all sub-regions adjacent to the current sub-region in the sub-regions of which the work order is not determined, the sub-region where the intersection closest to the end of the current sub-region is located is determined as the next sub-region of the current sub-region. The operating area reduces the flight path of the unmanned aerial vehicle from the current sub-area to the next operating sub-area, thereby improving the operating efficiency of the unmanned aerial vehicle. Exemplarily, please refer to Fig. 5, the starting operation area is the sub-area 11, A1 is the starting point of the route of the sub-area 11, A3 is the end point of the route of the sub-area 11, and the sub-area whose operation sequence is not determined includes the sub-area 12- 19. According to the search method of this embodiment, the sub-regions adjacent to the sub-region 11 in the sub-regions for which the work order is not determined include the sub-region 12 and the sub-region 18, wherein, in the intersection of the sub-region 12 and the sub-region 18, the sub-region The intersection A13 and A3 of 18 are the closest, so the subarea 18 is taken as the next work subarea of the subarea 11.

S403、根据交点的位置信息以及多个子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线。S403: According to the location information of the intersection and the operation sequence of the multiple sub-areas, determine a connection route between two sub-areas adjacent to the operation sequence.

在一些实施例中，在实现步骤S403时，可以包括但不限于如下步骤：In some embodiments, when step S403 is implemented, the following steps may be included but not limited to:

(1)、确定起始作业区域的航线的起点；(1) Determine the starting point of the route of the starting operation area;

(2)、根据起始作业区域的航线的起点和起始作业区域的航线参考线，确定起始作业区域的航线的终点；(2) Determine the end of the route in the starting operation area according to the starting point of the route in the starting operation area and the route reference line in the starting operation area;

步骤(1)和步骤(2)的实现方式可以参见上述实施例的相应部分，此处不再赘述。For the implementation of step (1) and step (2), reference can be made to the corresponding part of the foregoing embodiment, which will not be repeated here.

(3)、根据起始作业区域的终点的位置信息、除起始作业区域外的子区域的交点的位置信息以及多个子区域的作业顺序，确定除起始作业区域外的子区域的航线的起点；(3) According to the position information of the end point of the initial operation area, the position information of the intersection of the sub-area except the initial operation area, and the operation sequence of multiple sub-areas, determine the route of the sub-area except the initial operation area starting point;

在实现步骤(3)时，可选地，根据当前子区域的航线的终点的位置信息以及与当前子区域作业顺序相邻的下一作业子区域的交点的位置信息，确定当前子区域的终点与下一作业子区域的交点的距离；将距离最小的交点确定为下一作业区域的航线的起点，减少了作业顺序相邻的两个子区域之间的连接航线的长度，从而提高无人飞行器的作业效率。其中，当前子区域包括起始作业区域。当然，步骤(3)的实现方式不限于此，也可以选择其他实现方式。When step (3) is implemented, optionally, the end point of the current subarea is determined according to the position information of the end point of the route of the current subarea and the position information of the intersection of the next work subarea adjacent to the work sequence of the current subarea. The distance between the intersection with the next sub-area; the intersection with the smallest distance is determined as the starting point of the route of the next operating area, which reduces the length of the connecting route between two adjacent sub-areas in the operating sequence, thereby improving the unmanned aerial vehicle The efficiency of the operation. Among them, the current sub-area includes the initial work area. Of course, the implementation of step (3) is not limited to this, and other implementations can also be selected.

(4)、根据除起始作业区域外的子区域的航线的起点和除起始作业区域外的子区域的航线参考线，确定除起始作业区域外的子区域的航线的终点；(4) According to the starting point of the route of the sub-area except the starting operation area and the route reference line of the sub-area except the starting operation area, determine the end of the route of the sub-area except the starting operation area;

在实现步骤(4)时，可选地，根据除起始作业区域外的子区域的航线的起点，将除起始作业区域外的子区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；将除起始作业区域外的子区域的航线上远离该航线的起点的一端端点确定为子区域的终点。示例性的，请参见图6，子区域12，其最外侧的两条航线参考线与该子区域的边界的交点包括4个，分别为A5、A6、A7和A8，A6为该子区域12的航线的起点。子区域12中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线，即图子区域12中的粗线，该子区域的航线的终点即为A7。When implementing step (4), optionally, according to the starting point of the route of the sub-area other than the starting operation area, the sub-area except the starting operation area on one side of the two adjacent reference lines of the route The end points are connected to form a route; the end point of the route in the sub-area other than the starting operation area, which is far from the starting point of the route, is determined as the end point of the sub-area. Exemplarily, please refer to FIG. 6, the sub-region 12, the intersection of the two outermost route reference lines and the boundary of the sub-region includes 4 points, namely A5, A6, A7, and A8, and A6 is the sub-region 12 The starting point of the route. The end points on one side of the two adjacent route reference lines in the sub-region 12 are connected to form a route, that is, the thick line in the sub-region 12 in the figure, and the end point of the route in the sub-region is A7.

(5)、根据多个子区域的作业顺序，连接作业顺序相邻的两个子区域中作业顺序靠前的子区域的航线的终点和作业顺序靠后的子区域的航线的起点，生成作业顺序相邻的两个子区域之间的连接航线。(5) According to the operation sequence of multiple sub-regions, connect the end point of the route of the sub-region with the first sub-region of the operation sequence and the starting point of the route of the sub-region with the lower operation sequence in the two adjacent sub-regions of the operation sequence, and generate the corresponding operation sequence. The connecting route between two adjacent sub-regions.

例如，作业顺序相邻的两个子区域M1和M2，M1的作业顺序位于M2之前，若M1和M2之间不存在禁飞区，则M1和M2之间的连接航线即为M1的航线的终点与M2的航线的起点的连线；若M1和M2之间存在禁飞区，则需要调整上述M1的航线的终点与M2的航线的起点的连线的位置，使得M1和M2之间的连接航线避开禁飞区，确保无人飞行器飞行的安全性。也即，本实施例中，在执行步骤S104之后，执行步骤S105之前，所述无人机的航线规划方法还包括：根据禁飞区的位置信息，调整连接航线的位置，使得连接航线与禁飞区不相交。具体可以根据现有避障算法调整连接航线的位置，使得连接航线与禁飞区不相交，实现作业顺序相邻的两个子区域之间的避障。For example, in the two adjacent sub-regions M1 and M2, the operation sequence of M1 is before M2. If there is no no-fly zone between M1 and M2, the connecting route between M1 and M2 is the end of the route of M1 The connection with the starting point of the route of M2; if there is a no-fly zone between M1 and M2, the position of the connection between the end of the route of M1 and the starting point of the route of M2 needs to be adjusted to make the connection between M1 and M2 Routes avoid no-fly zones to ensure the safety of unmanned aerial vehicles. That is, in this embodiment, after step S104 is performed and before step S105 is performed, the route planning method of the drone further includes: adjusting the position of the connecting route according to the position information of the no-fly zone, so that the connecting route and the forbidden flight The flying zones do not intersect. Specifically, the position of the connecting route can be adjusted according to the existing obstacle avoidance algorithm, so that the connecting route does not intersect with the no-fly zone, and the obstacle avoidance between the two adjacent sub-regions in the operation sequence is realized.

示例性的，请参见图7，作业顺序相邻的子区域11和子区域12，其中，子区域11的作业顺序位于子区域12之前。其中，子区域11最外侧的两条航线参考线与该子区域11的边界的交点包括4个，分别为A1、A2、A3和A4，A1为子区域11的航线的起点，A3为子区域11的航线的终点。子区域12最外侧的两条航线参考线与该子区域12的边界的交点也包括4个，分别为A5、A6、A7和A8，A6为子区域12的航线的起点，A7为子区域12的航线的终点。由于A3和A6的直线连线经过禁飞区(图7中A3和A6的虚线连线)，故需要调整A3和A6的连线的位置，使得A3和A6的连线避开禁飞区20，调整后的A3和A6的连线即为子区域11和子区域12之间的连接航线。Exemplarily, please refer to FIG. 7, the sub-region 11 and the sub-region 12 are adjacent to each other in the operation sequence, wherein the operation sequence of the sub-region 11 is located before the sub-region 12. Among them, the intersection of the two outermost route reference lines of the sub-area 11 and the boundary of the sub-area 11 includes four points, namely A1, A2, A3, and A4. A1 is the starting point of the route of the sub-area 11, and A3 is the sub-area. The end of the route of 11. The intersection of the two outermost route reference lines of the sub-area 12 and the boundary of the sub-area 12 also includes four points, namely A5, A6, A7, and A8. A6 is the starting point of the route of the sub-area 12, and A7 is the sub-area 12. The end of the route. Since the straight line connecting A3 and A6 passes through the no-fly zone (the dashed line connecting A3 and A6 in Figure 7), it is necessary to adjust the position of the line between A3 and A6 so that the line between A3 and A6 avoids the no-fly zone 20 , The adjusted line between A3 and A6 is the connecting route between sub-area 11 and sub-area 12.

请再次参见图7，顺序相邻的子区域12和子区域13，其中，子区域12的作业顺序位于子区域13之前。其中，子区域12最外侧的两条航线参考线与该子区域12的边界的交点包括4个，分别为A5、A6、A7和A8，A6为子区域12的航线的起点，A7为子区域12的航线的终点。子区域13最外侧的两条航线参考线与该子区域13的边界的交点也包括4个，分别为A9、A10、A11和A12，A9为子区域13的航线的起点，A11为子区域13的航线的终点。由于A7和A11的直线连线未经过禁飞区20，子区域12和子区域13之间的连接航线为A7和A11的直线连线。Please refer to FIG. 7 again, the sub-region 12 and the sub-region 13 are adjacent in sequence, wherein the operation sequence of the sub-region 12 is located before the sub-region 13. Among them, the intersection of the two outermost route reference lines of the sub-area 12 and the boundary of the sub-area 12 includes four points, namely A5, A6, A7, and A8, A6 is the starting point of the route of the sub-area 12, and A7 is the sub-area The end of the route of 12. The intersection of the two outermost route reference lines of the sub-area 13 and the boundary of the sub-area 13 also includes four points, namely A9, A10, A11 and A12. A9 is the starting point of the route of the sub-area 13, and A11 is the sub-area 13. The end of the route. Since the straight line connecting A7 and A11 does not pass through the no-fly zone 20, the connecting route between the sub-area 12 and the sub-area 13 is a straight line connecting A7 and A11.

在步骤S105中，根据子区域的航线参考线、多个子区域的作业顺序以及连接航线，确定无人飞行器的作业航线。In step S105, the operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-region, the operation sequence of the multiple sub-regions, and the connecting route.

在实现步骤S105时，具体地，根据多个子区域的作业顺序，将子区域的航线参考线和连接航线连接形成一条航线，以生成无人飞行器的作业航线。其中，每个子区域的航线是根据该子区域的起点以及该子区域的航线参考线生成的，如8所示的各子区域中的粗线，即为对应子区域的航线。When step S105 is implemented, specifically, according to the operation sequence of the multiple sub-regions, the route reference line and the connecting route of the sub-regions are connected to form a route to generate the operation route of the unmanned aerial vehicle. Wherein, the route of each sub-region is generated based on the starting point of the sub-region and the route reference line of the sub-region. The thick lines in each sub-region as shown in 8 are the routes of the corresponding sub-regions.

示例性的，请参见图8，作业顺序为：子区域11->子区域12->子区域13->子区域14->子区域15->子区域16->子区域17->子区域19->子区域18，根据各子区域的航线以及相邻作业顺序的子区域的连接航线，生成一条飞行器的作业航线。Exemplarily, please refer to Figure 8. The operation sequence is: sub-area 11->sub-area 12->sub-area 13->sub-area 14->sub-area 15->sub-area 16->sub-area 17->sub-area 19->Sub-region 18, according to the route of each sub-region and the connecting route of the sub-regions of the adjacent operation sequence, generate an aircraft operation route.

本发明实施例的无人飞行器的航线规划方法的执行主体可以能够与无人飞行器通信的设备，也可以为无人飞行器。例如，在其中一些实施例中，无人飞行器的航线规划方法的执行主体为能够与无人飞行器通信的设备，其中，能够与无人飞行器通信的设备包括以下至少一种：无人飞行器的服务器、无人飞行器的控制设备，控制设备可以包括能够与无人飞行器通信的终端设备(如手机、平板电脑等)、无人飞行器的遥控器、智能手环等；当然，能够与无人飞行器通信的设备也可以为其他。The execution subject of the route planning method of the unmanned aerial vehicle in the embodiment of the present invention may be a device capable of communicating with the unmanned aerial vehicle, or may be an unmanned aerial vehicle. For example, in some of the embodiments, the execution subject of the route planning method of the unmanned aerial vehicle is a device capable of communicating with the unmanned aerial vehicle, wherein the device capable of communicating with the unmanned aerial vehicle includes at least one of the following: a server of the unmanned aerial vehicle , Unmanned aerial vehicle control equipment, control equipment can include terminal equipment (such as mobile phones, tablet computers, etc.) that can communicate with the unmanned aerial vehicle, the remote control of the unmanned aerial vehicle, smart bracelets, etc.; of course, it can communicate with the unmanned aerial vehicle The equipment can also be other.

当无人飞行器的航线规划方法的执行主体为能够与无人飞行器通信的设备时，进一步地，所述无人飞行器的航线规划方法还可以包括：将无人飞行器的作业航线发送给无人飞行器，以使得无人飞行器按照作业航线进行作业。将航线规划的过程与无人飞行器剥离开来，降低了对无人飞行器的数据处理能力的要求。When the execution subject of the route planning method of the unmanned aerial vehicle is a device capable of communicating with the unmanned aerial vehicle, further, the route planning method of the unmanned aerial vehicle may further include: sending the operating route of the unmanned aerial vehicle to the unmanned aerial vehicle , So that the unmanned aerial vehicle operates in accordance with the operating route. Separating the process of route planning from unmanned aerial vehicles reduces the requirements for the data processing capabilities of unmanned aerial vehicles.

在另外一些实施例中，无人飞行器的航线规划方法的执行主体为无人飞行器，所述人飞行器的航线规划方法还包括：按照作业航线进行作业。也即，无人飞行器即执行航线规划，也执行作业，适用于数据处理能力强的无人飞行器。In some other embodiments, the execution subject of the route planning method of the unmanned aerial vehicle is an unmanned aerial vehicle, and the route planning method of the human aerial vehicle further includes: performing operations according to the operating route. That is, unmanned aerial vehicles not only perform route planning, but also perform operations, which is suitable for unmanned aerial vehicles with strong data processing capabilities.

对应于上述实施例的无人飞行器的航线规划方法，本发明实施例还提供一种无人飞行器的航线规划装置，请参见图9，所述无人飞行器的航线规划装置可以包括存储装置和处理器，其中，处理器包括一个或多个。Corresponding to the route planning method of the unmanned aerial vehicle in the above embodiment, the embodiment of the present invention also provides a route planning device for the unmanned aerial vehicle. Referring to FIG. 9, the route planning device of the unmanned aerial vehicle may include a storage device and a processing device. The processor, wherein the processor includes one or more.

其中，存储装置，用于存储程序指令；一个或多个处理器，调用存储装置中存储的程序指令，当程序指令被执行时，一个或多个处理器单独地或共同地被配置成用于实施如下操作：根据预设的航线规划信息，在目标区域中生成多条航线参考线；获取目标区域内的禁飞区的位置信息；根据禁飞区的位置信息，将目标区域分割成多个子区域，使得子区域与禁飞区不重合；根据多个子区域的航线参考线，确定多个子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线；根据子区域的航线参考线、多个子区域的作业顺序以及连接航线，确定无人飞行器的作业航线；其中，每个子区域中的航线参考线与该子区域的交点的数量小于或等于2。The storage device is used to store program instructions; one or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured for Implement the following operations: generate multiple route reference lines in the target area according to the preset route planning information; obtain the position information of the no-fly zone in the target area; divide the target area into multiple sub-lines according to the position information of the no-fly zone Area, so that the sub-area does not overlap with the no-fly zone; according to the route reference line of multiple sub-regions, determine the operation sequence of multiple sub-regions and the connecting route between two adjacent sub-regions in the operation sequence; according to the route reference line of the sub-region , The operation sequence of multiple sub-regions and the connecting route determine the operation route of the unmanned aerial vehicle; wherein the number of intersections of the route reference line in each sub-region and the sub-region is less than or equal to 2.

处理器可以实现上述实施例的无人飞行器的航线规划方法，可参见上述实施例的无人飞行器的航线规划方法对本实施例的无人飞行器的航线规划装置进行说明。The processor can implement the route planning method of the unmanned aerial vehicle in the foregoing embodiment, and reference may be made to the route planning method of the unmanned aerial vehicle in the foregoing embodiment to describe the route planning apparatus of the unmanned aerial vehicle in this embodiment.

本发明实施例的处理器可以是中央处理器(central processing unit，CPU)。该处理器还可以是其它通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application-specific integrated circuit，ASIC)、现场可编程逻辑门阵列(field-programmable gate array，FPGA)或者其它可编程逻辑器件、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。The processor in the embodiment of the present invention may be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuit (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.

此外，本发明实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例的无人飞行器的航线规划方法的步骤。In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the route planning method of the unmanned aerial vehicle in the foregoing embodiment are implemented.

所述计算机可读存储介质可以是前述任一实施例所述的能够与无人飞行器通信的设备或无人飞行器的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是能够与无人飞行器通信的设备或无人飞行器的外部存储设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括能够与无人飞行器通信的设备或无人飞行器的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述与无人飞行器通信的设备或无人飞行器所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be a device capable of communicating with an unmanned aerial vehicle described in any of the foregoing embodiments or an internal storage unit of an unmanned aerial vehicle, such as a hard disk or a memory. The computer-readable storage medium may also be a device capable of communicating with an unmanned aerial vehicle or an external storage device of an unmanned aerial vehicle, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), SD card, Flash Card, etc. Further, the computer-readable storage medium may also include a device capable of communicating with an unmanned aerial vehicle or an internal storage unit of an unmanned aerial vehicle as well as an external storage device. The computer-readable storage medium is used to store the computer program and the equipment that communicates with the unmanned aerial vehicle or other programs and data required by the unmanned aerial vehicle, and can also be used to temporarily store data that has been output or will be output .

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above-disclosed are only some of the embodiments of the present invention, which of course cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

一种无人飞行器的航线规划方法，其特征在于，所述方法包括：A route planning method for an unmanned aerial vehicle, characterized in that the method includes:

根据预设的航线规划信息，在目标区域中生成多条航线参考线；According to the preset route planning information, generate multiple route reference lines in the target area;

获取所述目标区域内的禁飞区的位置信息；Acquiring the position information of the no-fly zone in the target area;

根据所述禁飞区的位置信息，将所述目标区域分割成多个子区域，使得所述子区域与所述禁飞区不重合，其中，每个子区域中的航线参考线与该子区域的交点的数量小于或等于2；According to the position information of the no-fly zone, the target area is divided into a plurality of sub-areas, so that the sub-area does not overlap with the no-fly zone, wherein the route reference line in each sub-area is the same as that of the sub-area. The number of intersections is less than or equal to 2;

根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线；Determining the operating sequence of the multiple sub-regions and the connecting route between the two adjacent sub-regions in the operating sequence according to the route reference lines of the multiple sub-regions;

根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线。The operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route.
根据权利要求1所述的方法，其特征在于，所述航线规划信息包括：多条所述航线参考线之间的位置关系和所述航线参考线的方向。The method according to claim 1, wherein the route planning information comprises: a position relationship between a plurality of the route reference lines and the direction of the route reference line.
根据权利要求2所述的方法，其特征在于，多条所述航线参考线大致平行。The method according to claim 2, wherein a plurality of the route reference lines are substantially parallel.
根据权利要求3所述的方法，其特征在于，所述位置关系包括：相邻两条所述航线参考线之间的间距。The method according to claim 3, wherein the positional relationship comprises: a distance between two adjacent reference lines of the route.
根据权利要求1所述的方法，其特征在于，所述子区域包括凸多边形、圆形、椭圆形中的至少一种。The method according to claim 1, wherein the sub-region includes at least one of a convex polygon, a circle, and an ellipse.
根据权利要求1所述的方法，其特征在于，所述禁飞区的位置信息包括：所述禁飞区的边界位置信息。The method according to claim 1, wherein the position information of the no-fly zone comprises: boundary position information of the no-fly zone.
根据权利要求1所述的方法，其特征在于，所述禁飞区包括以下至少一种：预设的禁飞区、所述目标区域中的障碍物所在区域、所述目标区域中面积大于预设面积阈值的非作业区域。The method according to claim 1, wherein the no-fly zone comprises at least one of the following: a preset no-fly zone, an area where obstacles in the target area are located, and an area in the target area larger than the expected area. Set the area threshold of the non-operating area.
根据权利要求1或6或7所述的方法，其特征在于，所述获取所述目标区域内的禁飞区的位置信息，包括：The method according to claim 1 or 6 or 7, wherein the acquiring position information of a no-fly zone in the target area comprises:

识别所述目标区域中的禁飞区，获取所述禁飞区的位置信息；和/或Identify the no-fly zone in the target area, and obtain location information of the no-fly zone; and/or

根据获取的对所述目标区域输入的禁飞区指示，确定所述禁飞区的位置信息，其中所述禁飞区指示包括禁飞区的边界轨迹和/或禁飞区位置。The position information of the no-fly zone is determined according to the acquired no-fly zone indication input to the target area, wherein the no-fly zone indication includes the border trajectory of the no-fly zone and/or the no-fly zone position.
根据权利要求1所述的方法，其特征在于，所述根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线，包括：The method according to claim 1, wherein the operation sequence of the plurality of sub-regions and the connection between two adjacent sub-regions in the operation sequence are determined according to the route reference lines of the plurality of sub-regions Routes, including:

获取每个子区域中位于最外侧的两条航线参考线与所述子区域的边界的交点的位置信息；Acquiring the position information of the intersection of the two outermost flight route reference lines in each sub-region and the boundary of the sub-region;

根据所述交点的位置信息，确定多个所述子区域的作业顺序；Determine the operation sequence of the multiple sub-regions according to the location information of the intersection;

根据所述交点的位置信息以及多个所述子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线。According to the location information of the intersection and the operation sequence of the multiple sub-regions, a connecting route between two sub-regions adjacent in the operation sequence is determined.
根据权利要求9所述的方法，其特征在于，所述根据所述交点的位置信息，确定多个所述子区域的作业顺序，包括：The method according to claim 9, wherein the determining the operation sequence of a plurality of the sub-regions according to the position information of the intersection point comprises:

确定多个所述子区域中所述无人飞行器的起始作业区域；Determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas;

根据所述起始作业区域的交点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序。According to the position information of the intersection of the starting work area and the position information of the intersection of the sub-areas except the starting work area, the work sequence of the sub-area except the starting work area is determined.
根据权利要求10所述的方法，其特征在于，所述确定多个所述子区域中所述无人飞行器的起始作业区域，包括：The method according to claim 10, wherein the determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas comprises:

获取所述无人飞行器的当前位置信息；Acquiring current position information of the unmanned aerial vehicle;

根据所述交点的位置信息和所述当前位置信息，确定距离所述无人飞行器的当前位置最近的交点；Determine the intersection point closest to the current position of the unmanned aerial vehicle according to the position information of the intersection point and the current position information;

将所述距离所述无人飞行器的当前位置最近的交点所在子区域确定为所述无人飞行器的起始作业区域。The sub-region where the intersection point closest to the current position of the unmanned aerial vehicle is located is determined as the initial operation area of the unmanned aerial vehicle.
根据权利要求10所述的方法，其特征在于，所述确定多个所述子区域中所述无人飞行器的起始作业区域，包括：The method according to claim 10, wherein the determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas comprises:

获取第一用户指令，其中所述第一用户指令用于指示多个所述子区域中的指定子区域作为所述无人飞行器的起始作业区域；Acquiring a first user instruction, where the first user instruction is used to instruct a designated sub-area of the plurality of sub-areas to be the starting operation area of the unmanned aerial vehicle;

根据所述第一用户指令，将所述指定子区域确定为所述无人飞行器的起始作业区域。According to the first user instruction, the designated sub-area is determined as the initial operation area of the unmanned aerial vehicle.
根据权利要求10所述的方法，其特征在于，所述根据所述起始作业区域的交点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序，包括：The method according to claim 10, characterized in that the determination of the non-initial operation is based on the position information of the intersection of the initial operation area and the position of the intersection of the sub-areas except the initial operation area. The operation sequence of the sub-areas outside the area includes:

确定所述起始作业区域的航线的起点；Determine the starting point of the route of the starting operation area;

根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点；Determine the end point of the route of the starting operation area according to the starting point of the route of the starting operation area and the route reference line of the starting operation area;

根据所述起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序。According to the position information of the end point of the starting operation area and the position information of the intersection of the sub-areas except the starting operation area, the operation sequence of the sub-areas except the starting operation area is determined.
根据权利要求13所述的方法，其特征在于，所述根据所述起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序，包括：The method according to claim 13, characterized in that the determination of the non-initial operation is based on the position information of the end point of the initial operation area and the position information of the intersection of the sub-areas except the initial operation area. The operation sequence of the sub-areas outside the area includes:

根据当前子区域的终点的位置信息以及未确定作业顺序的子区域的交点的位置信息，确定所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域，其中，所述当前子区域包括所述起始作业区域；According to the location information of the end point of the current sub-region and the location information of the intersection of the sub-regions of the undetermined work sequence, determine the sub-region adjacent to the current sub-region in the sub-region of the undetermined work sequence, wherein the The current sub-area includes the starting operation area;

将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的一个确定为所述当前子区域的下一作业子区域。One of the sub-regions adjacent to the current sub-region among the sub-regions of which the work order is not determined is determined as the next work sub-region of the current sub-region.
根据权利要求14所述的方法，其特征在于，所述将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域中的一个确定为所述当前子区域的下一作业子区域，包括：The method according to claim 14, wherein said determining one of the sub-regions adjacent to the current sub-region among the sub-regions of which the work order is not determined is the next sub-region of the current sub-region. Operation sub-areas, including:

将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域且位于指定方向上的子区域确定为下一作业子区域。A sub-region adjacent to the current sub-region and a sub-region located in a specified direction among the sub-regions of the undetermined operating sequence is determined as the next operating sub-region.
根据权利要求14所述的方法，其特征在于，所述将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的一个确定为所述当前子区域的下一作业子区域，包括：The method according to claim 14, wherein the determining one of the sub-regions adjacent to the current sub-region among the sub-regions of the undetermined job sequence is the next job of the current sub-region Sub-areas, including:

根据当前子区域的终点的位置信息以及所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的交点的位置信息，确定所述当前子区域的终点与所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的交点的距离；According to the position information of the end point of the current sub-area and the position information of the intersection of the sub-area adjacent to the current sub-area in the sub-area of the undetermined work sequence, the end point of the current sub-area and the undetermined sub-area are determined The distance between the intersection of the sub-regions adjacent to the current sub-region in the sub-regions of the work sequence;

将距离最小的交点所在的子区域确定为所述下一作业区域。The sub-area where the intersection with the smallest distance is located is determined as the next work area.
根据权利要求10所述的方法，其特征在于，所述根据所述交点的位置信息以及多个所述子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线，包括：The method according to claim 10, wherein the determining a connection route between two sub-areas adjacent to each other in the operation sequence according to the position information of the intersection point and the operation sequence of the multiple sub-areas comprises:

确定所述起始作业区域的航线的起点；Determine the starting point of the route of the starting operation area;

根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点；Determine the end point of the route of the starting operation area according to the starting point of the route of the starting operation area and the route reference line of the starting operation area;

根据所述起始作业区域的终点的位置信息、除起始作业区域外的子区域的交点的位置信息以及多个所述子区域的作业顺序，确定所述除起始作业区域外的子区域的航线的起点；According to the position information of the end point of the starting operation area, the position information of the intersection of the sub-areas except the starting operation area, and the operation sequence of a plurality of the sub-areas, the sub-area except the initial operation area is determined The starting point of the route;

根据所述除起始作业区域外的子区域的航线的起点和所述除起始作业区域外的子区域的航线参考线，确定所述除起始作业区域外的子区域的航线的终点；Determine the end point of the route of the sub-area except the starting operation area according to the starting point of the route of the sub-area except the starting operation area and the route reference line of the sub-area except the starting operation area;

根据多个所述子区域的作业顺序，连接作业顺序相邻的两个子区域中作业顺序靠前的子区域的航线的终点和作业顺序靠后的子区域的航线的起点，生成作业顺序相邻的两个子区域之间的连接航线。According to the operation sequence of a plurality of said sub-regions, connecting the end point of the route of the sub-region in the front of the operation sequence and the starting point of the route of the sub-region of the sub-region of the operation sequence adjacent to the two sub-regions in the adjacent operation sequence to generate the adjacent operation sequence The connecting route between the two sub-regions.
根据权利要求17所述的方法，其特征在于，所述根据所述起始作业区域的终点的位置信息、除起始作业区域外的子区域的交点的位置信息以及多个所述子区域的作业顺序，确定所述除起始作业区域外的子区域的航线的起点，包括：The method according to claim 17, wherein the information is based on the position information of the end point of the start work area, the position information of the intersection of the sub-areas except the start work area, and the information of a plurality of the sub-areas. The operation sequence, which determines the starting point of the route of the sub-area except the starting operation area, includes:

根据当前子区域的航线的终点的位置信息以及与当前子区域作业顺序相邻的下一作业子区域的交点的位置信息，确定所述当前子区域的终点与所述下一作业子区域的交点的距离，其中，所述当前子区域包括起始作业区域；According to the position information of the end point of the route of the current sub-area and the position information of the intersection point of the next operation sub-area adjacent to the operation sequence of the current sub-area, determine the intersection point of the end point of the current sub-area and the next operation sub-area , Wherein the current sub-area includes the starting work area;

将距离最小的交点确定为所述下一作业区域的航线的起点。The intersection with the smallest distance is determined as the starting point of the route of the next operation area.
根据权利要求17所述的方法，其特征在于，所述根据所述除起始作业区域外的子区域的航线的起点和所述除起始作业区域外的子区域的航线参考线，确定所述除起始作业区域外的子区域的航线的终点，包括：The method according to claim 17, characterized in that, the determination is performed based on the starting point of the route of the sub-area except the starting operation area and the route reference line of the sub-area except the starting operation area. Describe the end points of the route of the sub-area other than the starting operation area, including:

根据所述除起始作业区域外的子区域的航线的起点，将所述除起始作业区域外的子区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；According to the starting point of the route of the sub-area except the starting operation area, connecting the end points of one side of two adjacent route reference lines in the sub-area except the starting operation area to form a route;

将所述除起始作业区域外的子区域的航线上远离该航线的起点的一端端点确定为所述子区域的终点。The end point of the route of the sub-region other than the starting operation area that is far from the starting point of the route is determined as the end point of the sub-region.
根据权利要求13或17所述的方法，其特征在于，所述确定所述起始作业区域的航线的起点包括：The method according to claim 13 or 17, wherein the determining the starting point of the route of the starting operation area comprises:

获取所述无人飞行器的当前位置信息；Acquiring current position information of the unmanned aerial vehicle;

根据所述当前位置信息和所述起始作业区域的交点的位置信息，确定所述起始作业区域的航线的起点。Determine the starting point of the route of the starting operation area according to the current position information and the position information of the intersection of the starting operation area.
根据权利要求20所述的方法，其特征在于，所述起始作业区域的航线的起点为所述起始区域的交点中距离所述无人飞行器的当前位置最近的交点。The method according to claim 20, wherein the starting point of the route of the starting operation area is the intersection point closest to the current position of the unmanned aerial vehicle among the intersection points of the starting area.
根据权利要求13或17所述的方法，其特征在于，所述确定所述起始作业区域的起点，包括：The method according to claim 13 or 17, wherein the determining the starting point of the starting work area comprises:

获取第二用户指令，其中所述第二用户指令用于指示所述起始作业区域的交点中指定交点作为所述起始作业区域的起点；Acquiring a second user instruction, where the second user instruction is used to instruct a designated intersection among the intersections of the initial operation area as the starting point of the initial operation area;

根据所述第二用户指令，将所述指定交点确定为所述起始作业区域的起点。According to the second user instruction, the designated intersection is determined as the starting point of the starting work area.
根据权利要求13或17所述的方法，其特征在于，所述根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点，包括：The method according to claim 13 or 17, characterized in that, according to the starting point of the route of the starting operation area and the route reference line of the starting operation area, the route of the starting operation area is determined End points, including:

根据所述起始作业区域的航线的起点，将所述起始作业区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；According to the starting point of the route in the starting operation area, connecting the end points on one side of two adjacent route reference lines in the starting operation area to form a route;

将所述起始作业区域的航线上远离所述起始作业区域的航线的起点的一端端点确定为所述起始作业区域的终点。An end point of the route of the starting operation area that is far from the starting point of the route of the starting operation area is determined as the end point of the starting operation area.
根据权利要求1所述的方法，其特征在于，所述根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线之后，所述根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线之前，还包括：The method according to claim 1, wherein the operation sequence of the plurality of sub-regions and the connection between two adjacent sub-regions in the operation sequence are determined according to the route reference lines of the plurality of sub-regions After the route, before determining the operating route of the unmanned aerial vehicle according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route, the method further includes:

根据所述禁飞区的位置信息，调整所述连接航线的位置，使得所述连接航线与所述禁飞区不相交。According to the position information of the no-fly zone, the position of the connecting route is adjusted so that the connecting route does not intersect the no-fly zone.
根据权利要求1所述的方法，其特征在于，所述根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线，包括：The method according to claim 1, wherein the operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of a plurality of the sub-areas, and the connecting route, include:

根据多个所述子区域的作业顺序，将所述子区域的航线参考线和所述连接航线连接形成一条航线，以生成所述无人飞行器的作业航线。According to the operation sequence of the multiple sub-regions, the route reference line of the sub-region and the connecting route are connected to form a route to generate the operation route of the unmanned aerial vehicle.
根据权利要求1所述的方法，其特征在于，所述方法的执行主体为能够与无人飞行器通信的设备，所述方法还包括：The method according to claim 1, wherein the execution subject of the method is a device capable of communicating with an unmanned aerial vehicle, and the method further comprises:

将所述无人飞行器的作业航线发送给所述无人飞行器，以使得所述无人飞行器按照所述作业航线进行作业。The operation route of the unmanned aerial vehicle is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle operates according to the operation route.
根据权利要求26所述的方法，其特征在于，所述能够与无人飞行器通信的设备包括以下至少一种：所述无人飞行器的服务器、所述无人飞行器的控制设备。The method according to claim 26, wherein the device capable of communicating with the unmanned aerial vehicle comprises at least one of the following: a server of the unmanned aerial vehicle, and a control device of the unmanned aerial vehicle.
根据权利要求1所述的方法，其特征在于，所述方法的执行主体为无人飞行器，所述方法还包括：The method according to claim 1, wherein the execution subject of the method is an unmanned aerial vehicle, and the method further comprises:

按照所述作业航线进行作业。Operate in accordance with the stated operating route.
根据权利要求26或28所述的方法，其特征在于，所述无人飞行器的作业包括以下中的一种或多种：The method according to claim 26 or 28, wherein the operation of the unmanned aerial vehicle includes one or more of the following:

喷洒、播种、测绘、巡线。Spraying, seeding, surveying and mapping, line inspection.
一种无人飞行器的航线规划装置，其特征在于，所述装置包括：A route planning device for an unmanned aerial vehicle, characterized in that the device comprises:

存储装置，用于存储程序指令；以及Storage device for storing program instructions; and

一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

根据预设的航线规划信息，在目标区域中生成多条航线参考线；According to the preset route planning information, generate multiple route reference lines in the target area;

获取所述目标区域内的禁飞区的位置信息；Acquiring the position information of the no-fly zone in the target area;

根据所述禁飞区的位置信息，将所述目标区域分割成多个子区域，使得所述子区域与所述禁飞区不重合，其中，每个子区域中的航线参考线与该子区域的交点的数量小于或等于2；According to the position information of the no-fly zone, the target area is divided into a plurality of sub-areas, so that the sub-area does not overlap with the no-fly zone, wherein the route reference line in each sub-area is the same as that of the sub-area. The number of intersections is less than or equal to 2;

根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线；Determining the operating sequence of the multiple sub-regions and the connecting route between the two adjacent sub-regions in the operating sequence according to the route reference lines of the multiple sub-regions;

根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线。The operation route of the unmanned aerial vehicle is determined according to the route reference line of the sub-area, the operation sequence of the multiple sub-areas, and the connecting route.
根据权利要求30所述的装置，其特征在于，所述航线规划信息包括：多条所述航线参考线之间的位置关系和所述航线参考线的方向。The device according to claim 30, wherein the route planning information comprises: a position relationship between a plurality of the route reference lines and the direction of the route reference line.
根据权利要求31所述的装置，其特征在于，多条所述航线参考线大致平行。The device according to claim 31, wherein a plurality of said route reference lines are substantially parallel.
根据权利要求32所述的装置，其特征在于，所述位置关系包括：相邻两条所述航线参考线之间的间距。The device according to claim 32, wherein the positional relationship comprises: a distance between two adjacent reference lines of the route.
根据权利要求30所述的装置，其特征在于，所述子区域包括凸多边形、圆形、椭圆形中的至少一种。The device according to claim 30, wherein the sub-region comprises at least one of a convex polygon, a circle, and an ellipse.
根据权利要求30所述的装置，其特征在于，所述禁飞区的位置信息包括：所述禁飞区的边界位置信息。The device according to claim 30, wherein the position information of the no-fly zone comprises: boundary position information of the no-fly zone.
根据权利要求30所述的装置，其特征在于，所述禁飞区包括以下至少一种：预设的禁飞区、所述目标区域中的障碍物所在区域、所述目标区域中面积大于预设面积阈值的非作业区域。The device according to claim 30, wherein the no-fly zone comprises at least one of the following: a preset no-fly zone, an area where obstacles in the target area are located, and an area in the target area that is larger than a predetermined area. Set the area threshold of the non-operating area.
根据权利要求30或35或36所述的装置，其特征在于，所述一个或多个处理器在获取所述目标区域内的禁飞区的位置信息时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 30, 35, or 36, wherein when the one or more processors acquire the position information of the no-fly zone in the target area, they are separately or collectively further configured to Used to implement the following operations:

识别所述目标区域中的禁飞区，获取所述禁飞区的位置信息；和/或Identify the no-fly zone in the target area, and obtain location information of the no-fly zone; and/or

根据获取的对所述目标区域输入的禁飞区指示，确定所述禁飞区的位置信息，其中所述禁飞区指示包括禁飞区的边界轨迹和/或禁飞区位置。The position information of the no-fly zone is determined according to the acquired no-fly zone indication input to the target area, wherein the no-fly zone indication includes the border trajectory of the no-fly zone and/or the no-fly zone position.
根据权利要求30所述的装置，其特征在于，所述一个或多个处理器在根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 30, wherein the one or more processors determine the operation sequence of the plurality of sub-regions and the adjacent operation sequence of the plurality of sub-regions according to the route reference lines of the plurality of sub-regions. When connecting routes between two sub-areas, individually or collectively, they are further configured to implement the following operations:

获取每个子区域中位于最外侧的两条航线参考线与所述子区域的边界的交点的位置信息；Acquiring the position information of the intersection of the two outermost flight route reference lines in each sub-region and the boundary of the sub-region;

根据所述交点的位置信息，确定多个所述子区域的作业顺序；Determine the operation sequence of the multiple sub-regions according to the location information of the intersection;

根据所述交点的位置信息以及多个所述子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线。According to the location information of the intersection and the operation sequence of the multiple sub-regions, a connecting route between two sub-regions adjacent in the operation sequence is determined.
根据权利要求38所述的装置，其特征在于，所述一个或多个处理器在根据所述交点的位置信息，确定多个所述子区域的作业顺序时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 38, wherein the one or more processors are further configured individually or collectively when determining the operation sequence of the multiple sub-regions according to the position information of the intersection point It is used to implement the following operations:

确定多个所述子区域中所述无人飞行器的起始作业区域；Determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas;

根据所述起始作业区域的交点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序。According to the position information of the intersection of the starting work area and the position information of the intersection of the sub-areas except the starting work area, the work sequence of the sub-area except the starting work area is determined.
根据权利要求39所述的装置，其特征在于，所述一个或多个处理器在确定多个所述子区域中所述无人飞行器的起始作业区域时，单独地或共同地进一步被配置成用于实施如下操作：The apparatus according to claim 39, wherein the one or more processors are further configured individually or collectively when determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas It is used to implement the following operations:

获取所述无人飞行器的当前位置信息；Acquiring current position information of the unmanned aerial vehicle;

根据所述交点的位置信息和所述当前位置信息，确定距离所述无人飞行器的当前位置最近的交点；Determine the intersection point closest to the current position of the unmanned aerial vehicle according to the position information of the intersection point and the current position information;

将所述距离所述无人飞行器的当前位置最近的交点所在子区域确定为所述无人飞行器的起始作业区域。The sub-region where the intersection point closest to the current position of the unmanned aerial vehicle is located is determined as the initial operation area of the unmanned aerial vehicle.
根据权利要求39所述的装置，其特征在于，所述一个或多个处理器在确定多个所述子区域中所述无人飞行器的起始作业区域时，单独地或共同地进一步被配置成用于实施如下操作：The apparatus according to claim 39, wherein the one or more processors are further configured individually or collectively when determining the starting operation area of the unmanned aerial vehicle in the plurality of sub-areas It is used to implement the following operations:

获取第一用户指令，其中所述第一用户指令用于指示多个所述子区域中的指定子区域作为所述无人飞行器的起始作业区域；Acquiring a first user instruction, where the first user instruction is used to instruct a designated sub-area of the plurality of sub-areas to be the starting operation area of the unmanned aerial vehicle;

根据所述第一用户指令，将所述指定子区域确定为所述无人飞行器的起始作业区域。According to the first user instruction, the designated sub-area is determined as the initial operation area of the unmanned aerial vehicle.
根据权利要求39所述的装置，其特征在于，所述一个或多个处理器在根据所述起始作业区域的交点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序时，单独地或共同地进一步被配置成用于实施如下操作：The apparatus according to claim 39, wherein the one or more processors are based on the location information of the intersection of the starting work area and the location information of the intersection of the sub-areas other than the starting work area, When determining the operating sequence of the sub-regions other than the initial operating region, they are separately or collectively further configured to implement the following operations:

确定所述起始作业区域的航线的起点；Determine the starting point of the route of the starting operation area;

根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点；Determine the end point of the route of the starting operation area according to the starting point of the route of the starting operation area and the route reference line of the starting operation area;

根据所述起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序。According to the position information of the end point of the starting operation area and the position information of the intersection of the sub-areas except the starting operation area, the operation sequence of the sub-areas except the starting operation area is determined.
根据权利要求42所述的装置，其特征在于，所述一个或多个处理器在根据所述起始作业区域的终点的位置信息以及除起始作业区域外的子区域的交点的位置信息，确定所述除起始作业区域外的子区域的作业顺序时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 42, wherein the one or more processors are based on the position information of the end point of the starting work area and the position information of the intersection of the sub-areas except the starting work area, When determining the operating sequence of the sub-regions other than the initial operating region, they are separately or collectively further configured to implement the following operations:

根据当前子区域的终点的位置信息以及未确定作业顺序的子区域的交点的位置信息，确定所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域，其中，所述当前子区域包括所述起始作业区域；According to the location information of the end point of the current sub-region and the location information of the intersection of the sub-regions of the undetermined work sequence, determine the sub-region adjacent to the current sub-region in the sub-region of the undetermined work sequence, wherein the The current sub-area includes the starting operation area;

将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的一个确定为所述当前子区域的下一作业子区域。One of the sub-regions adjacent to the current sub-region among the sub-regions of which the work order is not determined is determined as the next work sub-region of the current sub-region.
根据权利要求43所述的装置，其特征在于，所述一个或多个处理器在将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域中的一个确定为所述当前子区域的下一作业子区域时，单独地或共同地进一步被配置成用于实施如下操作：The apparatus according to claim 43, wherein the one or more processors determine one of the sub-areas adjacent to the current sub-areas in the sub-areas of the undetermined work order as the When describing the next job sub-area of the current sub-area, they are separately or collectively further configured to implement the following operations:

将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域且位于指定方向上的子区域确定为下一作业子区域。A sub-region adjacent to the current sub-region and a sub-region located in a specified direction among the sub-regions of the undetermined operating sequence is determined as the next operating sub-region.
根据权利要求43所述的装置，其特征在于，所述一个或多个处理器在将所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的一个确定为所述当前子区域的下一作业子区域时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 43, wherein the one or more processors determine one of the sub-areas adjacent to the current sub-areas in the sub-areas of the undetermined work order as the When the next job sub-area of the current sub-area is separately or collectively further configured to implement the following operations:

根据当前子区域的终点的位置信息以及所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的交点的位置信息，确定所述当前子区域的终点与所述未确定作业顺序的子区域中与所述当前子区域相邻的子区域的交点的距离；According to the position information of the end point of the current sub-area and the position information of the intersection of the sub-area adjacent to the current sub-area in the sub-area of the undetermined work sequence, the end point of the current sub-area and the undetermined sub-area are determined The distance between the intersection of the sub-regions adjacent to the current sub-region in the sub-regions of the work sequence;

将距离最小的交点所在的子区域确定为所述下一作业区域。The sub-area where the intersection with the smallest distance is located is determined as the next work area.
根据权利要求39所述的装置，其特征在于，所述一个或多个处理器在根据所述交点的位置信息以及多个所述子区域的作业顺序，确定作业顺序相邻的两个子区域之间的连接航线时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 39, wherein the one or more processors determine which of the two sub-areas adjacent to the operation sequence is based on the position information of the intersection point and the operation sequence of the multiple sub-regions. When connecting routes between, individually or collectively, they are further configured to implement the following operations:

确定所述起始作业区域的航线的起点；Determine the starting point of the route of the starting operation area;

根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点；Determine the end point of the route of the starting operation area according to the starting point of the route of the starting operation area and the route reference line of the starting operation area;

根据所述起始作业区域的终点的位置信息、除起始作业区域外的子区域的交点的位置信息以及多个所述子区域的作业顺序，确定所述除起始作业区域外的子区域的航线的起点；According to the position information of the end point of the starting operation area, the position information of the intersection of the sub-areas except the starting operation area, and the operation sequence of a plurality of the sub-areas, the sub-area except the initial operation area is determined The starting point of the route;

根据所述除起始作业区域外的子区域的航线的起点和所述除起始作业区域外的子区域的航线参考线，确定所述除起始作业区域外的子区域的航线的终点；Determine the end point of the route of the sub-area except the initial operation area according to the starting point of the route of the sub-area except the initial operation area and the route reference line of the sub-area except the initial operation area;

根据多个所述子区域的作业顺序，连接作业顺序相邻的两个子区域中作业顺序靠前的子区域的航线的终点和作业顺序靠后的子区域的航线的起点，生成作业顺序相邻的两个子区域之间的连接航线。According to the operation sequence of a plurality of said sub-regions, connecting the end point of the route of the sub-region in the front of the operation sequence and the starting point of the route of the sub-region of the sub-region of the operation sequence adjacent to the two sub-regions in the adjacent operation sequence to generate the adjacent operation sequence The connecting route between the two sub-regions.
根据权利要求46所述的装置，其特征在于，所述一个或多个处理器在根据所述起始作业区域的终点的位置信息、除起始作业区域外的子区域的交点的位置信息以及多个所述子区域的作业顺序，确定所述除起始作业区域外的子区域的航线的起点时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 46, wherein the one or more processors are based on the position information of the end point of the starting work area, the position information of the intersection of the sub-areas other than the starting work area, and The operation sequence of the multiple sub-regions, when determining the starting point of the route of the sub-regions other than the starting operation area, is further configured to implement the following operations individually or collectively:

根据当前子区域的航线的终点的位置信息以及与当前子区域作业顺序相邻的下一作业子区域的交点的位置信息，确定所述当前子区域的终点与所述下一作业子区域的交点的距离，其中，所述当前子区域包括起始作业区域；According to the position information of the end point of the route of the current sub-area and the position information of the intersection point of the next operation sub-area adjacent to the operation sequence of the current sub-area, determine the intersection point of the end point of the current sub-area and the next operation sub-area , Wherein the current sub-area includes the starting work area;

将距离最小的交点确定为所述下一作业区域的航线的起点。The intersection with the smallest distance is determined as the starting point of the route of the next operation area.
根据权利要求46所述的装置，其特征在于，所述一个或多个处理器在根据所述除起始作业区域外的子区域的航线的起点和所述除起始作业区域外的子区域的航线参考线，确定所述除起始作业区域外的子区域的航线的终点时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 46, wherein the one or more processors operate according to the starting point of the route of the sub-area except the starting operation area and the sub-area except the starting operation area. When determining the end point of the route of the sub-area except for the starting operation area, the reference line of the route is further configured to perform the following operations separately or collectively:

根据所述除起始作业区域外的子区域的航线的起点，将所述除起始作业区域外的子区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；According to the starting point of the route of the sub-area except the starting operation area, connecting the end points of one side of two adjacent route reference lines in the sub-area except the starting operation area to form a route;

将所述除起始作业区域外的子区域的航线上远离该航线的起点的一端端点确定为所述子区域的终点。The end point of the route of the sub-region other than the starting operation area that is far from the starting point of the route is determined as the end point of the sub-region.
根据权利要求42或46所述的装置，其特征在于，所述一个或多个处理器在确定所述起始作业区域的航线的起点时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 42 or 46, wherein the one or more processors, when determining the starting point of the route of the starting operation area, are separately or collectively further configured to implement the following operating:

获取所述无人飞行器的当前位置信息；Acquiring current position information of the unmanned aerial vehicle;

根据所述当前位置信息和所述起始作业区域的交点的位置信息，确定所述起始作业区域的航线的起点。Determine the starting point of the route of the starting operation area according to the current position information and the position information of the intersection of the starting operation area.
根据权利要求49所述的装置，其特征在于，所述起始作业区域的航线的起点为所述起始区域的交点中距离所述无人飞行器的当前位置最近的交点。The apparatus according to claim 49, wherein the starting point of the route of the starting operation area is the intersection point closest to the current position of the unmanned aerial vehicle among the intersection points of the starting area.
根据权利要求42或46所述的装置，其特征在于，所述一个或多个处理器在确定所述起始作业区域的起点时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 42 or 46, wherein when the one or more processors determine the starting point of the starting work area, they are separately or collectively further configured to perform the following operations:

获取第二用户指令，其中所述第二用户指令用于指示所述起始作业区域的交点中指定交点作为所述起始作业区域的起点；Acquiring a second user instruction, where the second user instruction is used to instruct a designated intersection among the intersections of the initial operation area as the starting point of the initial operation area;

根据所述第二用户指令，将所述指定交点确定为所述起始作业区域的起点。According to the second user instruction, the designated intersection is determined as the starting point of the starting work area.
根据权利要求42或46所述的装置，其特征在于，所述一个或多个处理器在根据所述起始作业区域的航线的起点和所述起始作业区域的航线参考线，确定所述起始作业区域的航线的终点时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 42 or 46, wherein the one or more processors determine the route according to the starting point of the route of the initial operation area and the route reference line of the initial operation area. At the end of the route of the starting operation area, individually or collectively, it is further configured to perform the following operations:

根据所述起始作业区域的航线的起点，将所述起始作业区域中相邻两条航线参考线的其中一侧的端点连接，以形成一条航线；According to the starting point of the route in the starting operation area, connecting the end points on one side of two adjacent route reference lines in the starting operation area to form a route;

将所述起始作业区域的航线上远离所述起始作业区域的航线的起点的一端端点确定为所述起始作业区域的终点。An end point of the route of the starting operation area that is far from the starting point of the route of the starting operation area is determined as the end point of the starting operation area.
根据权利要求30所述的装置，其特征在于，所述一个或多个处理器在根据多个所述子区域的航线参考线，确定多个所述子区域的作业顺序以及作业顺序相邻的两个子区域之间的连接航线之后，根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线之前，单独地或共同地还被配置成用于实施如下操作：The device according to claim 30, wherein the one or more processors determine the operation sequence of the plurality of sub-regions and the adjacent operation sequence of the plurality of sub-regions according to the route reference lines of the plurality of sub-regions. After the connecting route between the two sub-regions, according to the route reference line of the sub-region, the operation sequence of the multiple sub-regions, and the connecting route, before determining the operating route of the UAV, individually or jointly The ground is also configured to perform the following operations:

根据所述禁飞区的位置信息，调整所述连接航线的位置，使得所述连接航线与所述禁飞区不相交。According to the position information of the no-fly zone, the position of the connecting route is adjusted so that the connecting route does not intersect the no-fly zone.
根据权利要求30所述的装置，其特征在于，所述一个或多个处理器在根据所述子区域的航线参考线、多个所述子区域的作业顺序以及所述连接航线，确定所述无人飞行器的作业航线时，单独地或共同地进一步被配置成用于实施如下操作：The device according to claim 30, wherein the one or more processors determine the route reference line of the sub-region, the operation sequence of the multiple sub-regions, and the connecting route. During the operation route of the unmanned aerial vehicle, individually or collectively, it is further configured to perform the following operations:

根据多个所述子区域的作业顺序，将所述子区域的航线参考线和所述连接航线连接形成一条航线，以生成所述无人飞行器的作业航线。According to the operation sequence of the multiple sub-regions, the route reference line of the sub-region and the connecting route are connected to form a route to generate the operation route of the unmanned aerial vehicle.
根据权利要求30所述的装置，其特征在于，所述无人飞行器的航线规划装置为能够与无人飞行器通信的设备，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：The device according to claim 30, wherein the route planning device of the unmanned aerial vehicle is a device capable of communicating with the unmanned aerial vehicle, and the one or more processors are separately or collectively also configured to use To implement the following operations:

将所述无人飞行器的作业航线发送给所述无人飞行器，以使得所述无人飞行器按照所述作业航线进行作业。The operation route of the unmanned aerial vehicle is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle operates according to the operation route.
根据权利要求55所述的装置，其特征在于，所述能够与无人飞行器通信的设备包括以下至少一种：所述无人飞行器的服务器、所述无人飞行器的控制设备。The apparatus according to claim 55, wherein the device capable of communicating with the unmanned aerial vehicle comprises at least one of the following: a server of the unmanned aerial vehicle, and a control device of the unmanned aerial vehicle.
根据权利要求30所述的装置，其特征在于，所述无人飞行器的航线规划装置为无人飞行器，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：The device according to claim 30, wherein the route planning device of the unmanned aerial vehicle is an unmanned aerial vehicle, and the one or more processors are separately or collectively configured to perform the following operations:

按照所述作业航线进行作业。Operate in accordance with the stated operating route.
根据权利要求55或57所述的装置，其特征在于，所述无人飞行器的作业包括以下中的一种或多种：The device according to claim 55 or 57, wherein the operation of the unmanned aerial vehicle includes one or more of the following:

喷洒、播种、测绘、巡线。Spraying, seeding, surveying and mapping, line inspection.