WO2023082105A1 - 喷洒作业的规划方法、装置、控制终端和存储介质 - Google Patents

喷洒作业的规划方法、装置、控制终端和存储介质 Download PDF

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Publication number
WO2023082105A1
WO2023082105A1 PCT/CN2021/129843 CN2021129843W WO2023082105A1 WO 2023082105 A1 WO2023082105 A1 WO 2023082105A1 CN 2021129843 W CN2021129843 W CN 2021129843W WO 2023082105 A1 WO2023082105 A1 WO 2023082105A1
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Prior art keywords
point
route
spraying
route segment
return
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PCT/CN2021/129843
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English (en)
French (fr)
Inventor
王璐
贾向华
李振初
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/129843 priority Critical patent/WO2023082105A1/zh
Priority to CN202180100193.6A priority patent/CN117616356A/zh
Publication of WO2023082105A1 publication Critical patent/WO2023082105A1/zh

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

Definitions

  • the invention relates to the technical field of agricultural operations, in particular to a planning method, device, control terminal and storage medium for spraying operations.
  • the control terminal can automatically plan the spraying route, and the control terminal can send the planned route to the UAV, and then the UAV can execute the spraying operation along the planned route.
  • the UAV needs to deviate from the planned flight route to reach the supply location for refilling, Change the battery or avoid obstacles, etc. After the UAV finishes refilling, changing batteries or avoiding obstacles, it needs to determine the return point on the route, and the UAV can fly to the return point and continue to fly along the route and perform spraying operations from the return point.
  • the strategy for determining the return point on the route is not intelligent, and the logic for determining the return point does not meet user expectations.
  • the return point determined in the prior art includes determining the projection point of the UAV in the unexecuted route segment after the UAV interrupts the executed route segment in the route according to the position of the UAV.
  • the executed route segment may include the non-spraying route segment
  • the return point may include the projection point of the UAV on the non-spraying route segment.
  • the non-spraying route segment Using the projection point as the return point and letting the drone return to this return point does not meet the user's expectations and will also waste the power of the drone, resulting in low efficiency of spraying operations.
  • Embodiments of the present invention provide a planning method, device, control terminal and storage medium for spraying operations, so as to meet user expectations and improve the efficiency of spraying operations performed by drones.
  • an embodiment of the present invention provides a method for planning a spraying operation, the method comprising:
  • the route is composed of a plurality of route segments, and the plurality of route segments include a spraying route segment and a non-spraying route part;
  • the position of the UAV determine whether the UAV has a projection point in the route segment of the interrupted execution
  • the unmanned aerial vehicle determine whether there is the unmanned person in the first preset number of spraying route segments that are located after the interrupted route segment and have not performed the spraying operation among the plurality of route segments
  • the projection point of the drone does not determine whether there is a projection point of the drone in the non-spraying route segment after the interrupted route segment among the plurality of route segments according to the position of the drone;
  • the return point includes the interruption point
  • the The return point includes the projection point of the UAV in the interrupted route segment
  • the return point includes Projection points of the UAV in the first preset number of spraying route segments.
  • an embodiment of the present invention provides a planning device for spraying operations, including a memory and a processor; wherein, executable code is stored in the memory, and when the executable code is executed by the processor, the The processor implements:
  • the route is composed of a plurality of route segments, and the plurality of route segments include a spraying route segment and a non-spraying route part;
  • the position of the UAV determine whether the UAV has a projection point in the route segment of the interrupted execution
  • the unmanned aerial vehicle determine whether there is the unmanned person in the first preset number of spraying route segments that are located after the interrupted route segment and have not performed the spraying operation among the plurality of route segments
  • the projection point of the drone does not determine whether there is a projection point of the drone in the non-spraying route segment after the interrupted route segment among the plurality of route segments according to the position of the drone;
  • the return point includes the interruption point
  • the The return point includes the projection point of the UAV in the interrupted route segment
  • the return point includes Projection points of the UAV in the first preset number of spraying route segments.
  • an embodiment of the present invention provides a control terminal, including a display device and the spraying operation planning device provided in the second aspect of the embodiment of the present invention.
  • an embodiment of the present invention provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the present invention The method for planning the spraying operation provided by the first aspect of the embodiment.
  • the present invention avoids planning the return point to a non-spraying route according to the spraying properties of the route segment after the interrupted route segment, except for the interrupt point and the interrupted route.
  • all return points are planned on the spraying route segment, which can reduce the probability of controlling the UAV to return to the non-spraying route segment, which can meet user expectations and save power consumption This in turn increases the efficiency of performing spraying operations.
  • Fig. 1 is a schematic flow chart of a method for planning a spraying operation provided by an embodiment of the present invention
  • Fig. 2-Fig. 8 are schematic diagrams of determining the return point after the UAV flies off the route under different circumstances provided by the embodiment of the present invention.
  • Fig. 9 is a schematic structural view of a planning device for spraying provided by an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
  • the phrases “if determined” or “if detected (the stated condition or event)” could be interpreted as “when determined” or “in response to the determination” or “when detected (the stated condition or event) )” or “in response to detection of (a stated condition or event)”.
  • Fig. 1 is a flow chart of a method for planning a spraying operation provided by an embodiment of the present invention, and the execution subject of the method may be a planning device for a spraying operation.
  • the control terminal may include the planning device, and the method may be applied to the control terminal, that is, the method may be executed by the control terminal, and the following is a schematic illustration with the control terminal as the execution subject. As shown in Figure 1, the method includes the following steps:
  • the position of the UAV determine whether there is a projection point of the UAV in the first preset number of spraying route segments that are located after the interrupted route segment and do not perform spraying operations.
  • the position of the man-machine determines whether there is a projection point of the drone in the non-spraying route segment after the interrupted route segment among the plurality of route segments.
  • the return point includes the interruption point
  • the return point includes the UAV in the interrupted execution.
  • Projection points in route segments when the UAV has projection points in the first preset number of spraying route segments, the return point includes the UAV's projection points in the first preset number of spraying route segments.
  • the user can input the operation area where the spraying operation needs to be performed to the control terminal, and the control terminal determines the operation area of the UAV in response to the selection operation of the operation area.
  • the control terminal may include a display device. Based on this, the display device may display a map for dividing the work area, so that the user can select the work area in which the spraying operation needs to be performed in the map. Then the control terminal can automatically plan the route for spraying operations according to the operation area selected by the user.
  • the control terminal can establish a two-way communication link with the UAV, so the control terminal can send the planned route to the UAV, and then the UAV can perform spraying operations along the planned route.
  • the man-machine performs manual flight.
  • the control terminal can display the planned route through the display device, which is convenient for the user to view the route of the drone performing the spraying operation.
  • the display device may be a display screen, and in some cases, the display screen may be a touch screen.
  • the control terminal can obtain the position of the UAV.
  • the position of the UAV can also be obtained according to a preset cycle.
  • the UAV sends the position of the UAV to the control terminal, and the control terminal sends the position of the UAV Marked on the route so that users can view the real-time position of the drone.
  • the control terminal can obtain the interruption point of the flight segment where the UAV interrupts execution, that is, obtain the location of the interruption point, and the location of the interruption point can be sent to the control terminal by the UAV.
  • the UAV needs to deviate from the planned flight route to reach the supply location for refilling, Change the battery or avoid obstacles, etc. After the UAV finishes refilling, changing batteries, or avoiding obstacles, it needs to determine the return point on the route, and the UAV can fly to the return point and continue to fly along the route and perform spraying operations from the return point.
  • the present invention The method provided in the embodiment can plan the return point when the UAV returns to the route.
  • the route may be divided into multiple route segments, and the plurality of route segments may include a spraying route segment and a non-spraying route segment.
  • the spraying route segment is a route segment where spraying operation needs to be performed
  • the non-spraying route segment is a route segment that does not need to perform spraying operation.
  • the spraying route segments and non-spraying route segments are alternately connected, and in some embodiments, the spraying route segments are parallel to each other, and in some implementations In this example, the non-spraying route segments are parallel to each other.
  • the route may include route segments S1S2, S2S3, S3S4, S4S5, S5S6, S6S7, and S7S8.
  • S1S2 is the spraying route segment
  • S2S3 is the non-spraying route segment
  • S3S4 is the spraying route segment
  • S4S5 is the non-spraying route segment
  • S5S6 is the spraying route segment
  • S6S7 is the non-spraying route segment
  • S7S8 is the spraying route segment.
  • the position where the UAV deviates from the route may be called a break point, and the route segment where the break point is located may be called a route segment where execution is interrupted.
  • the UAV leaves the route at the interrupt point shown in the figure, and the route segment for interrupt execution is S3S4.
  • the position of the drone can be obtained , according to the position of the drone, it is determined whether the drone has a projection point in the route segment where the execution is interrupted.
  • the process of determining the projection point can be realized as follows: determine whether there is a vertical line from the UAV to the interrupted route segment, if there is a vertical line, then the vertical foot is the projection point of the UAV in the interrupted route segment, the projected point It can be used as a return point for a UAV return route.
  • the spraying route segments without spraying operations after the interrupted route segment includes S5S6 and S7S8.
  • the first preset number may be a value greater than or equal to 2. It can be determined whether the UAV has a projection point on some of these route segments, and if there is a projection point, the projection point on some of the above-mentioned route segments can be used as the return point of the return route of the UAV.
  • the interruption point can also be used as a return point of the drone's return route.
  • the control terminal may display signs for indicating the positions of the return points on the route.
  • the return point does not include the projection point of the UAV on the non-spraying route segment after the interrupted route segment.
  • the return point of the drone's return route can be refreshed according to the real-time position of the drone according to the preset cycle.
  • the method described above can be repeated to determine a possible return point based on the latest position of the drone.
  • the word "return point” can be directly marked on the corresponding position of the return point in the route displayed on the control terminal, so that the user can directly know that the marked point in the route is used to indicate that the UAV may return location.
  • the return point includes the first A second preset number of projection points close to the interruption point among the preset number of projection points, the return point does not include projection points other than the second preset number of projection points among the first preset number of projection points; and/ Or if the UAV does not have a projection point in the interrupted route segment and the UAV has a projection point in each route segment of the first preset number of spraying route segments, the return point includes the first preset The number of projected points.
  • the optional return If there are many points, only the second preset number of projection points close to the interruption point among the first preset number of projection points may be displayed.
  • the number of return points can be optimized, and the number of return points can be limited within a certain value, which is convenient for users to choose.
  • the first preset number may be 2, and the second preset number may be 1.
  • the spraying attributes of each route segment in Figure 3 are the same as those in Figure 2.
  • the projection point of the UAV on S3S4 is return point 1
  • the projection point on S5S6 is return point 2.
  • Projection points also exist on S7S8, but since only one projection point close to the interruption point is displayed, the projection points on S7S8 may not be displayed.
  • the final display results are interrupt point, return point 1 and return point 2.
  • the projection point of the UAV on the S7S8 is far from the interruption point, and generally users will not choose such a projection point as the return point. If all the projection points of the first preset number are displayed on the control terminal, it may interfere with the user's choice. Therefore, in order to improve the efficiency of selection, the projected points on S7S8 may not be displayed.
  • the second preset number of projection points close to the interruption point are determined according to the route distance.
  • the distance from return point 2 to the interruption point is the sum of the distance from return point 2 to S5, the distance from S4 to S5, and the distance from S4 to the interruption point.
  • the spraying attributes of each route segment in Figure 4 are the same as those in Figure 2.
  • the UAV detects that the amount of medicine or battery of the UAV is insufficient and needs to fly. Replenish medicine or electrical energy off the flight.
  • the user pulls the UAV from the interruption point to the opposite direction of the operation to leave the route and arrive at the stop position shown in the figure.
  • possible return points may include interruption points, return point 1 projected by the UAV on S3S4 and return point 2 projected on S5S6 respectively.
  • Possible return points may include interruption points, return point 1 projected by the UAV on the interrupted route segment S2S3, and return point 2 projected on S3S4.
  • the first preset number of All projected points are displayed. Since the UAV does not have projection points in the route segment where the execution is interrupted, there is one less option for the user to return to. In order to leave sufficient options for the user, the first preset number of projection points can be All displayed for the user to choose.
  • the UAV has no projection point on the interrupted route segment S3S9, and the route segment S9S10 is the obstacle avoidance route segment.
  • the route segment S9S10 is the obstacle avoidance route segment.
  • the UAV needs to plan an obstacle avoidance route to avoid the utility poles. The user did not let the drone fly according to the obstacle avoidance route segment, but pulled the drone away from the route from the interruption point mentioned in the picture.
  • possible return points may include the interruption point shown in the figure, return point 1 projected by the UAV on S10S4 and return point 2 projected on S5S6.
  • the return point includes the first preset number of spraying points The starting point of the first spraying route segment in the route segment.
  • the first spraying route segment among the above-mentioned first preset number of spraying route segments is determined according to the flight sequence among the above-mentioned multiple route segments.
  • the UAV when the UAV flies out of the plot, the UAV does not have a projection point in the interrupted route segment and the UAV does not have a projection point in the first preset number of spraying route segments.
  • the starting point of the first spraying route segment among the first preset number of spraying route segments can be used as the return point.
  • each route segment in Figure 7 is the same as those in Figure 2, and the UAV flies out of the field, since the UAV does not have projection points in S3S4, S5S6, and S7S8, it can be
  • the starting point S5 of the first spraying route segment S5S6 in S5S6 and S7S8 is determined as the return point 1 .
  • the return point includes the end point of the route segment of the interrupted execution; and/or if the route segment of the interrupted execution is a non-spray route segment, the return point includes the first preset Sets the starting point of the second spraying route segment in the number of spraying route segments.
  • the interrupted route segment S3S4 is a spraying route segment, and the end point S4 of S3S4 can be determined as the return point 2 .
  • the starting point of the second spraying route segment in the first preset number of spraying route segments can also be determined as the return point.
  • the route segment S2S3 for which execution is interrupted is a non-spraying route segment.
  • Possible return points may include interruption points, the starting point S3 of the first spraying route segment S3S4 as return point 1, and the starting point S5 of the second spraying route segment S5S6 as return point 2.
  • the method provided by the embodiment of the present invention may also include: detecting the user's return point selection operation, and determining the target return point selected by the user among the return points according to the detected return point selection operation; controlling the drone to fly to the target Return to the point, and control the spraying operation to continue along the route from the target return point.
  • the drone may be flying at a low speed, or stop somewhere off-route.
  • the options corresponding to the determined return points may be displayed to the user on one side of the display device of the control terminal, so that the user can select the target return point through the options.
  • a certain number of return points can be determined for the user to choose, and further, after the UAV stops, the recommended return point can also be determined from the return points, and the display is used to indicate that the recommended return point is on the route.
  • the ID of the location In this way, the user can directly use the recommended return point as the position of the drone's return route without selection, which simplifies the user's operation. At the same time, it can reduce the empty flight of drones, save power consumption, and improve the execution efficiency of spraying operations.
  • the determined recommended return point can be selected by default, and as long as the user confirms to return to the recommended return point, the drone can be directly controlled to fly to the recommended return point to return to the route.
  • the recommended return point can be marked with some specific signs to distinguish it from other return points. For example, other return points can be marked with circles, and recommended return points can be marked with square boxes. In this way, the user can know at a glance which positions on the route are optional return points and which positions are recommended return points.
  • the above-mentioned process of determining the recommended return point from the return points may be implemented as: if the UAV has a projection point in the route segment where the execution is interrupted, determine the recommended return point from the projection point and the interruption point.
  • the process of determining the recommended return point from the projection point and the interruption point may be implemented as follows: according to the distance between the interruption point and the end point of the route segment that is interrupted and the distance between the projection point and the end point of the route segment that is interrupted, Determine recommended return points from projected points and break points.
  • the process of determining the recommended return point from the projected point and the interrupted point can be implemented as follows: If the distance between the interruption point and the end point of the interrupted route segment is greater than the distance between any projection point and the end point of the interrupted route segment, and the distance between the any projection point and the terminated route segment is greater than the preset If the threshold is set, then it is determined that any projection point is the recommended return point; and/or if the distance between the interruption point and the end point of the route segment of the interrupted execution is less than the distance between each projection point and the end point of the route segment of the interrupted execution, then determine The interruption point is the recommended return point.
  • return points include interruption point, return point 1 and return point 2 .
  • the distance between the interruption point and the end point S4 of the interrupted route segment is greater than the distance between return point 1 and S4, assuming that the distance between return point 1 and S4 is greater than the preset threshold, return point 1 can be determined as the recommended return point.
  • the distance between the interruption point and the end point of the interrupted route segment is greater than the return point 1 and the end of the interrupted route segment Generally speaking, it means that there may be obstacles between the interruption point and the return point 1, so it is no longer recommended to control the drone to return to the interruption point, but to control the drone to fly to the return point 1 instead. In addition, since return point 2 is far away from S4, it is not recommended to fly to return point 2.
  • the conditions for recommending return point 1 include that the distance between return point 1 and the end point of the interrupted route segment is greater than the preset threshold, which means that there are still some areas in the interrupted route segment that can perform spraying operations, so it is necessary to Spray that area. And if the distance between return point 1 and the end point of the interrupted route segment is less than the preset threshold, it means that there are not many areas in the interrupted route segment that can perform spraying operations, so the interrupted route segment can be skipped directly. It is recommended to control the UAV to fly to return point 2 on the next spraying route segment.
  • the distance between the interruption point and the end point S4 of the interrupted route segment is smaller than the distance between return point 1 and S4, and also smaller than the distance between return point 2 and S4. In this case, it is recommended to interrupt point as the recommended return point.
  • the distance between the interruption point and the end point of the interrupted route segment is smaller than the distance between return point 1, return point 2 and the interrupted execution Generally speaking, it means that the drone may have insufficient medicine or power at the interruption point, so it flies to the current location to replenish medicine or power, so it is recommended that the drone return to the interruption point to continue the spraying operation.
  • the return point when the UAV does not have a projection point in the interrupted route segment and the UAV does not have a projection point in the first preset number of spraying route segments, the return point includes the first preset number of spraying points The starting point of the first spraying route segment in the route segment.
  • the process of determining the recommended return point from the return points may be implemented as: determining the starting point of the first spraying route segment as the recommended return point.
  • the starting point of the first spraying route segment is S5, and it is recommended to control the drone to fly to the return point 1.
  • the starting point of the first spraying route segment is S3, and it is recommended to control the drone to fly to the return point 1.
  • the process of determining the recommended return point from the return points can be implemented as follows: when the UAV does not have a projection point in the route segment where the execution is interrupted and the UAV has a projection point in the first preset number of spraying route segments When the points are selected, the projection point closest to the interruption point among the projection points is determined as the recommended return point.
  • the drone has no projection point on S3S9, and the drone has projection points on both S10S4 and S5S6.
  • the return point 1 obtained by the drone’s projection on S10S4 is closer to the interruption point. Therefore, it is recommended to control the drone to fly to return point 1.
  • the present invention avoids planning the return point on the non-spray route according to the spraying attribute of the route segment, except for the interruption point and the projection point (if any) on the route segment of the interrupted execution, All return points are planned on the spraying route segment, which can reduce the probability of controlling the drone to return to the non-spraying route segment, thereby shortening the flight distance of the drone, saving power consumption, and improving the efficiency of spraying operations.
  • FIG. 9 Another exemplary embodiment of the present invention provides a planning device for spraying operations, as shown in Figure 9, the device includes:
  • Memory 901 used to store computer programs
  • the processor 902 is configured to run the computer program stored in the memory 901 to realize:
  • the route is composed of a plurality of route segments, and the plurality of route segments include a spraying route segment and a non-spraying route part;
  • the position of the UAV determine whether the UAV has a projection point in the route segment of the interrupted execution
  • the unmanned aerial vehicle determine whether there is the unmanned person in the first preset number of spraying route segments that are located after the interrupted route segment and have not performed the spraying operation among the plurality of route segments
  • the projection point of the drone does not determine whether there is a projection point of the drone in the non-spraying route segment after the interrupted route segment among the plurality of route segments according to the position of the drone;
  • the return point includes the interruption point
  • the The return point includes the projection point of the UAV in the interrupted route segment
  • the return point includes Projection points of the UAV in the first preset number of spraying route segments.
  • the return point includes a second preset number of projection points close to the interruption point among the first preset number of projection points, and the return point does not include the first preset number of projection points projection points other than the second preset number of projection points;
  • the return point includes the first preset number of projection points.
  • the The return point includes the starting point of the first spraying route segment among the first preset number of spraying route segments.
  • the return point includes the end point of the interrupted execution route segment.
  • the return point includes the starting point of the second spraying route segment in the first preset number of spraying route segments.
  • the first preset number is 2, and the second preset number is 13.
  • processor 902 is further configured to:
  • a recommended return point is determined from the return points, and a mark used to indicate the position of the recommended return point on the route is displayed.
  • the processor 902 is configured to:
  • the UAV has a projected point in the interrupted route segment, determine a recommended return point from the projected point and the interrupted point.
  • the processor 902 is configured to:
  • a recommendation is determined from the projected point and the interruption point return point.
  • the processor 902 is configured to:
  • the projection point and the end point of the interrupted route segment is greater than the distance between the projection point and the end point of the interrupted route segment, and the projection point and the interrupted route segment If the distance between the end points of is greater than a preset threshold, then it is determined that the projected point is a recommended return point; and/or,
  • the interruption point is determined to be the recommended return point.
  • the The return point includes the starting point of the first spraying route segment in the first preset number of spraying route segments
  • the processor 902 is configured to:
  • the starting point of the first spraying route segment is determined as the recommended return point.
  • the processor 902 is configured to:
  • the UAV does not have a projection point in the interrupted route segment and the UAV has a projection point in the first preset number of spraying route segments, the most of the projected points A projected point close to the interruption point is determined as a recommended return point.
  • processor 902 is further configured to:
  • the spraying operation planning device shown in FIG. 9 can execute the method of the embodiment shown in FIGS. 1-8 .
  • parts not described in detail in this embodiment refer to the relevant descriptions of the embodiments shown in FIGS. 1-8 .
  • control terminal may include the aforementioned planning device 900 and a display device, as shown in Figure 10, the control terminal may include: a memory 901, a processor 902 and a display device 903.
  • executable codes are stored in the memory 901, and when the executable codes are executed by the processor 902, the processor 902 can at least realize the The planning method of the spraying operation provided in the example embodiment.
  • the display device 903 is configured to display the objects (airlines, logos, etc.) that need to be displayed as mentioned above.
  • an embodiment of the present invention also provides a computer-readable storage medium, wherein executable code is stored in the computer-readable storage medium, and the executable code is used to implement the spraying operation planning method provided by the foregoing embodiments .

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Abstract

一种喷洒作业的规划方法、装置、控制终端和存储介质，方法包括：获取并显示无人机的航线，并控制无人机沿航线执行喷洒作业，其中，航线由多个航线段组成，多个航线段包括喷洒航线段和非喷洒航线段（S101）；获取无人机中断执行的航线段的中断点(S102)；根据无人机的位置，确定无人机是否在中断执行的航线段中存在投影点(S103) ；根据无人机的位置，确定多个航线段中位于中断执行的航线段后的未执行喷洒作业的第一预设数量的喷洒航线段中是否存在无人机的投影点，不根据无人机的位置确定多个航线段中位于中断执行的航线段后的非喷洒航线段中是否存在无人机的投影点(S104)；显示用于指示返回点在航线上的位置的标识。使得确定出的返回点符合用户的预期并节约电能消耗进而提高执行喷洒作业的效率(S105)。

Description

喷洒作业的规划方法、装置、控制终端和存储介质 技术领域
本发明涉及农业作业技术领域，尤其涉及一种喷洒作业的规划方法、装置、控制终端和存储介质。
背景技术
现有技术中，控制终端可以自动规划执行喷洒作业的航线，控制终端可以将规划后的航线发送至无人机，进而无人机可以沿规划后的航线执行喷洒作业。在实际应用中，由于无人机能够承载的药量、电池存储的电量的限制或者在航线中出现障碍物等因素，无人机需要偏离规划后的航线飞行，以到达补给位置重新加药、换电池或者避障等。当无人机完成重新加药、换电池或者避障之后，需要在的航线上确定返回点，无人机可以飞行至返回点并从所述返回点继续沿航线飞行并执行喷洒作业。
然而，当前现有技术中，在航线上确定返回点的策略并不智能，确定返回点的逻辑并不符合用户的预期。例如，现有技术中确定的返回点包括根据所述无人机的位置在航线中被无人机中断执行的航线段后的未被执行的航线段中确定无人机的投影点，这些未被执行的航线段可能会包括非喷洒航线段，返回点可能会包括无人机在非喷洒航线段上的投影点，但是，实际喷洒过程中，由于是非喷洒航线段，非喷洒航线段上的投影点作为返回点，并让无人机回到这种返回点，并不符合用户的预期同时也会浪费无人机的电量导致喷洒作业效率低。
发明内容
本发明实施例提供一种喷洒作业的规划方法、装置、控制终端和存储介质，用以符合用户的预期并提高无人机执行喷洒作业的效率。
第一方面，本发明实施例提供一种喷洒作业的规划方法，该方法包括：
获取并显示无人机的航线，并控制所述无人机沿所述航线执行喷洒作业，其中，所述航线由多个航线段组成，所述多个航线段包括喷洒航线段和非喷洒航线段；
获取所述无人机中断执行的航线段的中断点；
根据所述无人机的位置，确定所述无人机是否在所述中断执行的航线段中存在投影点；
根据所述无人机的位置，确定所述多个航线段中位于所述中断执行的航线段后的未执行所述喷洒作业的第一预设数量的喷洒航线段中是否存在所述无人机的投影点，不根据所述无人机的位置确定所述多个航线段中位于所述中断执行的航线段后的非喷洒航线段中是否存在所述无人机的投影点；
显示用于指示返回点在所述航线上的位置的标识，其中，所述返回点包括所述中断点，当所述无人机在所述中断执行的航线段中存在投影点时，所述返回点包括所述无人机在所述中断执行的航线段中的投影点，当所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，所述返回点包括所述无人机在所述第一预设数量的喷洒航线段中的投影点。
第二方面，本发明实施例提供一种喷洒作业的规划装置，包括存储器、处理器；其中，所述存储器上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器实现：
获取并显示无人机的航线，并控制所述无人机沿所述航线执行喷洒作业，其中，所述航线由多个航线段组成，所述多个航线段包括喷洒航线段和非喷洒航线段；
获取所述无人机中断执行的航线段的中断点；
根据所述无人机的位置，确定所述无人机是否在所述中断执行的航线段中存在投影点；
根据所述无人机的位置，确定所述多个航线段中位于所述中断执行的航线段后的未执行所述喷洒作业的第一预设数量的喷洒航线段中是否存在所述无人机的投影点，不根据所述无人机的位置确定所述多个航线段中位于所述中断执 行的航线段后的非喷洒航线段中是否存在所述无人机的投影点；
显示用于指示返回点在所述航线上的位置的标识，其中，所述返回点包括所述中断点，当所述无人机在所述中断执行的航线段中存在投影点时，所述返回点包括所述无人机在所述中断执行的航线段中的投影点，当所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，所述返回点包括所述无人机在所述第一预设数量的喷洒航线段中的投影点。
第三方面，本发明实施例提供一种控制终端，包括显示装置和本发明实施例第二方面提供的喷洒作业的规划装置。
第四方面，本发明实施例提供了一种计算机可读存储介质，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现本发明实施例第一方面提供的喷洒作业的规划方法。
采用本发明，在确定返回点的过程中，本发明根据被中断执行的航线段后的航线段的喷洒属性，避开将返回点规划到非喷洒航线上，除了中断点和在中断执行的航线段上的投影点(如有)之外，将所有返回点都规划到喷洒航线段上，这样可以降低控制无人机返回至非喷洒航线段的概率，这样可以符合用户的预期并且节约电能消耗进而提高执行喷洒作业的效率。
附图说明
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一简单地介绍，显而易见地，下面描述中的附图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的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种喷洒作业的规划方法的流程示意图；
图2-图8为本发明实施例提供的无人机在不同情况下飞离航线后确定返回点的示意图；
图9为本发明实施例提供的一种喷洒作业的规划装置的结构示意图；
图10为本发明实施例提供的一种控制终端的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
另外，下述各方法实施例中的步骤时序仅为一种举例，而非严格限定。
图1为本发明实施例提供的一种喷洒作业的规划方法的流程图，所述方法的执行主体可以是喷洒作业的规划装置。在某些实施例中，控制终端可以包括所述规划装置，该方法可以应用于控制终端，即所述方法可以由控制终端来执行，以下由控制终端为执行主体来进行示意说明。如图1所示，该方法包括如下步骤：
101、获取并显示无人机的航线，并控制无人机沿航线执行喷洒作业，其中，航线由多个航线段组成，多个航线段包括喷洒航线段和非喷洒航线段。
102、获取无人机中断执行的航线段的中断点。
103、根据无人机的位置，确定无人机是否在中断执行的航线段中存在投影点。
104、根据无人机的位置，确定多个航线段中位于中断执行的航线段后的未执行喷洒作业的第一预设数量的喷洒航线段中是否存在无人机的投影点，不根据无人机的位置确定多个航线段中位于中断执行的航线段后的非喷洒航线段中是否存在无人机的投影点。
105、显示用于指示返回点在航线上的位置的标识，其中，返回点包括中断点，当无人机在中断执行的航线段中存在投影点时，返回点包括无人机在中断执行的航线段中的投影点，当无人机在第一预设数量的喷洒航线段中存在投影点时，返回点包括无人机在第一预设数量的喷洒航线段中的投影点。
实际应用中，用户可以向控制终端输入需要执行喷洒作业的作业区域，控制终端响应于对作业区域的选择操作，确定无人机的作业区域。控制终端可以包括显示装置，基于此，显示装置可以显示用于划分作业区域的地图，这样用户可以在地图中选择需要执行喷洒作业的作业区域。然后控制终端可以根据用户选择的作业区域，自动规划执行喷洒作业的航线。控制终端可以与无人机建立双向通信链接，因此控制终端可以将规划后的航线发送至无人机，进而无人机可以沿规划后的航线执行喷洒作业，另外，用户可以通过控制终端对无人机进行手动飞行。控制终端可以通过显示装置进行显示规划的航线，这样便于用户查看无人机执行喷洒作业的航线。所述显示装置可以是显示屏，在某些情况中，所述显示屏可以为触摸式显示屏。
控制终端可以获取无人机的位置，可选地，还可以按照预设周期获取无人机的位置，无人机将无人机的位置发送至控制终端，由控制终端将无人机的位置标注在航线上，以便于用户查看无人机的实时位置。控制终端可以获取无人机中断执行的航线段的中断点，即获取所述中断点的位置，所述中断点的位置可以是无人机发送给控制终端的。
在实际应用中，由于无人机能够承载的药量、电池存储的电量的限制或者在航线中出现障碍物等因素，无人机需要偏离规划后的航线飞行，以到达补给位置重新加药、换电池或者避障等。当无人机完成重新加药、换电池或者避障之后，需要在的航线上确定返回点，无人机可以飞行至返回点并从所述返回点 继续沿航线飞行并执行喷洒作业，本发明实施例提供的方法可以规划出无人机返回航线时的返回点。
在本发明实施例中，可以将航线划分为多个航线段，该多个航线段中可以包括喷洒航线段和非喷洒航线段。其中，喷洒航线段为需要执行喷洒作业的航线段，非喷洒航线段为不需要执行喷洒作业的航线段。在某些情况中，所述多个航线段中，所述喷洒航线段和非喷洒航线段是交替连接的，在某些实施例中，喷洒航线段之间是相互平行的，在某些实施例中，非喷洒航线段之间是相互平行的。
举例来说，如图2所示，航线可以包括S1S2、S2S3、S3S4、S4S5、S5S6、S6S7、S7S8航线段。其中，S1S2为喷洒航线段，S2S3为非喷洒航线段，S3S4为喷洒航线段，S4S5为非喷洒航线段，S5S6为喷洒航线段，S6S7为非喷洒航线段，S7S8为喷洒航线段。
在实际应用中，无人机偏离航线的位置可以称为中断点，中断点所在的航线段可以称为中断执行的航线段。仍以图2为例来说，无人机在图中所示中断点的位置离开航线，中断执行的航线段为S3S4。
在无人机飞离航线之后，会以一定速度飞行，当无人机飞到一定位置时，无人机的速度会降至小于阈值或者降至为0，此时可以获取无人机的位置，根据无人机的位置确定无人机是否在中断执行的航线段中存在投影点。确定投影点的过程可以实现为：确定无人机到中断执行的航线段是否存在垂线，如果存在垂线，则垂足为无人机在中断执行的航线段中的投影点，该投影点可以作为一个无人机返回航线的返回点。
可以理解的是，多个航线段之间有飞行的先后顺序，无人机需按照顺序依次飞行经过各航线段。以图2为例来说，无人机需依次飞行经过的航线段的顺序为：S1S2、S2S3、S3S4、S4S5、S5S6、S6S7、S7S8。
基于此，还可以确定多个航线段中位于中断执行的航线段后的未执行喷洒作业的第一预设数量的喷洒航线段，所述第一预设数量的喷洒航线段为在航线方向上距离所述被中断执行的航线段最近的第一预设数量的喷洒航线段。仍以 图2为例来说，中断执行的航线段后的未执行喷洒作业的喷洒航线段包括S5S6、S7S8。在某些实施例中，第一预设数量可以是大于或者等于2的数值。可以确定无人机在这些航线段中的某些航线段上是否存在投影点，如果存在投影点，可以将上述某些航线段上存在的投影点作为无人机返回航线的返回点。
另外，值得注意的是，不需要确定无人机在非喷洒航线段中的投影点。如图2所示，无需确定无人机在S4S5、S6S7中的投影点。因为即使无人机在非喷洒航线段中存在投影点，由于无人机无需在非喷洒航线段上执行喷洒作业，因此也不推荐将非喷洒航线段上的投影点作为返回点，避免无人机返回这种返回点后再沿着非喷洒航线段飞行到下一个喷洒航线段。如果无人机可以直接返回位于某个喷洒航线段上的返回点，则可以缩短无人机的飞行路程，降低能耗。
需要说明的是，中断点也可以作为一个无人机返回航线的返回点。在确定出所有返回点之后，可以由控制终端显示用于指示返回点在航线上的位置的标识。其中，返回点不包括无人机在中断执行的航线段后的非喷洒航线段上的投影点。
值得注意的是，可以按照预设周期根据无人机实时的位置刷新无人机返回航线的返回点。当无人机的位置发生变化时，可以重复依照上面介绍的方法根据无人机最新的位置确定可能的返回点。
此外，为了便于用户理解，可以直接在控制终端显示的航线中返回点的相应位置上注明“返回点”字样，以方便用户直截了当的知道航线中标注的点是用于指示无人机可能的返回位置的。
可选地，若无人机在中断执行的航线段中存在投影点且无人机在第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，返回点包括第一预设数量的投影点中靠近中断点的第二预设数量的投影点，返回点不包括第一预设数量的投影点中除第二预设数量的投影点之外的投影点；和/或若无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，返回点包括第一预设数量的投影点。
需要说明的是，当无人机在中断执行的航线段中存在投影点且无人机在第 一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，可选的返回点较多，可以只显示第一预设数量的投影点中靠近中断点的第二预设数量的投影点。采用本发明实施例提供的方法，可以对返回点的数量进行优化，将返回点的数量限制在一定数值之内，方便用户选择。
在某些实施例中，第一预设数量可以是2，第二预设数量可以是1。以图3为例来说，图3中每个航线段的喷洒属性与图2相同，无人机在S3S4上的投影点为返回点1，在S5S6上的投影点为返回点2，虽然在S7S8上也存在投影点，但是由于只显示靠近中断点的1个投影点，因此可以不显示在S7S8上的投影点。最终显示结果为中断点、返回点1和返回点2。
在上例中，无人机在S7S8上的投影点距离中断点较远，一般用户不会选择这样的投影点作为返回点。若将第一预设数量的投影点都显示在控制终端，可能会对用户的选择造成干扰。因此为了提高选择的效率，可以不显示在S7S8上的投影点。
上述第一预设数量的投影点中靠近中断点的第二预设数量的投影点是按照航线距离确定的。比如图3中，返回点2到中断点的距离为返回点2到S5的距离、S4S5的距离、S4到中断点的距离之和。
再以图4为例来说，图4中每个航线段的喷洒属性与图2相同，假设无人机在执行喷洒作业的过程中，检测到无人机的药量或者电量不足，需要飞离航线补充药物或者电能。此时，如图4所示，用户将无人机从中断点向作业相反方向拉离航线到达图中所示的停止位置。在这种情况下，可能的返回点可以包括中断点、无人机分别在S3S4上投影得到的返回点1和在S5S6上投影得到的返回点2。
再以图5为例来说，图5中每个航线段的喷洒属性与图2相同。可能的返回点可以包括中断点、无人机分别在中断执行的航线段S2S3上投影得到的返回点1和在S3S4上投影得到的返回点2。
当无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，可以将第一预设数量的投影 点全部展示出来。由于无人机在中断执行的航线段中不存在投影点，因此对于用户来说，少了一种返回点的选择，为了给用户留有充分的选择，可以将第一预设数量的投影点全部展示出来供用户选择。
再以图6为例来说，无人机在中断执行的航线段S3S9上没有投影点，S9S10航线段为避障航线段。比如说在S9S10附近有电线杆，为了避开电线杆飞行，无人机需要规划避障航线段绕开电线杆。用户没有让无人机按照避障航线段飞行，而是自行将无人机从图中所述的中断点拉离航线。此时，可能的返回点可以包括图中所示的中断点、无人机分别在S10S4上投影得到的返回点1和在S5S6上投影得到的返回点2。
可选地，当无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中不存在投影点时，返回点包括第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点。
其中，上述第一预设数量的喷洒航线段中的第一个喷洒航线段是根据前文中提到的多个航线段之间的飞行先后顺序确定的。
需要说明的是，当无人机飞出地块外，无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中不存在投影点，此时为了能够找到返回点供用户选择，避免让用户无返回点可选，可以将第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点作为返回点。
以图7为例来说，图7中每个航线段的喷洒属性与图2相同，无人机飞出地块外，由于无人机在S3S4、S5S6、S7S8都不存在投影点，可以将S5S6、S7S8中的第一个喷洒航线段S5S6的起始点S5确定为返回点1。
可选地，若中断执行的航线段为喷洒航线段时，返回点包括中断执行的航线段的结束点；和/或若中断执行的航线段为非喷洒航线段时，返回点包括第一预设数量的喷洒航线段中的第二个喷洒航线段的起始点。
仍以图7来说，中断执行的航线段S3S4为喷洒航线段，可以将S3S4的结束点S4确定为返回点2。
如果中断执行的航线段为非喷洒航线段，则还可以将第一预设数量的喷洒 航线段中的第二个喷洒航线段的起始点确定为返回点。再以图8为例来说，中断执行的航线段S2S3为非喷洒航线段。可能的返回点可以包括中断点、第一个喷洒航线段S3S4的起始点S3作为返回点1、第二个喷洒航线段S5S6的起始点S5作为返回点2。
可选地，本发明实施例提供的方法还可以包括：检测用户的返回点选择操作，根据检测到的返回点选择操作确定用户在返回点中选择的目标返回点；控制无人机飞行至目标返回点，并控制从目标返回点继续沿航线执行喷洒作业。
无人机可能处于低速飞行状态，或者在航线外某处进行停留。在这种情况下，可以在控制终端的显示装置的一侧将确定出的各返回点分别对应的选项展示给用户，这样用户可以通过选项选择目标返回点。
采用上述方法可以确定出一定数量的返回点供用户选择，而进一步地，在无人机停稳后，还可以从返回点中确定推荐返回点，并显示用于指示推荐返回点在航线上的位置的标识。这样，用户可以无需选择，直接使用推荐返回点作为无人机返回航线的位置，简便了用户的操作。同时，可以减少无人机的空飞，节约电能消耗，提高喷洒作业的执行效率。
在某些实施例中，可以默认选中确定出的推荐返回点，只要用户确认返回该推荐返回点，则可以直接控制无人机飞行至该推荐返回点以重返航线。
推荐返回点可以通过某些特定标识标注出，以和其他的返回点进行区分。例如，其他的返回点可以用圆圈圈选标注，推荐返回点可以用方框圈选标注。这样，用户可以一目了然的了解到航线上的哪些位置是可选的返回点，哪个位置是推荐返回点。
可选地，上述从返回点中确定推荐返回点的过程可以实现为：若无人机在中断执行的航线段中存在投影点时，从投影点和中断点中确定推荐返回点。
可选地，从投影点和中断点中确定推荐返回点的过程可以实现为：根据中断点与中断执行的航线段的结束点的距离和投影点与中断执行的航线段的结束点的距离，从投影点和中断点中确定推荐返回点。
可选地，根据中断点与中断执行的航线段的结束点的距离和投影点与中断 执行的航线段的结束点的距离，从投影点和中断点中确定推荐返回点的过程可以实现为：若中断点与中断执行的航线段的结束点的距离大于任一投影点与中断执行的航线段的结束点的距离，且该任一投影点与中断执行的航线段的结束点的距离大于预设阈值，则确定该任一投影点为推荐返回点；和/或若中断点与中断执行的航线段的结束点的距离小于各投影点与中断执行的航线段的结束点的距离，则确定中断点为推荐返回点。
举例来说，如图3所示，返回点包括中断点、返回点1和返回点2。其中，中断点与中断执行的航线段的结束点S4的距离大于返回点1与S4的距离，假设同时返回点1与S4的距离大于预设阈值，则可以确定返回点1为推荐返回点。
需要说明的是，当用户将无人机从中断点向执行喷洒作业的方向拉离航线时，中断点与中断执行的航线段的结束点的距离大于返回点1与中断执行的航线段的结束点的距离，一般来说表示中断点与返回点1之间可能存在障碍物，因此不再推荐控制无人机返回中断点，而是改为推荐控制无人机飞行至返回点1。另外，由于返回点2距离S4较远，因此不推荐飞行至返回点2。
值得注意的是，推荐返回点1的条件包括返回点1与中断执行的航线段的结束点的距离大于预设阈值，这表示中断执行的航线段中还有一部分区域可以执行喷洒作业，因此需要将那部分区域喷完。而如果返回点1与中断执行的航线段的结束点的距离小于预设阈值，这表示中断执行的航线段中没有多少区域可以执行喷洒作业了，因此可以直接跳过该中断执行的航线段，推荐控制无人机飞行至位于下一个喷洒航线段上的返回点2。
再如图4所示，中断点与中断执行的航线段的结束点S4的距离小于返回点1与S4的距离，同时也小于返回点2与S4的距离，在这种情况下，推荐以中断点作为推荐返回点。
需要说明的是，当用户将无人机从中断点向执行喷洒作业相反的方向拉离航线时，中断点与中断执行的航线段的结束点的距离小于返回点1、返回点2与中断执行的航线段的结束点的距离，一般来说表示无人机在中断点可能药量或者电量不足，因此飞行至当前位置补充药物或者电能，因此推荐无人机返回中 断点继续执行喷洒作业。
可选地，当无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中不存在投影点时，返回点包括第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点。相应地，从返回点中确定推荐返回点的过程可以实现为：将第一个喷洒航线段的起始点确定为推荐返回点。
如图7所示，第一个喷洒航线段的起始点为S5，推荐控制无人机飞行至返回点1。
再如图8所示，第一个喷洒航线段的起始点为S3，推荐控制无人机飞行至返回点1。
可选地，从返回点中确定推荐返回点的过程可以实现为：当无人机在中断执行的航线段中不存在投影点且无人机在第一预设数量的喷洒航线段中存在投影点时，将投影点中最靠近中断点的投影点确定为推荐返回点。
如图6所示，无人机在S3S9上没有投影点，且无人机在S10S4和S5S6上都存在投影点，无人机在S10S4上投影得到的返回点1与中断点的距离更近，因此推荐控制无人机飞行至返回点1。
另外，不推荐将位于非喷洒航线段的返回点作为推荐返回点。因此，对于图5所示的情况来说，推荐将返回点2作为推荐返回点。
采用本发明，可以确定出多个返回点供用户选择，相比于相关技术中直接生成一个投影点，然后控制无人机直接返回该投影点的方案来说，本发明提供的方案更具有灵活性。在确定返回点的过程中，本发明根据航线段的喷洒属性，避开将返回点规划到非喷洒航线上，除了中断点和在中断执行的航线段上的投影点(如有)之外，将所有返回点都规划到喷洒航线段上，这样可以降低控制无人机返回至非喷洒航线段的概率，进而可以缩短无人机的飞行路程，节约电能消耗，提高执行喷洒作业的效率。
本发明又一示例性实施例提供了一种喷洒作业的规划装置，如图9所示，该装置包括：
存储器901，用于存储计算机程序；
处理器902，用于运行存储器901中存储的计算机程序以实现：
获取并显示无人机的航线，并控制所述无人机沿所述航线执行喷洒作业，其中，所述航线由多个航线段组成，所述多个航线段包括喷洒航线段和非喷洒航线段；
获取所述无人机中断执行的航线段的中断点；
根据所述无人机的位置，确定所述无人机是否在所述中断执行的航线段中存在投影点；
根据所述无人机的位置，确定所述多个航线段中位于所述中断执行的航线段后的未执行所述喷洒作业的第一预设数量的喷洒航线段中是否存在所述无人机的投影点，不根据所述无人机的位置确定所述多个航线段中位于所述中断执行的航线段后的非喷洒航线段中是否存在所述无人机的投影点；
显示用于指示返回点在所述航线上的位置的标识，其中，所述返回点包括所述中断点，当所述无人机在所述中断执行的航线段中存在投影点时，所述返回点包括所述无人机在所述中断执行的航线段中的投影点，当所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，所述返回点包括所述无人机在所述第一预设数量的喷洒航线段中的投影点。可以理解的是，如前所述的显示可以包括控制显示装置显示。
可选地，若所述无人机在所述中断执行的航线段中存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点中靠近所述中断点的第二预设数量的投影点，所述返回点不包括所述第一预设数量的投影点中除所述第二预设数量的投影点之外的投影点；和/或
若所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点。
可选地，当所述无人机在所述中断执行的航线段中不存在投影点且所述无 人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点。
可选地，若所述中断执行的航线段为喷洒航线段时，所述返回点包括所述中断执行的航线段的结束点；和/或，
若所述中断执行的航线段为非喷洒航线段时，所述返回点包括所述第一预设数量的喷洒航线段中的第二个喷洒航线段的起始点。
可选地，所述第一预设数量为2，所述第二预设数量为13。
可选地，所述处理器902，还用于：
从所述返回点中确定推荐返回点，并显示用于指示所述推荐返回点在所述航线上的位置的标识。
可选地，所述处理器902，用于：
若所述无人机在所述中断执行的航线段中存在投影点时，从所述投影点和所述中断点中确定推荐返回点。
可选地，所述处理器902，用于：
根据所述中断点与所述中断执行的航线段的结束点的距离和所述投影点与所述中断执行的航线段的结束点的距离，从所述投影点和所述中断点中确定推荐返回点。
可选地，所述处理器902，用于：
若所述中断点与所述中断执行的航线段的结束点的距离大于所述投影点与所述中断执行的航线段的结束点的距离，且所述投影点与所述中断执行的航线段的结束点的距离大于预设阈值，则确定所述投影点为推荐返回点；和/或，
若所述中断点与所述中断执行的航线段的结束点的距离小于所述投影点与所述中断执行的航线段的结束点的距离，则确定所述中断点为推荐返回点。
可选地，当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点；
所述处理器902，用于：
将所述第一个喷洒航线段的起始点确定为推荐返回点。
可选地，所述处理器902，用于：
当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，将所述投影点中最靠近所述中断点的投影点确定为推荐返回点。
可选地，所述处理器902，还用于：
检测用户的返回点选择操作，根据所述检测到的返回点选择操作确定所述用户在所述返回点中选择的目标返回点；
控制所述无人机飞行至所述目标返回点，并控制从所述目标返回点继续沿所述航线执行所述喷洒作业。图9所示的喷洒作业的规划装置可以执行图1-图8所示实施例的方法，本实施例未详细描述的部分，可参考对图1-图8所示实施例的相关说明。该技术方案的执行过程和技术效果参见图1-图8所示实施例中的描述，在此不再赘述。
本发明又一示例性实施例提供了控制终端，控制终端可以包括如前所述的规划装置900和显示装置，如图10所示，该控制终端可以包括：存储器901和处理器902和显示装置903。其中，如前所述，所述存储器901上存储有可执行代码，当所述可执行代码被所述处理器902执行时，使所述处理器902至少可以实现如前述图1至图8所示实施例中提供的喷洒作业的规划方法。显示装置903，用于显示如前所述的需要显示的对象(航线、标识等)。
另外，本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有可执行代码，所述可执行代码用于实现如前述各实施例提供的喷洒作业的规划方法。
以上各个实施例中的技术方案、技术特征在不相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本发明保护范围内的等同实施例。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利 用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (26)

  1. 一种喷洒作业的规划方法，其特征在于，包括：
    获取并显示无人机的航线，并控制所述无人机沿所述航线执行喷洒作业，其中，所述航线由多个航线段组成，所述多个航线段包括喷洒航线段和非喷洒航线段；
    获取所述无人机中断执行的航线段的中断点；
    根据所述无人机的位置，确定所述无人机是否在所述中断执行的航线段中存在投影点；
    根据所述无人机的位置，确定所述多个航线段中位于所述中断执行的航线段后的未执行所述喷洒作业的第一预设数量的喷洒航线段中是否存在所述无人机的投影点，不根据所述无人机的位置确定所述多个航线段中位于所述中断执行的航线段后的非喷洒航线段中是否存在所述无人机的投影点；
    显示用于指示返回点在所述航线上的位置的标识，其中，所述返回点包括所述中断点，当所述无人机在所述中断执行的航线段中存在投影点时，所述返回点包括所述无人机在所述中断执行的航线段中的投影点，当所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，所述返回点包括所述无人机在所述第一预设数量的喷洒航线段中的投影点。
  2. 根据权利要求1所述的方法，其特征在于，若所述无人机在所述中断执行的航线段中存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点中靠近所述中断点的第二预设数量的投影点，所述返回点不包括所述第一预设数量的投影点中除所述第二预设数量的投影点之外的投影点；和/或
    若所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点。
  3. 根据权利要求1或2所述的方法，其特征在于，当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点。
  4. 根据权利要求3所述的方法，其特征在于，若所述中断执行的航线段为喷洒航线段时，所述返回点包括所述中断执行的航线段的结束点；和/或，
    若所述中断执行的航线段为非喷洒航线段时，所述返回点包括所述第一预设数量的喷洒航线段中的第二个喷洒航线段的起始点。
  5. 根据权利要求2所述的方法，其特征在于，所述第一预设数量为2，所述第二预设数量为1。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    从所述返回点中确定推荐返回点，并显示用于指示所述推荐返回点在所述航线上的位置的标识。
  7. 根据权利要求6所述的方法，其特征在于，所述从所述返回点中确定推荐返回点，包括：
    若所述无人机在所述中断执行的航线段中存在投影点时，从所述投影点和所述中断点中确定推荐返回点。
  8. 根据权利要求7所述的方法，其特征在于，所述从所述投影点和所述中断点中确定推荐返回点，包括：
    根据所述中断点与所述中断执行的航线段的结束点的距离和所述投影点与所述中断执行的航线段的结束点的距离，从所述投影点和所述中断点中确定推 荐返回点。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述中断点与所述中断执行的航线段的结束点的距离和所述投影点与所述中断执行的航线段的结束点的距离，从所述投影点和所述中断点中确定推荐返回点，包括：
    若所述中断点与所述中断执行的航线段的结束点的距离大于所述投影点与所述中断执行的航线段的结束点的距离，且所述投影点与所述中断执行的航线段的结束点的距离大于预设阈值，则确定所述投影点为推荐返回点；和/或，
    若所述中断点与所述中断执行的航线段的结束点的距离小于所述投影点与所述中断执行的航线段的结束点的距离，则确定所述中断点为推荐返回点。
  10. 根据权利要求6-9任一项所述的方法，其特征在于，当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点，其中：
    所述从所述返回点中确定推荐返回点，包括：
    将所述第一个喷洒航线段的起始点确定为推荐返回点。
  11. 根据权利要求6-10任一项所述的方法，其特征在于，所述从所述返回点中确定推荐返回点，包括：
    当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，将所述投影点中最靠近所述中断点的投影点确定为推荐返回点。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    检测用户的返回点选择操作，根据所述检测到的返回点选择操作确定所述用户在所述返回点中选择的目标返回点；
    控制所述无人机飞行至所述目标返回点，并控制从所述目标返回点继续沿所述航线执行所述喷洒作业。
  13. 一种喷洒作业的规划装置，其特征在于，包括存储器、处理器，其中，
    所述存储器上存储有可执行代码；
    所述处理器，用于调用并执行所述可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器实现：
    获取并显示无人机的航线，并控制所述无人机沿所述航线执行喷洒作业，其中，所述航线由多个航线段组成，所述多个航线段包括喷洒航线段和非喷洒航线段；
    获取所述无人机中断执行的航线段的中断点；
    根据所述无人机的位置，确定所述无人机是否在所述中断执行的航线段中存在投影点；
    根据所述无人机的位置，确定所述多个航线段中位于所述中断执行的航线段后的未执行所述喷洒作业的第一预设数量的喷洒航线段中是否存在所述无人机的投影点，不根据所述无人机的位置确定所述多个航线段中位于所述中断执行的航线段后的非喷洒航线段中是否存在所述无人机的投影点；
    显示用于指示返回点在所述航线上的位置的标识，其中，所述返回点包括所述中断点，当所述无人机在所述中断执行的航线段中存在投影点时，所述返回点包括所述无人机在所述中断执行的航线段中的投影点，当所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，所述返回点包括所述无人机在所述第一预设数量的喷洒航线段中的投影点。
  14. 根据权利要求13所述的装置，其特征在于，若所述无人机在所述中断执行的航线段中存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点中靠近所述中断点的第二预设数量的投影点，所述返回点不包括所述第一预 设数量的投影点中除所述第二预设数量的投影点之外的投影点；和/或
    若所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中的每个航线段都存在一个投影点时，所述返回点包括所述第一预设数量的投影点。
  15. 根据权利要求13或14所述的装置，其特征在于，当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点。
  16. 根据权利要求15所述的装置，其特征在于，若所述中断执行的航线段为喷洒航线段时，所述返回点包括所述中断执行的航线段的结束点；和/或，
    若所述中断执行的航线段为非喷洒航线段时，所述返回点包括所述第一预设数量的喷洒航线段中的第二个喷洒航线段的起始点。
  17. 根据权利要求14所述的装置，其特征在于，所述第一预设数量为2，所述第二预设数量为1。
  18. 根据权利要求13-17任一项所述的装置，其特征在于，所述处理器，还用于：
    从所述返回点中确定推荐返回点，并显示用于指示所述推荐返回点在所述航线上的位置的标识。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器，用于：
    若所述无人机在所述中断执行的航线段中存在投影点时，从所述投影点和所述中断点中确定推荐返回点。
  20. 根据权利要求19所述的装置，其特征在于，所述处理器，用于：
    根据所述中断点与所述中断执行的航线段的结束点的距离和所述投影点与所述中断执行的航线段的结束点的距离，从所述投影点和所述中断点中确定推荐返回点。
  21. 根据权利要求20所述的装置，其特征在于，所述处理器，用于：
    若所述中断点与所述中断执行的航线段的结束点的距离大于所述投影点与所述中断执行的航线段的结束点的距离，且所述投影点与所述中断执行的航线段的结束点的距离大于预设阈值，则确定所述投影点为推荐返回点；和/或，
    若所述中断点与所述中断执行的航线段的结束点的距离小于所述投影点与所述中断执行的航线段的结束点的距离，则确定所述中断点为推荐返回点。
  22. 根据权利要求18-21任一项所述的装置，其特征在于，当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中不存在投影点时，所述返回点包括所述第一预设数量的喷洒航线段中的第一个喷洒航线段的起始点；
    所述处理器，用于：
    将所述第一个喷洒航线段的起始点确定为推荐返回点。
  23. 根据权利要求18-22任一项所述的装置，其特征在于，所述处理器，用于：
    当所述无人机在所述中断执行的航线段中不存在投影点且所述无人机在所述第一预设数量的喷洒航线段中存在投影点时，将所述投影点中最靠近所述中断点的投影点确定为推荐返回点。
  24. 根据权利要求13-23任一项所述的装置，其特征在于，所述处理器，还用于：
    检测用户的返回点选择操作，根据所述检测到的返回点选择操作确定所述用户在所述返回点中选择的目标返回点；
    控制所述无人机飞行至所述目标返回点，并控制从所述目标返回点继续沿所述航线执行所述喷洒作业。
  25. 一种控制终端，其特征在于，包括显示装置和权利要求13-24中任意一项所述的喷洒作业的规划装置。
  26. 一种计算机可读存储介质，其特征在于，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求1-12中任一项所述的喷洒作业的规划方法。
PCT/CN2021/129843 2021-11-10 2021-11-10 喷洒作业的规划方法、装置、控制终端和存储介质 WO2023082105A1 (zh)

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