CN110573979A - job path adjusting method and apparatus, removable device job path adjusting method and device, and recording medium - Google Patents
job path adjusting method and apparatus, removable device job path adjusting method and device, and recording medium Download PDFInfo
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- CN110573979A CN110573979A CN201880015768.2A CN201880015768A CN110573979A CN 110573979 A CN110573979 A CN 110573979A CN 201880015768 A CN201880015768 A CN 201880015768A CN 110573979 A CN110573979 A CN 110573979A
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000004891 communication Methods 0.000 claims description 15
- 238000003860 storage Methods 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009313 farming Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A job path adjusting method and apparatus, a movable device job path adjusting method and device, and a recording medium. In the method for adjusting the working path, the working path is formed by connecting a plurality of sections of sub-paths along a preset direction end to end at preset intervals, and the method comprises the following steps: determining a reference edge, wherein any edge serving as a boundary in a preset operation range is determined as the reference edge; and adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in a mode of integral traversal in the operation range.
Description
Technical Field
The present disclosure relates to a work path adjusting method and apparatus, a movable device work path adjusting method and device, and a recording medium.
Background
With the rapid development of automation technology, the tip technologies of robots, unmanned aerial vehicles, unmanned vehicles, and the like are also being developed rapidly, and technologies of mobile devices such as self-moving robots, unmanned aerial vehicles, unmanned vehicles (e.g., unmanned vehicles), and the like applied to various industries such as industry, agriculture, military industry, and the like are also being developed rapidly. For example, application of unmanned aerial vehicles, unmanned machines, and the like to plant protection work, farming work, and the like in agricultural farming is widely spread.
For example, within a predetermined range (e.g., a field area) mapped in advance, a zigzag work path is planned to traverse the predetermined range as a whole, and a movable device such as an unmanned aerial vehicle is moved along the work path to perform farming work such as spraying of pesticide, sowing, harvesting, and the like.
Therefore, how to make the path planning and adjustment of the mobile devices faster and more convenient, so as to further improve the user experience, becomes a technical problem to be solved at present.
Disclosure of Invention
The present disclosure has been made to solve the above-mentioned technical problems.
one aspect of the present disclosure provides a work path adjusting method, in which a plurality of sub-paths in a predetermined direction are connected end to end at a predetermined interval, the method including: determining a reference edge, wherein any edge serving as a boundary in a preset operation range is determined as the reference edge; and adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in a mode of integral traversal in the operation range.
Another aspect of the present disclosure provides a job path adjustment apparatus comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the job path adjustment method of any one of the one aspects.
another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, cause the processor to perform the job path adjustment method of any one of the aspects.
another aspect of the present disclosure provides a method for adjusting a work path of a movable apparatus, the method controlling the movable apparatus to perform work within a predetermined work range along the work path, the work path being formed by connecting a plurality of sub-paths in a predetermined direction end to end at a predetermined pitch, the method including: determining a reference edge, wherein any edge serving as a boundary in the operation range is determined as the reference edge; and adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in the operation range in an integral traversal mode, and controlling the movable equipment to operate along the replanned operation path.
Another aspect of the present disclosure provides a movable apparatus work path adjusting apparatus that controls a movable apparatus to perform work within a predetermined work range along a work path formed by connecting end-to-end a plurality of sub-paths in a predetermined direction at a predetermined pitch, the apparatus comprising: a communication unit for communicating with the mobile device; the display unit comprises a control interface for at least displaying the operation path and the operation range; a processor configured to control the movable apparatus to perform a job along the job path via the communication unit, and specifically configured to: determining a reference edge, wherein any edge serving as a boundary in the operation range is determined as the reference edge in response to the operation of the operation interface; and adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in the operation range in an integral traversal mode, and controlling the movable equipment to operate along the replanned operation path.
According to the operation path adjusting method and device, the movable equipment operation path adjusting method and device and the computer readable recording medium, a fast and convenient path planning and adjusting scheme can be provided for a user, and user experience is further improved.
Drawings
for a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
Fig. 1 schematically shows a schematic structural diagram of an application scenario of the (movable device) job path adjustment method according to the embodiment of the present disclosure.
Fig. 2 schematically shows a schematic structural diagram of a movable apparatus work path adjustment apparatus of an embodiment of the present disclosure.
fig. 3 schematically shows a brief flowchart of a (movable apparatus) job path adjustment method of an embodiment of the present disclosure.
Fig. 4 schematically shows an exemplary schematic flowchart of a step of adjustment of a job path of the (movable device) job path adjustment method of the embodiment of the present disclosure.
Fig. 5 schematically illustrates an example diagram of a manipulation interface in a display screen of a movable apparatus job path adjustment apparatus according to an embodiment of the present disclosure.
Fig. 6 schematically shows a schematic configuration diagram of a work path adjustment device according to another embodiment of the present disclosure.
Fig. 7 schematically shows an example diagram of a manipulation interface in a display screen of a general movable apparatus work path adjusting apparatus.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.
fig. 1 schematically shows a schematic structural diagram of an application scenario of the (movable device) job path adjustment method of the embodiment.
as shown in fig. 1, the mobile device M according to the embodiment of the present disclosure may be any self-moving device such as an unmanned aerial vehicle, a self-moving robot, an unmanned ship, or an unmanned vehicle (machine), and an application scenario of the method for adjusting a work path of the mobile device M according to the embodiment of the present disclosure, that is, the system for adjusting a work path may include at least: a movable device M, a movable device work path adjusting device S for operating the movable device M to execute a work.
The movable device operation path adjusting device S may be a remote controller having a control lever or a control key, or may be a currently commonly used movable terminal device such as a desktop computer, a portable computer, a tablet computer, or a mobile phone. Further, the movable apparatus work path adjustment apparatus S includes at least a display unit P thereon.
Further, the mobile device M and the mobile device operation path adjustment device S each further include at least a communication unit, and interact with each other (i.e., communicate information with each other) through the respective communication units, and the interaction may be realized by wired communication, but nowadays, most of all of them are realized by wireless communication as shown in fig. 1.
Next, the configuration of the movable apparatus work path adjustment apparatus S according to the embodiment of the present disclosure will be described with reference to fig. 2.
Fig. 2 schematically shows a schematic structural diagram of a movable apparatus work path adjustment apparatus of an embodiment of the present disclosure.
As shown in fig. 2, the movable device job path adjustment device S may include at least a display unit P, a communication unit T, and a processor C.
The display unit P includes at least a manipulation interface as a user interface on which various information, for example, map information (including position information of the movable apparatus M and the like), work path information and work range information of the movable apparatus M and the like as shown in fig. 7 below can be displayed. Here, the display unit P is preferably a touch screen, so that the operation interface can be conveniently operated. Of course, the display unit P may also be used to manipulate the manipulation interface in other manners (for example, a mouse + icon manner) as in a general display screen.
The communication unit T can receive various information transmitted from the outside, for example, various information transmitted from the movable device M (for example, the current position of the movable device M, etc.). The communication unit T can also send respective information to the outside, for example, send a manipulation instruction or the like to the removable device M.
And the processor C is used for controlling the movable equipment M to work according to a preset work path.
Next, a description will be given of a work path adjustment scheme of a general portable equipment work path adjustment apparatus.
fig. 7 schematically shows an example diagram of a manipulation interface in a display screen of a general movable apparatus work path adjusting apparatus.
as shown in fig. 7, map information is displayed on the control interface, and work range information, work route information, control information, and the like are displayed on the map information in an overlapping manner.
The working range may be a portion surrounded by a boundary line E connecting preset (or obtained by mapping in advance) mapping points Pt. The working path may be formed by connecting a plurality of sub-paths L in a predetermined direction within the working range surrounded by the boundary line E at predetermined intervals (for example, the sub-paths may be at equal intervals or at unequal intervals).
Further, the job path is generated in the job scope in a manner of traversing the job scope as a whole, and the job path has two end points Pi of a start and an end, and which end point is a start point of the job path may be determined according to the specific situation of the job, for example, an end point closer to the current position of the movable device among the two end points may be preferred as the start point.
Further, a point Pm in the manipulation interface is a manipulation point for performing a manipulation for adjusting the direction of the sub path L in the work path. Specifically, the direction of the sub-path L in the work path may be made to follow the movement of the manipulation point Pm by moving the manipulation point Pm in the manipulation interface, and the work path may be re-planned so as to traverse the work range as a whole in the work range. For example, as the manipulation point Pm moves up/down, the direction of the sub-path L in the work path may be made to tend to horizontal/vertical following the up/down movement of the manipulation point Pm.
Further, before the adjustment of the work path by the manipulation point, the work path extending in a random direction or a default direction may be generated within the work range according to the work range.
Although such a general mobile equipment work path adjustment scheme can satisfy a certain path adjustment requirement, in actual operation, in a case where it is necessary to directly align the direction of the work path (i.e., the direction of the sub-path L) with any one of the boundaries in the work range, such a general mobile equipment work path adjustment scheme that performs direction adjustment with the manipulation point Pm becomes inconvenient and difficult to adjust accurately.
Next, a (movable apparatus) operation path adjustment method according to an embodiment of the present disclosure will be specifically described with reference to fig. 3 and fig. 1 and 2. It is to be noted herein that this work path adjusting method is a work path adjusting method of the movable-apparatus work path adjusting apparatus S of the embodiment of the present disclosure.
Fig. 3 schematically shows a brief flowchart of a (movable apparatus) job path adjustment method of an embodiment of the present disclosure.
As shown in fig. 3, a method for adjusting a working path according to an embodiment of the present disclosure, as shown in fig. 7, may include: determination of a reference edge S1; adjustment of the work path S2.
First, in the reference edge determination S1, any edge that is a boundary in a predetermined work area is determined as a reference edge.
here, the predetermined working range may be a polygon such as a quadrangle as shown in fig. 7, and it goes without saying that it may be a triangle, or even a triangle in which only one straight side exists as the boundary and the other portion of the boundary is in a circular arc shape.
Then, in the work path adjustment S2, the predetermined direction (i.e., the direction of the plurality of sub paths) is adjusted to be parallel to the reference edge and the work path is re-planned so as to traverse the work scope as a whole within the work scope.
therefore, the rapid and convenient path planning and adjusting scheme is realized, and the user experience is improved.
the adjustment S2 of the work path may further include: determination of the work path starting point, as in the normal work path adjustment scheme shown in fig. 7, the end point closer to the current position of the movable device M among the two end points of the work path is determined as the work path starting point.
Next, the adjustment S2 of the work path will be specifically described with reference to fig. 4.
Fig. 4 schematically shows an exemplary schematic flowchart of a step of adjustment of a job path of the (movable device) job path adjustment method of the embodiment of the present disclosure.
As shown in FIG. 4, the adjustment of the job path S2 may include a determination of a job path start point S2-1; planning of the job path S2-2.
first, in the determination S2-1 of the job path starting point, the current position of the movable device M that executes the job may be acquired, and the end point closer to the current position of the movable device M among the two end points of the job path may be determined as the job path starting point. Thus, the movable equipment M can run a short route to reach the starting point and start to execute the task, and the waste of energy of the movable equipment M is avoided.
Further, the job path starting point may be set to: and the distance between the boundary and the boundary which is closest to the starting point of the operation path in the boundary of the path range is larger than or equal to a preset value. Wherein the preset value may be a working coverage radius of the mobile device M. That is, the distance between the work path starting point and the nearest boundary is greater than or equal to a work coverage radius of the movable device (e.g., a work spray radius in the case of a drone, etc.). In this way, it is ensured that work is performed along the work path to cover the entire work area. Of course, the preset value may also be set to be smaller or larger than the work coverage radius according to actual needs, or set to be half of the width or length of the work coverage area, for example, in the case that the work coverage area is rectangular (for example, spraying work is performed around an unmanned vehicle, etc.). As long as it is possible to ensure that work is performed along the work path to cover the entire work range.
further, the work path starting point may be near at least one corner in the work range. In this way it is ensured that the initial path at least completes the working coverage of at least one corner in the working range.
Then, in the planning of the work path S2-2, from the work path starting point, the predetermined direction (i.e., the direction of the plurality of pieces of sub-paths) is adjusted to be parallel to the reference side determined in the determination of the reference side S1 and the work path is re-planned in such a manner as to traverse the work scope as a whole within the work scope.
therefore, the rapid and convenient path planning and adjusting scheme is realized, and the user experience is improved.
Further, the above-described configuration of adjusting the work path at the normal steering point Pm as shown in fig. 7 may be combined. That is, the above-mentioned work path adjusting method according to the embodiment of the present disclosure may further include: and taking a preset point as a reference point (for example, a control point Pm), adjusting the preset direction to follow the movement of the reference point, and replanning the working path in a whole traversal manner in the working range.
Therefore, the scheme of adjusting the operation path by taking the boundary line as the reference line and the scheme of adjusting the operation path by taking the control point as the reference point are effectively combined, so that the using freedom degree can be improved while the rapidness and convenience of path planning and scheme adjustment are improved, and the user experience is further improved.
Further, as in the case of the above-described conventional method of adjusting the work path with the manipulation point as the reference point shown in fig. 7, the work path extending in a random direction or a default direction may be generated in the work range according to the work range before the work path is adjusted through the reference line according to the embodiment of the present disclosure.
Next, referring to fig. 5 in conjunction with fig. 3 and 4, a case where the operation path adjustment method is applied to the mobile device M will be specifically described.
Fig. 5 schematically illustrates an example diagram of a manipulation interface in a display screen of a movable apparatus job path adjustment apparatus according to an embodiment of the present disclosure.
As shown in fig. 5, a method for adjusting a work path of a movable apparatus according to an embodiment of the present disclosure is to control the movable apparatus M to perform work within a predetermined work range (for example, a quadrangle surrounded by a straight boundary E) along the work path, where the work path is formed by joining a plurality of sub-paths L along a predetermined direction at predetermined intervals, and the method may include: determination S1 of the reference edge as shown in fig. 3; adjustment of the work path S2.
First, in the reference edge determination S1, any edge that is a boundary in a predetermined work area is determined as a reference edge (for example, edge E shown in fig. 5). Here, the determination of the reference edge may be achieved by manipulating the manipulation interface (e.g., double-clicking any one of the edges, e.g., the edge E, etc.). Of course, the manipulation may be any manipulation action other than the double click as long as the reference edge can be determined.
Here, the predetermined working range may be a polygon such as a quadrangle as shown in fig. 5, and it goes without saying that it may be a triangle, or even a triangle in which only one straight side exists as the boundary and the other portion of the boundary is in a circular arc shape.
then, in the adjustment S2 of the work path shown in fig. 3, the predetermined direction (i.e., the direction of the plurality of pieces of sub-paths L) is adjusted to be parallel to the reference side (e.g., the side E shown in fig. 5) and the work path is re-planned in the work range so as to traverse the work range as a whole, and the movable machine M is controlled to perform work along the re-planned work path.
therefore, the rapid and convenient path planning and adjusting scheme is realized, and the user experience is improved.
The adjustment S2 of the work path may further include: determination of the work path starting point, as in the normal work path adjustment scheme shown in fig. 7, the end point closer to the current position of the movable device M among the two end points of the work path is determined as the work path starting point.
Further, the adjustment of the job path S2 may include determination of a start point of the job path S2-1 as shown in fig. 4; planning of the job path S2-2.
First, in the determination S2-1 of the job path start point, the current position of the movable device M (for example, the point Po shown in fig. 5) where the job is executed may be acquired, and the end point closer to the current position Po of the movable device M (for example, the point Pi shown in fig. 5) of the two end points of the job path may be determined as the job path start point.
Further, the job path starting point may be set to: a distance between a boundary (for example, a side opposite to the side E shown in fig. 5) closest to the work path start point Pi among the boundaries of the path range is greater than or equal to a preset value. Wherein the preset value may be a work coverage radius of the movable apparatus M (e.g., a work spraying radius in the case of a drone, etc.). That is, the distance between the work path starting point and the nearest boundary is greater than or equal to the work coverage radius of the movable apparatus. In this way, it is ensured that work is performed along the work path to cover the entire work area. Of course, the preset value may also be set to be smaller or larger than the work coverage radius according to actual needs, or set to be half of the width or length of the work coverage area, for example, in the case that the work coverage area is rectangular (for example, spraying work is performed around an unmanned vehicle, etc.). As long as it is possible to ensure that work is performed along the work path to cover the entire work range.
Further, the work path starting point Pi may be close to at least one corner in the work range. In this way it is ensured that the initial path at least completes the working coverage of at least one corner in the working range.
Then, in the planning S2-2 of the work path shown in fig. 4, the predetermined direction (i.e., the direction of the plurality of pieces of sub-paths L) is adjusted from the work path start point Pi to be parallel to the reference edge E determined in the determination S1 of the reference edge and the work path is re-planned in such a manner as to traverse the work range as a whole within the work range, and the movable machine M is controlled to perform the work along the work path after the re-planning.
Therefore, the rapid and convenient path planning and adjusting scheme is realized, and the user experience is improved.
further, the above-described configuration of adjusting the work path at the normal steering point Pm as shown in fig. 7 may be combined. That is to say, the above-mentioned movable equipment work path adjusting method according to the embodiment of the present disclosure may further include: and taking a preset point as a reference point (for example, a control point Pm), adjusting the preset direction to follow the movement of the reference point Pm, replanning the working path in a whole traversal manner in the working range, and controlling the movable equipment M to work along the replanned working path.
Therefore, the scheme of adjusting the operation path by taking the boundary line as the reference line and the scheme of adjusting the operation path by taking the control point as the reference point are effectively combined, so that the using freedom degree can be improved while the rapidness and convenience of path planning and scheme adjustment are improved, and the user experience is further improved.
Further, as in the case of the above-described conventional method of adjusting the work path with the manipulation point as the reference point shown in fig. 7, the work path extending in a random direction or a default direction may be generated in the work range according to the work range before the work path is adjusted through the reference line according to the embodiment of the present disclosure.
In addition, as shown in fig. 2, the movable apparatus work path adjusting apparatus M as an embodiment of the present disclosure is configured to control the movable apparatus M to perform work in a predetermined work range along a work path formed by connecting end-to-end sub-paths in a predetermined direction at a predetermined pitch, and may include: a communication unit T for communicating with the mobile device M; the display unit D comprises a control interface for at least displaying the operation path and the operation range; the processor C is configured to control the movable apparatus M to perform the job along the job path via the communication unit, and may specifically be configured to: as shown in fig. 3, the determination S1 of the reference edge determines, as the reference edge, any one of the edges as the boundary in the work scope in response to the manipulation of the manipulation interface; and adjusting the working path S2, adjusting the preset direction to be parallel to the reference edge and replanning the working path in a whole traversal mode in the working range, and controlling the movable equipment M to work along the replanned working path.
further, the adjusting of the work path may further include: as the determination S2-1 of the job path starting point shown in fig. 4, the current position of the movable device is acquired, and the end point closer to the current position of the movable device among the two end points of the job path is determined as the job path starting point.
In addition, the starting point of the work path may be set such that a distance between the starting point of the work path and a boundary closest to the starting point of the work path among the boundaries is greater than or equal to a preset value.
Further, the distance between the work path starting point and the nearest boundary may be greater than or equal to the work coverage radius of the movable apparatus M.
Further, the work path starting point may be near at least one corner in the work range.
Further, the adjusting of the work path may further include: and taking a preset point in the control interface as a reference point, adjusting the preset direction to follow the movement of the reference point, replanning the operation path in the operation range in an overall traversal manner, and controlling the movable equipment M to operate along the replanned operation path.
Further, the working range may have at least one straight line side as the boundary.
Further, the working range may be polygonal.
further, a work path extending in a random direction or a default direction may be generated within the work range according to the work range before the adjustment of the work path.
Furthermore, the mobile device may be a drone, a self-moving robot, or an unmanned vehicle.
Further, the manipulation may be a double click on the reference edge.
In addition, the display unit may be a touch screen.
Therefore, according to the operation path adjusting method, the movable equipment operation path adjusting method and the movable equipment operation path adjusting equipment of the embodiment of the disclosure, a fast and convenient operation path planning and adjusting scheme with high degree of freedom can be provided for a user, and therefore user experience is greatly improved.
Next, another work path adjusting apparatus in which the work path adjusting method according to the embodiment of the present disclosure is implemented in hardware will be described with reference to fig. 6 as an example.
Fig. 6 schematically shows a schematic configuration diagram of a work path adjustment device according to another embodiment of the present disclosure.
As shown in fig. 6, the working path adjusting apparatus 300 may include: a processor 310 (e.g., a CPU, etc.), and a memory 320 (e.g., a hard disk HDD, a read only memory ROM, etc.). Also included may be a readable storage medium 321 (e.g., a magnetic disk, optical disk CD-ROM, USB, etc.) represented by dashed lines.
In addition, fig. 6 is only an example, and does not limit the technical solution of the present disclosure. The number of the parts in the work path adjusting apparatus 300 may be one or more, and for example, the processor 310 may be one or more processors.
as such, it is needless to say that the processes described above with reference to the flowcharts (fig. 3, 4) of the job path adjustment method of the embodiment of the present disclosure may be implemented as computer software programs. Here, the computer software program may be one or more.
Thus, for example, the computer software program is stored in the memory 320 as a storage device of the work path adjusting apparatus 300, and the one or more processors 310 of the work path adjusting apparatus 300 execute the work path adjusting method and the modifications thereof shown in the flowcharts of fig. 3 and 4 of the present disclosure by executing the computer software program.
Therefore, a rapid, convenient and high-freedom path planning and adjusting scheme can be provided for the user, and the user experience is improved.
Furthermore, it is needless to say that the wireless communication method may also be stored in a computer-readable storage medium (for example, the readable storage medium 521 shown in fig. 6) as a computer program, and the computer program may include codes/computer-executable instructions to cause a computer to execute the work path adjusting method and its modifications shown in the flowcharts of fig. 3, 4, and the like of the present disclosure, for example.
Furthermore, a computer-readable storage medium may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
In addition, the computer program may be configured with computer program code, for example, comprising computer program modules. It should be noted that the dividing manner and number of the modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, when these program modules are executed by a computer (or a processor), the computer may execute the procedures of the job path adjusting method described above with reference to fig. 3 and 4, and the modifications thereof.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the described embodiments, but should be determined not only by the appended claims, but also by equivalents thereof.
Claims (33)
1. A method for adjusting a working path, wherein the working path is formed by connecting a plurality of sub-paths along a preset direction end to end at preset intervals, the method comprises the following steps:
Determining a reference edge, wherein any edge serving as a boundary in a preset operation range is determined as the reference edge;
And adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in a mode of integral traversal in the operation range.
2. the work path adjustment method according to claim 1,
the adjusting of the job path further comprises:
Determining a starting point of a job path, acquiring the current position of movable equipment for executing the job, and determining an end point which is closer to the current position of the movable equipment in two end points of the job path as the starting point of the job path.
3. the work path adjustment method according to claim 2,
And the distance between the starting point of the operation path and the boundary which is closest to the starting point of the operation path in the boundaries is greater than or equal to a preset value.
4. The work path adjustment method according to claim 3,
a distance between the work path starting point and the nearest boundary is greater than or equal to a work coverage radius of the movable apparatus.
5. the work path adjustment method according to claim 3,
The work path starting point is proximate to at least one corner within the work envelope.
6. The work path adjustment method according to claim 1,
The method further comprises the following steps:
And taking a preset point as a reference point, adjusting the preset direction to follow the movement of the reference point, and replanning the operation path in a mode of integral traversal in the operation range.
7. the work path adjustment method according to any one of claims 1 to 6,
the working range has at least one straight line side as the boundary.
8. The work path adjustment method according to any one of claims 1 to 6,
The working range is polygonal.
9. The work path adjustment method according to any one of claims 1 to 6,
Generating the work path extending in a random direction or a default direction within the work range according to the work range before adjustment of the work path.
10. a job path adjustment device comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the job path adjustment method of any one of claims 1-9.
11. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, cause the processor to perform the job path adjustment method of any one of claims 1-9.
12. a movable equipment operation path adjusting method for controlling movable equipment to perform operation within a preset operation range along an operation path, wherein the operation path is formed by connecting a plurality of sub-paths along a preset direction end to end at preset intervals, and the method comprises the following steps:
Determining a reference edge, wherein any edge serving as a boundary in the operation range is determined as the reference edge;
And adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in the operation range in an integral traversal mode, and controlling the movable equipment to operate along the replanned operation path.
13. the movable equipment working path adjusting method according to claim 12,
The adjusting of the job path further comprises:
And determining a starting point of the operation path, acquiring the current position of the movable equipment, and determining an end point which is closer to the current position of the movable equipment in two end points of the operation path as the starting point of the operation path.
14. The movable equipment working path adjusting method according to claim 13,
And the distance between the starting point of the operation path and the boundary which is closest to the starting point of the operation path in the boundaries is greater than or equal to a preset value.
15. The movable equipment work path adjustment method of claim 14, wherein a distance between the work path starting point and the nearest boundary is greater than or equal to a work coverage radius of the movable equipment.
16. The movable equipment working path adjusting method according to claim 14,
The work path starting point is proximate to at least one corner within the work envelope.
17. The movable equipment working path adjusting method according to claim 12,
The method further comprises the following steps:
and taking a preset point as a reference point, adjusting the preset direction to follow the movement of the reference point, replanning the operation path in the operation range in a mode of integral traversal, and controlling the movable equipment to operate along the replanned operation path.
18. The movable equipment working path adjusting method according to any one of claims 12 to 17,
The working range has at least one straight line side as the boundary.
19. the movable equipment working path adjusting method according to any one of claims 12 to 17,
The working range is polygonal.
20. The movable equipment working path adjusting method according to any one of claims 12 to 17,
Generating the work path extending in a random direction or a default direction within the work range according to the work range prior to adjustment of the work path.
21. The movable equipment working path adjusting method according to any one of claims 12 to 17,
the mobile device is an unmanned aerial vehicle, a self-moving robot or an unmanned vehicle.
22. A movable apparatus work path adjusting apparatus that controls a movable apparatus to perform work within a predetermined work range along a work path formed by a plurality of sub-paths in a predetermined direction connected end to end at a predetermined pitch, comprising:
A communication unit for communicating with the mobile device;
The display unit comprises a control interface for at least displaying the operation path and the operation range;
A processor configured to control the movable apparatus to perform a job along the job path via the communication unit, and specifically configured to:
Determining a reference edge, wherein any edge serving as a boundary in the operation range is determined as the reference edge in response to the operation of the operation interface;
and adjusting the operation path, namely adjusting the preset direction to be parallel to the reference edge and replanning the operation path in the operation range in an integral traversal mode, and controlling the movable equipment to operate along the replanned operation path.
23. the movable apparatus working path adjusting apparatus according to claim 22,
The adjusting of the job path further comprises:
And determining a starting point of the operation path, acquiring the current position of the movable equipment, and determining an end point which is closer to the current position of the movable equipment in two end points of the operation path as the starting point of the operation path.
24. The movable apparatus working path adjusting apparatus according to claim 23,
And the distance between the starting point of the operation path and the boundary which is closest to the starting point of the operation path in the boundaries is greater than or equal to a preset value.
25. the movable equipment working path adjusting method according to claim 24,
a distance between the work path starting point and the nearest boundary is greater than or equal to a work coverage radius of the movable apparatus.
26. the movable apparatus working path adjusting apparatus according to claim 24,
The work path starting point is proximate to at least one corner within the work envelope.
27. The movable apparatus working path adjusting apparatus according to claim 22,
the adjusting of the job path further comprises:
And taking a preset point in the control interface as a reference point, adjusting the preset direction to follow the movement of the reference point, replanning the operation path in the operation range in an overall traversal mode, and controlling the movable equipment to operate along the replanned operation path.
28. The movable equipment working path adjusting equipment according to any one of claims 22 to 27,
The working range has at least one straight line side as the boundary.
29. the movable equipment working path adjusting equipment according to any one of claims 22 to 27,
The working range is polygonal.
30. The movable equipment working path adjusting equipment according to any one of claims 22 to 27,
Generating a work path extending in a random direction or a default direction within the work range according to the work range before adjustment of the work path.
31. The movable equipment working path adjusting equipment according to any one of claims 22 to 27,
The mobile device is an unmanned aerial vehicle, an unmanned ship, a self-moving robot or an unmanned vehicle.
32. The movable equipment working path adjusting equipment according to any one of claims 22 to 27,
The manipulation is a double click on the reference edge.
33. The movable equipment working path adjusting equipment according to any one of claims 22 to 27,
The display unit is a touch screen.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/081137 WO2019183890A1 (en) | 2018-03-29 | 2018-03-29 | Method and apparatus for adjusting working path, method and device for adjusting working path of movable device, and recording medium |
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| Publication Number | Publication Date |
|---|---|
| CN110573979A true CN110573979A (en) | 2019-12-13 |
| CN110573979B CN110573979B (en) | 2023-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880015768.2A Active CN110573979B (en) | 2018-03-29 | 2018-03-29 | Method and device for adjusting working path, method and device for adjusting working path of movable equipment, and recording medium |
Country Status (2)
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| CN (1) | CN110573979B (en) |
| WO (1) | WO2019183890A1 (en) |
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| CN110573979B (en) | 2023-11-14 |
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