CN110692026B

CN110692026B - Route planning and operation method, device, equipment and medium for land operation

Info

Publication number: CN110692026B
Application number: CN201880023862.2A
Authority: CN
Inventors: 萧延强; 金晓会
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-08-02
Filing date: 2018-08-02
Publication date: 2022-09-13
Anticipated expiration: 2038-08-02
Also published as: CN110692026A; WO2020024226A1

Abstract

A route planning and operation method, device, equipment and medium for block operation are provided, wherein the route planning method comprises the following steps: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information (101) of at least two land parcels; according to the plot set, a merged operation route (102) passing through at least two plots in the plot set is planned, thereby improving the operation efficiency.

Description

Route planning and operation method, device, equipment and medium for land operation

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a method, an apparatus, a device, and a medium for route planning and operation of a block operation.

Background

The operation method for automatically planning the route mainly comprises the following steps: mapping the plots through mapping sensors, and generating plot information and plot obstacle information according to mapping data; uploading the mapped land parcel information and the mapped obstacle information to a server; the remote controller downloads the information from the server, generates a route according to the information, sends the route to the movable operation equipment and controls the movable operation equipment to operate according to the route.

Due to the limitation of the structure and the energy module, the primary operation range of the movable operation equipment is fixed. For example, because unmanned aerial vehicle itself volume and quality have been fixed, and the time that the battery can continue a journey is limited, and the liquid medicine that the medical kit can hold is limited, therefore unmanned aerial vehicle takes off and land once can the acre number of operation fixed size, and an unmanned aerial vehicle takes off and land once can spray 20 mu for example.

In the case where the work parcel is a land parcel, the movable work equipment may perform a plurality of works to complete the work of the entire parcel. For example, the unmanned aerial vehicle can spray a part of a land parcel at a time of taking off and landing, and can finish a large land parcel, for example, a land of 60 mu, by means of breakpoint continuous spraying, and can fly for 3 times. And for the operation plots, a plurality of small plots are provided, and after the movable operation equipment needs to complete the operation of one plot, the operator controls the operation of the next plot. The movable operation equipment needs to be moved to the operation starting point of the land parcel for many times, which wastes energy and has relatively low efficiency. For example, a plot is usually 0.5 to 3 acres, an unmanned aerial vehicle flies once enough to spray a first plot, the general operation flow is to take off to the starting point of the first plot first, return to the starting point after the first plot is operated, and then take off to spray a second plot under the control of an operator, and the unmanned aerial vehicle needs to take off and land to the starting point for many times.

Disclosure of Invention

The embodiment of the disclosure provides a route planning and operation method, a route planning and operation device, equipment and a medium for a land operation, which can avoid energy waste caused by the fact that a movable operation device needs to be controlled by an operator to move to an operation starting point of a land for multiple times, and improve the operation efficiency of the movable operation device.

The route planning method for the block operation provided by the embodiment of the disclosure comprises the following steps: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels; and planning a combined operation route passing through at least two plots in the plot set according to the plot set.

In addition, an embodiment of the present disclosure further provides a method for a block operation, including:

acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set; and merging at least two plots in the plot set according to the merging operation route.

The embodiment of the present disclosure further provides a route planning device for a block operation, including: the plot set acquisition module is arranged as follows: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels; a route planning module configured to: and planning a combined operation route passing through at least two plots in the plot set according to the plot set.

The embodiment of the present disclosure further provides a plot operation device, including: a route acquisition module configured to: acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set; a merge operation module configured to: and merging at least two plots in the plot set according to the merging operation route.

The disclosed embodiment also provides a movable operation device, including: at least one processor; storage means for storing at least one program; when executed by at least one processor, cause the at least one processor to implement the above-described method.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the above-described method.

Drawings

Fig. 1 is a schematic flowchart of a route planning method for block operation according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a route planning method for block operation according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a route planning method for block operation according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a method for acquiring a parcel entry point of a parcel centralized parcel provided by an embodiment of the present disclosure;

fig. 5 is a schematic flowchart of a route planning method for block operation according to an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a method for acquiring a parcel access point of a parcel centralized parcel according to an embodiment of the present disclosure;

fig. 7 is a flowchart illustrating a route planning method for a block operation according to an embodiment of the disclosure;

fig. 8 is a schematic flowchart of a method for acquiring a parcel entry point of a parcel centralized parcel provided by an embodiment of the present disclosure;

fig. 9 is a flowchart illustrating a route planning method for a block operation according to an embodiment of the disclosure;

fig. 10 is a flowchart illustrating a route planning method for a block operation according to an embodiment of the disclosure;

fig. 11 is a flowchart illustrating a method for performing a block operation according to an embodiment of the disclosure;

fig. 12 is a schematic flowchart of a method for performing a block operation according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of a route planning device for block operation according to an embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of a block working device according to an embodiment of the present disclosure;

fig. 15 is a schematic structural diagram of a movable working device according to an embodiment of the present disclosure.

Detailed Description

The present disclosure is described in detail below with reference to the drawings and examples. It is to be understood that the embodiments described herein are merely illustrative of the present disclosure and are not limiting of the present disclosure.

Fig. 1 is a schematic flow chart of a method for planning a route of a land operation according to an embodiment of the present disclosure, where the present embodiment is applicable to a situation of planning a route of a land operation, and the method may be performed by a route planning apparatus for a land operation, and the apparatus may be implemented by at least one of software and hardware, and the apparatus may be configured on a movable operation device, such as an unmanned aerial vehicle, a tractor, and a ground robot. As shown in fig. 1, the method includes step 101 and step 102.

In step 101, a plot set to be operated is obtained, the plot set including plot information of at least two plots.

The movable operation equipment can acquire the land parcel set to be operated by acquiring land parcel information of at least two land parcels input by a user. The parcel information may be location information of the parcel, including a boundary of the parcel.

In step 102, a merged operation route through at least two plots of the set of plots is planned according to the set of plots.

The method comprises the steps of planning a merging operation route passing through at least two plots in the plot set according to the plot information of the at least two plots in the plot set. The movable working equipment can complete the working tasks of at least two plots in one working process according to the merged working route.

The merging operation route may be a merging operation route passing through all of the plots in the plot set, or may be a merging operation route passing through a part of the plots in the plot set.

According to the route planning method embodiment of the land parcel operation, the land parcel set to be operated is obtained, the land parcel set comprises the land parcel information of at least two land parcels, then the combined operation route of the at least two land parcels in the land parcel set is planned according to the land parcel set, the movable operation equipment is ensured to complete the operation tasks of the at least two land parcels in one operation process according to the combined operation route, energy waste caused by the fact that the movable operation equipment needs to be controlled by an operator to move to the operation starting point of the land parcel for multiple times is avoided, and the operation efficiency of the movable operation equipment is improved.

In this embodiment, obtaining the plot set to be operated may include: and acquiring a plot set to be operated and obstacle information matched with each plot in the plot set. Planning a merged work route via at least two plots of the set of plots according to the set of plots may include: and planning a combined operation route passing through at least two plots in the plot set according to the plot set and the obstacle information.

When planning a combined operation route of at least two plots in the plot set, the obstacle information matched with each plot in the plot set is considered, so that the movable equipment is ensured not to touch the obstacle during operation.

Fig. 2 is a schematic flow chart of a route planning method for block operation according to an embodiment of the present disclosure. In this embodiment, step 102 may include: determining a land parcel operation sequence corresponding to the land parcel set; planning a transition connection sub-route and at least two operation sub-routes in the plot according to the plot operation sequence and the plot information; and combining the transitional connection sub-route and the in-land operation sub-route according to the land operation sequence to form a combined operation route. As shown in fig. 2, the method includes steps 201 to 204.

In step 201, a plot set to be operated is obtained, the plot set including plot information of at least two plots.

In this embodiment, after obtaining the plot set to be operated, the method further includes: if the plot set is determined to comprise at least two short-distance plots with relative distances smaller than or equal to a first set distance threshold, merging the short-distance plots to obtain a first merged plot; recording blank transition areas corresponding to at least two short-distance plots in the first combined plot; the first consolidated parcel is used to replace a short distance parcel in the parcel set.

The first set distance threshold is a threshold for determining at least two short-distance plots that can be merged into one plot. The first combined plot is obtained by combining at least two short-distance plots with relative distances smaller than or equal to a first set distance threshold. Therefore, the land blocks with relatively close distances are combined into one land block for operation, and the operation efficiency is improved.

In this embodiment, after obtaining the plot set to be operated, the method may further include: if the plot set is determined to comprise at least two overlapped plots with overlapped areas, merging the overlapped plots to obtain a second merged plot; the overlapping plots in the set of plots are replaced with second merged plots.

An overlapping plot is at least two plots of plots having areas overlapping. The second combined land parcel is a land parcel obtained by combining the overlapped land parcels with the overlapped areas in the land parcel set. Thus, the overlapped plots are merged, and the second merged plot is used to replace the overlapped plots in the set of plots, thereby improving the work efficiency.

The merge process operation may be to acquire a parcel boundary corresponding to each of the overlapping parcels, respectively, and take a union of the acquired parcel boundaries as the second merged parcel.

In this embodiment, obtaining the plot set to be operated may include: receiving at least two alternative plots to be operated selected by a user; judging whether at least two alternative plots with relative distances larger than or equal to a second set distance threshold value are included in the alternative plots: if the at least two alternative plots with the relative distance larger than or equal to the second set distance threshold value are included, pushing prompt information; and if the at least two alternative plots with the relative distance larger than or equal to the second set distance threshold value are not included, forming a plot set according to the at least two alternative plots.

The second set distance threshold is a threshold for determining whether or not the distance between at least two candidate blocks to be worked selected by the user is suitable for performing the merging work. And the distance between the at least two candidate plots with the relative distance greater than or equal to the first set distance threshold is relatively long, the at least two candidate plots are not suitable for merging operation, and the user is informed of the at least two candidate plots which are not suitable for merging operation in the candidate plots through push prompt information. For example, the prompt may be "do not suggest a centralized job". And at least two alternative plots with relative distances smaller than a set distance threshold are suitable for merging operation, and a plot set is directly formed according to the at least two alternative plots. Therefore, the candidate land parcels which are not suitable for the merging operation due to the excessively long relative distance are screened out by judging at least two candidate land parcels to be operated selected by the user according to the set distance threshold.

In step 202, a parcel job order corresponding to a parcel set is determined.

The movable operation equipment sequentially completes operation tasks of at least two plots in the plot set according to the plot operation sequence.

In this embodiment, determining the work order of the land parcel corresponding to the land parcel set includes at least one of: and determining the land parcel operation sequence corresponding to the land parcel set according to the operation starting point, the operation end point and the land parcel information of at least two land parcels. Acquiring a land parcel operation sequence corresponding to a land parcel set input by a user; and determining the candidate block operation sequence corresponding to the block set according to the operation starting point, the operation end point and the block information of at least two blocks, and acquiring an adjustment result of the candidate block operation sequence input by a user as the block operation sequence corresponding to the block set.

The work start point is a position where the movable work apparatus starts work in one work task. The work end point is a position where the movable work apparatus stops working. The distance of the land parcel from the work start point can be determined based on the work start point and the land parcel information of at least two land parcels, and the land parcels can be sorted from small to large according to the distance of the land parcel from the work start point, and the obtained order is used as the land parcel work order. The distance of the land parcel from the work start point may be determined based on the work end point and the land parcel information of at least two land parcels, and the land parcel work order may be set as the order in which the distances of the land parcels from the work end point are sorted from large to small.

In step 203, a transition connecting sub-route and at least two intra-block operation sub-routes are planned according to the block operation sequence and the block information.

The transition connection sub-route is a route for the movable operation equipment to move from the current operation land parcel to the next land parcel. The transition connection sub-routes between the plots can be sequentially determined according to the plot operation sequence and the plot information. The intra-plot work sub-route is a work route of the movable work apparatus within the plot.

In step 204, the transitional coupling sub-route and the intra-plot work sub-route are combined in the plot work order to form a merged work route.

The planned transition connection sub-route and the operation sub-route in the plot are combined according to a predetermined plot operation sequence to form a combined operation route.

The route planning method embodiment of the land parcel operation comprises the steps of determining a land parcel operation sequence corresponding to a land parcel, planning a transition connection sub-route and at least two intra-land parcel operation sub-routes according to the land parcel operation sequence and land parcel information, combining the transition connection sub-route and the intra-land parcel operation sub-routes according to the land parcel operation sequence to form a combined operation route, determining the land parcel operation sequence and the transition connection sub-route according to the relative position relation between land parcels, and combining the combined operation route and the intra-land parcel operation sub-routes to form the combined operation route.

Fig. 3 is a schematic flow chart of a route planning method for block operation according to an embodiment of the present disclosure. In this embodiment, step 203 may include: according to the operation sequence of the plots, obtaining a plot in the plot set as a current operation plot; according to a land block in-point of a currently operated land block, planning an operation sub-route in the land block corresponding to the currently operated land block, and determining a land block out-point corresponding to the currently operated land block; if the next operation land parcel adjacent to the current operation land parcel is determined to exist in the land parcel set according to the land parcel operation sequence, a transitional connection sub-route between the land parcels is planned according to a land parcel exit point of the current operation land parcel and a land parcel entry point of the next operation land parcel; and repeatedly executing each operation until the processing of all the plots in the plot set is finished.

As shown in fig. 3, the method includes steps 301 to 307.

In step 301, a plot set to be worked is obtained, the plot set including plot information of at least two plots.

In step 302, a parcel job order corresponding to a parcel set is determined.

In step 303, one plot in the set of plots is obtained as the current operation plot according to the plot work order.

And sequentially acquiring a plot from the plot set as a current operation plot according to a predetermined plot operation sequence.

In step 304, according to the plot in-point of the currently operated plot, a plot in-operation sub-route corresponding to the currently operated plot is planned, and a plot out-point corresponding to the currently operated plot is determined.

The land parcel in-point is a position where the movable operation equipment enters the current operation land parcel and starts to operate. The plot out point is a position where the movable working equipment leaves the currently operated plot and stops working. The intra-block working sub-route is a working route during which the movable working device starts working from a block in point to a block out point within the currently operated block and stops working.

In step 305, it is determined whether there is a next work parcel adjacent to the currently operating parcel in the parcel set according to the parcel job order: if the next operation land parcel adjacent to the current operation land parcel exists in the land parcel set, executing step 306; if there is no next work parcel adjacent to the currently operating parcel in the parcel set, step 307 is executed.

In step 306, a transition connection sub-route between the plots is planned according to the plot out point of the current operation plot and the plot in point of the next operation plot. After step 306 is completed, the process returns to step 303.

The plot exit point of the current operation plot and the plot entry point of the next operation plot can be directly connected, and the obtained line segment is the transition connection sub-route.

In step 307, the transition connection sub-route and the intra-site operation sub-route are combined in the site operation order to form a merged operation route.

According to the route planning method embodiment of the land parcel operation, the operation sub-route in the land parcel corresponding to the current operation land parcel is planned according to the land parcel in-point of the current operation land parcel, and the land parcel out-point corresponding to the current operation land parcel is determined; and when the next operation plot adjacent to the current operation plot exists in the plot set, planning a transition connection sub-route between the plots according to the plot exit point of the current operation plot and the plot entry point of the next operation plot, planning an operation sub-route and a plot exit point in the plot according to the plot entry points of the plots in sequence, and planning a transition connection sub-route between the plots according to the plot entry point and the plot exit point of each plot in sequence.

In this embodiment, planning a transition connection sub-route and at least two intra-block operation sub-routes according to the block operation sequence and the block information further includes: and determining a transitional connection sub-route from the operation starting point to the first operation land block according to the operation starting point and the land block entry point of the first operation land block corresponding to the land block set.

Wherein the work start point is a position where the movable work apparatus starts work in one work task. The first operation land parcel is a land parcel which is firstly operated according to the land parcel operation sequence in the land parcel set corresponding to the operation task. And when the position of the operation starting point is inconsistent with the position of the plot entrance point of the first operation plot corresponding to the plot set, determining a transitional connection sub-route from the operation starting point to the first operation plot according to the operation starting point and the plot entrance point of the first operation plot corresponding to the plot set. The operation starting point and the plot entering point of the first operation plot corresponding to the plot set can be directly connected, and the obtained line segment is the transition connection sub-route. When the operation starting point is consistent with the position of the plot entrance point of the first operation plot corresponding to the plot set, the movable operation equipment directly starts operation from the plot entrance point of the first operation plot corresponding to the plot set.

In this embodiment, planning a transition connection sub-route and at least two intra-block operation sub-routes according to the block operation sequence and the block information further includes: and determining a transitional connection sub-route from the last operation land parcel to the operation end point according to the land parcel exit point and the operation end point of the last operation land parcel corresponding to the land parcel set.

Wherein the work end point is a position at which the movable work apparatus stops working in one work task. And the last operation land parcel is a land parcel which is operated in the last operation according to the land parcel operation sequence in the land parcel set corresponding to the operation task. And when the operation end point is inconsistent with the position of the block exit point of the last operation block corresponding to the block set, determining a transitional connection sub-route from the last operation block to the operation end point according to the block exit point of the last operation block corresponding to the block set and the operation end point. The plot departure point and the operation end point of the final operation plot corresponding to the plot set can be directly connected, and the obtained line segment is the transition connection sub-route. When the operation end point is consistent with the position of the land parcel departure point of the last operation land parcel corresponding to the land parcel set, the movable operation equipment directly stops the operation at the land parcel departure point of the last operation land parcel corresponding to the land parcel set.

Fig. 4 is a schematic flowchart of a method for acquiring a parcel entry point of a parcel centralized parcel provided by an embodiment of the present disclosure. As shown in fig. 4, the method includes

steps

401 and 402.

In step 401, a target parallel line is obtained from a plurality of traversal parallel lines corresponding to the target parcel according to the manner of traversing the parallel lines through the target parcel.

And the target plot is a plot obtained by collectively performing a plot entry point on the current plot. The mode of traversing the target land parcel by parallel lines means that the land parcel is traversed by the parallel lines inside the target land parcel, and a plurality of traversing parallel lines corresponding to the target land parcel can be obtained.

In this embodiment, obtaining the target parallel line from the plurality of traversal parallel lines corresponding to the target parcel includes: judging whether the target plot is a first operation plot: if the first operation land block is the first operation land block, acquiring an operation starting point as a first target reference point; if the operation land parcel is not the first operation land parcel, acquiring a land parcel exit point of a previous land parcel adjacent to the target land parcel as a first target reference point; screening out traversal parallel lines respectively matched with each plot boundary line of the target plot from a plurality of traversal parallel lines corresponding to the target plot; and acquiring one traversal parallel line closest to the first target reference point from each screened traversal parallel line as a target parallel line.

The first target reference point is a reference position point used for screening out a target parallel line from a plurality of traversal parallel lines. The target parallel line is a traversal parallel line closest to the first target reference point.

And if the target plot is the first operation plot, acquiring an operation starting point as a first target reference point. And screening out traversal parallel lines respectively matched with each land boundary line of the target land block from the plurality of traversal parallel lines corresponding to the target land block. And acquiring one traversal parallel line closest to the operation starting point from each screened traversal parallel line as a target parallel line. And if the target plot is not the first operation plot, acquiring a plot out point of a previous plot adjacent to the target plot as a first target reference point. And screening out traversal parallel lines respectively matched with each land boundary line of the target land block from the plurality of traversal parallel lines corresponding to the target land block. And acquiring one traversal parallel line closest to the land parcel exit point of the previous land parcel as a target parallel line in each screened traversal parallel line.

In step 402, one end of the target parallel line is taken as the plot entry point of the target plot.

Wherein, an end point of the target parallel line closest to the first target reference point can be used as a plot in point of the target plot.

In the method for acquiring the plot entrance point of the plot centralized plot, the target parallel lines are acquired from a plurality of traversal parallel lines corresponding to the target plot in a mode of traversing the target plot according to the adopted parallel lines; one end point of the target parallel line is used as a land parcel entry point of the target land parcel, and the land parcel entry point of the target land parcel can be determined according to the position information among the land parcels in a mode that the parallel line traverses the target land parcel.

Fig. 5 is a schematic flow chart of a route planning method for a plot operation according to an embodiment of the present disclosure, where a plot entry point in the embodiment is obtained according to the method for obtaining a plot entry point of a plot centralized plot shown in fig. 4. As shown in fig. 5, the method includes steps 501 to 508.

In step 501, a plot set to be operated is obtained, the plot set including plot information of at least two plots.

In step 502, a parcel job order corresponding to a parcel set is determined.

In step 503, one plot in the set of plots is obtained as the current operation plot according to the plot work order.

In step 504, according to the way of traversing the currently operated land parcel by parallel lines, taking the target parallel line where the land parcel entry point of the currently operated land parcel is located as the starting parallel line, and sequentially connecting each adjacent traversing parallel line in the currently operated land parcel end to form the intra-land operation sub-route corresponding to the currently operated land parcel.

And sequentially connecting every two adjacent traversal parallel lines in the current operation land block end to end by taking the target parallel line where the land block entry point of the current operation land block is as an initial parallel line to form an in-land operation sub-route corresponding to the current operation land block.

In step 505, the end point of the work sub-route in the plot is set as the plot out point corresponding to the currently operated plot.

In step 506, it is determined whether there is a next work parcel adjacent to the currently operating parcel in the parcel set according to the parcel work order: if the next operation land parcel adjacent to the current operation land parcel exists in the land parcel set, executing the step 507; if there is no next work parcel in the parcel set adjacent to the currently operating parcel, step 508 is executed.

In step 507, a transition connection sub-route between the plots is planned according to the plot exit point of the current operation plot and the plot entry point of the next operation plot. After step 507 is completed, the process returns to step 503.

In step 508, the transitional coupling sub-route and the intra-plot work sub-route are combined in the plot work order to form a merged work route.

According to the route planning method embodiment of the land parcel operation, the target parallel line where the land parcel in-point of the currently operated land parcel is located is taken as the starting parallel line according to the mode of traversing the currently operated land parcel by adopting the parallel lines, each adjacent traversing parallel line in the currently operated land parcel is sequentially connected end to form the sub-route of the operation in the land parcel corresponding to the currently operated land parcel, the terminal point of the sub-route of the operation in the land parcel is taken as the land parcel out-point corresponding to the currently operated land parcel, and the sub-route of the operation in the land parcel and the land parcel out-point corresponding to the currently operated land parcel can be determined according to the mode of traversing the parallel lines through the target land parcel.

Fig. 6 is a schematic flowchart of a method for acquiring a parcel entry point of a parcel centralized parcel provided by an embodiment of the present disclosure. As shown in fig. 6, the method includes step 601 and step 602.

In step 601, a target point is obtained from a plurality of traversal points corresponding to the target parcel according to a manner of traversing the target parcel with a plurality of line segments.

The mode of traversing the target plot by the multi-line segments refers to traversing the plot by the multi-line segments end to end inside the target plot, so that a plurality of traversal line segments corresponding to the target plot and corresponding traversal points can be obtained. And if the target plot is the first operation plot, acquiring a traversal point closest to the operation starting point from a plurality of traversal points corresponding to the target plot as a target point. And if the target plot is not the first operation plot, acquiring a traversal point closest to the plot exit point of the previous plot as a target point from a plurality of traversal points corresponding to the target plot.

In step 602, the target point is taken as a parcel in point of the target parcel.

According to the embodiment of the method for acquiring the block access point of the concentrated block, the target point is acquired from the plurality of traversal points corresponding to the target block in a mode of traversing the target block by adopting the multi-line segments, and the target point is used as the block access point of the target block, so that the block access point of the target block can be determined according to the position information among the blocks in the mode of traversing the target block by the multi-line segments.

Fig. 7 is a schematic flow chart of a method for planning a route of a block operation according to an embodiment of the present disclosure, where a block access point in the embodiment is obtained according to the method for obtaining a block access point of a block centralized block shown in fig. 6. As shown in fig. 7, the method includes steps 701 to 708.

In step 701, a plot set to be operated is obtained, the plot set including plot information of at least two plots.

In step 702, a plot work order corresponding to a set of plots is determined.

In step 703, one plot in the set of plots is obtained as the current operation plot according to the plot work order.

In step 704, according to the manner of traversing the currently operating plot by the multi-line segments, each of the adjacent traversal points in the currently operating plot is sequentially connected with the plot entry point of the currently operating plot as a starting point, so as to form an intra-plot operation sub-route corresponding to the currently operating plot.

And sequentially connecting each adjacent traversal point in the current operation land parcel by taking the land parcel entry point of the current operation land parcel as a starting point to form an in-land operation sub-route corresponding to the current operation land parcel.

In step 705, the end point of the work sub-route in the plot is set as the plot out point corresponding to the currently operated plot.

In step 706, it is determined whether there is a next work parcel adjacent to the currently operating parcel in the parcel set according to the parcel job order: if the next operation land block adjacent to the currently operated land block exists in the land block set, executing step 707; if there is no next work parcel in the parcel set adjacent to the currently operating parcel, step 708 is performed.

In step 707, a transition sub-route between the plots is planned according to the plot departure point of the current operation plot and the plot entry point of the next operation plot. After step 707 is completed, the process returns to step 703.

In step 708, the transitional coupling sub-route and the intra-plot work sub-route are combined in the plot work order to form a merged work route.

According to the route planning method embodiment of the land parcel operation, the land parcel in-situ operation sub-route corresponding to the current operation land parcel is formed by using the land parcel in-point of the current operation land parcel as the starting point and sequentially connecting each adjacent traversal point in the current operation land parcel according to the adopted mode of traversing the current operation land parcel by the multi-line segments, and the land parcel in-situ operation sub-route and the land parcel out-point corresponding to the current operation land parcel can be determined by using the end point of the land parcel in-situ operation sub-route as the land parcel out-point corresponding to the current operation land parcel.

Fig. 8 is a schematic flowchart of a method for acquiring a parcel entry point of a parcel centralized parcel provided in an embodiment of the present disclosure. As shown in fig. 8, the method includes

steps

801 and 802.

In step 801, a traversal spiral corresponding to the target parcel is obtained according to the way in which the spiral traverses the target parcel.

The mode of traversing the target land parcel by the spiral line means traversing the land parcel through the spiral line inside the target land parcel to obtain a traversal spiral line corresponding to the target land parcel.

In step 802, a block entry point for the target block is determined based on the traversal spiral.

In this embodiment, determining a block entry point of a target block according to a traversal spiral includes: judging whether the target plot is a first operation plot: if the first position operation land parcel is the first position operation land parcel, acquiring an operation starting point as a second target reference point; if the first operation land parcel is not the first operation land parcel, acquiring a land parcel out point of a previous land parcel adjacent to the target land parcel as a second target reference point; and selecting one end point closest to the second target reference point from the spiral starting point and the spiral end point of the traverse spiral as a plot entering point of the target plot.

And the second target reference point is a reference position point used for determining a block entry point of the target block in the traverse spiral. And if the target plot is the first operation plot, acquiring an operation starting point as a second target reference point, and selecting one end point which is closest to the operation starting point from the spiral line starting point and the spiral line end point of the traversal spiral line as the plot entering point of the target plot. And if the target land parcel is not the first operation land parcel, acquiring a land parcel exit point of a previous land parcel adjacent to the target land parcel as a second target reference point, and selecting an end point closest to the land parcel exit point of the previous land parcel adjacent to the target land parcel as a land parcel entry point of the target land parcel from the spiral line starting point and the spiral line end point of the traverse spiral line.

According to the embodiment of the method for acquiring the block access point of the concentrated block, the traversal spiral line corresponding to the target block is acquired in a mode of traversing the target block according to the adopted spiral line, the block access point of the target block is determined according to the traversal spiral line, and the block access point of the target block can be determined according to the mode of traversing the target block by the spiral line and the position information among the blocks.

Fig. 9 is a schematic flow chart of a route planning method for a plot operation according to an embodiment of the present disclosure, where a plot entry point in the embodiment is obtained according to the method for obtaining a plot entry point of a plot centralized plot shown in fig. 8. As shown in fig. 9, the method includes steps 901 to 910.

In step 901, a plot set to be operated is obtained, the plot set including plot information of at least two plots.

In step 902, a parcel job order corresponding to a parcel set is determined.

In step 903, one plot in the set of plots is obtained as the current operation plot in the plot work order.

In step 904, according to the way of traversing the current operation land parcel by the spiral line, the traverse spiral line corresponding to the current operation land parcel is taken as the intra-land operation sub-route corresponding to the current operation land parcel.

In step 905, the position of the plot entry point of the currently operated plot is determined, and if the currently operated plot uses the starting point of the traverse spiral as the plot entry point, step 906 is executed; if the current operational block has the end of the traversal spiral as the block entry point, step 907 is performed.

In step 906, the end point of the traversal spiral is taken as the out-point of the plot corresponding to the currently operating plot. After step 906 is complete, step 908 is performed.

In step 907, the starting point of the traversal spiral is taken as the out-of-plot point corresponding to the currently operated plot. After step 908 is complete, step 908 is performed.

In step 908, it is determined whether there is a next work parcel in the parcel set adjacent to the currently operating parcel according to the parcel work order: if there is a next work parcel adjacent to the currently operating parcel in the parcel, go to step 909; if there is no next work parcel adjacent to the currently operating parcel in the parcel set, step 910 is performed.

In step 909, a transition sub-route between the plots is planned according to the plot exit point of the current operation plot and the plot entry point of the next operation plot. After the step 909 is completed, the process returns to the step 903.

In step 910, the transitional connecting sub-route and the intra-plot work sub-route are combined according to the plot work order to form a merged work route.

According to the route planning method embodiment of the land parcel operation, the traversal spiral line corresponding to the current operation land parcel is used as the in-land operation sub-route corresponding to the current operation land parcel according to the mode of traversing the current operation land parcel by adopting the spiral line, and the in-land operation sub-route and the land parcel exit point corresponding to the current operation land parcel can be determined according to the mode of traversing the current operation land parcel by the spiral line.

Fig. 10 is a flowchart illustrating a route planning method for a block operation according to an embodiment of the present disclosure, in this embodiment, step 203 may include: determining a land parcel in-point corresponding to each land parcel and a land parcel out-point corresponding to each land parcel according to the land parcel operation sequence, the operation starting point, the operation end point and the land parcel information; determining a transitional connection sub-route according to an operation starting point, an operation end point, a plot entrance point corresponding to each plot and a plot exit point corresponding to each plot; and determining at least two intra-block operation sub-routes according to the block entry point corresponding to each block and the block exit point corresponding to each block.

As shown in fig. 10, the method includes steps 1001 to 1006.

In step 1001, a set of plots to be worked is obtained, the set of plots including plot information for at least two plots.

In step 1002, a plot work order corresponding to a set of plots is determined.

In step 1003, a parcel in-point corresponding to each parcel and a parcel out-point corresponding to each parcel are determined according to the parcel operation sequence, the operation start point, the operation end point and the parcel information.

The method comprises the steps of determining a land parcel in-point and a land parcel out-point which respectively correspond to each land parcel according to a land parcel operation sequence, an operation starting point, an operation end point and land parcel information in advance. The plot entrance point of the first work plot can be selected according to the work start point. The plot in point of a plot may be selected based on the plot out point of a previous plot adjacent to the plot. The plot departure point of the last operation plot can be selected according to the operation end point.

In step 1004, a transitional connection sub-route is determined based on the start point of the job, the end point of the job, and the in point of the land blocks corresponding to each land block and the out point of the land blocks corresponding to each land block.

The system comprises a field block inlet point, a field block outlet point and a field block destination point, wherein the field block inlet point is used for connecting a work starting point and a first work field block, the field block outlet point is used for connecting the field block and a previous field block adjacent to the field block, the field block outlet point and the work destination point are used for connecting a last work field block, and a transition connection sub-route corresponding to a field block set to be worked is determined.

In step 1005, at least two intra-block work sub-routes are determined according to the block in point corresponding to each block and the block out point corresponding to each block.

And determining the operation sub-route in the land parcel corresponding to each land parcel by adopting a mode of traversing the target land parcel by parallel lines, a mode of traversing the target land parcel by multiple lines or a mode of traversing the target land parcel by spiral lines according to the land parcel in-point and the land parcel out-point which respectively correspond to each land parcel.

In step 1006, the transitional coupling sub-route and the intra-plot work sub-route are combined in the plot work order to form a merged work route.

According to the embodiment of the route planning method for the land parcel operation, a land parcel in-point and a land parcel out-point which respectively correspond to each land parcel are determined according to the land parcel operation sequence, the operation starting point, the operation end point and the land parcel information; determining a transitional connection sub-route according to an operation starting point, an operation end point, and a plot entrance point and a plot exit point which respectively correspond to each plot; determining at least two intra-block operation sub-routes according to the block in-points and the block out-points which respectively correspond to each block, determining the block in-points and the block out-points which respectively correspond to each block, and determining a transitional connection sub-route and an intra-operation sub-route which correspond to a block set to be operated according to the block in-points and the block out-points which respectively correspond to each block.

Fig. 11 is a schematic flow chart of a method for performing a block operation according to an embodiment of the present disclosure, where the embodiment is applicable to a situation of performing the block operation, and the method may be performed by a block operation device, and the device may be implemented by at least one of software and hardware, and the device may be configured on a movable operation device, such as an unmanned aerial vehicle, a tractor, and a ground robot. As shown in fig. 11, the method includes

steps

1101 and 1102.

In step 1101, a merged operation route corresponding to a set of plots to be operated is acquired, the set of plots including at least two plots, the merged operation route being a route via at least two plots in the set of plots.

The merging operation route is a merging operation route which is planned according to the plot information of at least two plots in the plot set and passes through the at least two plots in the plot set.

In step 1102, a merge operation is performed on at least two plots in the set of plots according to the merge operation route.

Wherein, the movable working equipment can complete the working tasks of at least two plots in one working process according to the merged working route.

According to the embodiment of the land parcel operation method, the merged operation route corresponding to the land parcel set to be operated is obtained, the land parcel set comprises at least two land parcels, the merged operation route is a route which passes through the at least two land parcels in the land parcel set, and the merged operation is performed on the at least two land parcels in the land parcel set according to the merged operation route, so that the movable operation equipment can complete the operation tasks of the at least two land parcels in one operation process according to the merged operation route, energy waste caused by the fact that the movable operation equipment needs to be controlled by an operator to move to the operation starting point of the land parcel for multiple times is avoided, and the operation efficiency of the movable operation equipment is improved.

In this embodiment, merging the operation routes may include: a transition connects the sub-routes and at least two intra-block operation sub-routes.

In this embodiment, step 1102 may include: in the process of merging the land parcel sets, if a job interrupt condition is detected, recording the current job position as an interrupt position, and executing an interrupt processing strategy; when the condition of continuing operation is detected to be met, matching the current operation position with the transition connection sub-route and the operation sub-route in the land parcel; if the interruption position is determined to be located on the transitional connection sub-route, acquiring a starting point of an operation sub-route in the next plot matched with the interruption position as a new operation starting point to continue the operation on the plot set; if the interruption position is determined to be located in the work sub-route within the parcel, the interruption position is made a new work start point to continue the work on the parcel set.

The job interruption condition may be a job interruption instruction preset by a user, or a job interruption instruction input by the user. The interrupt handling policy may be to return to the start of the job. The continue job condition may be a continue job instruction input by the user. Therefore, the current work position is recorded as the interrupt position, and the new work starting point is determined according to the position information of the interrupt position to continue the work on the plot set, so that the work efficiency can be improved.

Fig. 12 is a schematic flowchart of a method for performing a block job according to an embodiment of the present disclosure, in this embodiment, step 1102 may include: detecting whether the operation is carried out to a second combined plot or not in the process of combining the operation; the second merged land parcel is formed by merging at least two short-distance land parcels with relative distances smaller than or equal to a set distance threshold in a land parcel set, and blank transition areas corresponding to the at least two short-distance land parcels of the second merged land parcel are recorded in advance; performing a transition from an active state to a non-active state if it is determined that the plot area in the second merged plot enters the blank transition area; if it is determined that the area is entered from the blank transition area in the second merged parcel to the parcel area, a transition from the non-operating state to the operating state is performed.

As shown in fig. 12, the method includes steps 1201 to 1205.

In step 1201, a merged operation route corresponding to a set of plots to be operated is acquired, the set of plots including at least two plots, the merged operation route being a route passing through at least two plots in the set of plots.

In step 1202, during the process of merging jobs, it is detected whether the job is to a first merged block: if the operation is to the first merged block, go to step 1203; if no job is done to the first merged block, the process returns to step 1202.

The first combined land parcel is formed by combining at least two short-distance land parcels with relative distances smaller than or equal to a set distance threshold value in a land parcel set, and blank transition areas corresponding to the at least two short-distance land parcels of the first combined land parcel are recorded in advance.

In step 1203, the moving state in the first merged parcel is detected: if the land area in the first merged land area is determined to enter the blank transition area, executing step 1204; if it is determined that the land area is entered from a blank transition area in the first merged land area, step 1205 is performed.

The blank transition area is an area between at least two short-distance plots, and the movable operation equipment does not need to perform the same operation as the operation in the area inside the plots in the blank transition area. For example, portable operation equipment is unmanned aerial vehicle, carries out the plant protection operation to the parcel, sprays the liquid medicine. The blank transition area does not require a drug spray.

During the merged operation, it may be detected whether the movable working device is operated to a second merged plot based on the plot information of the set of plots and the position information of the movable working device, and the position state of the movable working device may be determined: entering a blank transition zone from a plot area in the first consolidated plot, entering a plot area in the first consolidated plot, a plot area located in the first consolidated plot, and a blank transition zone located in the first consolidated plot.

In step 1204, a transition from the operational state to the non-operational state is performed.

Wherein if it is determined that the land area in the first merged land area enters the blank transition area, a transition from the operating state to the non-operating state is performed. For example, if it is determined that the drone entered into a blank transition area from a plot area in the first consolidated plot, a transition from spraying medication to stopping spraying is performed.

In step 1205, a transition from the non-operating state to the operating state is performed.

Wherein if it is determined to enter the plot area from the blank transition area in the first merged plot, a transition from the non-operating state to the operating state is performed. For example, if it is determined that the drone entered a plot area from a blank transition area in the first consolidated plot, a transition from stopping spraying to spraying medication is performed.

In the embodiment of the land parcel operation method, whether the operation is carried out to the first merged land parcel or not is detected in the merging operation process; the first combined land parcel is formed by combining at least two short-distance land parcels with relative distances smaller than or equal to a set distance threshold value in a land parcel set, and blank transition areas corresponding to the at least two short-distance land parcels of the first combined land parcel are recorded in advance; if it is determined that the block area in the first merged block enters the blank transition area, performing a transition from the working state to the non-working state; if it is determined that the area is entered from the vacant transition area in the first merged block to the block area, the transition from the non-working state to the working state is performed, and the working state of the movable working apparatus can be switched according to the location information during the merging of the jobs, avoiding waste of resources in the vacant area.

Fig. 13 is a schematic structural diagram of a route planning device for a plot operation according to an embodiment of the present disclosure, which is applicable to a situation of route planning for a plot operation. The device can be implemented in at least one of software and hardware, and can be configured to a mobile working device, such as a drone, a tractor, a ground robot, and the like. As shown in fig. 13, the apparatus may include: a parcel set acquisition module 1301 and a route planning module 1302.

The parcel set acquisition module 1301 is configured to: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels; a route planning module 1302 arranged to: and planning a merged operation route passing through at least two plots in the plot set according to the plot set.

According to the route planning device for the land parcel operation, the land parcel set to be operated is obtained, the land parcel set comprises the land parcel information of at least two land parcels, then the combined operation route of the at least two land parcels in the land parcel set is planned according to the land parcel set, the movable operation equipment is ensured to complete the operation tasks of the at least two land parcels in one operation process according to the combined operation route, energy waste caused by the fact that the movable operation equipment needs to be controlled by an operator to move to the operation starting point of the land parcel for multiple times is avoided, and the operation efficiency of the movable operation equipment is improved.

The route planning module 1302 in this embodiment may include: an order determination submodule configured to: determining a land parcel operation sequence corresponding to the land parcel set; the sub-route planning sub-module is arranged as follows: planning a transition connection sub-route and at least two operation sub-routes in the plot according to the plot operation sequence and the plot information; a route combination submodule configured to: and combining the transitional connection sub-route and the operation sub-route in the land parcel according to the land parcel operation sequence to form a combined operation route.

The sub-route planning sub-module in this embodiment may include: a parcel acquisition unit configured to: according to the operation sequence of the plots, obtaining a plot in the plot set as a current operation plot; a first route planning unit configured to: according to a plot in-point of a currently operated plot, planning an operation sub-route in the plot corresponding to the currently operated plot, and determining a plot out-point corresponding to the currently operated plot; a second route planning unit configured to: if the next operation land parcel adjacent to the current operation land parcel is determined to exist in the land parcel set according to the land parcel operation sequence, a transitional connection sub-route between the land parcels is planned according to a land parcel exit point of the current operation land parcel and a land parcel entry point of the next operation land parcel; an operation execution unit configured to: and repeatedly executing each operation until the processing of all the plots in the plot set is finished.

The sub-route planning sub-module in this embodiment may further include: a first route determination unit configured to: and determining a transitional connection sub-route from the operation starting point to the first operation land parcel according to the operation starting point and the land parcel entry point of the first operation land parcel corresponding to the land parcel set.

The sub-route planning sub-module in this embodiment may further include: a second route determination unit configured to: and determining a transitional connection sub-route from the last operation land parcel to the operation end point according to the land parcel departure point and the operation end point of the last operation land parcel corresponding to the land parcel set.

The device for acquiring the parcel entering point of the parcel centralized parcel in this embodiment may include: a parallel line acquisition module configured to: according to the mode of traversing parallel lines through a target land parcel, obtaining target parallel lines from a plurality of traversing parallel lines corresponding to the target land parcel; a first determination module configured to: one end point of the target parallel line is used as a plot entrance point of the target plot.

The parallel line obtaining module in this embodiment may include: the parcel judgment submodule is set as follows: judging whether the target plot is a first operation plot: a first acquisition submodule configured to: if the first position operation land parcel is the first position operation land parcel, acquiring an operation starting point as a first target reference point; a second acquisition submodule configured to: if the operation is not the first operation land block, acquiring a land block exit point of a previous land block adjacent to the target land block as a first target reference point; parallel lines screening submodule is set as: screening out traversal parallel lines respectively matched with each plot boundary line of the target plot from a plurality of traversal parallel lines corresponding to the target plot; a parallel lines determination submodule arranged to: and acquiring one traversal parallel line closest to the first target reference point from the screened traversal parallel lines as a target parallel line.

The first route planning unit in this embodiment may include: a first wiring subunit configured to: according to the mode of traversing the current operation land parcel by parallel lines, taking a target parallel line where a land parcel entry point of the current operation land parcel is located as an initial parallel line, and sequentially connecting head and tail of each adjacent traversing parallel line in the current operation land parcel to form an in-land operation sub-route corresponding to the current operation land parcel; a first determining subunit configured to: and taking the terminal point of the operation sub-route in the plot as a plot exit point corresponding to the current operation plot.

The device for acquiring the parcel entry point of the parcel centralized parcel in this embodiment may include: the target point acquisition module is used for acquiring target points from a plurality of traversal points corresponding to the target plot according to a mode of traversing the target plot by a plurality of line segments; a second determination module configured to: and taking the target point as a plot entrance point of the target plot.

The first route planning unit in this embodiment may include: a second wiring subunit configured to: according to the mode of traversing the current operation land parcel by the multi-line segments, sequentially connecting each adjacent traversal point in the current operation land parcel by taking a land parcel entry point of the current operation land parcel as a starting point to form an intra-land operation sub-route corresponding to the current operation land parcel; a second determining subunit configured to: and taking the terminal point of the operation sub-route in the plot as the plot exit point corresponding to the current operation plot.

The device for acquiring the parcel entering point of the parcel centralized parcel in this embodiment may include: a helix acquisition module configured to: acquiring a traversal spiral line corresponding to the target land parcel according to the mode of traversing the target land parcel by the spiral line; a third determination module configured to: and determining a plot entry point of the target plot according to the traversal spiral.

The third determining module in this embodiment may include: the parcel judgment submodule is set as follows: judging whether the target plot is a first operation plot: a third acquisition submodule configured to: if the first position operation land parcel is the first position operation land parcel, acquiring an operation starting point as a second target reference point; a fourth obtaining submodule configured to: if the first operation land parcel is not the first operation land parcel, acquiring a land parcel out point of a previous land parcel adjacent to the target land parcel as a second target reference point; the access point selection submodule is set as: and selecting one end point which is closest to the second target reference point from the spiral starting point and the spiral end point of the traverse spiral as a plot entering point of the target plot.

The first route planning unit in this embodiment may include: a helix selection subunit configured to: according to the mode of traversing the current operation land parcel by the spiral line, taking the traverse spiral line corresponding to the current operation land parcel as an in-land operation sub-route corresponding to the current operation land parcel; a third determining subunit configured to: if the current operation plot uses the starting point of the traverse spiral line as a plot in point, the end point of the traverse spiral line is used as a plot out point corresponding to the current operation plot; a fourth determination subunit configured to: and if the current operation plot takes the end point of the traverse spiral line as a plot in point, taking the starting point of the traverse spiral line as a plot out point corresponding to the current operation plot.

The sub-route planning sub-module in this embodiment may include: an entry and exit point determination unit configured to: determining a land parcel in-point corresponding to each land parcel and a land parcel out-point corresponding to each land parcel according to the land parcel operation sequence, the operation starting point, the operation end point and the land parcel information; a transition route determination unit configured to: determining a transitional connection sub-route according to an operation starting point, an operation end point, a land block in point respectively corresponding to each land block and a land block out point respectively corresponding to each land block; an intra-block route determination unit configured to: and determining at least two intra-block operation sub-routes according to the block in point respectively corresponding to each block and the block out point respectively corresponding to each block.

The route planning device for the plot operation in this embodiment may further include: a first parcel merging module configured to: if the plot set is determined to comprise at least two short-distance plots with relative distances smaller than or equal to a set distance threshold, combining the short-distance plots to obtain a first combined plot; an area recording module configured to: recording blank transition areas corresponding to at least two short-distance plots in the first combined plot; a first parcel replacement module arranged to: short-distance plots in the plot set are replaced with the first merged plot.

The route planning device for the plot operation in this embodiment may further include: a second block merging module configured to: if the plot set is determined to comprise at least two overlapped plots with overlapped areas, merging the overlapped plots to obtain a second merged plot; a first parcel replacement module arranged to: the overlapping plots in the set of plots are replaced with second merged plots.

The parcel set obtaining module 1301 in this embodiment may include: a parcel receiving submodule configured to: receiving at least two alternative plots to be operated selected by a user; the distance judgment submodule is set as follows: judging whether at least two alternative plots with relative distances larger than or equal to a set distance threshold value are included in the alternative plots: the information pushing submodule is set as follows: if the at least two alternative plots with the relative distance greater than or equal to the second set distance threshold are included, pushing prompt information; the land parcel forming submodule is set as: and if at least two alternative land blocks with the relative distance larger than or equal to a second set distance threshold value are not included, forming a land block set according to the at least two alternative land blocks.

The parcel set obtaining module 1301 in this embodiment may include: an information acquisition submodule configured to: and acquiring a plot set to be operated and obstacle information matched with each plot in the plot set.

The route planning module 1302 in this embodiment may include: a route planning sub-module configured to: and planning a combined operation route passing through at least two plots in the plot set according to the plot set and the obstacle information.

The order determination sub-module in this embodiment may include at least one of: a first order determination unit configured to: and determining the land parcel operation sequence corresponding to the land parcel set according to the operation starting point, the operation end point and the land parcel information of at least two land parcels. A sequence acquisition unit configured to: acquiring a land parcel operation sequence corresponding to a land parcel set input by a user; a second order determination unit configured to: and determining the candidate block operation sequence corresponding to the block set according to the operation starting point, the operation end point and the block information of at least two blocks, and acquiring an adjustment result of the candidate block operation sequence input by a user as the block operation sequence corresponding to the block set.

The route planning device for the land parcel operation provided by the embodiment of the disclosure can execute the route planning method for the land parcel operation provided by any embodiment of the disclosure, and is provided with a corresponding functional module of the execution method.

Fig. 14 is a schematic structural diagram of a land parcel working apparatus according to an embodiment of the present disclosure, which is applicable to a land parcel working situation. The device can be implemented in at least one of software and hardware, and can be configured to a mobile working device, such as a drone, a tractor, a ground robot, and the like. As shown in fig. 14, the apparatus may include: a route acquisition module 1401 and a merge job module 1402.

The route obtaining module 1401 is configured to: acquiring a merged operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the merged operation route is a route passing through at least two land parcels in the land parcel set; a merge job module 1402 configured to: and merging at least two plots in the plot set according to the merging operation route.

According to the embodiment of the land parcel operation device, the merged operation route corresponding to the land parcel set to be operated is obtained, the land parcel set comprises at least two land parcels, the merged operation route is a route formed by concentrating at least two land parcels through the land parcels, and the merged operation is carried out on the at least two land parcels in the land parcel set according to the merged operation route, so that the movable operation equipment can complete the operation tasks of the at least two land parcels in one operation process according to the merged operation route, energy waste caused by the fact that the movable operation equipment needs to be controlled by an operator to move to the operation starting point of the land parcel for multiple times is avoided, and the operation efficiency of the movable operation equipment is improved.

The merge job module 1402 in this embodiment may include: the parcel detection submodule is set as: detecting whether the operation is carried out to a first merging place or not in the process of merging the operation; the first combined land parcel is formed by combining at least two short-distance land parcels with relative distances smaller than or equal to a set distance threshold in a land parcel set, and blank transition areas corresponding to the at least two short-distance land parcels of the first combined land parcel are recorded in advance; a first conversion submodule arranged to: if the operation is detected to the first merged land block and the land block area in the first merged land block is determined to enter the blank transition area, the conversion from the operation state to the non-operation state is executed; a second conversion submodule arranged to: if a job is detected to the first consolidated block and it is determined to enter the block area from a blank transition area in the first consolidated block, a transition from the non-job state to the job state is performed.

The merging of the work routes in the present embodiment may include: a transition connects the sub-routes and at least two intra-block operation sub-routes.

The merge job module 1402 in this embodiment may include: an interrupt detection submodule configured to: in the process of merging the plot sets, if a job interrupt condition is detected, recording the current job position as an interrupt position, and executing an interrupt processing strategy; a location matching submodule configured to: when the condition of continuing operation is detected to be met, matching the current operation position with the transition connection sub-route and the operation sub-route in the land parcel; a first job submodule configured to: if the interruption position is determined to be located on the transitional connection sub-route, acquiring a starting point of an operation sub-route in the next plot matched with the interruption position as a new operation starting point to continue the operation on the plot set; a second operation submodule configured to: if the interruption position is determined to be located in the work sub-route within the parcel, the interruption position is made a new work start point to continue the work on the parcel set.

The land parcel working device provided by the embodiment of the disclosure can execute the land parcel working method provided by any embodiment of the disclosure, and is provided with a corresponding functional module of the execution method.

Fig. 15 is a schematic structural diagram of a movable working device according to an embodiment of the present disclosure. FIG. 15 illustrates a block diagram of an exemplary movable work device 1512 suitable for use in implementing embodiments of the present disclosure. Movable work equipment 1512 shown in fig. 15 is merely an example, and should not impose any limitations on the functionality or scope of use of embodiments of the disclosure.

As shown in fig. 15, movable work device 1512 is embodied in the form of a general purpose computing device. Components of movable work equipment 1512 may include, but are not limited to: at least one processor or processing unit 1516, a system memory 1528, and a bus 1518 that couples various system components including the system memory 1528 and the processing unit 1516.

Bus 1518 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a micro channel Architecture (MAC) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

Removable work device 1512 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by removable work device 1512 and includes both volatile and nonvolatile media, removable and non-removable media.

The system Memory 1528 can include computer system readable media in the form of volatile Memory, such as at least one of Random Access Memory (RAM) 1530 and cache Memory 1532. Removable work device 1512 may include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 1534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 15, commonly referred to as a "hard drive"). Although not shown in FIG. 15, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk such as a Compact disk Read-Only Memory (CD-ROM), Digital Video disk Read-Only Memory (DVD-ROM) or other optical media may be provided. In these cases, each drive may be connected to bus 1518 by at least one data media interface. Memory 1528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of each embodiment of the disclosure.

Program/utility 1540 having a set (at least one) of program modules 1542 may be stored, for example, in memory 1528, such program modules 1542 including, but not limited to, an operating system, at least one application program, other program modules, and program data, each of which examples, or some combination thereof, may include an implementation of a network environment. The program modules 1542 generally perform at least one of the functions and methods described in the embodiments of the disclosure.

Removable work device 1512 may also be in communication with at least one external device 1514 (e.g., a keyboard, pointing device, display 1524, etc.), at least one device that enables a user to interact with removable work device 1512, and at least one of any device (e.g., a network card, a modem, etc.) that enables removable work device 1512 to communicate with at least one other computing device. Such communication can occur over input/output (I/O) interfaces 1522. Also, removable work device 1512 may also communicate with at least one of a Network, such as a Local Area Network (LAN), Wide Area Network (WAN), and a public Network, such as the internet, via Network adapter 1520. As shown, network adapter 1520 communicates with the other modules of removable work device 1512 over bus 818. It should be appreciated that, although not shown in FIG. 15, at least one of other hardware and software modules may be used in conjunction with movable work device 1512, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.

The processing unit 1516 executes various functional applications and data processing by running programs stored in the system memory 1528, for example, implementing a route planning method for a block job provided by an embodiment of the present disclosure. Namely, a land parcel set to be operated is obtained, and the land parcel set comprises land parcel information of at least two land parcels; and planning a combined operation route passing through at least two plots in the plot set according to the plot set.

Another example is: the method for realizing the land parcel operation provided by the embodiment of the disclosure can comprise the following steps: acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set; and merging at least two plots in the plot set according to the merging operation route.

The disclosed embodiments also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements a route planning method for a block operation provided by the disclosed embodiments, and the method may include: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels; and planning a combined operation route passing through at least two plots in the plot set according to the plot set.

Another example is: the method for realizing the land parcel operation provided by the embodiment of the disclosure can comprise the following steps: acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set; and carrying out merging operation on at least two plots in the plot set according to the merging operation route.

The computer storage media of the disclosed embodiments may take any combination of at least one computer-readable medium. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having at least one wire, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM) or flash Memory, an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Ruby, Go, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

Claims

1. A method of route planning for a block operation, comprising:

the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels;

planning a combined operation route passing through at least two plots in the plot set according to the plot set;

according to the set of plots, the planning a merged work route via at least two plots of the set of plots, comprising:

determining a land parcel operation sequence corresponding to the land parcel set;

planning a transition connection sub-route and at least two operation sub-routes in the plot according to the plot operation sequence and the plot information;

combining the transitional connection sub-route and the in-land operation sub-route according to the land operation sequence to form the combined operation route;

the planning of a transition connection sub-route and at least two operation sub-routes in the plot according to the plot operation sequence and the plot information comprises the following steps:

determining a land parcel in-point corresponding to each land parcel and a land parcel out-point corresponding to each land parcel according to the land parcel operation sequence, an operation starting point, an operation end point and the land parcel information;

determining the transitional connection sub-route according to the operation starting point, the operation end point, a land block in point corresponding to each land block and a land block out point corresponding to each land block;

and determining at least two intra-block operation sub-routes according to a block in point respectively corresponding to each block and a block out point respectively corresponding to each block.

2. The method of claim 1, wherein said planning a transition link sub-route and at least two intra-block operation sub-routes based on said block operation sequence and said block information comprises:

according to the operation sequence of the plots, acquiring a plot from the plot set as a current operation plot;

according to the plot in-point of the currently operated plot, planning an operation sub-route in the plot corresponding to the currently operated plot, and determining a plot out-point corresponding to the currently operated plot;

if the next operation land parcel adjacent to the current operation land parcel is determined to exist in the land parcel set according to the land parcel operation sequence, planning a transitional connection sub-route between the land parcels according to a land parcel exit point of the current operation land parcel and a land parcel entry point of the next operation land parcel;

and repeatedly executing each operation until the processing of all the plots in the plot set is finished.

3. The method of claim 2, said planning out a transition connection sub-route and at least two intra-block operation sub-routes based on said block operation sequence and said block information, further comprising:

and determining a transitional connection sub-route from the operation starting point to the first operation land parcel according to the operation starting point and the land parcel entry point of the first operation land parcel corresponding to the land parcel set.

4. The method of claim 2, said planning out a transition link sub-route and at least two intra-block work sub-routes based on said block work order and said block information, further comprising:

and determining a transitional connection sub-route from the last operation land parcel to the operation end point according to the land parcel departure point and the operation end point of the last operation land parcel corresponding to the land parcel set.

5. The method as claimed in claim 2, wherein the method for acquiring the parcel entry point of the parcel concentration parcel comprises:

according to the mode that parallel lines traverse a target land parcel, acquiring target parallel lines from a plurality of traverse parallel lines corresponding to the target land parcel;

and taking one end point of the target parallel line as a plot entrance point of the target plot.

6. The method of claim 5, wherein said obtaining a target parallel line among a plurality of traversal parallel lines corresponding to the target parcel comprises:

judging whether the target plot is a first operation plot: if the place is the first operation place, acquiring an operation starting point as a first target reference point; if the first operation land parcel is not the first operation land parcel, acquiring a land parcel out point of a previous land parcel adjacent to the target land parcel as the first target reference point;

screening out traversal parallel lines respectively matched with each land boundary line of the target land block from a plurality of traversal parallel lines corresponding to the target land block;

and acquiring one traversal parallel line closest to the first target reference point from each screened traversal parallel line as the target parallel line.

7. The method as claimed in claim 5 or 6, wherein the planning of the intra-block operation sub-route corresponding to the currently operated block according to the block in point of the currently operated block and determining the block out point corresponding to the currently operated block comprises:

according to the mode of traversing parallel lines through the current operation land parcel, taking a target parallel line where a land parcel entry point of the current operation land parcel is located as an initial parallel line, and sequentially connecting every two adjacent traversing parallel lines in the current operation land parcel end to form an in-land operation sub-route corresponding to the current operation land parcel;

and taking the terminal point of the operation sub-route in the plot as a plot exit point corresponding to the current operation plot.

8. The method as claimed in any one of claims 2-4, wherein the method for obtaining the parcel entry point of the parcel set comprises:

according to a mode of traversing a target land parcel by multiple line segments, acquiring a target point from a plurality of traversal points corresponding to the target land parcel;

and taking the target point as a plot entrance point of the target plot.

9. The method according to claim 8, wherein the planning of the intra-block working sub-route corresponding to the currently operated block according to the block in point of the currently operated block and the determination of the block out point corresponding to the currently operated block,

the method comprises the following steps:

according to the mode of traversing the current operation land parcel by a plurality of lines, sequentially connecting each adjacent traversal point in the current operation land parcel by taking a land parcel entry point of the current operation land parcel as a starting point to form an intra-land operation sub-route corresponding to the current operation land parcel;

10. The method as claimed in any one of claims 2-4, wherein the method for obtaining the parcel entry point of the parcel set comprises:

acquiring a traversal spiral line corresponding to a target land parcel according to a mode of traversing the spiral line through the target land parcel;

and determining a plot entry point of the target plot according to the traversal spiral.

11. The method of claim 10, wherein said determining a block entry point for the target block from the traversal spiral comprises:

judging whether the target plot is a first operation plot: if the first operation land parcel is the first operation land parcel, acquiring an operation starting point as a second target reference point; if the first operation land parcel is not the first operation land parcel, acquiring a land parcel exit point of a previous land parcel adjacent to the target land parcel as the second target reference point;

and selecting one end point which is closest to the second target reference point from the spiral starting point and the spiral end point of the traverse spiral as a plot entering point of the target plot.

12. The method as claimed in claim 11, wherein the planning a work sub-route in a land parcel corresponding to a currently operated land parcel according to a land parcel in-point of the currently operated land parcel and determining a land parcel out-point corresponding to the currently operated land parcel comprises:

according to the mode of traversing the current operation land parcel by the spiral line, taking the traverse spiral line corresponding to the current operation land parcel as an in-land operation sub-route corresponding to the current operation land parcel;

if the current operation plot uses the starting point of the traverse spiral line as a plot in point, the end point of the traverse spiral line is used as a plot out point corresponding to the current operation plot;

and if the current operation plot takes the end point of the traverse spiral line as a plot in point, taking the starting point of the traverse spiral line as a plot out point corresponding to the current operation plot.

13. The method of claim 1, after obtaining the set of plots to be worked, further comprising:

if the plot set is determined to comprise at least two short-distance plots with relative distances smaller than or equal to a first set distance threshold, combining the short-distance plots to obtain a first combined plot;

recording blank transition areas corresponding to at least two short-distance plots in the first combined plot;

replacing the short-range parcel in the parcel set with the first consolidated parcel.

14. The method of claim 1, after obtaining the set of plots to be worked, further comprising:

if the plot set is determined to comprise at least two overlapped plots with overlapped areas, merging the overlapped plots to obtain a second merged plot;

replacing the overlapping parcel in the parcel set with the second consolidated parcel.

15. The method of claim 1, wherein obtaining a set of plots to be worked comprises:

receiving at least two alternative plots to be operated selected by a user;

judging whether the candidate blocks comprise at least two devices with relative distances larger than or equal to a second set distance threshold value

Selecting land blocks: if the at least two alternative plots with the relative distance larger than or equal to the second set distance threshold value are included, pushing prompt information; and if at least two alternative land blocks with relative distances larger than or equal to a second set distance threshold value are not included, forming the land block set according to the at least two alternative land blocks.

16. The method of claim 1, obtaining a set of plots to be worked on, comprising:

the method comprises the steps of obtaining a plot set to be operated and obstacle information matched with each plot in the plot set;

planning a merged operation route passing through at least two plots in the plot set according to the plot set, comprising:

and planning a combined operation route passing through at least two plots in the plot set according to the plot set and the obstacle information.

17. The method of claim 1, wherein determining a parcel job order corresponding to the parcel set comprises at least one of:

determining a land parcel operation sequence corresponding to the land parcel set according to an operation starting point, an operation end point and land parcel information of the at least two land parcels;

acquiring a land parcel operation sequence which is input by a user and corresponds to the land parcel set; and determining an alternative land parcel operation sequence corresponding to the land parcel set according to the operation starting point, the operation end point and the land parcel information of the at least two land parcels, and acquiring an adjustment result of the alternative land parcel operation sequence input by a user as the land parcel operation sequence corresponding to the land parcel set.

18. A method of block work comprising:

acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set; according to the merging operation route, merging operation is carried out on at least two plots in the plot set;

planning a merged operation route passing through at least two plots in the plot set according to the plot set, and comprises the following steps:

combining the transitional connection sub-route with the in-land operation sub-route according to the land operation sequence to form the merged operation route;

the planning of the transition connection sub-route and at least two operation sub-routes in the plot according to the plot operation sequence and the plot information comprises the following steps:

determining a land parcel in-point corresponding to each land parcel and a land parcel out-point corresponding to each land parcel according to the land parcel operation sequence, the operation starting point, the operation end point and the land parcel information;

19. The method of claim 18, wherein merging at least two plots of the set of plots in accordance with the merge job route comprises:

detecting whether the operation is carried out to a first combined plot or not in the process of the combined operation;

the first combined plot is formed by combining at least two short-distance plots with relative distances smaller than or equal to a set distance threshold in a plot set, and blank transition areas corresponding to the at least two short-distance plots of the first combined plot are recorded in advance;

if the operation is detected to the first combined plot and the plot area in the first combined plot is determined to enter the blank transition area, the conversion from the operation state to the non-operation state is executed;

and if the operation is detected to the first merged plot and the blank transition area in the first merged plot is determined to enter the plot area, performing conversion from a non-operation state to an operation state.

20. The method of claim 18 or 19, wherein the merging the work routes comprises: a transition connection sub-route and at least two intra-block operation sub-routes;

according to the merging operation route, merging operation is carried out on at least two plots in the plot set, and the merging operation comprises the following steps:

in the process of merging the plot sets, if a job interrupt condition is detected, recording the current job position as an interrupt position, and executing an interrupt processing strategy;

when the condition of continuing operation is detected to be met, matching the current operation position with the transition connection sub-route and the intra-block operation sub-route;

if the interruption position is determined to be located on the transitional connection sub-route, acquiring a starting point of a work sub-route in the next plot matched with the interruption position as a new work starting point to continue work on the plot set;

and if the interruption position is determined to be located in the operation sub-route in the plot, continuing the operation on the plot set by taking the interruption position as a new operation starting point.

21. A route planning apparatus for a block operation, comprising:

the plot set acquisition module is arranged as follows: the method comprises the steps of obtaining a land parcel set to be operated, wherein the land parcel set comprises land parcel information of at least two land parcels;

a route planning module configured to: planning a combined operation route passing through at least two plots in the plot set according to the plot set;

according to the plot set, the planning a merged operation route through at least two plots in the plot set, comprising:

determining the transitional connection sub-route according to the operation starting point, the operation end point, a plot entrance point corresponding to each plot and a plot exit point corresponding to each plot;

22. A land working apparatus comprising:

a route acquisition module configured to: acquiring a combined operation route corresponding to a land parcel set to be operated, wherein the land parcel set comprises at least two land parcels, and the combined operation route is a route passing through at least two land parcels in the land parcel set;

a merge operation module configured to: according to the merging operation route, merging operation is carried out on at least two plots in the plot set;

23. A mobile work apparatus comprising:

at least one processor;

storage means for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement a method of route planning for a parcel operation as claimed in any of claims 1 to 17 or a parcel operation method as claimed in any of claims 18 to 20.

24. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of route planning for a block operation according to any one of claims 1 to 17 or a method of block operation according to any one of claims 18 to 20.