CN111221934B - Unmanned aerial vehicle operation boundary determination method and device - Google Patents

Unmanned aerial vehicle operation boundary determination method and device Download PDF

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CN111221934B
CN111221934B CN202010080811.2A CN202010080811A CN111221934B CN 111221934 B CN111221934 B CN 111221934B CN 202010080811 A CN202010080811 A CN 202010080811A CN 111221934 B CN111221934 B CN 111221934B
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obstacle
coordinates
plane coordinates
barrier
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CN111221934A (en
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邹二标
任贵杰
齐欣
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Shenyang Woozoom Technology Co ltd
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Shenyang Woozoom Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Mining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses a method and a device for determining an operation boundary of an unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and aims to solve the problem that the operation efficiency of a plant protection unmanned aerial vehicle in the prior art is low. The method mainly comprises the following steps: acquiring planting area vertex plane coordinates corresponding to planting area vertex longitude and latitude coordinates of a planting area; performing inward shrinking on the polygon of the planting area according to a preset boundary inward shrinking algorithm, and obtaining the plane coordinates of the operation vertexes after the inward shrinking; traversing the vertexes and edges of the operation polygons, calculating intersection point coordinates, and inserting the intersection point coordinates between the plane coordinates of the operation vertexes to generate an optional boundary coordinate set; determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary; and converting the plane coordinates of the vertices of the operation boundary into the longitude and latitude coordinates of the vertices of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertices of the operation boundary. The method is mainly applied to the process of plant protection unmanned aerial vehicle route planning.

Description

Unmanned aerial vehicle operation boundary determination method and device
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for determining an operation boundary of an unmanned aerial vehicle.
Background
The plant protection unmanned aerial vehicle is an unmanned aerial vehicle applied to agriculture and forestry plant protection operation, and is usually operated according to the automatic flight of a set route in an operation area. The plant protection unmanned aerial vehicle corresponds to the planting area and is larger, and the volume of the plant protection unmanned aerial vehicle is relatively smaller, so that the operation route of the plant protection unmanned aerial vehicle is planned to be in a reciprocating shape like a 'pi'. Before working in the autonomous flight mode, a working route of the plant protection unmanned aerial vehicle needs to be planned.
Due to the flight inertia effect, the plant protection unmanned aerial vehicle can continue to fly along the original flight route after braking. On the basis of meeting plant protection demands, the planting area is retracted by virtue of the action of flight inertia, and the operation boundary inside the planting area is determined, so that the area of the flight operation area of the plant protection unmanned aerial vehicle is minimum, and the operation consumption of the plant protection unmanned aerial vehicle is reduced.
In the prior art, the vertexes of the planting area are collected, and the polygon formed by the vertexes is contracted inwards, wherein the contraction mode is specifically as follows: and calculating the vector of each side between each original vertex of the polygon, the unit vector of each side and the sine value corresponding to the original vertices of the adjacent two sides, then calculating the inward-contracted vertex corresponding to each original vertex according to the preset inward-contracted distance, the preset inward-contracted formula of the vertex and the sine value, and forming the operation boundary by the inward-contracted vertices corresponding to the original vertices according to the sequence of the original vertices. By the method, the generated operation boundaries may have intersections on each side, and planning the operation route according to the operation boundaries can lead to repeated flight of the plant protection unmanned aerial vehicle in the planting area, so that the operation efficiency of the plant protection unmanned aerial vehicle is lower.
Disclosure of Invention
In view of the above, the invention provides a method and a device for determining an operation boundary of an unmanned aerial vehicle, which mainly aims to solve the problem of lower operation efficiency of a plant protection unmanned aerial vehicle in the prior art.
According to one aspect of the present invention, there is provided a method for determining a working boundary of an unmanned aerial vehicle, including:
sequentially acquiring the longitude and latitude coordinates of the top points of the planting area along a preset direction;
according to a preset projection algorithm, converting the longitude and latitude coordinates of the planting area vertexes into planting area vertexes plane coordinates;
performing inward shrinking on the polygon of the planting area according to a preset boundary inward shrinking algorithm, and acquiring the plane coordinates of the operation vertexes after the inward shrinking, wherein the polygon of the planting area is formed by sequentially connecting the plane coordinates of the vertexes of the planting area according to the preset direction, and the plane coordinates of the operation vertexes are in one-to-one correspondence with the plane coordinates of the vertexes of the planting area;
traversing the operation vertex plane coordinates and each operation side of an operation polygon, calculating the intersection point coordinates of intersection points among each operation side, and sequentially inserting the intersection point coordinates among the operation vertex plane coordinates according to the traversing sequence to generate a selectable boundary coordinate set, wherein the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
Determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary, wherein the effective polygon is a polygon formed by sequentially selecting coordinate points of the selectable boundary coordinate set, and the arrangement sequence direction of the coordinate points is the same as the preset direction;
and converting the plane coordinates of the vertexes of the operation boundary into the longitude and latitude coordinates of the vertexes of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertexes of the operation boundary.
Further, after the longitude and latitude coordinates of the planting area vertex are converted into the plane coordinates of the planting area vertex according to a preset projection algorithm, the method further comprises:
if the coordinate positions of any two coordinates in the plane coordinates of the planting area vertex are identical, the plane coordinates of the planting area vertex are de-duplicated, and the coordinate position identical means that the Euclidean distance between any two coordinates in the plane coordinates of the planting area vertex is smaller than the preset distance.
Further, the shrinking-in of the polygon in the planting area according to the preset boundary shrinking-in algorithm, and obtaining the plane coordinates of the shrunk operation vertexes, includes:
Calculating vectors of each side between the plane coordinates of the vertexes of the planting areas of the planting area polygons, unit vectors of each side and sine values corresponding to the plane coordinates of the vertexes of the planting areas of the adjacent two sides;
calculating the plane coordinates of the operation vertexes corresponding to the plane coordinates of the vertexes of each planting area according to the sine value, the preset inward shrinking distance and the preset vertexes inward shrinking formula, wherein the preset vertexes inward shrinking formula is Q i ＝P i +(NDP i -NDP i-1 ) L/sin alpha, where Q i For the ith job vertex plane coordinate, P i For the plane coordinate of the vertex of the ith planting area, the NDP i Is referred to as P i And along the preset direction and with the preset directionThe P is i Adjacent vertex plane coordinates of the planting areas form unit vectors of edges, and NDP i-1 Is referred to as P i-1 And along the preset direction and with the P i-1 Adjacent plane coordinates of the vertexes of the planting areas form a unit vector of a side, L refers to a preset inward shrinking distance, sin alpha refers to the NDP i And the NDP i-1 Is a sine value of the included angle;
and sequentially acquiring the plane coordinates of the operation vertexes which are in one-to-one correspondence with the plane coordinates of the vertexes of the planting areas.
Further, after the boundary vertex plane coordinates are converted into boundary vertex longitude and latitude coordinates according to the inverse algorithm of the preset projection algorithm to generate the unmanned aerial vehicle operation boundary, the method further includes:
And calculating an obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region.
Further, the calculating an obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region includes:
sequentially acquiring the longitude and latitude coordinates of the vertex of the obstacle area along the preset direction;
converting the longitude and latitude coordinates of the vertex of the obstacle region into plane coordinates of the vertex of the obstacle region according to the preset projection algorithm;
according to a preset boundary expansion algorithm, carrying out expansion on the obstacle region polygon, and obtaining the plane coordinates of the obstacle vertexes after the expansion, wherein the obstacle region polygon is formed by sequentially connecting the plane coordinates of the obstacle region vertexes according to the preset direction;
if the number of sides of the barrier polygon is smaller than 4 along the preset direction, processing is not performed, if the number of sides of the barrier polygon is larger than or equal to 4, taking any barrier side of the barrier polygon as a 1 st barrier side, sequentially and circularly traversing and judging whether the i barrier side is intersected with the 1 st barrier side to the i-2 th barrier side from the 3 rd barrier side to the 2 nd barrier side, and if the i barrier side is not intersected with any barrier side from the 1 st barrier side to the i-2 th barrier side, continuing to perform the judgment on the i+1 barrier side; if the ith barrier side is intersected with the jth barrier side, calculating a barrier intersection point coordinate, determining corresponding barrier vertex plane coordinates of the 1 st barrier side to the jth barrier side, the barrier intersection point coordinate and the barrier vertex plane coordinates contained in other barrier sides behind the ith barrier side as the barrier vertex plane coordinates again until any of the ith barrier side is not intersected with any of the 1 st barrier side to the i-2 th barrier side, judging the last barrier side, sequentially performing cyclic traversal to judge whether the last barrier side is intersected with any of the 2 nd barrier side to the 3 rd barrier side, and if the last barrier side is not intersected with any of the 2 nd barrier side to the 3 rd barrier side, ending the judgment; if the last obstacle edge is intersected with the kth obstacle edge, calculating an obstacle intersection point coordinate, and redefining corresponding obstacle vertex plane coordinates from the 1 st obstacle edge to the kth obstacle edge and the obstacle intersection point coordinate into the obstacle vertex plane coordinates, wherein the obstacle polygon is formed by sequentially connecting the obstacle vertex plane coordinates according to the preset direction, the jth obstacle edge is one obstacle edge from the 1 st obstacle edge to the i-2 th obstacle edge, and the kth obstacle edge is one obstacle edge from the 2 nd obstacle edge to the 3 rd obstacle edge; and converting the plane coordinates of the barrier boundary vertexes into the longitude and latitude coordinates of the barrier boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the barrier boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the barrier boundary vertexes.
Further, the step of expanding the polygon of the obstacle area according to a preset boundary expansion algorithm, and obtaining the plane coordinates of the expanded obstacle vertex comprises the following steps:
rearranging the obstacle vertex plane coordinates in a clockwise direction;
calculating a vector of each side, a unit vector of each side and a barrier sine value and a barrier cosine value corresponding to the barrier area vertex plane coordinates of two adjacent sides between the barrier area vertex plane coordinates of each barrier area polygon according to the rearranged barrier vertex plane coordinates;
judging whether the vertex accords with a preset condition according to the obstacle sine value and the obstacle cosine value, wherein the preset condition comprises that the obstacle sine value is larger than zero, the obstacle sine value is not larger than a limit angle sine value of a preset minimum acute angle, and the obstacle cosine value is smaller than zero;
if the judgment result is yes, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a first preset expansion rule;
if the judgment result is negative, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a second preset expansion rule;
And sequentially acquiring the plane coordinates of the obstacle operation vertexes, which are in one-to-one correspondence with the plane coordinates of the obstacle vertexes.
According to another aspect of the present invention, there is provided a device for determining a working boundary of an unmanned aerial vehicle, including:
the acquisition module is used for sequentially acquiring the longitude and latitude coordinates of the top points of the planting area along the preset direction;
the conversion module is used for converting the longitude and latitude coordinates of the planting area vertexes into planting area vertex plane coordinates according to a preset projection algorithm;
the inward shrinking module is used for inward shrinking the polygon of the planting area according to a preset boundary inward shrinking algorithm, and obtaining the inward shrinking operation vertex plane coordinates, wherein the polygon of the planting area is formed by sequentially connecting the vertex plane coordinates of the planting area according to the preset direction, and the operation vertex plane coordinates are in one-to-one correspondence with the vertex plane coordinates of the planting area;
the inserting module is used for traversing the operation vertex plane coordinates and each operation side of an operation polygon, calculating the intersection point coordinates of the intersection points among the operation sides, and sequentially inserting the intersection point coordinates among the operation vertex plane coordinates according to the traversing sequence to generate a selectable boundary coordinate set, wherein the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
The determining module is used for determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary, wherein the effective polygon is a polygon formed by sequentially selecting coordinate points of the selectable boundary coordinate set, and the arrangement sequence direction of the coordinate points is the same as the preset direction; the generation module is used for converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the unmanned plane operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes.
According to still another aspect of the present invention, there is provided a computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the above-described method of determining a boundary of a drone job.
According to still another aspect of the present invention, there is provided a computer apparatus including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the method for determining the operation boundary of the unmanned aerial vehicle.
By means of the technical scheme, the technical scheme provided by the embodiment of the invention has at least the following advantages:
the invention provides a method and a device for determining an operation boundary of an unmanned aerial vehicle, wherein the method comprises the steps of firstly sequentially obtaining the longitude and latitude coordinates of vertexes of an planting area along a preset direction, then converting the longitude and latitude coordinates of vertexes of the planting area into the plane coordinates of vertexes of the planting area according to a preset projection algorithm, then carrying out inward shrinkage on polygons of the planting area according to a preset boundary inward shrinkage algorithm, obtaining the plane coordinates of the operation vertexes after inward shrinkage, traversing the plane coordinates of the operation vertexes of the operation polygons and each operation edge, calculating the intersection point coordinates of intersection points among the operation edges, sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to a traversing sequence to generate a selectable boundary coordinate set, determining the vertex coordinates contained in the effective polygons with the largest area as the plane coordinates of the operation boundary vertexes, finally converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to an inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the operation boundary vertexes. Compared with the prior art, the embodiment of the invention corrects and determines the plane coordinates of the vertex of the operation boundary again according to the intersection point of the operation edge after shrinking the planting area, so that repeated operation of the intersection point area of the operation edge is eliminated, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 shows a flowchart of a method for determining an operation boundary of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 shows a schematic view illustrating the boundary retraction of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of another method for determining a working boundary of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 shows a block diagram of a determination apparatus for an operation boundary of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 shows a block diagram of another apparatus for determining a working boundary of an unmanned aerial vehicle according to an embodiment of the present invention;
Fig. 6 shows a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a method for determining the operation boundary of an unmanned aerial vehicle, as shown in fig. 1, comprising the following steps:
101. and sequentially acquiring the longitude and latitude coordinates of the top points of the planting areas along the preset direction.
The planting area refers to the area where the plant protection unmanned aerial vehicle is responsible for plant protection, and the coverage area of the planting area is often irregular. The coordinates of the vertices of the planting area are usually measured manually, the operator travels around the planting area along a preset direction, and the corresponding coordinates of the warps and wefts are obtained at turning points where the direction of the boundary of the planting area changes. The preset direction may be clockwise or counterclockwise, and is not limited in the embodiment of the present invention. The preset direction refers to a general direction around the planting area, which may include a partial surrounding direction that is not uniform in the general direction.
102. And converting the longitude and latitude coordinates of the planting area vertexes into plane coordinates of the planting area vertexes according to a preset projection algorithm.
Before conversion, setting an origin position of a plane coordinate system, wherein the origin position can be one of the plane coordinates of the vertexes of the planting area or can be randomly selected, and the origin position is not limited in the embodiment of the invention. The preset projection algorithm may be a gaussian-k-g projection algorithm, a mueller projection, a mercator projection, a transverse-axis mercator projection, or the like. And converting the longitude and latitude coordinates of the vertexes of the planting area into plane coordinates of the vertexes of the planting area according to the original point position of the plane coordinate system and a preset projection algorithm.
103. And (3) carrying out inward shrinking on the polygon in the planting area according to a preset boundary inward shrinking algorithm, and obtaining the plane coordinates of the operation vertexes after the inward shrinking.
The planting area polygons are formed by sequentially connecting the plane coordinates of the planting area vertexes according to a preset direction. The preset boundary inward shrinking algorithm is to shrink the vertex plane coordinates of each planting area inwards according to a preset distance, wherein inward shrinking refers to inward direction shrinking of the polygon of the planting area, namely the area of the polygon area is reduced. In the inward shrinking process, the vertex is translated into the polygon on the basis that the sine value of the adjacent side where the vertex is positioned is unchanged by utilizing the sine value formed by the vertex and the adjacent side where the vertex is positioned.
104. Traversing the plane coordinates of the operation vertexes and each operation side of the operation polygon, calculating the intersection point coordinates of the intersection points among each operation side, and sequentially inserting the intersection point coordinates among the plane coordinates of the operation vertexes according to the traversing sequence to generate an optional boundary coordinate set.
The operation polygon is formed by sequentially connecting operation vertex plane coordinates according to a preset direction. And calculating the intersection point coordinates of the intersection points among the operation edges according to the coordinate values of the operation vertex plane coordinates, and then sequentially inserting the intersection point coordinates among the operation vertex coordinates according to the traversal sequence to generate an optional boundary coordinate set. Illustratively, as shown in fig. 2, the plane coordinates of the vertices of the planting area include A1, A2, A3, A4, A5, A6, A7, A8, A9, a10, the preset directions of the plane coordinates of the vertices of the planting area are counterclockwise, the plane coordinates of the vertices of the planting area include B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, the plane coordinates of the vertices of the working polygon are sequentially connected in the order of arrangement of the plane coordinates of the vertices of the working vertices from B1 to B10, wherein the working edges formed by B1, B2 intersect the working edges formed by B9, B10 at the intersection point C1, B3, B4, and the working edges formed by B7, B8 intersect the intersection point C2, B4, B5, B8, the working edges formed by B7, B8 intersect the intersection point C3, B5, B6, the working edges formed by B7, B8 intersect the intersection point C4, and the boundary coordinates of the vertex of the working vertex can be inserted from B1 to C2, C4, and the boundary coordinates can be optionally generated by traversing the boundary between the plane coordinates of the intersection point C2: b1, C1, B2, B3, C2, B4, C3, B5, C4, B6, B7, C4, C3, C2, B8, B9, C1, B10. Since the intersection between the working edges is formed by two working edges and four working vertex plane coordinates, the same intersection appears 2 times in the optional boundary coordinate set.
105. And determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary.
The effective polygon is a polygon formed by sequentially selecting coordinate points of the selectable boundary coordinate set, wherein the arrangement sequence direction of the coordinate points is the same as the preset direction. In order to determine the plane coordinates of the vertices of the operation boundary, firstly, calculating polygons which can be formed by all vertices in the optional boundary coordinate set, then screening effective polygons from the polygons, screening effective polygons with the largest area from the effective polygons, and finally determining the vertex coordinates contained in the effective polygons with the largest area as the plane coordinates of the vertices of the operation boundary.
Taking the example in step 104 to illustrate the specific determination process of this step, the preset direction of the plane coordinates of the vertices of the planting area is counterclockwise, and the point coordinates of the optional boundary coordinate set include: b1, C1, B2, B3, C2, B4, C3, B5, C4, B6, B7, C4, C3, C2, B8, B9, C1 and B10, and in the process of counting the polygon, B10 is connected with B1 to form one side of the polygon. The specific process of counting polygons which can be formed by each vertex in the optional boundary coordinate set comprises the following steps: the first polygon takes B1 as a first vertex, C1 is determined as a second vertex according to the vertex sequence in the optional boundary coordinate set, and as C1 is an intersection point, the second intersection point C1 in the optional boundary coordinate set is continuously searched, and the third vertex of which B10 is a polygon after the intersection point C1 in the arrangement sequence is determined, and B10 and B1 form a side, so that each vertex of the first polygon is (B1, C1 and B10) in sequence; the second polygon uses the intersection point C1 as the first vertex, and sequentially determines B2, B3 and C2 as the second, third and fourth vertices according to the vertex sequence in the optional boundary coordinate set, and as C2 is the intersection point, the second intersection point C2 in the optional boundary coordinate set is continuously searched, and the fifth vertex of the polygon is determined as B8 after the intersection point C2 in the arrangement sequence, the sixth vertex of the polygon is B9, and the intersection point C1 is the first vertex of the polygon after B9, so that the vertices of the second polygon are (C1, B2, B3, C2, B8 and B9) in sequence; the vertices in the set of optional boundary coordinates can also form a third polygon (C2, B4, C3, C2), a fourth polygon (C3, B5, C4, C3), and a fifth polygon (C4, B6, B7, C4) according to the method described above.
And judging the connection directions of the vertexes of the 5 polygons according to the vertex coordinates of the vertexes in the optional coordinate set, wherein the connection directions of the vertexes of the first to fifth polygons are clockwise, anticlockwise, clockwise, anticlockwise and clockwise in sequence, and selecting a second polygon and a fourth polygon which are in the anticlockwise direction and the same as the preset direction of the plane coordinates of the vertexes of the planting area as effective polygons. And according to the second polygons (C1, B2, B3, C2, B8 and B9) and the fourth polygons (C3, B5, C4 and C3), calculating the areas of the two polygons respectively, wherein the area of the second polygon is larger than that of the fourth polygon, so that the left side (C1, B2, B3, C2, B8 and B9) of each vertex in the second polygon is determined as the plane coordinates of the vertex of the operation boundary.
106. And converting the plane coordinates of the vertices of the operation boundary into the longitude and latitude coordinates of the vertices of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertices of the operation boundary.
In the operation process of the plant protection unmanned aerial vehicle, the flying position is determined by longitude and latitude sitting, so that the plane coordinates of the vertices of the operation boundary are required to be converted into the longitude and latitude coordinates of the vertices of the operation boundary, and each side of the polygon formed by the longitude and latitude coordinates of the vertices of the coordinate boundary is required to be used as the operation boundary of the unmanned aerial vehicle.
The invention provides a method for determining an unmanned aerial vehicle operation boundary, which comprises the steps of firstly sequentially obtaining the longitude and latitude coordinates of the vertexes of an planting area along a preset direction, then converting the longitude and latitude coordinates of the vertexes of the planting area into the plane coordinates of the vertexes of the planting area according to a preset projection algorithm, then carrying out inward shrinkage on polygons of the planting area according to a preset boundary inward shrinkage algorithm, obtaining the plane coordinates of the operation vertexes after the inward shrinkage, traversing the plane coordinates of the operation vertexes and each operation edge of the operation polygon, calculating the intersection point coordinates of the intersection points between the operation edges, sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to a traversing sequence to generate a selectable boundary coordinate set, determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the operation boundary vertexes, and finally converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to an inverse algorithm of the preset projection algorithm, and generating the unmanned aerial vehicle operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes. Compared with the prior art, the embodiment of the invention corrects and determines the plane coordinates of the vertex of the operation boundary again according to the intersection point of the operation edge after shrinking the planting area, so that repeated operation of the intersection point area of the operation edge is eliminated, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
The embodiment of the invention provides another unmanned aerial vehicle operation boundary determining method, as shown in fig. 3, which comprises the following steps:
301. and sequentially acquiring the longitude and latitude coordinates of the top points of the planting areas along the preset direction.
The planting area refers to the area where the plant protection unmanned aerial vehicle is responsible for plant protection, and the coverage area of the planting area is often irregular. The coordinates of the vertices of the planting area are usually measured manually, the operator travels around the planting area along a preset direction, and the corresponding coordinates of the warps and wefts are obtained at turning points where the direction of the boundary of the planting area changes. The preset direction may be clockwise or counterclockwise, and is not limited in the embodiment of the present invention.
302. And converting the longitude and latitude coordinates of the planting area vertexes into plane coordinates of the planting area vertexes according to a preset projection algorithm.
The preset projection algorithm may be a gaussian-k-g projection algorithm, a mueller projection, a mercator projection, a transverse-axis mercator projection, or the like. And converting the longitude and latitude coordinates of the vertexes of the planting area into plane coordinates of the vertexes of the planting area according to the original point position of the plane coordinate system and a preset projection algorithm.
After the conversion, the method comprises the following steps of: if the coordinate positions of any two coordinates in the plane coordinates of the vertexes of the planting area are identical, the plane coordinates of the vertexes of the planting area are de-duplicated, and the coordinate position identical means that the Euclidean distance between any two coordinates in the plane coordinates of the vertexes of the planting area is smaller than the preset distance. Because the plant protection unmanned aerial vehicle has certain coverage area in the operation process to this repeated planting regional summit plane coordinate that plants that removes can simplify boundary line or turning point in the plant protection unmanned aerial vehicle route planning process as far as possible, in order to practice thrift flight distance, provide plant protection unmanned aerial vehicle's operating efficiency. Setting any point in the plane coordinates of the vertexes of the planting areas as a starting point, acquiring an adjacent point of the starting point along a preset direction, if the Euclidean distance between the adjacent point and the starting point is smaller than the preset distance, setting the mark position 1 of the adjacent point, and re-judging whether the mark position of the next adjacent point is 1 or not by taking the adjacent point as the starting point until all the plane coordinates of the vertexes of the planting areas are judged to be finished, and finally deleting the plane coordinates of the vertexes of the planting areas, of which the mark position is 1, so as to realize de-duplication.
The method further comprises the following steps of after the conversion to obtain the plane coordinates of the vertexes of the planting areas: and removing invalid points in the vertex coordinates of the planting area according to whether the vertex edges formed by adjacent coordinates of the vertex plane coordinates of the planting area are collinear. The operation process comprises the following steps: calculating the unit vector of the vertex edges, traversing each vertex edge in sequence, if the unit vector of a certain vertex edge is the same as the unit vector of the previous vertex edge, setting the mark position 1 of the vertex edge, if the mark positions are different, setting the mark position 0 of the vertex edge, and reserving the initial vertex of the vertex edge with the mark position 0 as the effective planting area vertex coordinate.
303. And (3) carrying out inward shrinking on the polygon in the planting area according to a preset boundary inward shrinking algorithm, and obtaining the plane coordinates of the operation vertexes after the inward shrinking.
The planting area polygons are formed by sequentially connecting the plane coordinates of the planting area vertexes according to a preset direction. The method specifically comprises the following steps: calculating the plane coordinates of the vertexes of each planting area of the planting area polygonThe vector of each side, the unit vector of each side and the sine value corresponding to the plane coordinates of the vertexes of the planting areas of two adjacent sides; calculating the plane coordinates of the operation vertexes corresponding to the plane coordinates of the vertexes of each planting area according to the sine value, the preset inward shrinking distance and the preset vertexes inward shrinking formula, wherein the preset vertexes inward shrinking formula is Q i ＝P i +(NDP i -NDP i-1 ) L/sin alpha, where Q i For the ith job vertex plane coordinate, P i For the plane coordinate of the vertex of the ith planting area, the NDP i Is referred to as P i And along the preset direction and with the P i Adjacent vertex plane coordinates of the planting areas form unit vectors of edges, and NDP i-1 Is referred to as P i-1 And along the preset direction and with the P i-1 Adjacent plane coordinates of the vertexes of the planting areas form a unit vector of a side, L refers to a preset inward shrinking distance, sin alpha refers to the NDP i And the NDP i-1 Is a sine value of the included angle; and sequentially acquiring the plane coordinates of the operation vertexes which are in one-to-one correspondence with the plane coordinates of the vertexes of the planting areas. Similar to the planting area vertex plane coordinates, the duplicate removal process is also performed for the work vertex plane coordinates, and the invalid work vertex plane coordinates are removed from the collineation.
304. Traversing the plane coordinates of the operation vertexes and each operation side of the operation polygon, calculating the intersection point coordinates of the intersection points among each operation side, and sequentially inserting the intersection point coordinates among the plane coordinates of the operation vertexes according to the traversing sequence to generate an optional boundary coordinate set.
The operation polygon is formed by sequentially connecting operation vertex plane coordinates according to a preset direction. And calculating whether an intersection point exists between each operation edge according to the coordinate value of the operation vertex plane coordinate. If the intersection point exists, calculating the intersection point coordinates, and sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to the traversing sequence to generate an optional boundary coordinate set. If there are no intersections, i.e. no intersection coordinates are interposed between the work vertex plane coordinates, in other words all coordinates in the set of selectable boundary coordinates are the work vertex plane coordinates.
305. And determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary.
The effective polygon is a polygon formed by sequentially selecting coordinate points of the selectable boundary coordinate set, wherein the arrangement sequence direction of the coordinate points is the same as the preset direction. This step is the same as the method described in step 105 of fig. 1 and will not be described again here.
306. And converting the plane coordinates of the vertices of the operation boundary into the longitude and latitude coordinates of the vertices of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertices of the operation boundary.
307. And calculating an obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region.
In practical application, there is a high probability that scattered trees, signal towers, telegraph poles and other obstacles exist in or outside the working area. And limiting the operation route area of the plant protection unmanned aerial vehicle to the inside of the operation area and the outside of the obstacle area. Because plant protection unmanned aerial vehicle can receive the influence of flight speed, unmanned aerial vehicle quality at the flight in-process, consequently need with operation area and barrier region. Therefore, the obstacle area needs to be expanded to ensure that the operation boundary of the plant protection unmanned aerial vehicle can completely cover the operation area and avoid the obstacle.
Similar to the method for determining the operation boundary of the planting area, the method for determining the obstacle boundary specifically comprises the following steps: sequentially acquiring the longitude and latitude coordinates of the vertex of the obstacle area along the preset direction; converting the longitude and latitude coordinates of the vertex of the obstacle region into plane coordinates of the vertex of the obstacle region according to the preset projection algorithm; according to a preset boundary expansion algorithm, carrying out expansion on the obstacle region polygon, and obtaining the plane coordinates of the obstacle vertexes after the expansion, wherein the obstacle region polygon is formed by sequentially connecting the plane coordinates of the obstacle region vertexes according to the preset direction; if the number of sides of the barrier polygon is smaller than 4 along the preset direction, processing is not performed, if the number of sides of the barrier polygon is larger than or equal to 4, taking any barrier side of the barrier polygon as a 1 st barrier side, sequentially and circularly traversing and judging whether the i barrier side is intersected with the 1 st barrier side to the i-2 th barrier side from the 3 rd barrier side to the 2 nd barrier side, and if the i barrier side is not intersected with any barrier side from the 1 st barrier side to the i-2 th barrier side, continuing to perform the judgment on the i+1 barrier side; if the ith barrier side is intersected with the jth barrier side, calculating a barrier intersection point coordinate, determining corresponding barrier vertex plane coordinates of the 1 st barrier side to the jth barrier side, the barrier intersection point coordinate and the barrier vertex plane coordinates contained in other barrier sides behind the ith barrier side as the barrier vertex plane coordinates again until any of the ith barrier side is not intersected with any of the 1 st barrier side to the i-2 th barrier side, judging the last barrier side, sequentially performing cyclic traversal to judge whether the last barrier side is intersected with any of the 2 nd barrier side to the 3 rd barrier side, and if the last barrier side is not intersected with any of the 2 nd barrier side to the 3 rd barrier side, ending the judgment; if the last obstacle edge is intersected with the kth obstacle edge, calculating an obstacle intersection point coordinate, and redefining corresponding obstacle vertex plane coordinates from the 1 st obstacle edge to the kth obstacle edge and the obstacle intersection point coordinate into the obstacle vertex plane coordinates, wherein the obstacle polygon is formed by sequentially connecting the obstacle vertex plane coordinates according to the preset direction, the jth obstacle edge is one obstacle edge from the 1 st obstacle edge to the i-2 th obstacle edge, and the kth obstacle edge is one obstacle edge from the 2 nd obstacle edge to the 3 rd obstacle edge; and converting the plane coordinates of the barrier boundary vertexes into the longitude and latitude coordinates of the barrier boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the barrier boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the barrier boundary vertexes.
According to a preset boundary expansion algorithm, carrying out expansion on the polygon of the obstacle region, and acquiring plane coordinates of the expanded obstacle vertex, wherein the method comprises the following steps: rearranging the obstacle vertex plane coordinates in a clockwise direction; according to the rearranged obstacle vertex plane coordinates, calculating vectors of each side, unit vectors of each side and obstacle sine values and obstacle cosine values corresponding to the obstacle vertex plane coordinates of two adjacent sides between the obstacle vertex plane coordinates of each obstacle region polygon; judging whether the vertex accords with preset conditions according to the obstacle sine value and the obstacle cosine value, wherein the preset conditions comprise that the obstacle sine value is larger than zero, the obstacle sine value is not larger than the limit angle sine value of a preset minimum acute angle, and the obstacle cosine value is smaller than zero; if the judgment result is yes, calculating the plane coordinates of the barrier vertexes corresponding to the plane coordinates of the vertexes of each barrier region according to the preset expansion distance and the first preset expansion rule; if the judgment result is negative, calculating the plane coordinates of the barrier vertexes corresponding to the plane coordinates of the vertexes of each barrier region according to the preset outward expansion distance and the second preset outward expansion rule; and sequentially acquiring the plane coordinates of the obstacle operation vertexes, which are in one-to-one correspondence with the plane coordinates of the obstacle vertexes.
Suppose that the i-th vertex plane coordinate of the obstacle region is (P x ,P y ) Vector p i ＝-NDP i +NDP i-1 Vector p i The component of the unit vector of (a) on the abscissa is (a) x ,a y ) The sine value of the obstacle at the point is sin alpha, the cosine value of the obstacle at the point is cos alpha, L is a preset expansion distance, and NDP i Is referred to as P i And along a preset direction and with P i Adjacent planting area vertex plane coordinates, unit vector of side formed by the adjacent planting area vertex plane coordinates, and NDP i-1 Is referred to as P i-1 And along a preset direction and with P i-1 And the plane coordinates of the vertexes of adjacent planting areas form unit vectors of the edges. The first preset expansion rule is used for expanding the plane coordinates of the vertexes of one obstacle region into the plane coordinates of the vertexes of 3 obstacles, and the coordinates of the first expansion point in the first preset expansion rule are that First preset outer expansionThe coordinate of the second expansion point in the rule is Q 2x ＝P x +a x *L，Q 2y ＝P y +a y * L, the coordinates of a third expansion point in the first preset expansion rule are The second preset expansion rule is used for expanding the plane coordinate of the vertex of one obstacle area into the plane coordinate of the vertex of 1 obstacle, and the specific formula is Q i ＝P i -(NDP i -NDP i-1 ) L/sinα, the obstacle sine sinα refers to the unit vector NDP i And a unit vector NDP i-1 The sine value of the included angle, the cosine value cos alpha of the obstacle refers to the unit vector NDP i And a unit vector NDP i-1 Cosine of the included angle.
The invention provides a method for determining an unmanned aerial vehicle operation boundary, which comprises the steps of firstly sequentially obtaining the longitude and latitude coordinates of the vertexes of an planting area along a preset direction, then converting the longitude and latitude coordinates of the vertexes of the planting area into the plane coordinates of the vertexes of the planting area according to a preset projection algorithm, then carrying out inward shrinkage on polygons of the planting area according to a preset boundary inward shrinkage algorithm, obtaining the plane coordinates of the operation vertexes after the inward shrinkage, traversing the plane coordinates of the operation vertexes and each operation edge of the operation polygon, calculating the intersection point coordinates of the intersection points between the operation edges, sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to a traversing sequence to generate a selectable boundary coordinate set, determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the operation boundary vertexes, and finally converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to an inverse algorithm of the preset projection algorithm, and generating the unmanned aerial vehicle operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes. Compared with the prior art, the embodiment of the invention corrects and determines the plane coordinates of the vertex of the operation boundary again according to the intersection point of the operation edge after shrinking the planting area, so that repeated operation of the intersection point area of the operation edge is eliminated, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present invention provides a device for determining an operation boundary of an unmanned aerial vehicle, as shown in fig. 4, where the device includes:
an acquisition module 41, configured to sequentially acquire longitude and latitude coordinates of vertices of a planting area along a preset direction;
the conversion module 42 is configured to convert the longitude and latitude coordinates of the planting area vertex into plane coordinates of the planting area vertex according to a preset projection algorithm;
the shrinking module 43 is configured to shrink the polygon of the planting area according to a preset boundary shrinking algorithm, and obtain the shrunk operation vertex plane coordinates, where the polygon of the planting area is a polygon formed by sequentially connecting the vertex plane coordinates of the planting area according to the preset direction, and the operation vertex plane coordinates are in one-to-one correspondence with the vertex plane coordinates of the planting area;
the inserting module 44 is configured to traverse the operation vertex plane coordinates and each operation edge of an operation polygon, calculate intersection point coordinates of intersection points between each operation edge, and sequentially insert the intersection point coordinates between the operation vertex plane coordinates according to the traversing order to generate a selectable boundary coordinate set, where the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
The determining module 45 is configured to determine that the vertex coordinates included in the effective polygon with the largest area are working boundary vertex plane coordinates, where the effective polygon is a polygon formed by sequentially selecting coordinate points in the selectable boundary coordinate set, and the arrangement sequence direction of the coordinate points is the same as the preset direction;
the generating module 46 is configured to convert the plane coordinates of the operation boundary vertex into the longitude and latitude coordinates of the operation boundary vertex according to the inverse algorithm of the preset projection algorithm, and generate the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the operation boundary vertex.
The invention provides a determination device for an unmanned aerial vehicle operation boundary, which comprises the steps of firstly sequentially obtaining the longitude and latitude coordinates of the vertexes of an planting area along a preset direction, then converting the longitude and latitude coordinates of the vertexes of the planting area into the plane coordinates of the vertexes of the planting area according to a preset projection algorithm, then carrying out inward shrinkage on polygons of the planting area according to a preset boundary inward shrinkage algorithm, obtaining the plane coordinates of the operation vertexes after the inward shrinkage, traversing the plane coordinates of the operation vertexes and each operation edge of the operation polygon, calculating the intersection point coordinates of the intersection points between the operation edges, sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to a traversing sequence to generate a selectable boundary coordinate set, determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the operation boundary vertexes, and finally converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to an inverse algorithm of the preset projection algorithm, and generating the unmanned aerial vehicle operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes. Compared with the prior art, the embodiment of the invention corrects and determines the plane coordinates of the vertex of the operation boundary again according to the intersection point of the operation edge after shrinking the planting area, so that repeated operation of the intersection point area of the operation edge is eliminated, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
Further, as an implementation of the method shown in fig. 3, another apparatus for determining a working boundary of an unmanned aerial vehicle is provided in an embodiment of the present invention, as shown in fig. 5, the apparatus includes:
the acquiring module 51 is configured to sequentially acquire longitude and latitude coordinates of vertices of a planting area along a preset direction;
the conversion module 52 is configured to convert the longitude and latitude coordinates of the planting area vertex into plane coordinates of the planting area vertex according to a preset projection algorithm;
the shrinking module 53 is configured to shrink the polygon in the planting area according to a preset boundary shrinking algorithm, and obtain the shrunk operation vertex plane coordinates, where the polygon in the planting area is a polygon formed by sequentially connecting the vertex plane coordinates in the planting area according to the preset direction, and the operation vertex plane coordinates are in one-to-one correspondence with the vertex plane coordinates in the planting area;
the inserting module 54 is configured to traverse the operation vertex plane coordinates and each operation edge of an operation polygon, calculate intersection point coordinates of intersection points between each operation edge, and sequentially insert the intersection point coordinates between the operation vertex plane coordinates according to the traversing order to generate a selectable boundary coordinate set, where the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
The determining module 55 is configured to determine that the vertex coordinates included in the effective polygon with the largest area are working boundary vertex plane coordinates, where the effective polygon is a polygon formed by sequentially selecting coordinate points in the selectable boundary coordinate set, where the direction of the arrangement sequence of the coordinate points is the same as the preset direction;
the generating module 56 is configured to convert the plane coordinates of the operation boundary vertex into the longitude and latitude coordinates of the operation boundary vertex according to the inverse algorithm of the preset projection algorithm, and generate the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the operation boundary vertex.
Further, the apparatus further comprises:
and the de-duplication module 57 is configured to de-duplication the planting area vertex plane coordinates after converting the planting area vertex longitude and latitude coordinates into the planting area vertex plane coordinates according to a preset projection algorithm, if the coordinate positions of any two coordinates in the planting area vertex plane coordinates are identical, where the coordinate positions are identical, that is, the euclidean distance between any two coordinates in the planting area vertex plane coordinates is smaller than a preset distance.
Further, the retraction module 53 includes:
the parameter calculating unit 531 is configured to calculate a vector of each side between the planar coordinates of the vertices of the planting area of each of the planting area polygons, a unit vector of each side, and sine values corresponding to the planar coordinates of the vertices of the planting area of two adjacent sides;
A vertex calculation unit 532 for calculating the operation vertex plane coordinates corresponding to the vertex plane coordinates of each of the planting areas according to the sine value, the preset inward shrinking distance and the preset vertex inward shrinking formula, wherein the preset vertex inward shrinking formula is Q i ＝P i +(NDP i -NDP i-1 ) L/sin alpha, where Q i For the ith job vertex plane coordinate, P i For the plane coordinate of the vertex of the ith planting area, the NDP i Is referred to as P i And along the preset direction and with the P i Adjacent vertex plane coordinates of the planting areas form unit vectors of edges, and NDP i-1 Is referred to as P i-1 And along the preset direction and with the P i-1 Adjacent plane coordinates of the vertexes of the planting areas form a unit vector of a side, L refers to a preset inward shrinking distance, sin alpha refers to the NDP i And the NDP i-1 Is a sine value of the included angle;
and a vertex obtaining unit 533 configured to sequentially obtain operation vertex plane coordinates corresponding to the planting area vertex plane coordinates one by one.
Further, the apparatus further comprises:
and the calculating module 58 is configured to convert the plane coordinates of the boundary vertex into the longitude and latitude coordinates of the boundary vertex according to the inverse algorithm of the preset projection algorithm, and calculate the obstacle boundary inside the operation boundary of the unmanned aerial vehicle according to the obstacle region in the planting region after generating the operation boundary of the unmanned aerial vehicle.
Further, the computing module 58 includes:
an obtaining unit 581, configured to sequentially obtain, along the preset direction, longitude and latitude coordinates of an obstacle region vertex of the obstacle region;
a conversion unit 582, configured to convert the longitude and latitude coordinates of the vertex of the obstacle region into plane coordinates of the vertex of the obstacle region according to the preset projection algorithm;
the expansion unit 583 is configured to expand the obstacle region polygon according to a preset boundary expansion algorithm, and obtain the plane coordinates of the obstacle vertex after expansion, where the obstacle region polygon is formed by sequentially connecting the plane coordinates of the obstacle region vertex according to the preset direction;
a determining unit 584, configured to, in the preset direction, perform no processing if the number of sides of the barrier polygon is less than 4, and if the number of sides of the barrier polygon is greater than or equal to 4, take any barrier side of the barrier polygon as a 1 st barrier side, sequentially and circularly traverse and determine whether the i barrier side intersects with the 1 st barrier side to the i-2 th barrier side from the 3 rd barrier side to the 2 nd barrier side, and if the i barrier side does not intersect with any barrier side from the 1 st barrier side to the i-2 th barrier side, continuously perform the above determination on the i+1 barrier side; if the ith barrier side is intersected with the jth barrier side, calculating a barrier intersection point coordinate, determining corresponding barrier vertex plane coordinates of the 1 st barrier side to the jth barrier side, the barrier intersection point coordinate and the barrier vertex plane coordinates contained in other barrier sides behind the ith barrier side as the barrier vertex plane coordinates again until any of the ith barrier side is not intersected with any of the 1 st barrier side to the i-2 th barrier side, judging the last barrier side, sequentially performing cyclic traversal to judge whether the last barrier side is intersected with any of the 2 nd barrier side to the 3 rd barrier side, and if the last barrier side is not intersected with any of the 2 nd barrier side to the 3 rd barrier side, ending the judgment; if the last obstacle edge is intersected with the kth obstacle edge, calculating an obstacle intersection point coordinate, and redefining corresponding obstacle vertex plane coordinates from the 1 st obstacle edge to the kth obstacle edge and the obstacle intersection point coordinate into the obstacle vertex plane coordinates, wherein the obstacle polygon is formed by sequentially connecting the obstacle vertex plane coordinates according to the preset direction, the jth obstacle edge is one obstacle edge from the 1 st obstacle edge to the i-2 th obstacle edge, and the kth obstacle edge is one obstacle edge from the 2 nd obstacle edge to the 3 rd obstacle edge;
The generating unit 585 is configured to convert the plane coordinates of the vertices of the obstacle boundary into the longitude and latitude coordinates of the vertices of the obstacle boundary according to the inverse algorithm of the preset projection algorithm, and generate the obstacle boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertices of the obstacle boundary.
Further, the expanding unit 583 is configured to:
rearranging the obstacle vertex plane coordinates in a clockwise direction;
calculating a vector of each side, a unit vector of each side and a barrier sine value and a barrier cosine value corresponding to the barrier area vertex plane coordinates of two adjacent sides between the barrier area vertex plane coordinates of each barrier area polygon according to the rearranged barrier vertex plane coordinates;
judging whether the vertex accords with a preset condition according to the obstacle sine value and the obstacle cosine value, wherein the preset condition comprises that the obstacle sine value is larger than zero, the obstacle sine value is not larger than a limit angle sine value of a preset minimum acute angle, and the obstacle cosine value is smaller than zero;
if the judgment result is yes, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a first preset expansion rule;
If the judgment result is negative, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a second preset expansion rule;
and sequentially acquiring the plane coordinates of the obstacle operation vertexes, which are in one-to-one correspondence with the plane coordinates of the obstacle vertexes.
The invention provides a determination device for an unmanned aerial vehicle operation boundary, which comprises the steps of firstly sequentially obtaining the longitude and latitude coordinates of the vertexes of an planting area along a preset direction, then converting the longitude and latitude coordinates of the vertexes of the planting area into the plane coordinates of the vertexes of the planting area according to a preset projection algorithm, then carrying out inward shrinkage on polygons of the planting area according to a preset boundary inward shrinkage algorithm, obtaining the plane coordinates of the operation vertexes after the inward shrinkage, traversing the plane coordinates of the operation vertexes and each operation edge of the operation polygon, calculating the intersection point coordinates of the intersection points between the operation edges, sequentially inserting the intersection point coordinates between the plane coordinates of the operation vertexes according to a traversing sequence to generate a selectable boundary coordinate set, determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the operation boundary vertexes, and finally converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to an inverse algorithm of the preset projection algorithm, and generating the unmanned aerial vehicle operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes. Compared with the prior art, the embodiment of the invention corrects and determines the plane coordinates of the vertex of the operation boundary again according to the intersection point of the operation edge after shrinking the planting area, so that repeated operation of the intersection point area of the operation edge is eliminated, and the operation efficiency of the plant protection unmanned aerial vehicle is improved.
According to one embodiment of the present invention, there is provided a computer storage medium storing at least one executable instruction for performing the method for determining a boundary of a drone operation in any of the above method embodiments.
Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present invention, and the specific embodiment of the present invention is not limited to the specific implementation of the computer device.
As shown in fig. 6, the computer device may include: a processor 602, a communication interface (Communications Interface), a memory 606, and a communication bus 608.
Wherein: processor 602, communication interface 604, and memory 606 perform communication with each other via communication bus 608.
Communication interface 604 is used to communicate with network elements of other devices, such as clients or other servers.
The processor 602 is configured to execute the program 610, and may specifically perform relevant steps in the above-described method embodiment for determining a working boundary of a drone.
In particular, program 610 may include program code including computer-operating instructions.
The processor 602 may be a central processing unit CPU or a specific integrated circuit ASIC (Application Specific Integrated Circuit) or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the computer device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 606 for storing a program 610. The memory 606 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may be specifically operable to cause the processor 602 to: sequentially acquiring the longitude and latitude coordinates of the top points of the planting area along a preset direction; according to a preset projection algorithm, converting the longitude and latitude coordinates of the planting area vertexes into planting area vertexes plane coordinates;
performing inward shrinking on the polygon of the planting area according to a preset boundary inward shrinking algorithm, and acquiring the plane coordinates of the operation vertexes after the inward shrinking, wherein the polygon of the planting area is formed by sequentially connecting the plane coordinates of the vertexes of the planting area according to the preset direction, and the plane coordinates of the operation vertexes are in one-to-one correspondence with the plane coordinates of the vertexes of the planting area;
traversing the operation vertex plane coordinates and each operation side of an operation polygon, calculating the intersection point coordinates of intersection points among each operation side, and sequentially inserting the intersection point coordinates among the operation vertex plane coordinates according to the traversing sequence to generate a selectable boundary coordinate set, wherein the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
Determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary, wherein the effective polygon is a polygon formed by sequentially selecting coordinate points of the selectable boundary coordinate set, and the arrangement sequence direction of the coordinate points is the same as the preset direction; and converting the plane coordinates of the vertexes of the operation boundary into the longitude and latitude coordinates of the vertexes of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertexes of the operation boundary.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The method for determining the operation boundary of the unmanned aerial vehicle is characterized by comprising the following steps of:
sequentially acquiring the longitude and latitude coordinates of the top points of the planting area along a preset direction;
according to a preset projection algorithm, converting the longitude and latitude coordinates of the planting area vertexes into planting area vertexes plane coordinates;
performing inward shrinking on the polygon of the planting area according to a preset boundary inward shrinking algorithm, and acquiring the plane coordinates of the operation vertexes after the inward shrinking, wherein the polygon of the planting area is formed by sequentially connecting the plane coordinates of the vertexes of the planting area according to the preset direction, and the plane coordinates of the operation vertexes are in one-to-one correspondence with the plane coordinates of the vertexes of the planting area;
traversing the plane coordinates of the operation vertexes and each operation side of an operation polygon, calculating the intersection point coordinates of the intersection points among the operation sides, and sequentially inserting the intersection point coordinates among the plane coordinates of the operation vertexes according to the traversing sequence to generate a selectable boundary coordinate set, wherein the operation polygon is a polygon formed by sequentially connecting the plane coordinates of the operation vertexes;
Determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the vertex of the operation boundary, wherein the effective polygon is a polygon formed by selecting coordinate points of the selectable boundary coordinate set according to the traversing sequence, and the arrangement sequence direction of the coordinate points is the same as the preset direction;
and converting the plane coordinates of the vertexes of the operation boundary into the longitude and latitude coordinates of the vertexes of the operation boundary according to the inverse algorithm of the preset projection algorithm, and generating the operation boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the vertexes of the operation boundary.
2. The method of claim 1, wherein after the converting the planting area vertex longitude and latitude coordinates into planting area vertex plane coordinates according to a preset projection algorithm, the method further comprises:
if the coordinate positions of any two coordinates in the plane coordinates of the planting area vertex are identical, the plane coordinates of the planting area vertex are de-duplicated, and the coordinate position identical means that the Euclidean distance between any two coordinates in the plane coordinates of the planting area vertex is smaller than the preset distance.
3. The method of claim 1, wherein the shrinking the polygon of the planting area according to the preset boundary shrinking algorithm and obtaining the plane coordinates of the shrunk operation vertices comprises:
Calculating vectors of each side between the plane coordinates of the vertexes of the planting areas of the planting area polygons, unit vectors of each side and sine values corresponding to the plane coordinates of the vertexes of the planting areas of the adjacent two sides;
calculating the plane coordinates of the operation vertexes corresponding to the plane coordinates of the vertexes of each planting area according to the sine value, the preset inward shrinking distance and the preset vertexes inward shrinking formula, wherein the preset vertexes inward shrinking formula is Q i ＝P i +(NDP i -NDP i-1 ) L/sin alpha, where Q i For the ith job vertex plane coordinate, P i For the plane coordinate of the vertex of the ith planting area, the NDP i Is referred to as P i And along the preset direction and with the P i Adjacent vertex plane coordinates of the planting areas form unit vectors of edges, and NDP i-1 Is referred to as P i-1 And along the preset direction and with the P i-1 Adjacent plane coordinates of the vertexes of the planting areas form a unit vector of a side, L refers to a preset inward shrinking distance, sin alpha refers to the NDP i And the NDP i-1 Is a sine value of the included angle;
and sequentially acquiring the plane coordinates of the operation vertexes which are in one-to-one correspondence with the plane coordinates of the vertexes of the planting areas.
4. The method of claim 1, wherein the converting the boundary vertex plane coordinates to boundary vertex longitude and latitude coordinates according to the inverse of the preset projection algorithm, after generating the unmanned aerial vehicle operation boundary, further comprises:
Calculating an obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region;
calculating an obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region, wherein the obstacle boundary comprises:
sequentially acquiring the longitude and latitude coordinates of the vertex of the obstacle area along the preset direction;
converting the longitude and latitude coordinates of the vertex of the obstacle region into plane coordinates of the vertex of the obstacle region according to the preset projection algorithm;
according to a preset boundary expansion algorithm, carrying out expansion on the obstacle region polygon, and obtaining the plane coordinates of the obstacle vertexes after the expansion, wherein the obstacle region polygon is formed by sequentially connecting the plane coordinates of the obstacle region vertexes according to the preset direction;
if the number of sides of the barrier polygon is smaller than 4 along the preset direction, processing is not performed, if the number of sides of the barrier polygon is larger than or equal to 4, taking any barrier side of the barrier polygon as a 1 st barrier side, sequentially and circularly traversing and judging whether the i barrier side is intersected with the 1 st barrier side to the i-2 th barrier side from the 3 rd barrier side to the 2 nd barrier side, and if the i barrier side is not intersected with any barrier side from the 1 st barrier side to the i-2 th barrier side, continuing to perform the judgment on the i+1 barrier side; if the ith barrier side is intersected with the jth barrier side, calculating a barrier intersection point coordinate, determining corresponding barrier vertex plane coordinates of the 1 st barrier side to the jth barrier side, the barrier intersection point coordinate and the barrier vertex plane coordinates contained in other barrier sides behind the ith barrier side as the barrier vertex plane coordinates again until any of the ith barrier side is not intersected with any of the 1 st barrier side to the i-2 th barrier side, judging the last barrier side, sequentially performing cyclic traversal to judge whether the last barrier side is intersected with any of the 2 nd barrier side to the 3 rd barrier side, and if the last barrier side is not intersected with any of the 2 nd barrier side to the 3 rd barrier side, ending the judgment; if the last obstacle edge is intersected with the kth obstacle edge, calculating an obstacle intersection point coordinate, and redefining corresponding obstacle vertex plane coordinates from the 1 st obstacle edge to the kth obstacle edge and the obstacle intersection point coordinate into the obstacle vertex plane coordinates, wherein the obstacle polygon is formed by sequentially connecting the obstacle vertex plane coordinates according to the preset direction, the jth obstacle edge is one obstacle edge from the 1 st obstacle edge to the i-2 th obstacle edge, and the kth obstacle edge is one obstacle edge from the 2 nd obstacle edge to the 3 rd obstacle edge;
And converting the plane coordinates of the barrier boundary vertexes into the longitude and latitude coordinates of the barrier boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the barrier boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the barrier boundary vertexes.
5. The method of claim 4, wherein the performing the expanding of the obstacle region polygon according to the preset boundary expanding algorithm and obtaining the plane coordinates of the expanded obstacle vertices comprises:
rearranging the obstacle vertex plane coordinates in a clockwise direction;
calculating a vector of each side, a unit vector of each side and a barrier sine value and a barrier cosine value corresponding to the barrier area vertex plane coordinates of two adjacent sides between the barrier area vertex plane coordinates of each barrier area polygon according to the rearranged barrier vertex plane coordinates;
judging whether the vertex accords with a preset condition according to the obstacle sine value and the obstacle cosine value, wherein the preset condition comprises that the obstacle sine value is larger than zero, the obstacle sine value is not larger than a limit angle sine value of a preset minimum acute angle, and the obstacle cosine value is smaller than zero;
if the judgment result is yes, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a first preset expansion rule;
If the judgment result is negative, calculating the obstacle vertex plane coordinates corresponding to the obstacle region vertex plane coordinates according to the preset expansion distance and a second preset expansion rule;
and sequentially acquiring the plane coordinates of the obstacle operation vertexes, which are in one-to-one correspondence with the plane coordinates of the obstacle vertexes.
6. A device for determining a boundary of operation of an unmanned aerial vehicle, comprising:
the acquisition module is used for sequentially acquiring the longitude and latitude coordinates of the top points of the planting area along the preset direction;
the conversion module is used for converting the longitude and latitude coordinates of the planting area vertexes into planting area vertex plane coordinates according to a preset projection algorithm;
the inward shrinking module is used for inward shrinking the polygon of the planting area according to a preset boundary inward shrinking algorithm, and obtaining the inward shrinking operation vertex plane coordinates, wherein the polygon of the planting area is formed by sequentially connecting the vertex plane coordinates of the planting area according to the preset direction, and the operation vertex plane coordinates are in one-to-one correspondence with the vertex plane coordinates of the planting area;
the inserting module is used for traversing the operation vertex plane coordinates and each operation side of the operation polygon, calculating the intersection point coordinates of the intersection points among the operation sides, and sequentially inserting the intersection point coordinates among the operation vertex plane coordinates according to the traversing sequence to generate a selectable boundary coordinate set, wherein the operation polygon is a polygon formed by sequentially connecting the operation vertex plane coordinates;
The determining module is used for determining the vertex coordinates contained in the effective polygon with the largest area as the plane coordinates of the operation boundary vertices, wherein the effective polygon is a polygon formed by selecting coordinate points of the selectable boundary coordinate set according to the traversing sequence, and the arrangement sequence direction of the coordinate points is the same as the preset direction;
the generation module is used for converting the plane coordinates of the operation boundary vertexes into the longitude and latitude coordinates of the operation boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the unmanned plane operation boundary according to the longitude and latitude coordinates of the operation boundary vertexes.
7. The apparatus of claim 6, wherein the apparatus further comprises:
and the de-duplication module is used for de-duplication the planting area vertex plane coordinates after the planting area vertex longitude and latitude coordinates are converted into the planting area vertex plane coordinates according to a preset projection algorithm, and if the coordinate positions of any two coordinates in the planting area vertex plane coordinates are identical, the coordinate positions are identical, namely that the Euclidean distance between any two coordinates in the planting area vertex plane coordinates is smaller than a preset distance.
8. The apparatus of claim 6, wherein the retraction module comprises:
The parameter calculation unit is used for calculating vectors of each side between the plane coordinates of the vertexes of the planting areas of the planting area polygons, unit vectors of each side and sine values corresponding to the plane coordinates of the vertexes of the planting areas of the adjacent two sides;
a vertex calculation unit for calculating operation vertices corresponding to the vertex plane coordinates of each planting area according to the sine value, the preset inward shrinking distance and the preset vertex inward shrinking formulaPlane coordinates, wherein the preset vertex retraction formula is Q i ＝P i +(NDP i -NDP i-1 ) L/sin alpha, where Q i For the ith job vertex plane coordinate, P i For the plane coordinate of the vertex of the ith planting area, the NDP i Is referred to as P i And along the preset direction and with the P i Adjacent vertex plane coordinates of the planting areas form unit vectors of edges, and NDP i-1 Is referred to as P i-1 And along the preset direction and with the P i-1 Adjacent plane coordinates of the vertexes of the planting areas form a unit vector of a side, L refers to a preset inward shrinking distance, sin alpha refers to the NDP i And the NDP i-1 Is a sine value of the included angle;
and the vertex acquisition unit is used for sequentially acquiring the operation vertex plane coordinates corresponding to the planting area vertex plane coordinates one by one.
9. The apparatus of claim 6, wherein the apparatus further comprises:
the calculation module is used for converting the plane coordinates of the boundary vertexes into the longitude and latitude coordinates of the boundary vertexes according to the inverse algorithm of the preset projection algorithm, and calculating the obstacle boundary inside the operation boundary of the unmanned aerial vehicle according to the obstacle region in the planting region after generating the operation boundary of the unmanned aerial vehicle; the calculating the obstacle boundary inside the unmanned aerial vehicle operation boundary according to the obstacle region in the planting region comprises the following steps:
sequentially acquiring the longitude and latitude coordinates of the vertex of the obstacle area along the preset direction;
converting the longitude and latitude coordinates of the vertex of the obstacle region into plane coordinates of the vertex of the obstacle region according to the preset projection algorithm;
according to a preset boundary expansion algorithm, carrying out expansion on the obstacle region polygon, and obtaining the plane coordinates of the obstacle vertexes after the expansion, wherein the obstacle region polygon is formed by sequentially connecting the plane coordinates of the obstacle region vertexes according to the preset direction;
if the number of sides of the barrier polygon is smaller than 4 along the preset direction, processing is not performed, if the number of sides of the barrier polygon is larger than or equal to 4, taking any barrier side of the barrier polygon as a 1 st barrier side, sequentially and circularly traversing and judging whether the i barrier side is intersected with the 1 st barrier side to the i-2 th barrier side from the 3 rd barrier side to the 2 nd barrier side, and if the i barrier side is not intersected with any barrier side from the 1 st barrier side to the i-2 th barrier side, continuing to perform the judgment on the i+1 barrier side; if the ith barrier side is intersected with the jth barrier side, calculating a barrier intersection point coordinate, determining corresponding barrier vertex plane coordinates of the 1 st barrier side to the jth barrier side, the barrier intersection point coordinate and the barrier vertex plane coordinates contained in other barrier sides behind the ith barrier side as the barrier vertex plane coordinates again until any of the ith barrier side is not intersected with any of the 1 st barrier side to the i-2 th barrier side, judging the last barrier side, sequentially performing cyclic traversal to judge whether the last barrier side is intersected with any of the 2 nd barrier side to the 3 rd barrier side, and if the last barrier side is not intersected with any of the 2 nd barrier side to the 3 rd barrier side, ending the judgment; if the last obstacle edge is intersected with the kth obstacle edge, calculating an obstacle intersection point coordinate, and redefining corresponding obstacle vertex plane coordinates from the 1 st obstacle edge to the kth obstacle edge and the obstacle intersection point coordinate into the obstacle vertex plane coordinates, wherein the obstacle polygon is formed by sequentially connecting the obstacle vertex plane coordinates according to the preset direction, the jth obstacle edge is one obstacle edge from the 1 st obstacle edge to the i-2 th obstacle edge, and the kth obstacle edge is one obstacle edge from the 2 nd obstacle edge to the 3 rd obstacle edge;
And converting the plane coordinates of the barrier boundary vertexes into the longitude and latitude coordinates of the barrier boundary vertexes according to the inverse algorithm of the preset projection algorithm, and generating the barrier boundary of the unmanned aerial vehicle according to the longitude and latitude coordinates of the barrier boundary vertexes.
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