CN111324144B - Return control method, device and equipment of unmanned operation equipment and nonvolatile storage medium - Google Patents
Return control method, device and equipment of unmanned operation equipment and nonvolatile storage medium Download PDFInfo
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Abstract
The application discloses a return control method, a return control device and return control equipment of unmanned operation equipment and a nonvolatile storage medium. Wherein, the method comprises the following steps: acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position. The method and the device solve the technical problems of excessive energy consumption and low operation efficiency caused by long back-and-forth invalid operation paths of the operation equipment.
Description
Technical Field
The application relates to the field of return control of unmanned operation equipment, in particular to a return control method, device and equipment of unmanned operation equipment and a nonvolatile storage medium.
Background
With the development and popularization of the unmanned operation equipment technology, the unmanned operation equipment is efficiently operated as a place with important industrial layout, and the aim of prolonging the working time of the unmanned operation equipment is undoubtedly to improve the efficiency of a motor under the condition of the same weight. For example, in the field of plant protection unmanned aerial vehicles, the operating efficiency is directly related to the cost and benefits, optimizing the flight strategy of the unmanned aerial vehicle during operation is one of the methods for improving the operating efficiency of the unmanned aerial vehicle, a good flight strategy can greatly reduce the redundant energy loss of the unmanned aerial vehicle, and the existing strategies of reducing the turning times of the aircraft and generating several different flight paths according to the shape of a land parcel are all used for enabling the unmanned aerial vehicle to have higher operating efficiency.
However, in the existing unmanned aerial vehicle path planning method, the situation of back-and-forth path invalid operation exists between the return point of the equipment and the starting point of the equipment, so that the problems of increased operation cost, low operation efficiency and the like caused by excessive energy consumption in the invalid flight process are more obvious in a larger land.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a return control method, a return control device, return control equipment and a nonvolatile storage medium of unmanned operation equipment, and aims to at least solve the technical problems of excessive energy consumption and low operation efficiency caused by long back-and-forth invalid operation paths of the operation equipment.
According to an aspect of an embodiment of the present application, there is provided a return control method for an unmanned aerial vehicle, including: acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
Optionally, before determining the second planned path based on the remaining power, the method further includes: acquiring the moving speed of the unmanned operation equipment during operation according to a first planned path; determining a first moving distance when the current position moves to a specified position in a first area along a first planned path according to the moving speed, wherein the specified position is any point in the first area, the distance from any point in the first area to the return target position is smaller than a first threshold value, and the first area comprises an end point of a second planned path; determining the movable distance of the unmanned operation equipment based on the residual electric quantity to obtain a second movable distance; comparing the first moving distance with the second moving distance to obtain a comparison result; and determining whether to trigger the step of determining the second planned path based on the comparison result.
Optionally, the determining whether to trigger the determining of the second planned path based on the comparison result includes: refusing to trigger the step of determining the second planned path when the comparison result indicates that the first movement distance is greater than the second movement distance; and when the comparison result indicates that the first movement distance is smaller than the second movement distance, allowing the step of determining the second planned path to be triggered.
Optionally, determining the second planned path based on the remaining power includes: and planning a path of at least part of the remaining operation area of the unmanned operation equipment according to a second moving distance determined based on the remaining power to obtain a second planned path, wherein the remaining operation area is an area except for a designated area in the target operation area of the unmanned operation equipment, and the designated area is an operation area which is operated before the unmanned operation equipment is switched to the second planned path.
Optionally, controlling the unmanned aerial vehicle to switch from the first planned path to the second planned path includes: determining the intersection point of the second planned path and the first planned path; and when the unmanned operation equipment moves to the position corresponding to the intersection point, controlling the unmanned operation equipment to switch to the second planned path.
Optionally, after controlling the unmanned aerial vehicle to return to the return target position, the method further includes: when the fact that the battery of the unmanned aerial vehicle is replaced or the fact that the remaining electric quantity of the unmanned aerial vehicle is larger than a second threshold value is detected, the unmanned aerial vehicle is controlled to move to the end point of a second planned path; and continuing the operation by taking the end point of the second planned path as a starting point.
Optionally, continuing the operation with the end point of the second planned path as the starting point includes: moving in the direction away from the return target position by taking the end point of the second planned path as the starting point of continuing the operation; generating a third planned path according to a principle of performing operation from far to near from the return target position, wherein the starting point of the third planned path is the starting point of continuing the operation; and controlling the unmanned operation equipment to operate according to the third planned path.
Optionally, before obtaining the remaining power of the unmanned working equipment when working according to the first planned path, the method further includes: controlling the unmanned operation equipment to move towards a direction far away from the return target position; generating a first planning path according to a principle of performing operation from far to near from a return target position; and controlling the unmanned operation equipment to operate according to the first planned path.
According to another aspect of the embodiments of the present application, there is also provided a return control method for an unmanned aerial vehicle, including: acquiring residual energy of the unmanned operation equipment during operation, wherein the residual energy is used for the unmanned operation equipment; changing a working path of the unmanned working equipment based on the residual energy, wherein the distance between the end point of the changed working path and the return target position of the unmanned working equipment is smaller than a first threshold value; controlling the unmanned operation equipment to continue to operate according to the changed operation path; and when the unmanned operation equipment moves to the end point of the changed operation path, controlling the unmanned operation equipment to return to the return target position.
Optionally, before the operation path of the unmanned operation device is changed based on the remaining energy, the method further includes: comparing the residual energy with a third threshold value; and when the residual energy is less than a third threshold value, triggering the work path of the unmanned work equipment to be replaced.
According to still another aspect of the embodiments of the present application, there is provided a return control device for an unmanned aerial vehicle, including: the acquisition module is used for acquiring the residual electric quantity of the unmanned operation equipment during operation according to the first planned path; the determining module is used for determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; the switching module is used for controlling the unmanned operation equipment to switch from the first planned path to the second planned path and controlling the unmanned operation equipment to continue operating according to the second planned path; and the return control module is used for controlling the unmanned operation equipment to return to a return target position when the unmanned operation equipment moves to the terminal point according to the second planned path.
According to still another aspect of an embodiment of the present application, there is provided an unmanned aerial vehicle including: a power module, a memory and a processor; the power module is used for providing power for the unmanned operation equipment; a memory for storing program instructions; a processor for calling program instructions in the memory to implement the following functions: acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
According to still another aspect of the embodiments of the present application, there is provided a non-volatile storage medium including a stored program, wherein the apparatus in which the non-volatile storage medium is located is controlled to execute the return control method of the unmanned aerial vehicle described above when the program is executed.
In the embodiment of the application, the operation route of the unmanned operation equipment is planned according to the residual electric quantity of the unmanned operation equipment by monitoring the residual electric quantity of the unmanned operation equipment in the operation process, so that the unmanned operation equipment can return to the flight when being close to a flying starting point, and the return route is effectively utilized, thereby realizing the technical effects of improving the operation efficiency of the unmanned operation equipment and reducing the energy consumption of the unmanned operation equipment, and further solving the technical problems of excessive energy consumption and low operation efficiency caused by long back-and-forth invalid operation route of the operation equipment.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram of unmanned aerial vehicle path planning in the related art;
fig. 2 is a schematic flowchart of a return control method for an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 3 is a schematic diagram of optimization of unmanned aerial vehicle path planning in the related art;
fig. 4 is a schematic diagram of a solution of a flight strategy of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic diagram of another embodiment of the flight strategy of the drone according to the embodiments of the present application;
fig. 6 is a flowchart illustrating a return control method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a return control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Taking an unmanned aerial vehicle as an example, fig. 1 depicts a path planning scheme of an existing unmanned aerial vehicle, and in a schematic diagram, it can be seen that the unmanned aerial vehicle does not perform plant protection operation between a flying point and a return point, the flight of the distance belongs to invalid flight, the aircraft flies according to a predetermined path after flying, the aircraft returns to the first return point due to insufficient electric quantity when flying to the first return point, and the aircraft returns to the first return point along an original route after returning to the flight operation until the operation is completed. There is the condition of the invalid operation of route back and forth between unmanned aerial vehicle's the starting point of returning to the throne point and equipment for the too much consumption of energy causes the operating cost to increase in the middle of the invalid removal process, and the operating efficiency is low scheduling problem, and this problem is more obvious in great operation region. In order to solve the above technical problem, embodiments of the present application provide detailed solutions, which are described in detail below.
In accordance with an embodiment of the present application, there is provided a method embodiment for return control of an unmanned aerial vehicle, where the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer-executable instructions, and where a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 2 is a return control method of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 2, the method includes the steps of:
step S202, acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to the first planning path.
Specifically, the unmanned aerial vehicle includes, but is not limited to: unmanned vehicle, robot, unmanned aerial vehicle of sweeping floor of walking on the ground.
Taking unmanned operation equipment as an unmanned aerial vehicle as an example, the first planned path is a flight track of the unmanned aerial vehicle during initial operation under the condition that the electric quantity of the unmanned aerial vehicle is sufficient. Before acquiring the residual capacity of the unmanned aerial vehicle during operation according to the first planned path, in order to control the unmanned aerial vehicle to operate according to the first planned path, the unmanned aerial vehicle needs to be controlled to move towards the direction away from the return flight target position, namely, the first planned path is generated according to the principle of operating from far to near from the return flight target position, so that the unmanned aerial vehicle is controlled to operate according to the first planned path.
Step S204, a second planned path is determined based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value.
Specifically, the return target position is a flying point of the unmanned aerial vehicle; when the residual electric quantity is not suitable for the unmanned aerial vehicle to continue to operate according to the first path, the unmanned aerial vehicle determines a second planned path based on the residual electric quantity, when the unmanned aerial vehicle flies to a position (namely the end point of the second path or the first back-navigation point) close to the flying point, the unmanned aerial vehicle needs to go back to charge or replace a battery, the distance between the position and the flying point is smaller than a first threshold value, wherein the back-navigation means the process that the unmanned aerial vehicle flies back to the flying point from the end point of the second path when the electric quantity of the battery of the unmanned aerial vehicle cannot support the unmanned aerial vehicle to continue to operate.
The following exemplifies the first threshold: assuming that the first threshold is 300, when the remaining power of the unmanned aerial vehicle is not suitable for continuing to operate according to the first path, the unmanned aerial vehicle replans the second path according to the remaining power, the distance between the terminal point of the second path and the flying point is required to be smaller than the first threshold, namely the distance between the terminal point of the second path and the flying point is smaller than 300 meters, the remaining power can be ensured to support the unmanned aerial vehicle to fly to the flying point, and when the unmanned aerial vehicle reaches the terminal point of the second path according to the second path, the unmanned aerial vehicle returns to the flying point in a straight line.
In some embodiments of the application, when determining the second planned path based on the remaining power, first, performing path planning on at least a part of a remaining operation area of the unmanned aerial vehicle according to a second moving distance determined based on the remaining power to obtain the second planned path, where the second moving distance is a distance at which the remaining power of the unmanned aerial vehicle can support operation flight, the remaining operation area is an area other than a designated area in a target operation area of the unmanned aerial vehicle, and the designated area is an operation area in which operation has been performed before the unmanned aerial vehicle switches to the second planned path.
Based on the above steps, before determining the second planned path according to the remaining power, it needs to be determined whether to trigger the second planned path, and there are two determination schemes, which are specifically as follows:
the first scheme is as follows: acquiring the moving speed of the unmanned aerial vehicle during operation according to a first planned path, determining a first moving distance according to the moving speed and when the unmanned aerial vehicle moves from the current position to an appointed position in a first area along the first planned path, wherein the appointed position is any point in the first area, the distance from any point in the first area to a return flight target position is smaller than a first threshold, the first area comprises an end point of a second planned path (namely when the second planned path is planned, the end point needs to be searched in the first area), then determining the movable distance of the unmanned aerial vehicle based on the residual electric quantity to obtain a second moving distance, and comparing the first moving distance with the second moving distance to obtain a comparison result; and judging whether to trigger the step of determining the second planned path according to the result.
Specifically, the method for determining whether to trigger the determination of the second planned path based on the comparison result is as follows: when the first moving distance is larger than the second moving distance, refusing to trigger the step of determining a second planned path; when the first movement distance is smaller than the second movement distance, the step of determining the second planned path is allowed to be triggered. For example: if the first moving distance is 7000 m and the second moving distance is 6000 m, refusing to trigger the second planned path; and if the first moving distance is 7000 m and the second moving distance is 7500 m, triggering the second planned path.
Scheme II: setting a residual electric quantity reference value, comparing the residual electric quantity of the unmanned aerial vehicle battery with the reference value, and triggering the unmanned aerial vehicle to replace the operation path when the residual electric quantity is smaller than the set reference value. For example: assuming that the set residual power reference value is 50%, if the actually detected residual power of the unmanned aerial vehicle is 40%, since 40% is less than 50%, triggering to replace the operation path of the unmanned aerial vehicle; if the actually detected remaining capacity of the unmanned aerial vehicle is 55%, the operation path for replacing the unmanned aerial vehicle is not triggered at the moment because 55% is larger than 50%.
And step S206, controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path.
Specifically, when the unmanned aerial vehicle is controlled to be switched from the first planned path to the second planned path, an intersection point of the second planned path and the first planned path (namely, a point where an original operation path needs to be changed) is determined, and when the unmanned aerial vehicle moves to a position corresponding to the intersection point, the unmanned operation device is controlled to be switched to the second planned path.
And S208, controlling the unmanned operation equipment to return to the return target position when the unmanned operation equipment moves to the terminal point according to the second planned path. It should be noted that the return journey may not be performed at this time.
In some embodiments of the application, after controlling the unmanned aerial vehicle to return to the departure point, in order to enable the unmanned aerial vehicle to continue to operate, when detecting that the unmanned aerial vehicle changes the battery or detecting that the remaining capacity of the unmanned aerial vehicle is greater than the second threshold value, controlling the unmanned aerial vehicle to move to the end point of the second planned path, and continuing to operate by using the end point of the second planned path as the starting point. The second threshold may be preset, or may be determined according to the remaining operation area (that is, the charged power or the replaced battery power is sufficient to support the drone to complete subsequent operations).
Specifically, the second threshold may be determined by: firstly, determining the residual area of the target operation area (namely, subtracting the finished area operated according to the first planned path and the area corresponding to the second planned path from the target operation area), then determining the target driving distance required by finishing the operation according to the residual area, and then determining the corresponding electric quantity based on the target driving area. It is to be noted that the determination of the second threshold is not limited to the above-described method.
For example: assuming that the second threshold is preset and expressed in percentage, the second threshold is set to be 70%, and when the detected remaining power of the unmanned aerial vehicle is greater than 70%, the unmanned aerial vehicle is controlled to move to the end point of the second planned path, so that the operation is continued with the end point of the second planned path as a starting point. Here, it should be noted that the operation is not performed in the process that the unmanned aerial vehicle flies from the return point to the departure point or from the departure point to the return point.
Specifically, when the operation is continued with the end point of the second planned path as the starting point, in order to control the unmanned aerial vehicle to perform the operation according to the new planned path, the end point of the second planned path is used as the starting point for continuing the operation to move in the direction away from the return flight target position, a third planned path is generated according to the principle of performing the operation from far to near from the return flight target position, wherein the starting point of the third planned path is the starting point for continuing the operation, and then the unmanned aerial vehicle is controlled to perform the operation according to the third planned path.
As shown in fig. 3, fig. 3 is an optimization of the existing path planning scheme in fig. 1, and it can be seen from fig. 3 that the aircraft calculates in real time that if the aircraft needs to operate to the vicinity of the departure point at this time, the original operation path must be changed, when the aircraft operates to the vicinity of the departure point, the point of the changed operation path in the vicinity area is taken as the first return point to return the aircraft, the battery is replaced, the aircraft returns to the first return point to continue to operate, at this time, the aircraft selects the direction far from the departure point to operate first, and when the operation is finally completed, the aircraft approaches the departure point, and the optimized operation path greatly reduces the time and distance of the unmanned aerial vehicle during invalid flight. It should be noted that, in the operation process after the battery is replaced, when the remaining capacity is not enough to support the unmanned aerial vehicle to operate to the departure point according to the current operation path, the operation path is planned again according to the above-mentioned thinking, so that the unmanned aerial vehicle can still operate in the return flight process, and when the second return flight point is reached, the unmanned aerial vehicle returns to the departure point from the second return flight point.
In some embodiments of the present application, for the flight strategy of the above-mentioned unmanned aerial vehicle, there are at least the following two cases:
the first condition is as follows: as shown in fig. 4, starting from the starting point, the starting point selects a point closer to the departure point, the area farther from the departure point is preferentially selected to perform operation, the original route must be changed when the current electric quantity operation of the aircraft is calculated to be near the departure point, return flight is selected to be near the departure point, after the battery is replaced, the aircraft returns to the first return flight point to continue operation, the area farther from the same operation is preferentially selected until the operation is completed, and finally the return flight point is near the departure point.
Case two: as shown in fig. 5, the starting point of the strategy selects a point closer to the takeoff point, the path direction is opposite to that of the strategy shown in fig. 4, but the flight strategy is consistent, when the electric quantity of the battery is sufficient, the region farther from the takeoff point is preferentially selected for operation, during the flight process, the point where the original route needs to be changed when the aircraft operates to the vicinity of the takeoff point is calculated in real time according to the electric quantity and the parameters of the aircraft, the aircraft operates to the vicinity of the takeoff point, then the battery is replaced, the aircraft returns to the first return point to continue operation, and therefore the flight strategy of an operation path is planned in real time according to the residual electric quantity of the battery and the parameters of the aircraft.
Through the steps, the method provides a method for preferentially selecting the area far away from the takeoff point to operate when the battery electric quantity is sufficient, the point of an original route which needs to be changed when the airplane operates to the vicinity of the takeoff point is calculated in real time according to the current electric quantity and the self parameter, the flight strategy when the airplane operates to the vicinity of the takeoff point is enabled to be realized, the distance between the takeoff point and the return point is greatly shortened, the operation path which can operate to the vicinity of the return target position can be determined based on the residual electric quantity, the return path can be effectively utilized, the operation efficiency is improved, and the technical problems of excessive energy consumption and low operation efficiency caused by the fact that the operation equipment has long back-and-forth invalid operation path are solved.
Fig. 6 is a return control method of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 6, the method includes the steps of:
step S602 is to acquire the remaining energy of the unmanned working equipment during working.
Specifically, the unmanned aerial vehicle includes, but is not limited to: unmanned vehicle, robot, unmanned aerial vehicle of sweeping floor of walking on the ground. When the battery is used as power, the residual energy is the residual electric quantity; when fuel is used as power, the remaining energy is the remaining fuel.
Step S604, a work path of the unmanned aerial vehicle is changed based on the remaining energy, wherein a distance between an end point of the changed work path and a return target position of the unmanned aerial vehicle is less than a first threshold.
Specifically, the return target position is a takeoff point position.
And step S606, controlling the unmanned operation equipment to continue operation according to the changed operation path.
In step S608, when the unmanned aerial vehicle moves to the end point of the changed work path, the unmanned aerial vehicle is controlled to return to the return target position.
Still take unmanned aerial vehicle as an example, return to voyage when unmanned aerial vehicle flies to the position nearer apart from the departure point and charge or change the battery, this position should be less than first threshold apart from the departure point. For example: assuming that the first threshold value is 300, when the electric quantity of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle replans the path according to the residual electric quantity, so that the distance between the terminal point of the replanned path and the starting point is less than 300 meters, the residual electric quantity can support the unmanned aerial vehicle to fly to the starting point, and when the unmanned aerial vehicle reaches the terminal point according to a new path, the unmanned aerial vehicle returns to the starting point in a straight line.
In some embodiments of the present application, before the work path of the unmanned working equipment is modified based on the remaining energy, in order to determine whether to trigger replacement of the work path of the unmanned working equipment, the remaining energy is compared with a third threshold value, and when the remaining energy is less than the third threshold value, replacement of the work path of the unmanned working equipment is triggered. For example: assuming that the set third threshold is 50%, if the actually detected remaining capacity of the unmanned aerial vehicle is 40%, since 40% is less than 50%, triggering to replace the operation path of the unmanned aerial vehicle; if the actually detected remaining capacity of the unmanned aerial vehicle is 55%, the operation path for replacing the unmanned aerial vehicle is not triggered at the moment because 55% is larger than 50%.
The preferred embodiment of this embodiment can refer to the description related to the embodiment of fig. 2, and is not repeated herein.
Fig. 7 is a return travel control apparatus of another unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 7, the apparatus including:
the obtaining module 70 is configured to obtain a remaining power of the unmanned working device when the unmanned working device performs a working according to the first planned path.
Specifically, the unmanned aerial vehicle includes, but is not limited to: unmanned vehicle, robot, unmanned aerial vehicle of sweeping floor of walking on the ground.
In some embodiments of the present application, taking the unmanned aerial vehicle as an example, the first planned path is a flight trajectory of the unmanned aerial vehicle when the electric quantity of the unmanned aerial vehicle is sufficient, before acquiring the remaining electric quantity of the unmanned aerial vehicle when the unmanned aerial vehicle operates according to the first planned path, in order to control the unmanned aerial vehicle to operate according to the first planned path, the unmanned aerial vehicle needs to be controlled to move in a direction away from the return flight target position, the first planned path is generated according to a principle of operating from far to near from the return flight target position, so as to control the unmanned aerial vehicle to operate according to the first planned path,
a determining module 72, configured to determine a second planned path based on the remaining power, where a distance between an end point of the second planned path and a return target position of the unmanned aerial vehicle is smaller than a first threshold.
Distance specification for the first threshold: assuming that the first threshold value is 300, when the electric quantity of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle replans the second path according to the residual electric quantity, so that the distance between the end point of the second path and the flying point is less than 300 meters, the residual electric quantity can support the unmanned aerial vehicle to fly to the flying point, and when the unmanned aerial vehicle reaches the end point of the second path according to the second path, the unmanned aerial vehicle returns to the flying point in a straight line.
In some embodiments of the present application, when determining the second planned path based on the remaining power, first, performing path planning on at least a part of a remaining operation area of the unmanned aerial vehicle according to a second moving distance determined based on the remaining power, to obtain the second planned path, where the second moving distance is a distance at which the remaining power of the unmanned aerial vehicle can support operation flight, the remaining operation area is an area other than a designated area in a target operation area of the unmanned aerial vehicle, and the designated area is an operation area in which operation has been performed before the unmanned aerial vehicle switches to the second planned path.
Based on the operation environment of the unmanned aerial vehicle, before determining a second planned path based on the residual electric quantity, in order to judge whether to trigger the second planned path, acquiring the moving speed of the unmanned aerial vehicle during operation according to the first planned path, and determining a first moving distance when the unmanned aerial vehicle moves from the current position to an appointed position in a first area along the first planned path according to the moving speed, wherein the appointed position is any point in the first area, the distance from any point in the first area to a return target position is smaller than a first threshold value, the first area comprises an end point of the second planned path, then determining the movable distance of the unmanned aerial vehicle based on the residual electric quantity to obtain a second moving distance, and comparing the first moving distance with the second moving distance to obtain a comparison result; and judging whether to trigger the step of determining the second planned path according to the result.
Specifically, the method for determining whether to trigger the determination of the second planned path based on the comparison result is as follows: when the first moving distance is larger than the second moving distance, refusing to trigger the step of determining a second planned path; when the first movement distance is smaller than the second movement distance, the step of determining the second planned path is allowed to be triggered.
And the switching module 74 is used for controlling the unmanned working equipment to switch from the first planned path to the second planned path and controlling the unmanned working equipment to continue working according to the second planned path.
Specifically, when the unmanned aerial vehicle is controlled to be switched from the first planned path to the second planned path, an intersection point of the second planned path and the first planned path is determined at first, and when the unmanned aerial vehicle moves to a position corresponding to the intersection point, the unmanned aerial vehicle is controlled to be switched to the second planned path.
And a return control module 76, configured to control the unmanned working equipment to return to the return target position when the unmanned working equipment moves to the end point according to the second planned path.
In some embodiments of the application, after the unmanned aerial vehicle is controlled to return to the takeoff point, when it is detected that the battery of the unmanned aerial vehicle is replaced or the remaining capacity of the unmanned aerial vehicle is greater than a second threshold value, the unmanned aerial vehicle is controlled to move to the end point of the second planned path in order to enable the unmanned aerial vehicle to continue to operate; and continuing the operation by taking the end point of the second planned path as a starting point.
Specifically, when the operation is continued with the end point of the second planned path as the starting point, in order to control the unmanned aerial vehicle to perform the operation according to the new planned path, the end point of the second planned path is used as the starting point for continuing the operation to move in the direction away from the return flight target position, a third planned path is generated according to the principle of performing the operation from far to near from the return flight target position, wherein the starting point of the third planned path is the starting point for continuing the operation, and then the unmanned aerial vehicle is controlled to perform the operation according to the third planned path. .
Fig. 8 is a return travel control apparatus of another unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 8, the apparatus including:
a power module 80, a memory 82, and a processor 84; the power module 80 is used for providing power for the unmanned operation equipment; a memory 82 for storing program instructions; a processor 84 for calling program instructions in memory to implement the following functions: acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
The preferred embodiment of this embodiment can refer to the description related to the embodiments in fig. 1 and fig. 6, and will not be described herein again.
According to another aspect of the embodiments of the present application, there is provided a non-volatile storage medium including a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute the following steps when the program runs: acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable non-volatile storage medium. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a non-volatile storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned nonvolatile storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (13)
1. A return control method of unmanned operation equipment is characterized by comprising the following steps:
acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path;
determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value;
controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path;
and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
2. The method of claim 1, wherein prior to determining a second planned path based on the amount of remaining power, the method further comprises:
acquiring the moving speed of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path;
determining a first movement distance when the mobile terminal moves from the current position to a specified position in a first area along the first planned path according to the movement speed, wherein the specified position is any point in the first area, the distance from any point in the first area to the return target position is smaller than the first threshold, and the first area comprises an end point of the second planned path;
determining the movable distance of the unmanned operation equipment based on the residual electric quantity to obtain a second movable distance;
comparing the first moving distance with the second moving distance to obtain a comparison result;
determining whether to trigger the step of determining the second planned path based on the comparison result.
3. The method of claim 2, wherein determining whether to trigger determining the second planned path based on the comparison comprises:
refusing to trigger the step of determining the second planned path when the comparison result indicates that the first movement distance is greater than a second movement distance; allowing triggering the step of determining the second planned path when the comparison result indicates that the first movement distance is less than the second movement distance.
4. The method of claim 2, wherein determining a second planned path based on the remaining capacity comprises:
and planning a path of at least part of the remaining operation area of the unmanned operation equipment according to the second movement distance determined based on the remaining electric quantity to obtain a second planned path, wherein the remaining operation area is an area except for a designated area in the target operation area of the unmanned operation equipment, and the designated area is an operation area which is already operated before the unmanned operation equipment is switched to the second planned path.
5. The method of claim 1, wherein controlling the unmanned aerial vehicle to switch from the first planned path to the second planned path comprises:
determining an intersection point of the second planned path and the first planned path;
and when the unmanned operation equipment moves to the position corresponding to the intersection point, controlling the unmanned operation equipment to switch to the second planned path.
6. The method according to claim 1, wherein after controlling the unmanned working equipment to return to the return target position, the method further comprises:
when the unmanned aerial vehicle is detected to replace a battery or the remaining electric quantity of the unmanned aerial vehicle is detected to be larger than a second threshold value, controlling the unmanned aerial vehicle to move to the end point of the second planned path;
and continuing to operate by taking the end point of the second planned path as a starting point.
7. The method of claim 6, wherein continuing the job starting at the end point of the second planned path comprises:
moving in a direction away from the return target position by taking the end point of the second planned path as a starting point for continuing the operation;
generating a third planned path according to a principle of performing operation from far to near from the return target position, wherein a starting point of the third planned path is a starting point of continuing operation;
and controlling the unmanned operation equipment to operate according to a third planned path.
8. The method of claim 1, wherein prior to obtaining the remaining power of the unmanned aerial vehicle while operating according to the first planned path, the method further comprises:
controlling the unmanned operation equipment to move towards a direction far away from the return target position;
generating the first planned path according to a principle of performing operation from far to near from the return target position;
and controlling the unmanned operation equipment to operate according to the first planned path.
9. A return control method of unmanned operation equipment is characterized by comprising the following steps:
acquiring residual energy of unmanned operation equipment during operation;
changing a working path of the unmanned working equipment based on the residual energy, wherein the distance between the end point of the changed working path and the return target position of the unmanned working equipment is smaller than a first threshold value;
controlling the unmanned operation equipment to continue to operate according to the changed operation path;
and when the unmanned operation equipment moves to the end point of the changed operation path, controlling the unmanned operation equipment to return to the return target position.
10. The method of claim 9, wherein prior to altering the work path of the unmanned work equipment based on the remaining energy, the method further comprises:
comparing the residual energy to a third threshold;
triggering to replace the working path of the unmanned working equipment when the remaining energy is less than the third threshold.
11. A return control device for an unmanned aerial vehicle, comprising:
the acquisition module is used for acquiring the residual electric quantity of the unmanned operation equipment during operation according to the first planned path;
the determining module is used for determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned working equipment is smaller than a first threshold value;
the switching module is used for controlling the unmanned operation equipment to switch from the first planned path to the second planned path and controlling the unmanned operation equipment to continue operating according to the second planned path;
and the return control module is used for controlling the unmanned operation equipment to return to the return target position when the unmanned operation equipment moves to the terminal point according to the second planned path.
12. An unmanned aerial vehicle, comprising: a power module, a memory and a processor; wherein,
the power supply module is used for providing power for the unmanned operation equipment;
the memory to store program instructions;
the processor is configured to invoke program instructions in the memory that implement the following functions:
acquiring the residual electric quantity of the unmanned operation equipment when the unmanned operation equipment operates according to a first planned path; determining a second planned path based on the residual electric quantity, wherein the distance between the end point of the second planned path and the return target position of the unmanned operation equipment is smaller than a first threshold value; controlling the unmanned operation equipment to switch from the first planned path to the second planned path, and controlling the unmanned operation equipment to continue operating according to the second planned path; and when the unmanned operation equipment moves to the terminal point according to the second planned path, controlling the unmanned operation equipment to return to the return target position.
13. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein an apparatus in which the nonvolatile storage medium is installed is controlled to execute the return control method of the unmanned aerial vehicle according to any one of claims 1 to 8 when the program is executed.
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| JP7165703B2 (en) * | 2020-09-24 | 2022-11-04 | 楽天グループ株式会社 | Flight system, flight path determination method, and flight path determination device |
| CN112379691A (en) * | 2020-11-11 | 2021-02-19 | 苏州极目机器人科技有限公司 | Return control method and device |
| CN112433537B (en) * | 2020-11-11 | 2022-09-16 | 广西电网有限责任公司电力科学研究院 | Visual monitoring method and system for power transmission line iron tower erection construction |
| CN112815943B (en) * | 2020-12-31 | 2023-11-21 | 广州极飞科技股份有限公司 | Method and device for determining operation route of unmanned equipment and unmanned equipment |
| CN113007614A (en) * | 2021-03-16 | 2021-06-22 | 中铁第四勘察设计院集团有限公司 | Railway water supply pipe network leak detection robot system and detection method |
| CN113519253B (en) * | 2021-07-02 | 2023-03-17 | 宁波瑞霖机械科技有限公司 | Mower route regression method and system, storage medium and mower |
| CN113741541B (en) * | 2021-09-28 | 2024-06-11 | 广州极飞科技股份有限公司 | Unmanned equipment flight control method, unmanned equipment flight control device, unmanned equipment flight control system, unmanned equipment flight control equipment and storage medium |
| CN114253293B (en) * | 2021-12-16 | 2024-07-05 | 长春长光博翔无人机有限公司 | Multi-rotor plant protection unmanned aerial vehicle operation method |
| CN114326804B (en) * | 2021-12-28 | 2023-06-09 | 广州极飞科技股份有限公司 | Route planning method, operation control method and related devices |
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| CN115250720B (en) * | 2022-07-12 | 2024-07-30 | 深圳库犸科技有限公司 | Mowing method, mowing device, mowing robot and storage medium |
| CN115265549B (en) * | 2022-09-27 | 2022-12-27 | 季华实验室 | Unmanned aerial vehicle path planning method and device and electronic equipment |
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| CN117270577B (en) * | 2023-11-22 | 2024-02-27 | 华东交通大学 | Operation method and system of agricultural unmanned equipment based on path planning |
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